便携式计算机的车载激光扫描盘煤系统研究
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摘要
目前大多数电厂的煤场采用人工丈量测存煤量，这种计量方法，不仅浪费人力物力，而且测量结果精度差。人工丈量需要推土机整形，耗时耗力，耽误堆煤、取煤，计量精度差不利于管理数据化，不利于提高管理水平，不利于提高经济效益。为此，我们和合肥科德公司合作开发了《KDS2004激光扫描盘煤系统》。
本文以火力发电厂露天煤场存煤量的自动检测系统为研究对象，该系统是集激光、机械、微电子、计算机等技术于一体，为激光扫描单元车载结构，由激光扫描单元、位移传感器、起停传感器、下位机、便携式计算机和小车组成。系统的基本原理是采用脉冲式激光单元扫描测量煤堆到往返目标时间来获取煤堆高度值，将激光扫描技术与传感技术相结合来测量煤堆的体积。该系统实现了高密度数据的快速采集、高速度数据处理与分析、高精度体积计算和简便的三维重建操作。
本文提出了车载激光扫描系统的测量实施方案；深入分析了便携式计算机的车载激光扫描系统的测量原理；对整个系统的设计方案和参数选择进行了研究，设计了系统的部分硬件，并证明了其设计的合理性和可行性；利用Delphi、C++Builder以及三维图形软件标准接口OpenGL语言开发了上位机软件，该软件包括上位机的通讯模块、煤堆三维图形的生成模块、体积计算模块等；用汇编语言编写下位机数据采集和通讯部分的程序；详细地阐述了基于限定矩形区域的Delaunay三角剖分算法，实现了煤堆表面离散点的平面三角剖分和空间拓扑；从理论上详尽地分析了系统的体积误差，先从测量误差、截断误差、粗大误差入手，然后误差合成得出体积测量的误差，最后提出解决误差的方法。
本系统与传统的人工测量方法相比，极大地提高了测量效率和测量精度，克服了人为因素对测量结果的影响。解决了露天煤场存煤量测量这一长期困扰国内各大火力发电厂的难题，具有较强的实用性和推广价值。可有效地替代传统的人工测量方法，提高电厂的生产管理水平。较之于门式激光盘煤系统，该系统克服了其体积测量精度不高的缺点；较之于安装在斗轮机上的激光盘煤系统，克服了其成本太高的缺点。较之于目前广泛使用的CCD摄像盘煤系统，克服了其阴天工作效果不佳的缺点。
At the present time, most of the power plants' coal yard use manpower to measure the coal storage, but it causes a lot of problems, such as the waste of labor force and resources, or the rough precision. And to measure the storage by manpower means you need to transform the bulldozer frequently, which always delays to heap or fetch coal. Its rough precision defies data management with computer; hinders the improvement of management quality; impedes the augment of profit. To solve these problems, we cooperate with Hefei Kede Company to develop ≤KDS2004 Measuring Coal Storage System Using Scanning Laser≥ .
In this paper, this system of automatically measuring open coal yard storage in the firepower plant is studied. It integrates laser, machinery, micro-electronics, computer technology and so on. It consists of laser scanning module, displacement sensor, start & stop sensor, simple chip microcontroller(lower computer), portable computer(upper computer) and small vehicle. Principle of system is to obtain height of coal heap by impulsed laser scanning module. Combined laser scanning technology with sensor technology, volume of coal heap is measured. This system implement that high-density data is rapjdly sampled, data is processed and analyzed with high speed, volume is calculated with high precision, and three-dimensional shape is conveniently regenerated. It is available to substitute for traditional method of manual measurement and boosts produce management of firepower .
This paper proposes that schedule is laser scanning measurement system based on the small vehicle. Principle of laser scanning measurement system on the base of the portable computer and the small vehicle is thoroughly analyzed . This paper also studies parameter selection and design of the total system which hardware is designed, demonstrating that the system is reasonable and feasible. With several language such as Delphi , C++ Builder on upper computer the author develops one software of measuring coal heaps volume which includes communication module , regenerated module of coal heaps 3-D shape, module of calculation volume and so on, especially expatiates upon Delaunay triangulation algorithm which is restricted with rectangle region. Also this paper realizes triangulation of surface discrete points on coal yard, then triangulation expands in the space. Lower computer device is designed which procedure of gathering data and communication with portable computer is wrote.
IV
Theoretically, the author analyzes in detail volume error of the system. Firstly, the paper commences measurement error, coarse error and truncation error. Then it synthesizes all errors in order to grasp the full measurement error. Finally, it succeeds in proposing several methods of resolving measurement error.
Compared with the traditional way to measure by manpower, this system can enhance the effectiveness and precision of measuring coal yard to a considerable degree, and overcomes the influence caused by man to the result of measuring. It is feasible and worth to spread, because it solves the problem-how to measure open coal yard storage, which has been suffering a number of firepower plants. So it is the best substitute for the traditional measuring way, will improve the management quality of power plants. It has better volume-measuring precision than gate model system of measuring coal storage using scanning laser; and functions is better than CCD shoot system used recently widely in a cloudy day; but has less cost than bucketwheel.
