基于双激光雷达的带式输送机煤流量检测系统

于海里; 孙立超; 左胜; 陈大伟; 曾祥玉; 杜垣江

doi:10.13272/j.issn.1671-251x.2022120004

基于双激光雷达的带式输送机煤流量检测系统

doi: 10.13272/j.issn.1671-251x.2022120004

1.
内蒙古白音华蒙东露天煤业有限公司, 内蒙古锡林郭勒　026000
2.
国家电投集团内蒙古能源有限公司, 内蒙古通辽　028000
3.
中煤科工集团沈阳设计研究院有限公司, 辽宁沈阳　110000

基金项目: 国家自然科学基金项目（51904142）。

详细信息

作者简介:
于海里（1981—），男，内蒙古赤峰人，高级工程师，主要从事露天矿建设和智能化研究工作，E-mail：147218050@qq.com

通讯作者:
陈大伟（1980—），男，辽宁凌源人，高级工程师，主要从事矿山智能化工程设计工作，E-mail：13604907048@163.com

中图分类号: TD634.1
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出版历程
- 收稿日期: 2022-12-01
- 修回日期: 2023-07-18
- 网络出版日期: 2023-08-03

Coal flow detection system for belt conveyor based on dual lidar

1.
Inner Mongolia Baiyinhua Mengdong Open-pit Coal Industry Co., Ltd., Xilingol 026000, China
2.
SPIC Nei Mongol Energy Co., Ltd., Tongliao 028000, China
3.
CCTEG Shenyang Engineering Company, Shenyang 110000, China

摘要

摘要: 带式输送机煤流运输过程中由于堆积角的存在，使得煤流形状呈近似三角形，易出现检测盲区。针对该问题，提出了一种基于双激光雷达的带式输送机煤流量检测系统。将2个单线激光雷达分别放置在带式输送机上方左右两侧，各测量半个区域内的煤流外轮廓特征点，通过融合算法对左右区域内的煤流外轮廓特征点进行融合，再通过最小二乘多项式拟合算法解算出整个区域内的煤流外轮廓，从而实现对煤流轮廓的无盲区测量。使用光电编码器实时检测输送带运行速度，采用梯形面积累计法计算煤流断面面积，采用面元积分法计算带式输送机的煤流量。现场试验结果表明：无煤料偏置时，单/双激光雷达扫描结果基本一致，系统测量误差为2%~3%，满足煤流量检测要求；有煤料偏置时，基于单激光雷达的系统误差较大，无法满足煤流量检测要求，而基于双激光雷达的系统测量误差依然能够保持在2%~3%。提出了单/双激光雷达选择判据，得出存在煤料偏置或大块煤料的工况下，基于双激光雷达的带式输送机煤流量检测系统更加适用。
- 带式输送机 /
- 煤流量检测 /
- 激光雷达 /
- 盲区检测 /
- 特征点融合 /
- 煤料偏置
Abstract: Due to the presence of stacking angles during the transportation of coal flow by belt conveyors, the shape of the coal flow is approximately triangular. It can easily lead to blind spots in detection. In order to solve this problem, a coal flow detection system for belt conveyors based on dual lidar is proposed. The method places two single-line lidars on the left and right sides above the belt conveyor, and measures the outer contour feature points of the coal flow in each half of the area. The method uses the fusion algorithm to fuse the outer contour feature points of the coal flow in the left and right areas. Then the method uses the least squares polynomial fitting algorithm to calculate the outer contour of the coal flow in the entire area, thus achieving blind spot-free measurement of the coal flow contour. The method uses the photoelectric encoder to achieve the real-time detection of the conveyor belt running speed. The method uses the trapezoidal area accumulation method to calculate the coal flow cross-sectional area. The method uses the panel integration method to calculate of the coal flow rate of the belt conveyor. The on-site test results show that when there is no coal bias, the scanning results of single/dual lidar are basically consistent, and the system measurement error is 2%~3%. The results meet the requirements of coal flow detection. When there is coal bias, the system error based on a single lidar is relatively large. The result cannot meet the requirements of coal flow detection. The measurement error based on a dual lidar system can still be maintained at 2% to 3%. The paper proposes a selection criterion for single/dual lidar. It is concluded that the coal flow detection system based on dual lidar is more suitable for belt conveyors in the presence of coal bias or large blocks of coal.
- belt conveyor /
- coal flow detection /
- lidar /
- blind spot detection /
- feature point fusion /
- coal bias

