| The majority of storing dangerous chemical using the open stacking mode, which keep "five distance"(the distance to the stamp, the wall, the spacing and to the light) as a safety distance is an important factor to ensure the safe storage of those chemicals, but the enterprise safety consciousness, densely placed, high stacking is serious, caused great security risk.In view of the present situation of the lack of effective means of safety monitoring "5 distance", this paper presents a based on laser scanning of the dangerous goods warehouse stacking safe distance grid monitoring technical scheme, and the realization of the hardware and software development of the safety distance of stacking the precise positioning monitoring equipment. Scheme include grid division, the establishment of basic data, set the alarm rules, in accordance with relevant laws and regulations will warehouse grid division. By using the difference between the value of the laser scanning angle and the distance in the normal state and the alarm state, the determination of the safety state of stacking is realized. The device including a stepper motor, subdivision driving circuit, the worm reducer working table, a high precision encoder, the core control unit and module; Complete the task of the core control unit circuit design and circuit board production, including can communication module, RS232 communication module, digital signal conditioning module block and a power supply module, using the ARM microprocessor as the core control; test the accurate distance and the angle data acquisition, can bus data transmission in CCS5.5 development environment. Using exponential acceleration and deceleration control algorithm to make stepper motor work stable and precisely,30m range scan positioning error in 1.09cm. According to the characteristics of the noise generated during the scanning process, the median filtering and piecewise linear fitting method, realizes the filtering and prediction of noise. |
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