Method and device for dynamic modeling of coal pile structure

Abstract

The invention relates to the technical field of three-dimensional modeling, in particular to a dynamic modeling method and device for a coal pile structure. The method comprises the following steps: acquiring coal pile data corresponding to each preset time point; comparing and analyzing the coal pile data corresponding to the adjacent time points, and identifying a coal pile change area; according to the coal pile change area, generating a corresponding change coal pile three-dimensional model; and generating a current coal pile structure three-dimensional model in the coal yard according to all initial three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points and the variable coal pile three-dimensional model. According to the invention, the real-time dynamic construction of the three-dimensional model of the coal pile structure in the coal yard can be realized according to the coal taking or piling task of the coal pile.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and in particular to a method and device for dynamic modeling of a coal pile structure. Background Art

[0002] About 70% of the cost of a thermal power plant comes from coal procurement. As the core energy source for thermal power generation, the storage and allocation efficiency of coal directly affects the economy and safety of the power plant.

[0003] Three-dimensional modeling technology can perform static three-dimensional modeling of coal piles in coal yards. However, in traditional coal yard management, the structure of the coal pile changes dynamically due to frequent coal stacking and coal removal tasks, making it difficult for the three-dimensional modeling technology in existing technologies to reflect the coal pile shape under different operation tasks, and the correspondence between coal stacking and coal removal tasks and the coal pile shape is unclear. Summary of the Invention

[0004] An embodiment of the present invention provides a method and device for dynamic modeling of coal pile structure to solve the problem that the three-dimensional modeling technology in the existing technology is difficult to reflect the coal pile shape under different operation tasks, and the correspondence between coal stacking and coal taking tasks and the coal pile shape is unclear.

[0005] In a first aspect, an embodiment of the present invention provides a method for dynamic modeling of a coal pile structure, comprising:

[0006] Obtaining coal pile data corresponding to each preset time point;

[0007] Compare and analyze the coal pile data corresponding to adjacent time points to identify the coal pile change areas;

[0008] generating a corresponding three-dimensional model of the changed coal pile according to the coal pile change area;

[0009] A three-dimensional model of the current coal pile structure in the coal yard is generated based on all initial three-dimensional models generated by coal pile data corresponding to a previous time point in the adjacent time points and the changed coal pile three-dimensional model.

[0010] In a possible implementation, comparing and analyzing the coal pile data corresponding to adjacent time points to identify the coal pile change area includes:

[0011] Acquire first coal pile point cloud data corresponding to the adjacent time points, and determine the coal pile height corresponding to the same ground position in the first coal pile point cloud data;

[0012] If the current coal pile height is different from the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined to be the coal pile change area.

[0013] In a possible implementation, if the current coal pile height is different from the previous coal pile height corresponding to the previous time point, determining that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile change area includes:

[0014] If the current coal pile height is greater than the previous coal pile height corresponding to the previous time point, determine that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile area;

[0015] If the current coal pile height is less than the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined as the coal collection area.

[0016] In a possible implementation, generating a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile includes:

[0017] Determining the corresponding coal pile volume according to the coal pile change area;

[0018] If the volume of the coal pile is greater than a preset threshold, a changed coal pile three-dimensional model corresponding to the coal pile change area is generated.

[0019] In a possible implementation, determining the corresponding coal pile volume according to the coal pile change area includes:

[0020] Projecting the second coal pile point cloud data onto a two-dimensional plane and performing clustering processing;

[0021] When the coal pile change area is a coal pile area, each type of point cloud data after clustering processing is determined as the top surface of the coal pile, and the third coal pile point cloud data corresponding to the previous coal pile height is determined as the bottom surface, and the coal pile volume corresponding to the coal pile change area is calculated based on the top surface and the bottom surface;

[0022] When the coal pile change area is the coal taking area, each type of point cloud data after clustering processing is determined as the bottom surface of the coal pile, and the third coal pile point cloud data corresponding to the last coal pile height is determined as the top surface. The coal pile volume corresponding to the coal pile change area is calculated based on the top surface and the bottom surface.

[0023] In a possible implementation, generating a current three-dimensional model of the coal pile structure in the coal yard based on all initial three-dimensional models generated from the coal pile data corresponding to the previous time point among the adjacent time points and the changed three-dimensional model of the coal pile includes:

[0024] Obtaining a first height in the point cloud data corresponding to the coal extraction area, and determining the bottom surface height and top surface height in the coal pile data corresponding to the previous time point at the same ground position;

[0025] If the first height is greater than the bottom surface height and less than the top surface height, the top surface height is updated to the first height, and the initial three-dimensional model is updated according to the updated first height to obtain a new three-dimensional model, and the changed coal pile three-dimensional model corresponding to the coal extraction area is deleted;

[0026] If the first height is greater than the bottom surface height and equal to the top surface height, the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position of the coal-taking area is kept unchanged, and the changed coal pile three-dimensional model corresponding to the coal-taking area is deleted;

[0027] If the first height is less than or equal to the bottom surface height, deleting the changed coal pile three-dimensional model corresponding to the coal taking area and the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position;

[0028] All current 3D models are combined to generate a 3D model of the current coal pile structure in the coal yard.

