Method, system and device for filtering point cloud data of coal stocktaking instrument

Abstract

The invention discloses a method, a system and a device for filtering point cloud data of a coal stocktaking instrument. The method comprises the following steps: S1, acquiring point cloud data; S2, judging whether the coordinate of each measuring point in the point cloud is within in a preset effective coordinate range; and if so, judging the measuring point is an effective measuring point, otherwise judging the measuring point is a non-effective measuring point; and S3, filtering the non-effective measuring point to acquire the point cloud consisting of the effective measuring point. The method, the system and the device for filtering the point cloud data of the coal stocktaking instrument have the following advantages: the non-effective measuring point in the point cloud can be deletedrapidly, accurately and automatically, and the deletion efficiency of the non-effective point cloud is greatly improved, so that the coal stocktaking precision is improved.

Description

technical field [0001] The invention relates to the technical field of pan coal, in particular to a method, system and device for filtering point cloud data of a pan coal instrument. Background technique [0002] Unmanned aerial vehicle coal panning is a new type of coal panning system based on the principle of aerial photography and mapping. The coal panning process is to use a drone to carry a surveying and mapping camera to automatically cruise above the coal yard and take a positive shot (keep the camera vertically downward from the horizontal line) 90 degrees) to take pictures, and each photo is guaranteed to have a certain degree of repetition, and then use professional photogrammetry software to generate point clouds, and then perform post-processing to reconstruct the 3D model of the coal yard and calculate the volume of the coal yard stockpile. [0003] The main function of UAV photogrammetry software is to generate high-density point clouds, called Miyun (dense poi...

AI Technical Summary

Problems solved by technology

The traditional UAV pan coal software uses the point cloud deletion function of the photogrammetry software to manually select and eliminate invalid point clouds. The method of manually removing invalid point clouds has a large workload and low efficiency, and the measurement results are subject to human factors. Impact

In addition, due to factors such as aerial photography equipment, coal field dust, coal field water, and light, there are a certain number of discrete noise points in the point cloud processed by photogrammetry software. These discrete noise points will have a certain impact on the measurement results, and these The value of the noise does not exceed the effective range of the coal yard, and it is difficult to filter it out manually

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