Automation of coke reclaiming with 3D stock pile imaging system

The authors developed a 3D imaging system for use with automatic coke reclaiming system. This imaging system is consisted of stand-alone embedded controller and 3D laser scanner. Embedded style controller makes the imaging system isolated from the reclaimer main control PLC so that we can manage the operation tasks more easily. For low laser reflectivity of black coke surface, laser range finding sensor sensitivity was specially adjusted. In addition to basic laser scanning operation software, a few operation tasks for work point searching, inverse kinematics solving, work ordering, coke stock volume measuring and communication are embedded in the controller. Reclaimer machine oriented work point coordinates and other calculated results are transmitted to main control PLC so that automatic reclaiming operation is achieved. This imaging system was applied to coke stock yard of POSCO Kwangyang Works and satisfied remotely located operators for convenience of work point accessing.