CN110081818A - Stockyard material model measurer - Google Patents

Abstract

The invention provides a stockyard material model measuring device, which belongs to the technical field of stockpiling volume measurement, and includes a measuring device, a data processing server and a control system; the measuring device scans the stockyard materials; the data processing server receives the data sent by the measuring device and Process to obtain the stockyard material model; the control system receives the stockyard material model from the data processing server, and controls the stacking and reclaiming action of the stacker-reclaimer; the control system controls the operation of the measuring equipment through the data processing server. The measuring equipment includes: a laser scanner, used to scan the yard materials; a scanner shield, containing the laser scanner; an angle adjustment bracket, installed in the scanner shield, used to carry the laser scanner, and adjust the laser Scanning angle of the scanner. The invention obtains the stockyard material model through measurement to eliminate the no-load operation and overload operation of the stacker-reclaimer; improves the operating efficiency of the equipment and improves the operating safety of the equipment.

Description

Yard Material Model Measuring Device

technical field

The invention belongs to the technical field of stockpile volume measurement, and in particular relates to a stockyard material model measuring device.

Background technique

At present, the stockyard material models of power plants, chemical industry, cement and other industries basically use unmanned aerial vehicles or stocker equipment to carry out regular and regular inventory, and finally form the material model through complex analysis and calculation. Since the system is not in real-time inventory, all model data lags behind, basically meaningless in practical application. For example, coal stacking in a power plant depends entirely on the driver of the stacker-reclaimer operating the direction lever in the on-site driver's cab, and judging with the naked eye to control the position of the stacker-reclaimer to locate the material model. If things go on like this, the system often has no-load and overload phenomena, which reduces the operating efficiency of the equipment and seriously threatens the safety of each equipment.

Therefore, it is necessary to provide a stockyard material model measuring device that addresses the above-mentioned deficiencies in the prior art.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a stockyard material model measuring device suitable for power plants, chemical industry, cement and other industries, so as to at least solve the problems of no-load and overload caused by stockyard model lag and stacker-reclaimer inaccurate positioning.

In order to achieve the above object, the present invention provides the following technical solutions:

A stockyard material model measuring device, said stockyard material model measuring device comprising a measuring device, a data processing server and a control system;

The measuring equipment is arranged on the head of the cantilever of the stacker-reclaimer to scan the stockyard materials;

The data processing server is connected to the measuring device, and is used to receive and process the data sent by the measuring device to obtain a three-dimensional model of the stockyard material;

The control system is connected to the data processing server, and is used to receive the stockyard material model of the data processing server, and control the stacking and reclaiming action of the stacker and reclaimer; the control system controls the measurement through the data processing server the operation of the equipment;

The measuring equipment includes:

Laser scanner for scanning yard materials;

A scanner protective cover, installed on the head of the cantilever of the stacker-reclaimer, accommodates the laser scanner;

The angle adjustment bracket is installed in the scanner protective cover and is used to carry the laser scanner and adjust the scanning angle of the laser scanner.

As described above, a stockyard material model measurement device, preferably, the angle adjustment bracket includes a fixed bracket and a rotating bracket, one long side of the fixed bracket is hinged to a long side of the rotating bracket, and the fixed bracket Installed horizontally in the protective cover of the scanner, the rotating bracket is located under the fixed bracket, the laser scanner is arranged under the rotating bracket, and the rotating bracket drives the laser scanner to adjust the scanning angle .

As described above, a stockyard material model measuring device, preferably, the angle adjustment bracket further includes an angle adjustment screw, a pulley and an A motor;

The bottom end of the angle adjusting screw rod is hinged to the other long side of the rotating bracket, and the angle adjusting screw rod is provided with external threads;

The pulley is provided with a center hole of the pulley, and an internal thread is arranged in the center hole of the pulley, and the size of the center hole of the pulley matches the thread size of the angle adjusting screw rod; the axial direction of the pulley and the radial position relative to the fixed bracket remain unchanged, and the pulley can rotate around the central axis of the angle adjusting screw;

The A motor is fixed on the fixed bracket, and the rotating shaft of the A motor is provided with an A driving wheel, and the A driving wheel is connected with the pulley through a transmission belt, and the A driving wheel drives the rotation of the pulley , the A motor is connected to the data processing server, and the control system controls the operation of the A motor through the data processing server;

Preferably, the transmission belt is a synchronous belt.