[0029] In a possible implementation, after generating a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models generated from coal pile data corresponding to a previous time point among the adjacent time points and the changed coal pile three-dimensional model, the method further includes:

[0030] The coal burning information of the current coal yard is obtained, and the coal burning information is time-linked with the three-dimensional model of the current coal pile structure.

[0031] In a second aspect, an embodiment of the present invention provides a device for dynamic modeling of a coal pile structure, comprising:

[0032] An acquisition module, used to obtain coal pile data corresponding to each preset time point;

[0033] The data processing module is used to compare and analyze the coal pile data corresponding to adjacent time points and identify the coal pile change areas;

[0034] A model building module is used to generate a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile;

[0035] The model building module is also used to generate a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points and the changed coal pile three-dimensional model.

[0036] In a third aspect, an embodiment of the present invention provides a terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for dynamic modeling of coal pile structure as described in the first aspect or any possible implementation of the first aspect are implemented.

[0037] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the method for dynamic modeling of coal pile structure as described in the first aspect or any possible implementation method of the first aspect.

[0038] An embodiment of the present invention provides a method and device for dynamic modeling of coal pile structure, which obtains coal pile data corresponding to each preset time point, compares and analyzes the coal pile data corresponding to adjacent time points, identifies the coal pile change area, and then generates a corresponding changed coal pile three-dimensional model based on the coal pile change area. Then, based on all the initial three-dimensional models and changed coal pile three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points, a three-dimensional model of the current coal pile structure in the coal yard is generated. This can realize real-time dynamic construction of the three-dimensional model of the coal pile structure in the coal yard according to the coal taking or coal stacking tasks of the coal pile, reflects the coal pile form under different operation tasks, and makes the correspondence between the coal stacking and coal taking tasks and the coal pile form clearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a flow chart of the implementation of the method for dynamic modeling of coal pile structure provided by an embodiment of the present invention;

[0041] Figure 2 This is a flowchart for generating a corresponding three-dimensional model of a changed coal pile provided by an embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the coal pile area and the original coal pile provided by an embodiment of the present invention;

[0043] Figure 4 This is a flowchart for generating a three-dimensional model of the current coal pile structure in a coal yard provided by an embodiment of the present invention;

[0044] Figure 5 Schematic diagram of the coal extraction area and the original coal pile provided by an embodiment of the present invention;

[0045] Figure 6 is a schematic diagram of a coal extraction area and an original coal pile provided by another embodiment of the present invention;

[0046] Figure 7is a schematic diagram of a coal extraction area and an original coal pile provided by another embodiment of the present invention;

[0047] Figure 8 1 is a schematic structural diagram of a device for dynamic modeling of a coal pile structure provided by an embodiment of the present invention;

[0048] Figure 9 is a schematic diagram of a terminal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0051] Figure 1 A flowchart of a method for dynamically modeling a coal pile structure provided by an embodiment of the present invention is described in detail as follows:

[0052] Step 101: Obtain coal pile data corresponding to each preset time point.

[0053] In one embodiment, a coal meter system dynamically collects data on coal piles in a coal yard. The coal pile data can be point cloud data. A coal meter is a device used to measure the volume and weight of a material pile. Using a laser rangefinder, the system measures the three-dimensional coordinates of surface feature points on the object being measured. Computer software processes and calculates the data, including the volume and weight of the object being measured, and can also reproduce a three-dimensional image of the measured pile.

[0054] In one embodiment, the data measured by the coal pan meter system is converted into a conventional three-dimensional coordinate system, that is, the point cloud data is the three-dimensional polar coordinate data of the coal pile, such as the point cloud data The corresponding relationship between it and the conventional three-dimensional coordinate system (x, y, z) is:

[0055]

[0056] Among them, d represents the radial distance, that is, the distance from the coal pile point to the origin, θ represents the polar angle, that is, the angle between the coal pile point and the positive half axis of the z axis, It represents the azimuth, that is, the angle between the projection of the coal pile point on the plane and the x-axis;

[0057] x, y, and z are the coordinates on the three axes of the three-dimensional coordinate system, where the x-axis is the horizontal axis, the y-axis is another horizontal axis perpendicular to the x-axis, and the z-axis is perpendicular to the x-axis and the y-axis.

