CN103913116B - Large-scale stacking material volume both sides parallel measuring device and method - Google Patents
Large-scale stacking material volume both sides parallel measuring device and method Download PDFInfo
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- CN103913116B CN103913116B CN201410084463.0A CN201410084463A CN103913116B CN 103913116 B CN103913116 B CN 103913116B CN 201410084463 A CN201410084463 A CN 201410084463A CN 103913116 B CN103913116 B CN 103913116B
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Abstract
The present invention relates to a kind of large-scale stacking material volume both sides parallel measuring device and method.This method uses laser scanner and laser range sensor mutual cooperation synchronous acquisition stockpile profile information.Laser scanner is installed in and is capable of achieving on the dolly of stabilization uniform motion, and laser scanner continually scans for stockpile profile information during exercise, and laser range sensor gathers the moving displacement of laser scanner, and two groups of synchronizing informations constitute the three-D profile information of stockpile.Dolly in specific moving on rails, to realize easy motion.This measurement apparatus is specifically arranged as each parallel a set of measuring apparatus of installation in stockpile both sides, with complete scanning stockpile profile information.The stockpile profile information of collection is passed on PC rebuilds the appearance and volume of stockpile using the mode of integral reconstructors, so as to realize the cubing to large-scale stacking material.In addition, the measured data person of being managed receives can in time make corresponding decision-making, therefore the present invention will provide technical support for the large-scale stacking material of business administration.
Description
Technical field
The present invention relates to a kind of large-scale stacking material volume both sides parallel measuring device and method.Specifically related to one kind is used
The large-scale stockpile acquisition surface three-dimensional information of laser scanning, rebuilds stockpile data model, then by data by three-dimensional modeling
Treatment can calculate the automatic visual measuring method and device of material stack volume and quality.
Background technology
Some powders or pellet are generally stored in the way of piling up, such as coal, grain, ore, sandy soil, these stacking materials
Volume it is generally large, and with the execution of accessing operation, quantity in stock is in dynamic change, and standard is difficult with conventional measuring method
True estimated inventory quantity, the volume of stacking material is still estimated in many enterprises by the way of manually going to scene to measure.Manually
Measure mode error larger, and the cycle of making an inventory of goods in a warehouse is more long, for the enterprise for frequently entering the operation of line access material, because charging discharges this
Individual process causes the stockpile of material to be dynamic change, so as to need the volume to stockpile to be monitored in real time, grasps real-time
Data, determine which material also has, how many is that intelligent decision is done in the arrangement of the production schedule, it is necessary to how many.And manual measurement
Method makes an inventory of goods in a warehouse the information for providing not in time, is not easy to rationally control stock and utilizes warehouse.Also have some enterprises possess stacker,
The automation equipments such as reclaimer and system.But still need the quantity in stock of manual measurement estimation or the material such as make an inventory, thus, open
Sending out a kind of, the apparatus and method of measurement volume of material are critically important in real time at a distance.
The content of the invention
A kind of deficiency it is an object of the invention to be directed to prior art presence, there is provided large-scale deposit stacking material volume
Both sides parallel measuring device and method, large-scale stockpile is measured using sensors such as laser scanner, laser range sensors
Appearance profile information.In order to obtain useful stockpile profile information, the present invention is by laser scanner mounted in the even of achievable stabilization
On the dolly of speed linear motion, laser scanner constantly scans the profile information of stockpile at the uniform velocity advancing, and scanning every time is
One two-dimensional curve discrete point information；The laser range sensor of the one end for being installed in trolley travelling track simultaneously measures dolly i.e.
The positional information of laser scanner, this is an one-dimension information.The specific transmission side of information warp that two sensors are synchronously obtained
Formula and interface pass to processor, and being fitted two-way information with specific algorithm will form the three-D profile information of stockpile profile, make
The volume of stockpile can be calculated with the method for integral reconstructors.
In order to realize above-mentioned functions, idea of the invention is that：
The large-scale material stack volume measuring method and device of a kind of automatic quick scan mode.It includes laser scanner, swashs
Ligh-ranging sensor, carrier loader, trolley track and track frame, computer, data cable etc..A feature of the present invention exists
In laser scanner being placed on carrier loader, the scanning collection stockpile information with dolly easy motion in orbit, with this
Laser range sensor also synchronous acquisition trolley travelling displacement simultaneously.In order to ensure carrier loader volume easy motion, dolly is used
Rail wheel, in the moving on rails of laying, and track is fixed in the good track frame of rigidity.The laying of track frame and track
Linearity, rigidity and stability need to be focused on, the length of track can be determined according to the size in measured place, typically can be several
Hundred meters.Dolly uses driven by power, and the steady operating of motor can ensure the even running of dolly.Whole work process can calculated
Operated under the control interface of machine and completed, for example, started laser scanner and laser range finder is operated, calibrates laser scanner
Position, operation interval, collection and storage data etc. are set.