HTML全文

图 1 基于单激光雷达的煤流量检测系统

Figure 1. Coal flow detection system based on single lidar

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图 2 激光雷达检测盲区

Figure 2. Blind spot in lidar detection

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图 3 基于双激光雷达的煤流量检测系统

Figure 3. Coal flow detection system based on dual lidar

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图 4 带式输送机煤流量检测系统坐标系

Figure 4. Coordinate system of coal flow detection system for belt conveyor

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图 5 激光雷达检测盲区判别

Figure 5. Identification of blind spot in lidar detection

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图 6 特征点融合流程

Figure 6. Feature point fusion process

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图 7 梯形面积累计法原理

Figure 7. Principle of trapezoidal area accumulation method

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图 8 煤料瞬时流量计算模型

Figure 8. Calculation model for instantaneous coal flow

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图 9 基于双激光雷达的带式输送机煤流量检测系统现场试验

Figure 9. Field test of coal flow detection system for belt conveyor based on dual lidar

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图 10 单/双激光雷达扫描结果

Figure 10. Single/dual lidar scanning results

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图 11 不同工况下的测量误差

Figure 11. Measurement error under different working conditions

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图 12 存在煤料偏置时单激光雷达安装高度

Figure 12. Installation height of a single lidar under coal bias condition

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图 13 存在大块煤料时单激光雷达安装高度

Figure 13. Installation height of a single lidar in the presence of large blocks of coal

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Step1	分别初始化左右侧激光雷达扫描区间[θ₁₁，θ_1n]和[θ₂₁，θ_2n]，扫描区间根据激光雷达所在位置和输送带宽度决定；
Step2	for(i=1；i≤n；i++)
Step3	读取第i个点的坐标(y_i，z_i)；
Step4	根据式(5)判别第i个点和第i−1个点Y 轴坐标差值：if \|y_i−y_i−1\|≥δthen i=0；break；else 将第i 个点的坐标(y_i，z_i)存入缓存区 Coordinate_L[ ]，Coordinate_R[ ]；
Step5	判别第i个点是否超出扫描区间：if θ_1i＞θ_1n \|\| θ_1i＜θ₁₁then i=1；break；
	else 对缓存区坐标进行坐标变换，将2个激光雷达的数据转换到同一个坐标系内；
Step6	将缓存区内左右激光雷达坐标变换后的数据按照Y 轴坐标从小到大排序，得到最终的特征点融合数据；
Step7	end
完成1次数据融合。

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表 1 无煤料偏置工况下检测结果对比

Table 1. Comparison of detection results under non coal bias working condition

试验序号	带速/ (m·s⁻¹)	标准体积/m³	检测结果/m³
试验序号	带速/ (m·s⁻¹)	标准体积/m³	单激光雷达	双激光雷达
1	2	2	1.94	1.95
2	2	4	3.90	3.88
3	2	6	5.85	5.85
4	2	8	7.83	7.82
5	2	10	9.75	9.73
6	3	2	1.96	1.95
7	3	4	3.88	3.88
8	3	6	5.85	5.86
9	3	8	7.80	7.81
10	3	10	9.72	9.78
11	4	2	1.95	1.95
12	4	4	3.90	3.90
13	4	6	5.84	5.88
14	4	8	7.77	7.83
15	4	10	9.74	9.74

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表 2 有煤料偏置工况下检测结果对比

Table 2. Comparison of detection results under coal bias working condition

试验序号	带速/ (m·s⁻¹)	标准体积/m³	测量结果/m³
试验序号	带速/ (m·s⁻¹)	标准体积/m³	单激光雷达	双激光雷达
1	2	2	1.23	1.95
2	2	4	2.63	3.90
3	2	6	3.78	5.86
4	2	8	5.26	7.79
5	2	10	6.07	9.72
6	3	2	1.35	1.94
7	3	4	2.64	3.91
8	3	6	3.68	5.86
9	3	8	5.01	7.80
10	3	10	6.42	9.78
11	4	2	1.36	1.95
12	4	4	2.65	3.89
13	4	6	3.77	5.88
14	4	8	5.05	7.78
15	4	10	6.43	9.78

下载: 导出CSV

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