本文以火力发电厂露天煤场存煤量的自动检测系统为研究对象，该系统是集激光、机械、微电子、计算机等技术于一体，为激光扫描单元车载结构，由激光扫描单元、位移传感器、起停传感器、下位机、便携式计算机和小车组成。系统的基本原理是采用脉冲式激光单元扫描测量煤堆到往返目标时间来获取煤堆高度值，将激光扫描技术与传感技术相结合来测量煤堆的体积。该系统实现了高密度数据的快速采集、高速度数据处理与分析、高精度体积计算和简便的三维重建操作。
本文提出了车载激光扫描系统的测量实施方案；深入分析了便携式计算机的车载激光扫描系统的测量原理；对整个系统的设计方案和参数选择进行了研究，设计了系统的部分硬件，并证明了其设计的合理性和可行性；利用Delphi、C++Builder以及三维图形软件标准接口OpenGL语言开发了上位机软件，该软件包括上位机的通讯模块、煤堆三维图形的生成模块、体积计算模块等；用汇编语言编写下位机数据采集和通讯部分的程序；详细地阐述了基于限定矩形区域的Delaunay三角剖分算法，实现了煤堆表面离散点的平面三角剖分和空间拓扑；从理论上详尽地分析了系统的体积误差，先从测量误差、截断误差、粗大误差入手，然后误差合成得出体积测量的误差，最后提出解决误差的方法。
本系统与传统的人工测量方法相比，极大地提高了测量效率和测量精度，克服了人为因素对测量结果的影响。解决了露天煤场存煤量测量这一长期困扰国内各大火力发电厂的难题，具有较强的实用性和推广价值。可有效地替代传统的人工测量方法，提高电厂的生产管理水平。较之于门式激光盘煤系统，该系统克服了其体积测量精度不高的缺点；较之于安装在斗轮机上的激光盘煤系统，克服了其成本太高的缺点。较之于目前广泛使用的CCD摄像盘煤系统，克服了其阴天工作效果不佳的缺点。
At the present time, most of the power plants' coal yard use manpower to measure the coal storage, but it causes a lot of problems, such as the waste of labor force and resources, or the rough precision. And to measure the storage by manpower means you need to transform the bulldozer frequently, which always delays to heap or fetch coal. Its rough precision defies data management with computer; hinders the improvement of management quality; impedes the augment of profit. To solve these problems, we cooperate with Hefei Kede Company to develop ≤KDS2004 Measuring Coal Storage System Using Scanning Laser≥ .
In this paper, this system of automatically measuring open coal yard storage in the firepower plant is studied. It integrates laser, machinery, micro-electronics, computer technology and so on. It consists of laser scanning module, displacement sensor, start & stop sensor, simple chip microcontroller(lower computer), portable computer(upper computer) and small vehicle. Principle of system is to obtain height of coal heap by impulsed laser scanning module. Combined laser scanning technology with sensor technology, volume of coal heap is measured. This system implement that high-density data is rapjdly sampled, data is processed and analyzed with high speed, volume is calculated with high precision, and three-dimensional shape is conveniently regenerated. It is available to substitute for traditional method of manual measurement and boosts produce management of firepower .
This paper proposes that schedule is laser scanning measurement system based on the small vehicle. Principle of laser scanning measurement system on the base of the portable computer and the small vehicle is thoroughly analyzed . This paper also studies parameter selection and design of the total system which hardware is designed, demonstrating that the system is reasonable and feasible. With several language such as Delphi , C++ Builder on upper computer the author develops one software of measuring coal heaps volume which includes communication module , regenerated module of coal heaps 3-D shape, module of calculation volume and so on, especially expatiates upon Delaunay triangulation algorithm which is restricted with rectangle region. Also this paper realizes triangulation of surface discrete points on coal yard, then triangulation expands in the space. Lower computer device is designed which procedure of gathering data and communication with portable computer is wrote.
IV
Theoretically, the author analyzes in detail volume error of the system. Firstly, the paper commences measurement error, coarse error and truncation error. Then it synthesizes all errors in order to grasp the full measurement error. Finally, it succeeds in proposing several methods of resolving measurement error.
Compared with the traditional way to measure by manpower, this system can enhance the effectiveness and precision of measuring coal yard to a considerable degree, and overcomes the influence caused by man to the result of measuring. It is feasible and worth to spread, because it solves the problem-how to measure open coal yard storage, which has been suffering a number of firepower plants. So it is the best substitute for the traditional measuring way, will improve the management quality of power plants. It has better volume-measuring precision than gate model system of measuring coal storage using scanning laser; and functions is better than CCD shoot system used recently widely in a cloudy day; but has less cost than bucketwheel.
引文
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[3] 中国专利ZL90108344．5
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[6] 淮南田家庵发电厂投标书
[7] www.wtusm.edu.cn/武汉大学—产业发展—项目招商LD-1激光测量系统.html
[8] 焦山．煤堆体积自动测量装置．东北电力学院学报．2000，20(4)：12～14
[9] S. Cunioto, M. Maini, M. Savini, A. Scianna. Machine vision application in power plant inspection. SPIE. vol. 2183 1994: 274-287
[10] T. Akuta, Y. Negishi. Development of automatic 3-D shape measuring system usig a new auto-focusing method. Measurement, 1997, 9(3): 98～102
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