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Infrared and Laser Engineering, Volume. 50, Issue S2, 20200099(2021)

Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard

Xin Jian1... Quan Zhou1,2,* and Tianlong Yang2 |Show fewer author(s)
Author Affiliations
  • 1CCC Water Transportation Consultants Co., Ltd, Beijing 100083 China
  • 2School of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan 411100 China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
    Equations (5)
    References (10)
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    Paper Information
    Topics
    Figures & Tables(11)
    System architecture diagram

    Fig. 1. System architecture diagram

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    Global coordinate system layout

    Fig. 2. Global coordinate system layout

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    Establishment of each coordinate system

    Fig. 3. Establishment of each coordinate system

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    Feature point extraction of sphere surface

    Fig. 4. Feature point extraction of sphere surface

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    Back-calculation error of standard sphere

    Fig. 5. Back-calculation error of standard sphere

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    Effect diagram of data mosaic

    Fig. 6. Effect diagram of data mosaic

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    Path planning

    Fig. 7. Path planning

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    Field test

    Fig. 8. Field test

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    • Table 1. The calculation of spherical center coordinates

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      Table 1. The calculation of spherical center coordinates

      Pose data rotation/(°), Pitch/(°), Travel/mSpherical coordinates/m
      [0.926, −4.124, 89.344][−64.74, −10.273, 31.496]、[−37.625, 47.591, 28.838]、 [−26.578, 54.498, 28.758]、[37.375, 53.581, 29.715]
      [11.309, −4.123, 89.344][−63.213, −22.81, 32.29]、[−47.015, 38.96, 29.121]、 [−37.423, 47.749, 28.891]、[25.659, 58.433, 29.122]
      [13.374, −4.125, 89.344][−62.656, 25.153, 32.455]、[−48.621, 37.131, 29.181]、 [−39.326, 46.258, 28.923]、[23.338, 59.108, 29.015]
      [29.1, −4.134, 89.344][−55.534, −42.707, 33.695]、[−58.839, 21.039, 29.91]、 [−52.39, 32.263, 29.433]、[4.471, 61.561, 28.384]
      ······
      ······
      [−10.307, 4.129, 89.344][−63.791, 3.635, 30.671]、[−25.7, 54.933, 28.684]、 [−13.533, 59.511, 28.783]、[48.973, 45.927, 30.479]
      [−22.542, −4.141, 89.344][−59.717, 17.968, 29.908]、[−11.577, 60.013, 28.738]、 [1.289, 61.894, 29.009]、[59.388, 35.452, 31.381]

    • Table 2. Global coordinate value of calibrated sphere

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      Table 2. Global coordinate value of calibrated sphere

      Ball numberGlobal coordinate value/m
      Ball (1)[123.295，660.216，0.847]
      Ball (2)[159.001，606.504，0.743]
      Ball (3)[158.997，593.499，0.697]
      Ball (4)[124.305，539.784，1.376]

    • Table 3. Calibration results

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      Table 3. Calibration results

      ParameterResult
      k1[−0.0241322356578230, −0.00848742929874968, −1.00345840212693]
      k2[−0.00698639711665264, 1.00404411551583, −0.00687821749052725]
      k3[0.442325868464691, 0.884651736929383, 0.147441956154897]
      t1[89.4487452221133, 600.106793609578, 14.5859227389128]
      t2[−4.96064857485726, 125.966577019193, −32.5089193040485]
      t3[14.4040035283724, −126.590439618449, −13.5939620742438]
      RT1 [0.904785904567622, −0.427438292148760, 0.00592253298597620, 89.4487452221133; 0.427477318501016, 0.904737285802332, −0.00946857001315529, 600.106793609578; −0.00130849501319894, 0.0110913504977723, 1.00066010049210, 14.5859227389128; 0, 0, 0, 1]
      RT2 [0.974304531826196, −0.00172950424822600, −0.226149808195282, −4.96064857485726; 0.00136899717336400, 1.00020826129429, −0.00175107953908600, 125.966577019193; 0.226152277853766, 0.00139615467203800, 0.974304493284483, −32.5089193040485; 0, 0, 0, 1]
      RT3 [−0.514141631719535, 0.857133272554982, 0.0313198916339447, 14.4040035283724; −0.857115239068129, −0.514799526319354, 0.0183006737186152, −126.590439618449; 0.0318095817319255, −0.0174356181581603, 0.999341858289486, −13.5939620742438; 0, 0, 0, 1]
      M[−0.687440474398016, 0.725546765708434, −0.0374128045419695, 99.5824377170413; −0.726505435812832, −0.686720289505128, 0.0315812806063315, 597.013205725566; −0.00277799062244338, 0.0488814199127985, 0.998999137047828, −30.4820647473178; 0, 0, 0, 1]
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    Xin Jian, Quan Zhou, Tianlong Yang. Research on key technologies of intelligent control system of bucket wheel machine in enclosed stockyard[J]. Infrared and Laser Engineering, 2021, 50(S2): 20200099

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    Paper Information

    Category: Lasers and laser optics

    Received: Apr. 15, 2020

    Accepted: --

    Published Online: Dec. 3, 2021

    The Author Email: Zhou Quan (221335160@qq.com)

    DOI:10.3788/IRLA20200099

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology