An automatic stacking, retrieving, and stacking and retrieving method and system for material yards

Abstract

The invention relates to an automatic material stacking and material taking method for a material yard. The method comprises the steps of scanning materials in the material yard by using a three-dimensional laser scanner fixedly installed above the material yard to form point cloud data of the materials, and carrying out three-dimensional modeling according to the point cloud data of the materialsand preset reference characteristic points and finishing material stacking and material taking operations, wherein forming of a three-dimensional model of the material yard comprises a cleaning step,a splicing step, a removing step, a filling step and a modeling step. The invention further discloses an automatic material stacking, material taking and material stacking and taking system. The three-dimensional laser scanner fixed above the material yard is used for scanning the point cloud data of the materials in the material yard, no material stacking and material taking machine participatesin the scanning process, the three-dimensional laser scanner can independently run in real time, working time is saved, and material stacking and material taking operations can be more accurately carried out by acquiring the alignment angle of a material stacking machine or acquiring a starting point and an ending point of a material taking machine.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional laser scanning, and in particular relates to an automatic stacking, retrieving, stacking and retrieving method and system for a material yard. Background technique [0002] At present, the unattended coal stockyard system can be roughly divided into several monitoring methods such as remote, semi-automatic and automatic. However, these monitoring methods have the following defects: [0003] 1. The unattended system of remote control stacker-reclaimer only moves the driver's cab to the remote console. It is necessary for the operator to watch the monitoring screen to monitor the material situation and operation process in the stockyard. This remote control method mainly relies on The most important thing is the quality and judgment of the operator itself, but this kind of manual monitoring is very unreliable, and the quality of night work is very low. [0004] 2. Although the unattended ...

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Problems solved by technology

[0003] 1. The unattended system of remote control stacker-reclaimer only moves the driver's cab to the remote console. It is necessary for the operator to watch the monitoring screen to monitor the material situation and operation process in the stockyard. This remote control method mainly relies on The most important thing is the quality and judgment of the operator itself, but this kind of manual monitoring is very unreliable, and the quality of night work is very low

[0004] 2. Although the unattended system of the semi-automatic stacker-reclaimer reduces part of the operations of the operator, it is still necessary to manually check the operation process and index data provided by the unattended system; Videos are used to monitor the entire process of the operation, so the use of this semi-automatic system still lacks safety and low operating efficiency

[0005] 3. Although the unattended system of the existing automatic stacker-reclaimer does not require manual participation, for example, other sensors (such as radar, ultrasonic, etc.) are used to perform extensive measurement of the ground and stacking height on the site. Obtain real-time data of the stockpile, so the feeder must start running from the highest position of the boom and the edge of the pile area during actual operation, and run layer by layer and section by section, which will cause the feeder to run empty , so that the efficiency of the feeder is low and the loss is serious;

[0006] In addition, the material machine in the prior art needs to walk and move separately for the 3D laser scanner during non-working hours, which consumes energy, and the data obtained by the 3D laser scanner has no temporal correlation with the material machine operation.

[0007] In summary, the automatic stacker / reclaimer in the prior art has low operating efficiency, serious loss, and untimely and inaccurate inventory update

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