Another feature of the invention is to pass through Synchronization Control using two groups of above-mentioned stockpile profile information harvesters, while
Collection and processing data.Set of device can only measure the unilateral profile information of stockpile, be arranged in parallel in two sets of stockpile both sides
Device ability can completely measures the profile information of stockpile.By Synchronization Control, such as the carrier loader of two covering devices runs at the same speed,
Initial position identical, setting identical scan frequency and sweep interval etc. are set, while parallel acquisition and processing data are carried out, will
The stockpile curved surface profile information Fitting fitting of two covering devices collection, complete three-dimensional reconstruction is carried out to stockpile profile information, enters one
The integral reconstructors treatment of step can obtain the volume information of stockpile.
Conceived according to foregoing invention, the present invention uses following technical proposals：
A kind of large-scale stacking material volume both sides parallel measuring device, including two sets of laser scanning dresses for paralleling to the layout and installation
Put, each of which is cased with a laser scanner, laser range sensor, agv controller, a dolly and drives
Device, a secondary guide rail, a guide rail bracket and a carrier loader, share a computer, it is characterised in that the laser scanner
It is installed on carrier loader, guide rail and guide rail bracket are installed in parallel in stockpile stockyard both sides, even on guide rail by dolly
Speed motion, laser scanner is scanned to stockpile line by line, and laser range sensor is arranged on guide rail one end, two groups of measurement apparatus
Be connected by way of wired or radio communication with computer.
Described large material stack product volume of material both sides parallel measuring device.It is characterized in that：The laser ranging is passed
Sensor is installed in one end of trolley travelling guide rail, in one end that dolly often starts and stops；The measurement apparatus of stockpile both sides
In laser range sensor be arranged on same one end；After system starts, laser range sensor measures dolly to its distance.Institute
Two groups of guide rails installation parallel with guide rail bracket of trolley travelling is stated, predetermined precision is ensured during installation, be the stable motion wound of dolly
Make condition；Uniform motion during moving of car, two groups of dollies start simultaneously, and ensure that control speed is identical；In motion process
To ensure being synchronized with the movement for dolly, the value that the laser range sensor is returned adjusts the synchronism of two dollies as controlled quentity controlled variable,
The synchronization of dolly ensure that the synchronism of laser scanner, it is ensured that laser scanner scans the synchronism of the side profile of stockpile two,
For favourable preparation has been done in the split of stockpile profile.
A kind of large-scale stacking material volume both sides horizontal survey method, it is flat using described large-scale stacking material volume both sides
Row measurement apparatus are measured, and measurement operating procedure is as follows：System start with initialization, it is including operation interval, scan frequency, small
The setting work of car movement velocity, and start each sensor and initialization apparatus, measurement apparatus is alignd to ensure synchro measure；
Start carrier loader and start measurement, collect each sensing data；Data processing：Including two sets of numbers of measurement apparatus sensor collection
According to integration, point cloud create, stockpile contour fitting with rebuild, integrate cube；Measurement apparatus reset and stop.
The large-scale stacking material volume both sides horizontal survey method, it is characterised in that the scanning is received by sensor
Collection information：Stockpile contour point information, the laser scanner of laser range sensor acquisition that laser scanner is obtained are along guide rail
Walking displacement；Contour point information is the point information of an angular coordinate system with laser scanner as origin, is sensed with laser ranging
The displacement information combination that device is obtained, the point information that can be set up under conventional coordinates after coordinate transform；Metrical information can be by having
Line or wireless communication mode pass to the computer with data processing and control function.The data processing is described two
Kind of laser measurement sensor obtains the three-dimensional information that information constitutes stockpile, by two groups of synchro measures of measurement apparatus, can be by
The metrical information of both sides is fitted to complete stockpile profile well；Because scanning laser sensor is surveyed in the motion with dolly
Stockpile contour point information is measured, the movement velocity in view of dolly is compensated by the measurement of laser measurement sensor in data handling
As a result；The skeleton pattern of stockpile is simulated by the treatment of computer, and then stockpile is calculated by way of integral reconstructors
Volume.
