手提盘煤仪的动态俯仰角获取方法  

Dynamic pitch angle measurement for portable coal inventory instrument

作　　者：董丽丽[1] 杨德山[1] 许文海[1] 梁倩倩[1] 张望[1] 

机构地区：[1]大连海事大学信息科学技术学院,大连116026

出　　处：《仪器仪表学报》2016年第6期1241-1247,共7页Chinese Journal of Scientific Instrument

基　　金：国家科技支撑计划(2014BAB12B03);国家自然科学基金(61501077);中央高校基本科研业务费专项资金(3132014301)项目资助

摘　　要：手提盘煤仪盘点过程中俯仰角测量的准确性对盘点结果有重要影响,针对倾角仪在动态情况下,由于受到加速度影响使得测量俯仰角误差增大的缺陷,提出了一种利用盘煤仪测量的地面点云解算俯仰角的方法。本方法利用盘煤仪在俯仰变化情况下,激光扫描仪获得的水平地面点云在激光扫描仪局部坐标系中的形状特征,对每条激光扫描线中的地面点云进行最小二乘法直线拟合,将拟合直线的斜率进行反正切变换来获得动态情况下盘煤仪的俯仰角,并利用该俯仰角进行体积计算。实验结果表明,在静态情况下本文方法测量精度可达0.011°;在动态条件下,克服了倾角仪受加速度影响而测量误差大的缺陷;在实际体积盘点过程中,利用本文方法进行煤堆盘点,平均体积测量误差为0.8%。数据表明,本文方法相对倾角仪能更适合手提式盘煤仪动态条件下俯仰角测量,测量准确性优于倾角仪。The pitch angle measurement of the portable coal inventory instrument has direct influence over the inventory result. To avoid the effect of acceleration on pitching angle under dynamic conditions, an approach based on the characteristic of ground point in the Light Detecting and Ranging （Lidar） coordinate system is proposed. The shape of the horizontal ground point cloud in the Lidar coordinate system will change with the pitch angle.. According to this feature, each laser scan line in the ground point clouds is fitted by least square method. Then, the pitch angle can be obtained by the arctangent transformation of the lines. Finally, the volume can he drawn by utilizing this pitch angle. The evaluation experiments show that the accuracy of the measurement is 0. 011~ under the the static conditions. The proposed approach overcomes the insufficiency caused by the effect of acceleration on pitching angle. The mean error of dynamic volume measurement for coal inventory is 0.8%. The experimental results demonstrate that the proposed approach is more suitable for the pitching angle measure in the portable coal inventory instrument.

关 键 词：激光测量 倾角仪 动态俯仰角 盘煤 

分 类 号：TB922[一般工业技术—计量学] TN249[机械工程—测试计量技术及仪器]