基于多传感器集成的堆场激光测量技术应用

针对采用体积和密度换算测量大型堆场储量时体积计算精度低、数据获取周期长、堆场类型不能统一测量与计算的问题，提出利用高速激光扫描仪、距离传感器、角度传感器及俯仰传感器集成技术，快速获取堆场三维坐标数据，并推导统一的三维坐标求解算法，建立堆场空间三维坐标系解算堆场三维坐标，准确计算堆场储料体积。同时，提出系统建设架构、组成、数据处理方法和需要考虑的问题。该方法有效解决了大型料场现有测量所面临的问题，提高了测量效率、准确性和安全性。在试验条件下，绝对精度达到0.4%。多个项目实例表明，该方法简洁、高效、准确，普通200 m的料场一次测量时间不超过20 min，测量体积重复测量误差小于0.7%，具有良好的应用前景和推广价值。

Abstract

It is difficult to calculate the content of a large storage yard by volume and density, which causes low precision and long period of data acquisition and disunity among measurement and calculation. A integration technology to achieve the 3D coordinate data by applying high-speed laser scanner, distance sensor, angle sensor and pitch sensor is proposed. Then a unified algorithm of 3D coordinates is deduced and 3D coordinate system of yard space is established to calculate the volume of material storage accurately. The system architecture, components, data processing methods and issues to be considered are also proposed, which can solve the measurement problem in a large material storage and improve the efficiency, accuracy and safety. In the experimental conditions, the absolute accuracy is less than 0.4%. Several projects show the simplicity, efficiency and accuracy of the proposed method. Measuring time less than 20 min for normal yard about 200 m once and the repeated error is less than 0.7%, which has good prospects and application worthy.

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