[0058] In one embodiment, after obtaining the coal pile data corresponding to each preset time point, the coal pile data may also be pre-processed.

[0059] Optionally, preprocessing the coal pile data can include simplifying the point cloud data. When the laser coal meter scans the entire coal yard to obtain 3D point cloud data, certain areas may have high point cloud density, resulting in data redundancy. Therefore, simplifying the point cloud data can accelerate the subsequent dynamic modeling of the coal pile structure.

[0060] The voxel downsampling algorithm can be used to simplify the point cloud data. The specific steps are as follows:

[0061] (1) Establish a large bounding box that includes all point cloud data and determine the side length L of the small grid that divides all point cloud data. The calculation expression of L is:

[0062]

[0063] Where: g represents the number of point cloud data in each small grid, a is the adjustment coefficient, and s is the scale coefficient, which usually takes a value of 1 or 2.

[0064] g is calculated as follows:

[0065] Among them, N represents the total number of point cloud data, V is the total volume of the large bounding box, L x , L y , L z In order to ensure that the points assigned to a small grid do not appear on the corners, edges or faces of the external three-dimensional voxel grid, the large bounding box is appropriately expanded outward to increase the distance λ. Then the corrected L x '、L y '、L z 'The expression:

[0066]

[0067] Among them, x max 、x min Represents the maximum and minimum values ​​in the x dimension, y max 、y min Represents the maximum and minimum values ​​in the y dimension, z max 、z min They represent the maximum and minimum values ​​in the z dimension respectively.

[0068] In summary, the expression of L is:

[0069]

[0070] (2) Divide all point cloud data according to the L determined above.

[0071] According to the side length L of the small cube grid, the point cloud data is divided into m×n×l small cube grids, where m=ceil(L x ' / L), n=ceil(L y ' / L), l=ceil(L z ' / L). ceil(x) is a rounding function, which represents the smallest integer not less than x. For any point p i , the small cube grid number to which it belongs is:

[0072]

[0073] in, Represent any point p i The value of the x dimension of the small cube grid, Represent any point p i The value of the y dimension of the small cube grid, Represent any point p i The value of the z dimension of the small cube grid, Represent any point p i The value in the x dimension, Represent any point p i The value in the y dimension, Represent any point p i The value in the z dimension.

[0074] (3) Calculate the center of gravity c of each small cube grid ijk , use this point to replace all points in the small cube grid to simplify the point cloud data. ijk is calculated as follows:

[0075]

[0076] Where n is the number of data points in the small cube grid.

[0077] In one embodiment, since the collected three-dimensional point cloud data usually contains a certain amount of noise, the point cloud data after pre-processing the coal pile data needs to remove the noise. Therefore, in this embodiment, a statistical filtering method is used to remove the noise. The specific processing method is as follows:

[0078] (1) Traverse the point cloud data and calculate the average distance between each 3D point cloud data and its k nearest neighboring points, where k is a positive integer greater than 0. After the average distance calculation of all points is completed, the mean μ and standard deviation σ are calculated.

[0079] Calculate the distance threshold d based on the mean and standard deviation max , where d max The expression is:

[0080] d max =μ+α×σ

[0081] Where: α is a custom standard deviation coefficient, which is used to control the impact of the distance standard deviation on the distance threshold.

[0082] (2) Traverse the point cloud data again and remove the points with an average distance greater than d max The point cloud data corresponding to the remaining points is the coal pile data to be processed later. It is standardized point cloud data, which can be represented by spatial three-dimensional coordinates (x, y, z), where (x, y) represents the ground position of the coal yard and z represents the height of the coal pile at the ground position.

[0083] Step 102 : Comparing and analyzing the coal pile data corresponding to adjacent time points to identify the coal pile change area.

[0084] When a coal pile is stacked or unloaded, the coal pile will change. In this embodiment, the point cloud data corresponding to adjacent time points are used for differential comparison, that is, the point cloud data collected at the current time point is compared with the point cloud data collected at the previous time point, so as to identify the changed area of ​​the coal pile, such as the coal stacking area or the coal unloading area.

[0085] In one embodiment, the coal pile data corresponding to adjacent time points are compared and analyzed to identify the coal pile change area, which may include: obtaining the first coal pile point cloud data corresponding to the adjacent time points, and determining the coal pile height corresponding to the same ground position in the first coal pile point cloud data, the coal pile height including the current coal pile height and the last coal pile height corresponding to the last time point; if the current coal pile height is different from the last coal pile height corresponding to the last time point, determining that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile change area.