According to the above-mentioned device for measuring a stockyard material model, preferably, the angle adjustment bracket further includes a self-aligning bearing, the outer ring of the self-aligning bearing is fixed on the fixed bracket, and the inner ring of the self-aligning bearing Coaxially connected with the pulley, the inner diameter of the inner ring of the self-aligning bearing is larger than the inner diameter of the pulley;

Preferably, the self-aligning bearing is a rolling self-aligning bearing.

According to the above-mentioned a stockyard material model measuring device, preferably, the scanner protective cover includes a protective cover body, a protective door and mounting feet;

The side wall of the protective cover body is provided with a scanning window, and the protective cover body inside the scanning window is provided with a track matching the protective door, the protective door is installed in the track, and the protective door is arranged along the The track moves to realize the opening and closing of the scanning window; the mounting feet are located above the side wall of the protective cover body, so as to facilitate fixing the scanner protective cover under the cantilever;

Preferably, the protective door moves up and down along the track.

In the above-mentioned a kind of stockyard material model measuring device, preferably, the scanner protective cover also includes a protective door lifting mechanism, and the protective door lifting mechanism includes:

Lifting screw, the bottom end of the lifting screw is connected to the protective door; the lifting screw is provided with external threads;

Lifting wheel, the lifting wheel is provided with a central hole of the lifting wheel, the central hole of the lifting wheel is provided with an internal thread, and the size of the central hole of the lifting wheel matches the size of the lifting screw; the axial and diameter of the lifting wheel The position relative to the fixed bracket remains unchanged, and the lifting wheel can rotate around the central axis;

A driving mechanism, the driving mechanism is connected to the lifting wheel, the driving mechanism drives the lifting wheel to rotate, the driving mechanism is connected to a data processing server, and the control system controls the driving mechanism through the data processing server exercise.

In the above-mentioned a kind of storage yard material model measuring device, preferably, the protective door lifting mechanism also includes a bearing, the outer ring of the bearing is fixed on the fixed bracket, and the inner ring of the bearing is connected with the lifting wheel Coaxial connection, the inner diameter of the bearing is larger than the inner diameter of the lifting wheel;

Preferably, the bearing is a rolling bearing.

As described above, a stockyard material model measuring device, preferably, the driving mechanism includes a B motor and a B driving wheel connected to the output shaft of the B motor, and the B driving wheel is connected with the lifting wheel to drive The lift wheel rotates.

In the above-mentioned device for measuring the material model of a stockyard, preferably, the B driving wheel and the lifting wheel are connected by a transmission belt, and the transmission belt is a V-belt or a V-belt.

As for the yard material model measurement device described above, preferably, the side wall of the protective cover body is provided with a data interface, which is convenient for data connection inside and outside the scanner protective cover;

Preferably, there is a sealed connection between the data interface and the protective cover body;

Still preferably, a protective cornice is provided above the data interface.

Compared with the closest prior art, the technical solution provided by the present invention has the following excellent effects:

The stockyard material model measuring device provided by the present invention scans the stockpiles through two measuring devices arranged at the head of the cantilever of the stacker-reclaimer. Convenient and accurate; a closed stainless steel scanner shield is set outside the laser scanner and the angle adjustment bracket, which can make the measuring equipment adapt to different working conditions. The scanner shield is equipped with a protective door and a scanning window, and the laser scanner stops Close the scanning window in time when working to avoid dust accumulation in the scanner protective cover, which has a positive effect on the normal operation and life extension of the laser scanner. Measure the data in real time through the laser scanner and transmit it to the data processing server in real time so that the data processing server can obtain the stacking model data; and then control the operation of the stacker-reclaimer through the control system to provide the stacker-reclaimer with a real-time stacking model. The starting corner position, angle, etc.; eliminate the no-load operation and overload operation of the stacker-reclaimer; improve the operating efficiency of the stacker-reclaimer and improve the operation safety of the stacker-reclaimer.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

in:

Fig. 1 is the use state diagram of the stockyard material model measuring device on the stacker-reclaimer of the embodiment of the present invention;

Fig. 2 is a schematic diagram of an angle adjustment bracket according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of the operating principle of the angle adjustment bracket according to the embodiment of the present invention;

Fig. 4 is the schematic diagram of the protective door lifting mechanism of the embodiment of the present invention;

FIG. 5 is a schematic diagram of a scanner protective cover according to an embodiment of the present invention;

FIG. 6 is another perspective view of the scanner shield in FIG. 5 .

In the figure: 1, measuring equipment; 11, protective cover body; 12, protective door; 13, installation foot; 14, scanning window; 15, lifting screw rod; 16, lifting wheel; 17, bearing; 18, B motor; 19 , B driving wheel; 2, laser scanner; 3, angle adjustment bracket; 31, fixed bracket; 32, rotating bracket; 33, angle adjustment screw; 34, sleeve wheel; 35, self-aligning bearing; 37. Drive wheel A; 4. Data interface; 41. Protective cornice; 51. Stacking on the left side of the track; 52. Stacking on the right side of the track; 6. Stacker-reclaimer cantilever; 7. Data processing server; room; 81. control system; 9. electrical room; 10. track.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top", "bottom", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation, so they cannot be understood as Limitations on the Invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense, for example, it can be fixedly connected or detachably connected; it can be directly connected or indirectly connected through intermediate parts, for ordinary A skilled person can understand the specific meanings of the above terms according to specific situations.

According to a specific embodiment of the present invention, as shown in FIGS. 1 to 6 , the present invention provides a stockyard material model measuring device, which includes a measuring device 1, a data processing server 7 and a control system 81;

Measuring device 1, measuring device 1 is arranged on the head of stacker-reclaimer cantilever 6, carries out the scanning of stockyard material; In the embodiment of the present invention, measuring device 1 is provided with two, and two measuring devices 1 are respectively arranged on At the left and right ends of the cantilever head, the measuring device 1 is arranged under the cantilever.

The data processing server 7 is connected to the measuring device 1, and is used to receive and process the data sent by the measuring device 1 to obtain a three-dimensional model of the stockyard material;

The control system 81 is connected to the data processing server 7 for receiving the stockyard material model of the data processing server 7 and controlling the stacking and reclaiming actions of the stacker-reclaimer; the control system 81 also controls the operation of the measuring equipment 1 through the data processing server 7 . In an embodiment of the invention, the data processing server 7 is installed in the electrical room 9 of the stacker-reclaimer.

When in use, the data processing server 7 is connected to the measuring device 1 through ModbusEthernet to read the measurement data in real time. After the data processing server 7 collects the measurement data of the measuring device 1, it screens the validity of the data, filters out abnormal data, analyzes and processes the valid data by using technologies such as 3D modeling, and builds a stockpiling model. Information such as the starting and ending positions and cutting depths of each stack is obtained, and the information is transmitted to the control system 81 in real time in the form of data. After the control system 81 obtains the data transmitted from the data processing server 7, it determines the stacking position by controlling the rotation angle of the cantilever 6 of the stacker-reclaimer, the pitch angle of the cantilever and the forward and backward movement of the cart, and controls the reclaiming process by fine-tuning the position of the cart. Depth of cut. Furthermore, it effectively controls the constant flow rate of the reclaimed material, ensures the maximum flow rate, protects the safety of the equipment, and improves the service life of the equipment.

