Coal inventory system and method based on vision

Abstract

The invention discloses a coal inventory system based on vision, which comprises a data acquisition module and an image processing module, and is characterized in that the data acquisition module is connected with the image processing module; the data acquisition module is used for receiving image information of a coal storage yard and POS data information of an unmanned aerial vehicle acquired bythe unmanned aerial vehicle, and sending image information and POS data information of the unmanned aerial vehicle to the image processing module; the image processing module is used for calculatingparameters of a camera based on a motion recovery structure algorithm according to the image information and POS data information of the unmanned aerial vehicle, constructing a three-dimensional sparse point cloud model according to the parameters, and reconstructing a dense point cloud model according to the three-dimensional sparse point cloud model;constructing a three-dimensional model of thecoal yard based on a three-dimensional reconstruction algorithm and texture mapping according to the dense point cloud model and carrying out integration on a selected area in the three-dimensional model to calculate the volume of the coal pile, and calculating the weight of the coal pile according to the coal type of the selected area and the corresponding density.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a vision-based coal panning system and method. Background technique [0002] Coal panning refers to the amount of coal stored in thermal power plants. Traditional coal panning methods are mainly manual coal panning and laser panning. Manual coal panning can only be used for small-scale coal storage yards. Stack them into regular cuboids or prisms, and then use a tape measure or a more precise measuring instrument to calculate the volume of the coal pile and estimate the coal reserves; the laser pan coal uses laser dots to construct a three-dimensional point cloud, and further calculates the coal reserves. Although it is accurate and efficient, it is cost-effective. High, difficult to implement, difficult to popularize. Therefore, the traditional coal pile measurement has the disadvantages of heavy workload, low efficiency, inaccurate measurement and high cost. [0003] W...

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Problems solved by technology

[0007] 3) The coal piles in the coal storage yard are irregular in shape and large in scale, and the coal piles are stacked chaotically, which makes the calculation of coal reserves extremely difficult. During the stacking process, part of the coal quality is lost, and the coal pile density is unevenly distributed. Based on the 3D scene The accuracy of coal reserves calculation is worthy of consideration;

[0008] 4) There are problems in th

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