Study On Safety Monitoring Technology Of Laser Scanning In Dangerous Chemicals Warehouse

Dangerous chemicals warehouse is an important part of modern logistics.With the development of the logistics industry,the importance of its security has been paid more and more attention by the society.In order to prevent the safety accident of dangerous chemicals warehouse,a set of laser scanning safety monitoring system for dangerous chemicals warehouse was designed.to monitor the storage of dangerous chemicals warehouse in real time.The safety monitoring system for dangerous chemicals consists of a node,a master node and a server.The node is laser scanning distance measuring device based on ARM,which is used to periodically scan the warehouse according to the set angle.The master node collects the node monitoring data through the CAN bus,carries on the processing analysis,compares with the normal state,and judges whether the stacking is in conformity with the specification,and displays on the Kingview interface.The server sends out the control instruction,receives the monitoring data uploaded by the master node regularly,provides the monitoring data display of the multiple warehouses for the administrator,and realizes the abnormal state alarm.In view of the noise of the laser scanning data collected,a difference denoising algorithm is designed.The algorithm is to put the laser ranging data points obtained according to the scanning angle values in ascending order,and the distance between two adjacent values are subtracted to take the difference,and then through the comparison and calculation of the distance difference to filter out noise data.The algorithm is used to test several kinds of obstacles with different sizes and shapes,and the threshold is set to 0.5.The test results showed that the D-value denoising algorithm could effectively remove the noise,and could guarantee the integrity and reliability of normal point cloud.Abnormal data for laser scanning include noise points and barrier data.In order to scan and locate the obstacles in dangerous chemicals warehouse,and restore the shape and size,the data measured by laser scanning device were fitted based on least square method.First,the laser scanning device was used to scan the obstacle free data,and the data were fitted to establish the normal state.Then,the rectangular obstacle is scanned,and the outliers are fitted by least square method.Finally,the obstacles of the cylinder are scanned,and the collected outliers are fitted by least square method.The experimental results show that the dimension error value is less than 0.05m,which can realize the size reduction and meet the demand of hazardous material warehouse monitoring.