The laser scanner, using the sensor suitable for outdoor version laser scanning measurement system, such as SICK brands
Model LD-LRS series of products, with fog correcting function, can adapt to outdoor atrocious weather situation, and with compared with
Big working range, maximum measure distance is 250m, with resolution ratio higher（0.125 degree）, wide angle scanning（270 degree）, low frequency sweeps
Retouch（10Hz）.These conditions have met the demand of large-scale stockpile measurement.Can be exported using PNP for data output, also may be used
Exported using relay, the series of products are Ethernet interface, can be good at transferring data to computer.Laser scanning
Device is installed on the dolly of motion, as the uniform motion of dolly progressively scans stockpile cross section profile, actually laser scanning
Instrument is also a rangefinder, will on stockpile profile regular collection range information, this information pass through data transmission device
Passing to computer disposal can reconstruct stockpile profile.Laser scanning ideally is perpendicular to scanner movements direction
, the information gathered in the scanning of motion is the profile information of stockpile oblique section, and this is accomplished by being transported in data handling
Dynamic compensation, correctly to rebuild stockpile profile and then draw correct material stack volume and quality.
The laser range sensor, is the device for being installed in guide rail bracket one end, for gathering laser scanner motion
Distance.Laser range sensor must be installed precisely moderate in measurement direction to ensure laser scanner.Laser range finder is adopted
On the one hand the information of collection be used as one-dimension information when stockpile is modeled, and on the other hand can be used to calibrate the range finding of stockpile both sides
The sync bit of instrument, it is also possible to be used as setting the foundation of measurement range.
The carrier loader, structure or the device such as including wheel, drive device, controller, sweep.It is flat according to trolley travelling
Steady requirement, using the wheel of similar Train wheel, can reach preferably require make error be maintained at acceptable scope it
It is interior.Drive device is driven using motor, and enough driving moments and desired movement velocity are reached through speed change, and this is also selection horse
The foundation for reaching.It is an information for controlling the motion of dolly and the interface as data acquisition and temporary ground for controller
Terminal.Except of course that wired data cable, it is also possible to consider radio communication, the data of target and the biography of signal are moved easily
Pass.For the peripheral structure of dolly, such as sunshade-rain awning etc. can be selected as needed.
The track and support, the holding equipment as laser scanning system are particularly important, and its precision directly affects measurement
As a result.For general fixed stockyard, the laying of support and track be also it is fixed, will support fix on the ground, then
Track is fixed in track frame.In view of the rigidity requirement of this fixing device, track frame is strengthened using oblique muscle, plus
Strong muscle is in angular distribution, with enough rigidity.In process of deployment, the installation accuracy of track need to be ensured.Used for track
Seamless treatment, to eliminate the noise of the next vibrations of track seamed belt and scanner gathered data；Rail is determined according to specific place demand
Road length, typically can be in hundreds of meters.
The computer, the function with remote control function and processing data.By wire cable or wireless side
Formula and above-mentioned laser scanning measurement equipment are communicated, and can will be started the information such as stopping, sweep interval, moving of car speed and be passed
Laser scanning measurement equipment is passed, also the stockpile profile information that Laser Scanning Equipment is gathered computer can be passed to.Computer
Another critical function be the two sets of Synchronization Controls that will be received the stockpile that obtains of laser scanning measurement equipment parallel acquisition
Profile information carries out parallel processing, and the pattern and volume of stacking material are rebuild using integral reconstructors mode, and according to man-machine interface
The stockpile proportion of input can calculate the quality of stockpile.Another mode of computer processing data is the material that will be calculated
Heap volume or quality information timely pass to the overlayer monitors platform of materials circulation department, allow the logistics department can be timely
Understand the real time data of material and make intelligent decision according to the production schedule in time.The present invention will be as enterprise's large material stack number
The important component of wordization management.
Current existing large-scale stockpile measuring method has artificial heap-type estimation method and general laser optical method.Artificial heap-type is estimated
Survey method is not only wasted time and energy, and certainty of measurement is relatively low, and stockpile is piled into similar pyramid etc. by this method by artificial
Rule body, then measures the corresponding length of side and height to calculate material stack volume.General laser optical method is to pacify laser measuring apparatus
On stacker, stockpile profile is scanned with stacker rotation, this method has scanning dead angle, needed after stacker movement
The coordinate of scanner, therefore this method measurement efficiency existing defects are re-scaled, certainty of measurement is not high.This method uses both sides
The method for scanning stockpile profile, eliminates scanning dead angle, and dolly delivery laser scanner is moved on straight guide rail, and sweep limits can
Certainty of measurement is controlled and ensure that, with practical value higher.