Measuring equipment 1 includes:

Laser scanner 2, laser scanner 2 is used for scanning the yard material;

The scanner protective cover is installed on the head of the cantilever 6 of the stacker-reclaimer, and accommodates the laser scanner 2; in the embodiment of the present invention, the scanner protective cover is made of stainless steel, which meets the strength requirements and is not easily corroded Loss occurs.

Angle adjustment bracket 3, the angle adjustment bracket 3 is installed in the scanner protective cover, used to carry the laser scanner 2, and adjust the scanning angle of the laser scanner 2.

When in use, the laser scanner 2 is installed on the angle adjustment bracket 3 , and the angle adjustment bracket 3 drives the laser scanner 2 to rotate, thereby realizing the adjustment of the scanning angle of the laser scanner 2 . In order to ensure the optimal stacking model data, when the stacker-reclaimer cantilever 6 is at the left and right stacking angles, the left and right laser scanners 2 are always facing the stacking body, and the laser emission angle of the instrument is above 180 degrees to cover , there is no blind spot at all. The two laser scanners 2 correspond to the stockpiles 51 on the left side of the track 10 and the stockpiles 52 on the right side of the track 10 respectively.

At the same time, the left and right laser scanners 2 simultaneously cover and scan the same pile, calibrate and integrate the data, improve the accuracy of the data, and greatly improve the quality of the pile model. Provide technical support for fully automatic unattended stackers and reclaimers.

In the above-mentioned stockyard material model measuring device, as a preferred solution, the angle adjustment bracket 3 includes a fixed bracket 31 and a rotating bracket 32, one long side of the fixed bracket 31 is hinged with a long side of the rotating bracket 32, and the fixed bracket 31 is installed horizontally In the scanner protective cover, the rotating bracket 32 is located under the fixed bracket 31, and the laser scanner 2 is arranged under the rotating bracket 32, and the rotating bracket 32 rotates to drive the laser scanner 2 to adjust the scanning angle.

In the above-mentioned stockyard material model measuring device, as a preferred solution, the angle adjustment bracket 3 also includes an angle adjustment screw 33, a pulley 34 and an A motor 36;

The bottom end of the angle adjustment screw rod 33 is hinged with the other long side of the rotating bracket 32, and the angle adjustment screw rod 33 is provided with external threads;

The sleeve wheel 34 is provided with a sleeve wheel 34 center hole, and the sleeve wheel 34 center hole is provided with an internal thread, and the size of the sleeve wheel 34 center hole matches the thread size of the angle adjustment screw rod 33; the axial and radial directions of the sleeve wheel 34 are relatively The position of the fixed bracket 31 remains unchanged, and the pulley 34 can rotate around the central axis of the angle adjustment screw;

A motor 36 is fixed on the fixed support 31, and the rotating shaft of A motor 36 is provided with A driving wheel 37, and A driving wheel 37 is connected with sleeve wheel 34 by transmission belt, and A driving wheel 37 drives sleeve wheel 34 to rotate, and A motor 36 and data Processing server 7 is connected, and control system 81 controls the operation of A motor 36 by data processing server 7 control system 81 control system 81;

Preferably, the transmission belt is a timing belt.

When in use, the A motor 36 drives the A drive wheel 37 to rotate, and then drives the sheave 34 to rotate, restricting the axial movement of the sheave 34, and the angle adjustment screw 33 threaded with the sheave 34 moves up and down under the helical action, Thus, the laser scanner 2 installed under the rotating bracket 32 is driven to rotate around the hinged long side of the rotating bracket 32 , thereby realizing the adjustment of the laser scanning angle.

In the above-mentioned storage yard material model measuring device, as a preferred solution, the angle adjustment bracket 3 also includes a self-aligning bearing 35, the outer ring of the self-aligning bearing 35 is fixed on the fixed bracket 31, and the inner ring of the self-aligning bearing 35 and the sleeve wheel 34 are coaxially connected, and the inner diameter of the inner ring of the self-aligning bearing 35 is larger than the inner diameter of the sheave 34; preferably, the self-aligning bearing 35 is a rolling self-aligning bearing 35 .

