为了实现智慧矿山的散料自动化发货流程,需要开发出高效的散料抓取控制算法。借助激光雷达扫描采集工业散料的分布情况,通过三维建模将采集的信号发送给系统,利用三维特征分布进行精准抓取,实现工业散料自动抓取的功能,整个流程自动化,...为了实现智慧矿山的散料自动化发货流程,需要开发出高效的散料抓取控制算法。借助激光雷达扫描采集工业散料的分布情况,通过三维建模将采集的信号发送给系统,利用三维特征分布进行精准抓取,实现工业散料自动抓取的功能,整个流程自动化,能够提高工业散料发货效率及保障相关从业人员的安全。针对智慧矿山中雷达点云处理,提出一种采用激光雷达实时采集点云数据的方案,设计了通过发射激光束来精准探测物体与传感器之间距离的主动测量装置;使用飞行时间测量法(Time of Flight),对智慧矿山中的干散料进行三维采集;然后用点云显示软件解析数据包和设备包信息以及3D点云数据;最后通过MATLAB软件进行可视化。展开更多
Based on the evaluation of advantages and disadvantages of high-precision digital time interval measuring algorithms, and combined with the principle of the typical time-difference ultrasonic flow measurement, the req...Based on the evaluation of advantages and disadvantages of high-precision digital time interval measuring algorithms, and combined with the principle of the typical time-difference ultrasonic flow measurement, the requirements for the measurement of echo time of flight put forward by the ultrasonic flow measurement are analyzed. A new high-precision time interval measurement algorithm is presented, which combines the pulse counting method with the phase delay interpolation. The pulse counting method is used to ensure a large dynamic measuring range, and a double-edge triggering counter is designed to improve the accuracy and reduce the counting quantization error. The phase delay interpolation is used to reduce the quantization error of pulse counting for further improving the time measurement resolution. Test data show that the systexn for the measurement of the ultrasonic echo time of flight based on this algorithm and implemented on an Field Programmable Gate Army（FleA） needs a relatively short time for measurement, and has a measurement error of less than 105 ps.展开更多
Broadband ultrasound signals will produce distortion in viscoacoustic medium, which may influence the accuracy of time-of-flight (TOF) measurement. Under the condition of single-frequency acoustic source, the wave pro...Broadband ultrasound signals will produce distortion in viscoacoustic medium, which may influence the accuracy of time-of-flight (TOF) measurement. Under the condition of single-frequency acoustic source, the wave propagation process in viscoacoustic medium was analyzed and an approximate solution of the wave propagation was given. Instances of broadband ultrasound were analyzed and simulated based on the single-frequency results. A single-frequency matching pursuits (SFMP) algorithm was then introduced to solve the waveform distortion problem. Time-frequency decomposition was applied to extracting the single-frequency compositions from broadband ultrasound signals, and then these compositions were sent to the matching pursuits (MP) algorithm for calculating the TOF parameters. Compared with the broadband signals, the shapes of extracted single-frequency signals change more slightly as distance and attenuation coefficient increase. The residuals of SFMP were far less than those of MP algorithm. Experimental results show that the SFMP algorithm is able to eliminate waveform distortion of broadband ultrasound in viscoacoustic medium, which helps improve the accuracy of TOF measurement.展开更多
基金The National Natural Science Foundation of China(Nos.61434004,61234003,61504141,61704167)Beijing Municipal Science and Technology Project(No.Z181100008918009)Youth Innovation Promotion Association Program,Chinese Academy of Sciences(No.2016107)
文摘为了实现智慧矿山的散料自动化发货流程,需要开发出高效的散料抓取控制算法。借助激光雷达扫描采集工业散料的分布情况,通过三维建模将采集的信号发送给系统,利用三维特征分布进行精准抓取,实现工业散料自动抓取的功能,整个流程自动化,能够提高工业散料发货效率及保障相关从业人员的安全。针对智慧矿山中雷达点云处理,提出一种采用激光雷达实时采集点云数据的方案,设计了通过发射激光束来精准探测物体与传感器之间距离的主动测量装置;使用飞行时间测量法(Time of Flight),对智慧矿山中的干散料进行三维采集;然后用点云显示软件解析数据包和设备包信息以及3D点云数据;最后通过MATLAB软件进行可视化。
基金supported by the National 863 Program(No.2008AA042207)
文摘Based on the evaluation of advantages and disadvantages of high-precision digital time interval measuring algorithms, and combined with the principle of the typical time-difference ultrasonic flow measurement, the requirements for the measurement of echo time of flight put forward by the ultrasonic flow measurement are analyzed. A new high-precision time interval measurement algorithm is presented, which combines the pulse counting method with the phase delay interpolation. The pulse counting method is used to ensure a large dynamic measuring range, and a double-edge triggering counter is designed to improve the accuracy and reduce the counting quantization error. The phase delay interpolation is used to reduce the quantization error of pulse counting for further improving the time measurement resolution. Test data show that the systexn for the measurement of the ultrasonic echo time of flight based on this algorithm and implemented on an Field Programmable Gate Army（FleA） needs a relatively short time for measurement, and has a measurement error of less than 105 ps.
基金Supported by National Natural Science Foundation of China (No.30800240 and No.60901043)
文摘Broadband ultrasound signals will produce distortion in viscoacoustic medium, which may influence the accuracy of time-of-flight (TOF) measurement. Under the condition of single-frequency acoustic source, the wave propagation process in viscoacoustic medium was analyzed and an approximate solution of the wave propagation was given. Instances of broadband ultrasound were analyzed and simulated based on the single-frequency results. A single-frequency matching pursuits (SFMP) algorithm was then introduced to solve the waveform distortion problem. Time-frequency decomposition was applied to extracting the single-frequency compositions from broadband ultrasound signals, and then these compositions were sent to the matching pursuits (MP) algorithm for calculating the TOF parameters. Compared with the broadband signals, the shapes of extracted single-frequency signals change more slightly as distance and attenuation coefficient increase. The residuals of SFMP were far less than those of MP algorithm. Experimental results show that the SFMP algorithm is able to eliminate waveform distortion of broadband ultrasound in viscoacoustic medium, which helps improve the accuracy of TOF measurement.