The present invention compared with prior art, with will be apparent below protruding substantive distinguishing features and notable technology is entered
Step：The present invention proposes synchro measure and the large-scale stacking material volume measuring method and device rebuild in the range of a kind of 360 degree, leads to
The appearance profile information that two groups of synchronizing information harvesters gather stockpile simultaneously is crossed, the profile information according to collection is using integration weight
Structure mode rebuilds the pattern and volume of stacking material, so as to realize the measurement to large-scale stacking material volume.
Brief description of the drawings
The large-scale stacking material volume both sides horizontal survey device structure schematic diagrams of Fig. 1
The large-scale stacking material volume both sides horizontal survey equipment general arrangement schematics of Fig. 2
The large-scale stacking material volume both sides horizontal survey system principle diagrams of Fig. 3
The large-scale stacking material volume both sides horizontal survey method flow diagram figures of Fig. 4.
Specific embodiment
The preferred embodiment of the present invention is elaborated below in conjunction with the accompanying drawings：
Embodiment one：
Referring to Fig. 1 and Fig. 2, this large-scale stacking material volume both sides parallel measuring device, including two sets parallel to the layout and installation
Laser scanning device, each of which is cased with a laser scanner（21）, a laser range sensor（22）, a dolly
Controller（23）, a trolley driver（24）, a secondary rail（12）, a track frame（11）With a carrier loader（30）,
Share a computer（50）, it is characterised in that laser scanner（21）It is installed in carrier loader（30）On, by dolly
（30）Uniform motion, line by line to stockpile（40）It is scanned, while being installed in track（10）The laser ranging sensing of one end
Device（22）Synchro measure dolly（30）And laser scanner（21）Position, the information transmission of two sensors to computer（50）
On stockpile can be showed after fitting（40）Integrity profile information, and then obtain desired material stack volume.
Referring to shown in Fig. 2 and Fig. 3, computer（50）On control interface can send control information, start laser scanning
Measuring apparatus, such as set sweep interval, positioning scanning initial position, start dolly（30）Deng.Laser scanner（21）Can be with
The information such as setting scanning angle, scan frequency, can be set according to the particular location of measured object and profile.Can pass through
Laser Measuring sensor（22）Return value determine laser scanner（21）Lengthwise position, set longitudinal scanning scope.To scanning
Interval is provided with beneficial to sweep limits is reduced as far as possible, improves scan efficiency.Can set small additionally by control interface
Car（30）Movement velocity, this parameter need be used as scan dot position information offset, be also related to scanning effect
Rate, movement velocity more short scan efficiency is higher, and profile information fidelity is smaller.
When laser scanning measurement equipment is run, laser scanner（21）Stockpile profile is continually scanned for, with polar form
Scanned point is returned relative to laser scanner（21）Angle and distance information, scanned point is synthesized to a curve,
Coordinate again and laser range sensor（22）The distance value of synchro measure is returned to, a plurality of curve is synthesized to a curved surface.Material
Heap（40）The laser scanning measurement equipment of both sides using Synchronization Control, while collection and treatment method, by stockpile（40）Both sides
Surface information spliced, complete stockpile profile information can be reconstructed, then be subject to integral reconstructors in computer（50）Meter
Calculate the volume of stockpile.
Embodiment two：The measurement of steel mill's stockpile volume
Shown in Figure 2, steel mill's raw material typically has fixed stowed location, therefore the suitable large-scale raw material of steel mill of the present invention
The stockpile measurement in stockyard.Stockpile（40）Both sides reserve haulage vehicle road, and two sets of laser scanning measurement equipment are packed in into ground
On, while ensureing the track of two complete equipments（10）It is parallel to each other, and track is determined according to actual place demand（10）Length.Adjust
Whole laser range sensor（22）Measurement direction so that its all the time face laser scanner（21）To measure its offshore distance
As the one-dimension information of stockpile skeleton pattern.