When in use, since the angle adjustment screw 33 has a small angle change between the movement and the fixed bracket 31, the inner ring axis of the self-aligning bearing 35 can have a certain angle change with the outer ring axis when it is in use without affecting The inner ring rotates normally.

In the above-mentioned stockyard material model measuring device, as a preferred solution, the scanner protective cover includes a protective cover body 11, a protective door 12 and an installation foot 13;

The side wall of protective cover body 11 is provided with scanning window 14, and the protective cover body 11 of scanning window 14 inner sides is provided with the track 10 that matches with protective door 12, and protective door 12 is installed in the track 10, and protective door 12 moves along track 10, thereby The opening and closing of the scanning window 14 is realized; the mounting feet 13 are located above the side wall of the protective cover body 11, which is convenient for fixing the scanner protective cover under the cantilever;

Preferably, the protective door 12 moves up and down along the track 10 .

When in use, open the scanning window 14, and close the scanning window 14 when the device is not in use, so as to prevent dust and the like from entering the inside of the scanner protective cover, thereby prolonging the service life of the scanner.

In the above-mentioned storage yard material model measuring device, as a preferred solution, the scanner protective cover also includes a protective door 12 lifting mechanism, and the protective door 12 lifting mechanism includes:

Lifting screw 15, the bottom end of lifting screw 15 is connected with protective door 12; Lifting screw 15 is provided with external thread;

Lifting wheel 16, lifting wheel 16 is provided with lifting wheel 16 central holes, is provided with internal thread in the lifting wheel 16 central holes, and the size of lifting wheel 16 central holes matches the size of lifting screw mandrel 15; Lifting wheel 16 is axially and radially opposite The position of the fixed bracket 31 remains unchanged, and the lifting wheel 16 can rotate around the central axis;

The driving mechanism is connected with the lifting wheel 16, the driving mechanism drives the lifting wheel 16 to rotate, the driving mechanism is connected with the data processing server 7, and the control system 81 controls the movement of the driving mechanism through the data processing server 7.

In the above-mentioned stockyard material model measuring device, as a preferred solution, the protective door 12 lifting mechanism also includes a bearing 17, the outer ring of the bearing 17 is fixed on the fixed bracket 31, and the inner ring of the bearing 17 is coaxially connected with the lifting wheel 16, The internal diameter of bearing 17 is greater than the internal diameter of lifting wheel 16;

Preferably, the bearing 17 is a rolling bearing 17 .

In the above-mentioned storage yard material model measuring device, as a preferred solution, the driving mechanism includes a B motor 18 and a B driving wheel 19 connected to the output shaft of the B motor 18, and the B driving wheel 19 is connected with the lifting wheel 16 to drive the lifting wheel 16 rotate.

In the above-mentioned stockyard material model measuring device, as a preferred solution, the B driving wheel 19 and the lifting wheel 16 are connected by a transmission belt, and the transmission belt can be a V-belt or a V-belt.

When in use, the control system 81 controls the operation of the B motor 18 through the data processing server 7 control system 81, and the B motor 18 drives the belt-connected lifting wheel 16 to rotate through the coaxially connected B drive wheel 19, and the lifting wheel 16 drives the inner bearing 17. Because the outer ring of the bearing 17 is fixed, the movement of the inner ring of the bearing 17 in the axial direction is restricted, and the rotation of the inner ring drives the lifting screw 15 that matches it to run up and down, thereby driving the protective door 12 connected to it. Moving up and down along the track 10 inside the scanner window realizes the opening and closing of the scanning window 14 .

In the above-mentioned storage yard material model measuring device, as a preferred solution, the side wall of the protective cover body 11 is provided with a data interface 4, which is convenient for data connection inside and outside the scanner protective cover;

Preferably, there is a sealed connection between the data interface 4 and the protective cover body 11;

More preferably, a protective cornice 41 is arranged above the data interface 4 .