[0086] Here, the first coal pile point cloud data includes the coal pile point cloud data corresponding to the current time point (x i ,y i ,z i ) and the coal pile point cloud data corresponding to the previous time point (x i-1 ,y i-1 ,z i-1 ). When z i With zi-1 Different, that is, z i Greater than z i-1 , or z i Less than z i-1 When , it is determined that the coal pile has changed. Where i = 1, 2, 3, ..., n, and n represents the number of collected point cloud data of the coal pile.

[0087] In one embodiment, if the current coal pile height is different from the previous coal pile height corresponding to the previous time point, determining that the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is the coal pile change area may include:

[0088] If the current coal pile height is greater than the previous coal pile height corresponding to the previous time point, determine that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile area;

[0089] If the current coal pile height is less than the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined as the coal collection area.

[0090] Optionally, before the coal pile changes, the coal pile can be initialized, i.e., generating a 3D model of the coal pile structure for the first time, also known as an initial 3D model. After preprocessing and filtering the collected coal pile data, the DBSCAN algorithm is used for clustering. A 3D model is generated for each cluster of point cloud data in the clustering results. It should be noted that each cluster of point cloud data corresponds to the point cloud data of a coal pile in the coal yard. All 3D models are then merged to generate the initial 3D model.

[0091] A point cloud data corresponds to a point in three-dimensional space.

[0092] The DBSCAN algorithm identifies clusters through density connectivity. It divides point cloud data into different clusters based on the density distribution of points in the point cloud. Each cluster represents an object (such as a coal pile) or a point cloud area with similar characteristics. The neighborhood radius eps and the minimum number of points MinPts are set. Each point in the point cloud is traversed and the number of points in the neighborhood is determined to be greater than or equal to MinPts. If so, the point in the point cloud data currently being traversed and evaluated by the DBSCAN algorithm is set as the core point. Starting from this core point, the points in its neighborhood are expanded to form a cluster. The newly added point is checked to see if it is a core point. If so, the expansion continues until no new points can be added. If not, the point cloud data is continued to be traversed to obtain the clustering result, which is recorded as the preliminary recognition result of the coal pile. Each cluster contains point cloud data belonging to the same coal pile.

[0093] Optionally, a 3D model is generated for each cluster of point cloud data in the clustering result. This can be achieved by taking the following steps:

[0094] (1) Obtain the top surface point cloud data of the coal pile in each cluster of point cloud data (x up_i ,y up_i ,z up_i ) and bottom surface point cloud data (x low_i ,y low_i ,z low_i ), which expands the top surface point cloud data by a unit distance along the x direction and the y direction, and the value of z is the height value of the adjacent point. up_i ,y up_i ,z up_i They represent the data on the x-axis, y-axis, and z-axis of the i-th point cloud data on the top surface of the coal pile. low_i ,y low_i ,z low_i ) represent the data on the x-axis, y-axis, and z-axis of the i-th point cloud data on the bottom surface of the coal pile, respectively.

[0095] Optionally, when distinguishing the point cloud data of the top surface and the bottom surface of the coal pile, the height of the point cloud data can be used to distinguish them. Among the two height data at the same position, the larger data is the point cloud data of the top surface of the coal pile, and the smaller data is the point cloud data of the bottom surface of the coal pile.

[0096] (2) Using the Delaunay triangulation algorithm to perform three-dimensional reconstruction on all point cloud data. In this embodiment, the method of using the Delaunay triangulation algorithm to perform three-dimensional modeling on point cloud data is a prior art and will not be repeated here.

[0097] (3) Edge processing.

[0098] After using the Delaunay triangulation algorithm to reconstruct the point cloud data in three dimensions, since the edge information is not obvious, it is necessary to continuously delete the edges that exceed the preset length limit starting from the outermost edge of the Delaunay triangulation, so that the edges of the three-dimensional modeling of the point cloud data are more consistent with the actual shape of the coal pile.

[0099] (4) Surface smoothing of the three-dimensional model. The surface meshing of the three-dimensional model of the coal pile obtained by the Delaunay triangulation algorithm is obvious and inconsistent with the actual shape of the coal pile. Therefore, smoothing is performed in this embodiment.

[0100] In one embodiment, a Laplace filter is used to smooth the surface of the three-dimensional model. The formula of the Laplace filter is:

[0101]

[0102] Among them, v k' is the vertex after surface smoothing, v k is any vertex in the three-dimensional model, v o is the point adjacent to the above vertex, λ is the strength of the Laplace filter, w o is with v o The normalized weight associated with the distance, o = (1, 2, 3, ... O).

[0103] The three-dimensional model after surface smoothing is the final three-dimensional model generated by the point cloud data.

