Coal pile collapse warning and material retrieval path planning of stacker-reclaimer
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.
stacker-reclaimercoal pile collapseoptical scanneredge information extractionlinear interpolation method
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NSTL
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