基于点云数据的带式输送机跑偏及堆煤算法研究

Algorithm Study on Belt Conveyor Deviation and Coal Piling Based on Point Cloud Data

为了解决同发东周窑煤业带式输送机输送带跑偏、出现堆煤等情况,通过点云数据处理来监测输送带跑偏程度、利用煤流等效高度判断堆煤情况。通过对比实验结果表明:输送带速度为0.5~3.0m/s时,边沿点检测相对误差为-6.98%3.12%,最大误差仅为2.83mm,在煤炭质量接近堆煤报警的临界值时,系统会发出警告,可以较好地实现对输送带跑偏及堆煤的实时监测,从而避免堆煤情况的发生。

Aiming at the belt conveyor deviation and coal piling in Tongfa Dongzhouyao Coal Industry Co.,Ltd.,the author proposes monitoring the deviation degree through the point cloud data processing and judging the coal piling status according to the equivalent depth of coal flow.Comparative experiment results show that the relative eror is-6.98%to 3.12%in edge points with maximum error of 2.83 mm when speed of conveyor belt is 0.5 to 3.0 m/s,and the system will send out a warning when coal quality approaches to the critical value of coal piling alarm,achieving the real-time monitoring of belt conveyor deviation and coal piling and avoiding the coal piling occurrence.