Research On Orbital Laser Scanning Robot Testing Method And Point Cloud Processing For Coal Stockpile Measurement

In order to meet the demand of social power supply,thermal power plants will store a large amount of coal in the coal shed to ensure power generation.The quantification of coal reserves is not only conducive to the production planning of thermal power plants,but also related to the long-term and stable power supply of the country.The fast and accurate measurement scheme of coal stockpile volume is of great significance to the coal inventory management and digital construction of coal yard in thermal power plant.The traditional coal pile measurement scheme uses manual measurement,which is time-consuming and laborious,and has a lot of errors,so it is difficult to realize the automatic monitoring of fuel in thermal power plants.Through laser scanning technology,a coal stack volume measurement system based on orbital mobile lidar scanning is designed,and the laser point cloud data processing method is studied and applied.In this thesis,the three-dimensional mechanical structure and working principle of the orbital mobile lidar system are analyzed,the high-precision three-dimensional point cloud data is obtained by moving overlooking scanning of the lidar and it studies how to calculate the volume parameters of the target based on 3D point cloud data.In the aspect of point cloud data processing,in order to solve the problem of point cloud coordinate distortion in the process of lidar mobile scanning,the method based on IMU linear interpolation is used to correct the point cloud.According to the characteristics of orbital mobile laser point cloud data,statistical filtering and bilateral filtering are proposed to eliminate the noise points in the original data to ensure the accuracy of 3D reconstruction.The voxel grid filter is used to simplify the huge laser point cloud data,which can improve the running speed of the system while retaining the data characteristics.The RANSAC algorithm is used to segment the point cloud data and extract the point cloud data of the target.The Crust algorithm and the implicit reconstruction algorithm based on radial basis function are used to reconstruct the point cloud data,and the mesh model of the object is obtained.The volume of the model is calculated by projection method,and the volume measurement system is designed.According to the research on the point cloud data process,the upper computer software is developed by using MATLAB App Designer.Through the laboratory simulation experiment,the reliability of the point cloud collection scheme and volume calculation algorithm of the measurement system is verified.The influence of edge length of voxel grid on volume calculation accuracy and calculation time is analyzed.The volume measurement error are verified by using the real coal yard data.The results show that the system can quickly measure the volume of coal pile.it has high calculation accuracy and industrial application prospect.