堆取料机取料过程中防坍塌预警及路径规划研究  

Coal pile collapse warning and material retrieval path planning of stacker-reclaimer

作　　者：王宝华 王博强 赵纯权 万书亭[2] WANG Baohua;WANG Boqiang;ZHAO Chunquan;WAN Shuting(Guoneng Changzhou Power Generation Co.,Ltd.,Changzhou 213000,China;Hebei Key Laboratory of Electric Machinery Health Maintenance&Failure Prevention,North China Electric Power University,Baoding 071003,China)

机构地区：[1]国能常州发电有限责任公司,江苏常州213000 [2]华北电力大学,河北省电力机械装备健康维护与失效预防重点实验室,河北保定071003

出　　处：《水运工程》2024年第4期56-64,共9页Port & Waterway Engineering

基　　金：国家自然科学基金项目(52275109);河北省自然科学基金项目(E2022502007)。

摘　　要：在运煤轮船船舱进行取料作业时,由于路径规划可能引发煤堆坍塌的危险,提出一种基于分层点云边缘信息提取的防止煤堆坍塌的模拟堆取料机取料路径规划方法。首先利用搭载二维激光扫描试验装置采集原始三维点云数据,通过坐标转换,采用直通滤波算法去噪滤波,随机采样法简化算法精简点云数据,基于切片法计算煤堆体积和质量,实现对来煤精准盘点;然后提取每层煤料堆表面的边缘信息,将不同层次的煤料堆边缘信息组合起来,构建出整个煤料堆表面的边缘模型,实时计算待取料煤堆边缘安息角,实现煤堆坍塌预警信息;最后基于直线插补方法进行取料路径规划,给出防止煤堆坍塌的模拟堆取料机执行机构作业路径。Based on the risk of coal pile collapse caused by path planning during stacking and reclaiming operations in the cabin of coal transport ships,this paper proposes a simulated clearing machine reclaiming path planning method based on edge information extraction from layered point clouds to prevent coal pile collapse.Firstly,the original 3D point cloud data is collected using a two-dimensional laser scanning experimental device.The point cloud data is simplified through coordinate conversion,denoising filtering using direct filtering algorithm,and random sampling simplification algorithm.Based on the slicing method,the calculated coal pile volume and mass are obtained,and the incoming coal is accurately counted.Then,the edge information of each layer of coal pile surface is extracted.The edge information of different layers of coal pile is combined to build the edge model of the entire coal pile surface,and the edge rest angle of the coal pile to be taken is calculated in real-time computing to realize the early warning information of coal pile collapse.Finally,based on the linear interpolation method,the material retrieval path planning is carried out,and a simulated cleaning machine execution mechanism operation path to prevent coal pile collapse is provided.

关 键 词：堆取料机 煤堆坍塌 激光扫描仪 边缘信息提取 直线插补方法 

分 类 号：U653.92[交通运输工程—港口、海岸及近海工程]