Material pile automatic extraction and volume measurement method and system based on three-dimensional point cloud

Abstract

The invention discloses a material pile automatic extraction and volume measurement method and system based on three-dimensional point cloud, and belongs to the field of port and mine automation. Firstly, three-dimensional point cloud data of a material pile scene are obtained through scanning of a laser, data normalization processing is conducted, a slope crest area of a material pile is extracted based on the spatial direction curvature of point cloud, and positioning of the material pile is achieved. Regional growth is carried out by taking the slope crest regions of the material piles as seed points to extract the whole material piles, and a competitive growth strategy is provided to solve the problem of uncertainty of affiliation of overlapping regions of the material piles in the growth process due to the fact that different material piles in a scene may be in contact with each other. And finally, on the basis of the extracted material pile points, constructing a triangular network on the surface of the material pile to calculate the volume of the material pile. For various different scenes, the method provided by the invention has high robustness and accuracy.

Description

technical field [0001] The invention belongs to the field of port and mine automation, and more specifically relates to a method and system for automatic extraction and volume measurement of material piles based on three-dimensional point clouds. Background technique [0002] With the rapid growth of electricity demand, coal mines, power plants, etc. form a large number of coal piles during coal mining and transportation, which often occupy a lot of space. The construction industry needs a lot of sand, and there will be a lot of sand accumulation in ports and placer mines. There are also grain piles such as soybeans and rice piled up in granaries or freight stations. Quantitative measurement of material piles such as coal piles, sand dunes, grain piles, and containers is the key to scientific storage, transportation management, and safety stock maintenance during operations. Therefore, quantitative measurement of parameters such as the height and volume of material piles c...

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Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention proposes a method and system for automatic extraction and volume measurement of material piles based on three-dimensional point clouds, thereby solving the problem of using traditional geodetic methods such as total stations to obtain sand dune information. time-consuming, labor-intensive and low-precision technical problems

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