[0104] Step 103: Generate a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile.

[0105] In this embodiment, after the coal pile change area is identified, three-dimensional modeling is performed on the coal pile change area, that is, a three-dimensional model of the newly added coal pile area or coal extraction area is established.

[0106] In one embodiment, if Figure 2 As shown, generating a corresponding three-dimensional model of a changed coal pile according to the changed area of ​​the coal pile may include:

[0107] Step 201: Determine the corresponding volume of the coal pile according to the coal pile change area.

[0108] In one embodiment, determining the corresponding coal pile volume according to the coal pile change area may include:

[0109] Project the second coal pile point cloud data onto a two-dimensional plane and perform clustering processing;

[0110] When the coal pile change area is a coal pile area, each type of point cloud data after clustering processing is determined as the top surface of the coal pile, and the third coal pile point cloud data corresponding to the previous coal pile height is determined as the bottom surface. The volume of the coal pile corresponding to the coal pile change area is calculated based on the top and bottom surfaces;

[0111] When the coal pile change area is the coal extraction area, each type of point cloud data after clustering processing is determined as the bottom surface of the coal pile, and the third coal pile point cloud data corresponding to the last coal pile height is determined as the top surface. The coal pile volume corresponding to the coal pile change area is calculated based on the top and bottom surfaces.

[0112] Optionally, a DBSCAN algorithm is used to perform clustering processing on the points projected onto the two-dimensional plane, and each obtained cluster of points corresponds to a coal pile in the coal yard.

[0113] Optionally, when calculating the volume of the coal pile corresponding to the coal pile change area, the volume V of the top surface from the ground is calculated separately. 顶 , the volume V of the bottom surface from the ground 底 , then the volume of the coal pile can be expressed as V = V 顶 -V 底 .

[0114] In one embodiment, a point cloud volume calculation method based on the Alpha-shape algorithm is used to calculate V 顶 、V 底 , the calculation steps are as follows:

[0115] (1) Fit the ground points into a plane, and establish a new coordinate system with this ground fitting plane as the new XOY plane. Perform coordinate transformation on all point cloud data based on the new coordinate system.

[0116] (2) Project the point cloud after coordinate transformation onto the ground fitting plane and determine whether there are overlapping points in the projected two-dimensional point cloud; if so, determine the original points corresponding to the overlapping projection points in the three-dimensional point cloud (i.e., the points corresponding to the point cloud data after coordinate transformation), retain the point with the largest z coordinate value in the original point, and delete the remaining overlapping points.

[0117] (3) Use the Alpha-shape algorithm to fit the outer contour of the projected two-dimensional point cloud and calculate the area a of the generated closed region;

[0118] (4) For each point p in all original point clouds after removing the overlapping points i , search for all ground points G within the preset range vertically below it i ={g i (1),g i (2),...,g i (k)}, and calculate these ground points G i The mean z of the transformed z coordinate values i (g);

[0119] (5) Count the number of points n in the original point cloud after removing the overlapping points c , then the calculation formula of the point cloud volume is:

[0120]

[0121] Where V' represents the point cloud volume.

[0122] According to the above method of calculating the point cloud volume, V can be calculated 顶 、V 底 .

[0123] Step 202: If the volume of the coal pile is greater than a preset threshold, a three-dimensional model of the changed coal pile corresponding to the coal pile change area is generated.

[0124] The preset threshold is a threshold set according to demand. As long as the volume of the coal pile is greater than the preset threshold, we consider that the coal pile has changed.

[0125] Optionally, a three-dimensional model of the changed coal pile corresponding to the changed area of ​​the coal pile is generated. The modeling method used is the same as the modeling method of generating a three-dimensional model corresponding to each cluster of point cloud data in the clustering results, which will not be repeated here.

[0126] Step 104 : generating a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile generated from the coal pile data corresponding to the previous time point in adjacent time points.

[0127] When the coal pile change area is the coal pile area, that is, new coal is added to the top surface of the original coal pile, then the initial three-dimensional model corresponding to the original coal pile does not change. Figure 3 As shown in the schematic diagram, the corresponding initial three-dimensional model and the changed coal pile three-dimensional model corresponding to the coal pile area can be directly used to generate the current coal pile structure three-dimensional model in the subsequent coal yard.

[0128] When the coal pile change area is the coal taking area, that is, the coal taking operation occurs on the original coal pile, then the initial three-dimensional model corresponding to the original coal pile may have changed. First, it is necessary to determine whether the change has occurred. If no change has occurred, the corresponding initial three-dimensional model and the changed coal pile three-dimensional model corresponding to the coal taking area can be directly used to generate the current coal pile structure three-dimensional model in the subsequent coal yard. If a change has occurred, it is necessary to determine the changed three-dimensional model based on the changed coal pile three-dimensional model corresponding to the coal taking area and the initial three-dimensional model. The changed three-dimensional model can then be used to generate the current coal pile structure three-dimensional model in the subsequent coal yard. Therefore, in this embodiment, for the coal taking area, it is necessary to first update the point cloud data and construct a three-dimensional model after coal taking.