Operating personnel are by using computer（50）On control interface operation laser scanning measurement system.Good berth is set
Behind interval, each sensor unlatching work, two dollies are advanced after navigating to corresponding initial position with identical movement velocity,
So that laser scanner（21）Synchro measure stockpile profile information.During this, laser range sensor（22）Return away from
The laser scanner of one side can be made for the positioning of laser scanner provides foundation, on the one hand first from information（21）It is rapid to catch
Surveying range, on the other hand also for both sides scanning device simultaneously provides foundation.Work as dolly（30）Carry laser scanner（21）Arrive
Behind position, scan pattern, the stockpile profile information that two sets of scanning devices of data-base recording are returned are opened.After scan pattern is opened, fortune
Carry dolly（30）With at the uniform velocity in track（10）Upper advance, laser scanner（21）And laser range sensor（22）With respective work
Stockpile profile information is gathered as mode.Finally judge laser range sensor（22）Measured value whether reach the measurement zone of setting
Between boundary value determining whether scanning process terminates.
After single pass terminates, computer（50）The data that the two sets of laser scanning measurements equipment for receiving is returned are carried out
Treatment, what is used during due to collection information is synchro measure, two group informations can be spliced by software, is then fitted
Profile scan curve, finally reconstructs the profile information of stockpile, and the volume of stockpile is calculated by integral reconstructors.
Embodiment three：
This embodiment is essentially identical with embodiment one, is particular in that：Laser scanning measurement system includes laser
Scanning and measuring apparatus and data sampling and processing and communication module.Referring to Fig. 1 and Fig. 3, laser scanner（21）Passed with laser ranging
Sensor（22）The stockpile profile information of collection is passed to certain communication protocol by data cable and interface and can located
Manage the computer of data（50）, the data for obtaining are fitted scanning curve and then reconstruct the skeleton pattern of stockpile by discrete point,
With the method for integral reconstructors calculate stockpile volume and quality information.This information can pass to management level by shared platform,
Management level make timely decision-making according to the production schedule.Volume and mass measurement of the present invention suitable for large-scale stockpile, as coal
Enterprise dump measurement, the ore of smelter or ore in sand form measurement etc..The present invention will manage large-scale to be similar to above-mentioned enterprise
Automation, intelligent level are lifted in stockyard.Secondly, the present invention utilizes advanced laser measuring technique, with measurement higher
Precision.Whole process realizes automatic management, enormously simplify artificial heap-type estimating and measuring method more universal at present, saves labor
Power, improves measurement efficiency.Measurement apparatus can realize once mounting, long-term measurement.
Embodiment four：
Referring to Fig. 4, the operating procedure of large-scale stacking material volume both sides parallel measuring device is as follows：Activation system is simultaneously initial
Change：Operation interval, scan frequency, dolly are set（30）The parameters such as movement velocity, operation interval is set includes dolly（30）Operation
Ultimate range and laser scanner（21）Scanning angle, and starting each sensor and makes each equipment seek zero, makes measurement apparatus pair
It is neat ensureing synchro measure；Start carrier loader（30）Start measurement, collect each sensing data；Data processing：Including two sets
The integration of the data of measurement apparatus sensor collection, point cloud are created, stockpile contour fitting with rebuild, integrate cube；Measurement dress
Put and reset and stop.Operation described above is in computer（50）Upper completion.
Embodiment five：
This embodiment is essentially identical with embodiment four, and special feature is：
The scanning is by sensor collection information：Laser scanner（21）The stockpile of acquisition（40）Contour point information,
Laser range sensor（22）The laser scanner of acquisition（21）Along the walking displacement of guide rail；Contour point information is one with laser
Scanner（21）It is the point information of the angular coordinate system of origin, with laser range sensor（22）The displacement information combination of acquisition, warp
The point information that can be set up after coordinate transform under conventional coordinates；Metrical information can be transmitted by wired or wireless communication mode
To the computer with data processing and control function（50）.
The large-scale stacking material volume both sides horizontal survey method, it is characterised in that：The data processing is described two
Kind of laser measurement sensor obtains the three-dimensional information that information constitutes stockpile, by two groups of synchro measures of measurement apparatus, can be by
The metrical information of both sides is fitted to complete stockpile well（40）Profile；Due to scanning laser sensor（21）With dolly
（10）Motion in measure stockpile（40）Contour point information, in data handling in view of dolly（10）Movement velocity mended
Repay laser measurement sensor（21）Measurement result；Stockpile is simulated by the treatment of computer（40）Skeleton pattern, and then
Stockpile is calculated by way of integral reconstructors（40）Volume.
