基于LiDAR技术的圆形堆取料机智能化控制系统研发与应用

Development and application of intelligent control system in stacker-reclaimer with circular coal storage based on LiDAR technology

针对煤场自动堆取实时性差、精度差、盘煤效率低等现状,本文设计了一套多功能控制系统。该系统基于激光雷达(LiDAR)技术,实时获取仓库内燃料三维分布点云数据,并根据所获取到的全场离散点云数据,通过Delaunay算法对点云数据进行三维模型重建,计算仓库内燃料的存储量;同时根据现场煤料分布的点云数据,分析和计算堆料、取料控制策略,控制圆形堆取料机自动执行操作。本文设计的控制系统,能够满足料场对燃料管理的需求,达到降本增效的目的。

To solve the problems occur in coal yard management, such as bad real time capabilities, low precision, and low efficient management of coal-yard volume, a novel multifunctional control system is designed in this paper. Based on the LiDAR technology, this system can scan the coal in the yard automatically to obtain field point cloud data and reconstruct three dimensional model through Delaunay algorithm according to the field point cloud data. Then, it calculates the coal volume automatically. Meanwhile, according to all the point-cloud data, it determines the strategy of stocking and reclaiming, and can control the machine to work following the orders. The proposed system can meet the demand of fuel management in coal yard and achieve the purpose of reducing cost and increasing efficiency.