[0129] See also Figure 4 As shown, generating a current three-dimensional model of the coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile data corresponding to the previous time point in adjacent time points includes the following steps:

[0130] Step 401: obtain a first height in the point cloud data corresponding to the coal extraction area, and determine the bottom surface height and top surface height in the raw coal pile data corresponding to the previous time point at the same ground position.

[0131] The first height is the bottom height of the coal extraction area, such as Figure 5 The first height A' corresponding to point A shown in FIG, where point A is the ground position, A" is the bottom height of the raw coal pile data, and A"' is the top height of the raw coal pile data; Figure 6 The first height B' corresponding to point B shown in FIG, where point B is the ground position, B" is the bottom height of the raw coal pile data, and B"' is the top height of the raw coal pile data; and Figure 7The first height C' corresponding to point C shown in the figure is the ground position, C'' is the bottom height of the raw coal pile data, and C''' is the top height of the raw coal pile data.

[0132] Step 402: If the first height is greater than the bottom height and less than the top height, the top height is updated to the first height, and the initial three-dimensional model is updated according to the updated first height to obtain a new three-dimensional model, and the changed coal pile three-dimensional model corresponding to the coal extraction area is deleted.

[0133] See also Figure 5 As shown, when taking coal, the coal on the top of the raw coal pile is taken away. Therefore, the first height A' is higher than the bottom height A", but lower than the top height A''. At this time, the top height A'' no longer exists. Therefore, the top height of the raw coal pile data needs to be updated to the first height, that is, the point cloud data in the initial three-dimensional model is updated, and the initial three-dimensional model needs to be updated accordingly. At this time, the updated three-dimensional model is a merged model of the initial three-dimensional model and the three-dimensional model of the changed coal pile corresponding to the coal taking area. Then, the three-dimensional model of the changed coal pile corresponding to the coal taking area can be deleted.

[0134] Step 403: If the first height is greater than the bottom surface height and equal to the top surface height, the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position of the coal-taking area is kept unchanged, and the changed coal pile three-dimensional model corresponding to the coal-taking area is deleted.

[0135] See also Figure 6 As shown, the first height B' is greater than the bottom height B", and equal to the top height B'", indicating that the raw coal pile has not been taken away, so the initial three-dimensional model corresponding to the original coal pile remains unchanged.

[0136] Step 404: If the first height is less than or equal to the bottom height, the changed coal pile 3D model corresponding to the coal extraction area and the initial 3D model generated from the coal pile data corresponding to the previous time point at the same ground position are deleted.

[0137] See also Figure 7 As shown, the first height C' is equal to the bottom height C", which means that the original coal pile has been completely removed, that is, the original coal pile no longer exists. Therefore, it is necessary to delete the initial 3D model corresponding to the original coal pile and delete the changed coal pile 3D model corresponding to the coal removal area.

[0138] There may be a situation where the first height is less than the bottom height. Since mechanical coal extraction may dig out part of the ground under the coal pile, the height of this ground part may be less than the original height of the coal pile.

[0139] Step 405: All current three-dimensional models are combined to generate a three-dimensional model of the current coal pile structure in the coal yard.

[0140] By combining all the finally obtained three-dimensional models, the three-dimensional models corresponding to all the coal pile structures in the current coal yard can be obtained.

[0141] It should be noted that we know that the coal pile structure in the coal yard is composed of a plurality of large and small coal pile structures. The initial three-dimensional model mentioned in this embodiment is the three-dimensional model corresponding to each small coal pile structure. The three-dimensional model corresponding to each small coal pile structure can be obtained by disassembling the overall three-dimensional model corresponding to the coal pile structure in the coal yard. In the process of disassembling the overall three-dimensional model of the coal pile, point cloud data may be missing, which will affect the reconstruction of the three-dimensional model of the coal pile. Therefore, the nearest neighbor interpolation upsampling algorithm can be used to fill in the missing point cloud. Determine all the points to be upsampled, and then for each point to be upsampled, determine the set of nearest neighbor points in its neighborhood; for the selected neighborhood point set, generate new sampling points through the nearest neighbor interpolation method; repeat the above steps until all the points to be upsampled are processed.