Claims (6)
1. a kind of large-scale stacking material volume both sides parallel measuring device, including two sets of laser scanning dresses for paralleling to the layout and installation
Put, each of which be cased with a laser scanner (21), laser range sensor (22), agv controller (23),
One trolley driver (24), a secondary guide rail (12), a guide rail bracket (11) and a dolly (30)；Two sets of laser scanning dresses
Put a shared computer (50), it is characterised in that the laser scanner (21) is installed on dolly (30), guide rail (12)
Stockpile stockyard both sides are installed in parallel in guide rail bracket (11), by uniform motion of the dolly (30) on guide rail (12), laser
Scanner (21) is scanned to stockpile (40) line by line, and the laser range sensor (22) for being installed in guide rail (12) one end is synchronous
The position of measurement dolly (30), the information transmission of two groups of laser scanners (21) and laser range sensor (22) to computer
(50) the integrity profile information of stockpile (40) can be showed on after fitting, and then obtains desired material stack volume.
2. large-scale stacking material volume both sides parallel measuring device according to claim 1, it is characterised in that：The laser
Distance measuring sensor (22) is installed in one end of guide rail (12), the one end for often starting positioned at dolly (30) and stopping；Stockpile
(40) laser range sensor (22) in the measurement apparatus of both sides is separately mounted to two groups of same one end of guide rail (12).
3. large-scale stacking material volume both sides parallel measuring device according to claim 1, it is characterised in that：The dolly
(30) two groups of guide rails (12) installation parallel with guide rail bracket (11) of operation, ensures predetermined precision during installation；Dolly (30) is moved
When uniform motion, two groups of dollies (30) and meanwhile start, and ensure control speed it is identical；The laser range sensor (22) is returned
The value returned adjusts the synchronism of two dollies (30) as controlled quentity controlled variable.
4. a kind of large-scale stacking material volume both sides horizontal survey method, using large-scale deposit according to claim 1
Material volume both sides parallel measuring device is measured, it is characterised in that：Measurement operating procedure is as follows
A) system starts and initialization：Including operation interval, scan frequency, moving of car speed setting work, and start swash
Optical scanner (21) and laser range sensor (22) and initialization apparatus, make measurement apparatus align to ensure synchro measure；
B) start carrier loader and start measurement, collect laser scanner (21) and laser range sensor (22) data；
C) data processing, including the data collected of two sets of measurement apparatus laser scanners (21) and laser range sensor (22)
Integrate, put cloud establishment, stockpile contour fitting and rebuild, integrate cube；
D) measurement apparatus reset and stop.
5. large-scale stacking material volume both sides horizontal survey method according to claim 4, it is characterised in that：The laser is swept
It is by sensor collection information to retouch device (21) scanning：Stockpile (40) contour point information, laser that laser scanner (21) is obtained
Distance measuring sensor (22) obtain laser scanner (21) along guide rail walking displacement；Contour point information is one with laser scanning
Device (21) is the point information of the angular coordinate system of origin, and the displacement information obtained with laser range sensor (22) is combined, through coordinate
The point information that can be set up after conversion under conventional coordinates, stores, with scan line rule index in a cloud form.
6. large-scale stacking material volume both sides horizontal survey method according to claim 4, it is characterised in that：At the data
Reason is laser scanner (21) described in two groups and laser range sensor (22) obtains the three-dimensional information that information constitutes stockpile, is passed through
To two groups of synchro measures of measurement apparatus, the metrical information of both sides can be well fitted to complete stockpile (40) profile, carried
Go out a kind of three-dimensional rebuilding method based on subdivision and volume approximation computation algorithm, calculate the volume of stockpile (40).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084463.0A CN103913116B (en) | 2014-03-10 | 2014-03-10 | Large-scale stacking material volume both sides parallel measuring device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084463.0A CN103913116B (en) | 2014-03-10 | 2014-03-10 | Large-scale stacking material volume both sides parallel measuring device and method |
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| CN103913116B true CN103913116B (en) | 2017-06-06 |
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| US8655048B2 (en) * | 2008-02-05 | 2014-02-18 | Centre De Recherche Industrielle Du Quebec | Apparatus and method for measuring size distribution of granular matter |
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| US6137577A (en) * | 1995-07-26 | 2000-10-24 | Psc, Inc. | Method and apparatus for measuring dimensions of objects on a conveyor |
| CN2294453Y (en) * | 1997-03-28 | 1998-10-14 | 南京理工大学 | Automatically measuring and drawing the volume of coal bulk on ground |
| CN101281021A (en) * | 2008-05-14 | 2008-10-08 | 天恒威科技（北京）有限公司 | Wood automatic monitoring method and system |
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