When in use, the wiring inside the scanner protective cover is integrated into one joint through the data interface 4, which not only facilitates connection, but also greatly increases the dustproof and waterproof effect of the scanner protective cover due to the sealed structural design. The protective eaves 41 can prevent the joint from being affected by external force and cause the joint to be damaged while being dust-proof.

When implementing the present invention, open the scan window 14 of the scanner protective cover by the control system 81, open the laser scanner 2, adjust the scanning angle of the laser scanner 2 by the control system 81, make it in the normal scanning state, then pass the laser Scanner 2 performs real-time laser scanning. Laser scanner 2 adopts laser scanning imaging technology. Laser scanner 2 emits multiple pulsed lasers. , the receiving detector receives the signal, and records the time, and outputs the above data to the data processing server 7 through the built-in industrial field bus interface (ModbusTCP protocol) after sorting and packing. After the data processing server 7 collects the measurement data of the laser scanner 2, it screens the validity of the data, filters abnormal data, analyzes and processes the valid data using technologies such as 3D modeling, and builds a stacking model. The data processing server 7 Compare the material model with the 3D model of the stacker-reclaimer. Information such as the starting and ending positions and cutting depths of each stack is obtained, and the information is transmitted to the control system 81 in real time in the form of data. After the control system 81 obtains the data transmitted from the data processing server 7, it determines the stacking position by controlling the rotation angle of the cantilever 6 of the stacker-reclaimer, the pitch angle of the cantilever and the forward and backward movement of the cart, and controls the reclaiming process by fine-tuning the position of the cart. Depth of cut. Furthermore, it effectively controls the constant flow rate of the reclaimed material, ensures the maximum flow rate, protects the safety of the equipment, and improves the service life of the equipment.