[0142] In one embodiment, after generating the current three-dimensional model of the coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile corresponding to the previous time point in adjacent time points, the following steps may also be included:

[0143] Obtain the current coal burning information of the coal yard, link the coal burning information with the current 3D model of the coal pile structure, and dynamically display the changes in the volume and shape of the coal pile under task association, providing data support for coal yard zoning optimization and blending decisions.

[0144] When stacking and removing coal in the coal yard, record the task time, coal type, weight, density, volatile matter, sulfur content and other coal combustion information, and associate the three-dimensional model of the coal pile structure, the task time and the generation time of the three-dimensional model of the coal pile structure to achieve the matching of each three-dimensional model of the coal pile and its coal combustion information.

[0145] At the same time, the calorific value of the coal pile can be obtained based on the density of the coal burning information, the three-dimensional model of the coal pile structure and the calculated volume of the coal pile. Different color codes are configured for each coal pile according to the calorific value, which can more intuitively distinguish the distribution of different coal qualities from the three-dimensional model diagram of the coal pile.

[0146] The method for dynamic modeling of coal pile structure provided by an embodiment of the present invention obtains the coal pile data corresponding to each preset time point, compares and analyzes the coal pile data corresponding to adjacent time points, identifies the coal pile change area, and then generates the corresponding changed coal pile three-dimensional model based on the coal pile change area. Then, based on all the initial three-dimensional models and the changed coal pile three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points, a three-dimensional model of the current coal pile structure in the coal yard is generated, thereby realizing real-time dynamic construction of the three-dimensional model of the coal pile structure in the coal yard according to the coal pile's coal removal or coal stacking tasks.

[0147] By temporally linking coal burning information with the current three-dimensional model of the coal pile structure, the changes in the volume and shape of the coal pile under task association can be dynamically displayed, making it easier to trace the source or destination of the coal pile, providing data support for coal yard zoning optimization and blending decisions, and realizing refined coal management.

[0148] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0149] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0150] Figure 8 A schematic diagram of the structure of a device for dynamic modeling of a coal pile structure provided by an embodiment of the present invention is shown. For ease of explanation, only the portion related to the embodiment of the present invention is shown, which is described in detail as follows:

[0151] like Figure 8 As shown, the device 8 for dynamic modeling of coal pile structure includes: an acquisition module 801 , a data processing module 802 and a model building module 803 .

[0152] An acquisition module 801 is used to acquire coal pile data corresponding to each preset time point;

[0153] The data processing module 802 is used to compare and analyze the coal pile data corresponding to adjacent time points to identify the coal pile change area;

[0154] The model building module 803 is used to generate a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile;

[0155] The model building module 803 is further used to generate a current three-dimensional model of the coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile generated by the coal pile data corresponding to the previous time point in adjacent time points.

[0156] In one possible implementation, the data processing module 802 compares and analyzes the coal pile data corresponding to adjacent time points to identify the coal pile change area, and is used to:

[0157] Acquire first coal pile point cloud data corresponding to adjacent time points, and determine the coal pile height corresponding to the same ground position in the first coal pile point cloud data;

[0158] If the current coal pile height is different from the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined to be the coal pile change area.

[0159] In one possible implementation, if the current coal pile height is different from the previous coal pile height corresponding to the previous time point, and the data processing module 802 determines that the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is a coal pile change area, it is used to:

[0160] If the current coal pile height is greater than the previous coal pile height corresponding to the previous time point, determine that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile area;

[0161] If the current coal pile height is less than the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined as the coal collection area.

[0162] In a possible implementation, when the model building module 803 generates the corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile, it is used to:

[0163] Determine the corresponding coal pile volume according to the coal pile change area;

[0164] If the volume of the coal pile is greater than a preset threshold, a three-dimensional model of the changed coal pile corresponding to the coal pile change area is generated.

[0165] In a possible implementation, when the model building module 803 determines the corresponding coal pile volume according to the coal pile change area, it is used to:

[0166] Project the second coal pile point cloud data onto a two-dimensional plane and perform clustering processing;

[0167] When the coal pile change area is a coal pile area, each type of point cloud data after clustering processing is determined as the top surface of the coal pile, and the third coal pile point cloud data corresponding to the previous coal pile height is determined as the bottom surface. The volume of the coal pile corresponding to the coal pile change area is calculated based on the top and bottom surfaces;

[0168] When the coal pile change area is the coal extraction area, each type of point cloud data after clustering processing is determined as the bottom surface of the coal pile, and the third coal pile point cloud data corresponding to the last coal pile height is determined as the top surface. The coal pile volume corresponding to the coal pile change area is calculated based on the top and bottom surfaces.