To sum up, the stockyard material model measuring device provided by the present invention scans the stockpiles through two measuring devices arranged at the cantilever head of the stacker-reclaimer. The laser scanning angle adjustment is convenient and accurate; a closed stainless steel scanner shield is set outside the laser scanner and the angle adjustment bracket, which can make the measuring equipment adapt to different working conditions. The scanner shield is equipped with a protective door and a scanning window. When the laser scanner stops working, close the scanning window in time to avoid dust accumulation in the scanner protective cover, which has a positive effect on the normal operation and life extension of the laser scanner. Measure the data in real time through the laser scanner and transmit it to the data processing server in real time so that the data processing server can obtain the stacking model data; and then control the operation of the stacker-reclaimer through the control system to provide the stacker-reclaimer with a real-time stacking model. The starting corner position, angle, etc.; eliminate the no-load operation and overload operation of the stacker-reclaimer; improve the operation efficiency of the equipment and improve the safety of the equipment operation.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A stockyard material model measuring device is characterized in that, the stockyard material model measuring device comprises a measuring device, a data processing server and a control system; The measuring equipment is arranged on the head of the cantilever of the stacker-reclaimer to scan the stockyard materials; The data processing server is connected to the measuring device, and is used to receive and process the data sent by the measuring device to obtain a three-dimensional model of the stockyard material; The control system is connected to the data processing server, and is used to receive the stockyard material model of the data processing server, and control the stacking and reclaiming action of the stacker and reclaimer; the control system controls the measurement through the data processing server the operation of the equipment; The measuring equipment includes: Laser scanner for scanning yard materials; A scanner protective cover, installed on the head of the cantilever of the stacker-reclaimer, accommodates the laser scanner; The angle adjustment bracket is installed in the scanner protective cover and is used to carry the laser scanner and adjust the scanning angle of the laser scanner. 2. a kind of stockyard material model measuring device as claimed in claim 1, is characterized in that, described angle adjustment support comprises fixed support and rotating support, and a long side of described fixed support and a long side of described rotating support The fixed bracket is horizontally installed in the scanner protective cover, the rotating bracket is located under the fixed bracket, the laser scanner is arranged under the rotating bracket, and the rotating bracket drives the The above laser scanner adjusts the scanning angle. 3. a kind of stockyard material model measuring device as claimed in claim 2, is characterized in that, described angle adjustment bracket also comprises angle adjustment screw mandrel, pulley and A motor; The bottom end of the angle adjusting screw rod is hinged to the other long side of the rotating bracket, and the angle adjusting screw rod is provided with external threads; The pulley is provided with a center hole of the pulley, and an internal thread is arranged in the center hole of the pulley, and the size of the center hole of the pulley matches the thread size of the angle adjusting screw rod; the axial direction of the pulley and the radial position relative to the fixed bracket remain unchanged, and the pulley can rotate around the central axis of the angle adjusting screw; The A motor is fixed on the fixed bracket, and the rotating shaft of the A motor is provided with an A driving wheel, and the A driving wheel is connected with the pulley through a transmission belt, and the A driving wheel drives the rotation of the pulley , the A motor is connected to the data processing server, and the control system controls the operation of the A motor through the data processing server; Preferably, the transmission belt is a synchronous belt. 4. a kind of stockyard material model measuring device as claimed in claim 3, is characterized in that, described angle adjustment support also comprises self-aligning bearing, and the outer ring of described self-aligning bearing is fixed on the described fixed support, so The inner ring of the self-aligning bearing is coaxially connected with the pulley, and the inner diameter of the inner ring of the self-aligning bearing is larger than the inner diameter of the pulley; Preferably, the self-aligning bearing is a rolling self-aligning bearing. 5. A kind of storage yard material model measuring device as claimed in claim 1, wherein, the scanner protective cover comprises a protective cover body, a protective door and mounting feet; The side wall of the protective cover body is provided with a scanning window, and the protective cover body inside the scanning window is provided with a track matching the protective door, the protective door is installed in the track, and the protective door is arranged along the The track moves to realize the opening and closing of the scanning window; the mounting feet are located above the side wall of the protective cover body, so as to facilitate fixing the scanner protective cover under the cantilever; Preferably, the protective door moves up and down along the track. 6. A kind of yard material model measuring device as claimed in claim 5, is characterized in that, described scanner protective cover also comprises protective door lifting mechanism, and described protective door lifting mechanism comprises: Lifting screw, the bottom end of the lifting screw is connected to the protective door; the lifting screw is provided with external threads; Lifting wheel, the lifting wheel is provided with a central hole of the lifting wheel, the central hole of the lifting wheel is provided with an internal thread, and the size of the central hole of the lifting wheel matches the size of the lifting screw rod; the axial and diameter of the lifting wheel The position relative to the fixed bracket remains unchanged, and the lifting wheel can rotate around the central axis; A driving mechanism, the driving mechanism is connected to the lifting wheel, the driving mechanism drives the lifting wheel to rotate, the driving mechanism is connected to a data processing server, and the control system controls the driving mechanism through the data processing server exercise. 7. A kind of storage yard material model measuring device as claimed in claim 6, is characterized in that, described protective door lifting mechanism also comprises bearing, and the outer ring of described bearing is fixed on the described fixed bracket, and the outer ring of described bearing The inner ring is coaxially connected with the lifting wheel, and the inner diameter of the bearing is larger than the inner diameter of the lifting wheel; Preferably, the bearing is a rolling bearing. 8. A kind of storage yard material model measuring device as claimed in claim 6, is characterized in that, described drive mechanism comprises B motor and the B drive wheel that is connected on the output shaft of described B motor, described B drive wheel and The lifting wheels are connected to drive the lifting wheels to rotate. 9. A stockyard material model measuring device according to claim 8, characterized in that, the B driving wheel and the lifting wheel are connected by a transmission belt, and the transmission belt is a V-belt or a V-belt. 10. A kind of yard material model measuring device as claimed in claim 5, is characterized in that, the side wall of described shield body is provided with data interface, is convenient to the data connection inside and outside of described scanner shield; Preferably, there is a sealed connection between the data interface and the protective cover body; Still preferably, a protective cornice is provided above the data interface.