[0169] In one possible implementation, when generating a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile generated from the coal pile data corresponding to the previous time point in adjacent time points, the model building module 803 is used to:

[0170] Obtaining a first height in the point cloud data corresponding to the coal extraction area, and determining the bottom surface height and top surface height in the coal pile data corresponding to the previous time point at the same ground position;

[0171] If the first height is greater than the bottom height and less than the top height, the top height is updated to the first height, and the initial three-dimensional model is updated according to the updated first height to obtain a new three-dimensional model, and the changed coal pile three-dimensional model corresponding to the coal extraction area is deleted;

[0172] If the first height is greater than the bottom surface height and equal to the top surface height, the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position in the coal-taking area is kept unchanged, and the changed coal pile three-dimensional model corresponding to the coal-taking area is deleted;

[0173] If the first height is less than or equal to the bottom height, the changed coal pile three-dimensional model corresponding to the coal extraction area and the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position are deleted;

[0174] All current 3D models are combined to generate a 3D model of the current coal pile structure in the coal yard.

[0175] In one possible implementation, after the model building module 803 generates the three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models and changed three-dimensional models of the coal pile corresponding to the previous time point in adjacent time points, the data processing module 802 is further configured to:

[0176] Obtain the coal burning information of the current coal yard and link the coal burning information with the current three-dimensional model of the coal pile structure.

[0177] The above-mentioned device for dynamic modeling of coal pile structure obtains the coal pile data corresponding to each preset time point through the acquisition module, and the data processing module compares and analyzes the coal pile data corresponding to adjacent time points to identify the coal pile change area. Then, the model construction module generates the corresponding changed coal pile three-dimensional model according to the coal pile change area, and then generates the current coal pile structure three-dimensional model in the coal yard based on all the initial three-dimensional models and the changed coal pile three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points. In this way, the real-time dynamic construction of the three-dimensional model of the coal pile structure in the coal yard can be realized according to the coal taking or coal stacking tasks of the coal pile.

[0178] Through the data processing module, the coal burning information is linked to the current three-dimensional model of the coal pile structure in time, dynamically displaying the changes in the volume and shape of the coal pile under task association, making it easier to trace the source or destination of the coal pile, providing data support for coal yard zoning optimization and blending decisions, and realizing refined coal management.

[0179] Figure 9 Schematic diagram of a terminal provided by an embodiment of the present invention. Figure 9As shown, the terminal 9 of this embodiment includes: a processor 90, a memory 91, and a computer program 92 stored in the memory 91 and executable on the processor 90. When the processor 90 executes the computer program 92, the steps in the above-mentioned method for dynamic modeling of coal pile structure are implemented, for example Figure 1 Alternatively, when the processor 90 executes the computer program 92, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 8 The functions of each module / unit are shown.

[0180] Exemplarily, the computer program 92 may be divided into one or more modules / units, which are stored in the memory 91 and executed by the processor 90 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 92 in the terminal 9. For example, the computer program 92 may be divided into Figure 8 The modules / units shown.

[0181] The terminal 9 may include, but is not limited to, a processor 90 and a memory 91. Those skilled in the art will appreciate that Figure 9 It is only an example of terminal 9 and does not constitute a limitation on terminal 9. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0182] The processor 90 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0183] The memory 91 can be an internal storage unit of the terminal 9, such as a hard disk or memory of the terminal 9. The memory 91 can also be an external storage device of the terminal 9, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal 9. Furthermore, the memory 91 can also include both the internal storage unit of the terminal 9 and an external storage device. The memory 91 is used to store the computer program and other programs and data required by the terminal. The memory 91 can also be used to temporarily store data that has been output or is about to be output.

[0184] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0185] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0186] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0187] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, and can be electrical, mechanical, or other forms.

[0188] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0189] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0190] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various coal pile structure dynamic modeling method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium.

[0191] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for dynamic modeling of coal pile structure, characterized in that: include: Obtaining coal pile data corresponding to each preset time point; Compare and analyze the coal pile data corresponding to adjacent time points to identify the coal pile change areas; generating a corresponding three-dimensional model of the changed coal pile according to the coal pile change area; A three-dimensional model of the current coal pile structure in the coal yard is generated based on all initial three-dimensional models generated by coal pile data corresponding to a previous time point in the adjacent time points and the changed coal pile three-dimensional model.

2. The method for dynamic modeling of coal pile structure according to claim 1, characterized in that: Comparing and analyzing the coal pile data corresponding to adjacent time points to identify the coal pile change area includes: Acquire first coal pile point cloud data corresponding to the adjacent time points, and determine the coal pile height corresponding to the same ground position in the first coal pile point cloud data; If the current coal pile height is different from the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined to be the coal pile change area.

3. The method for dynamic modeling of coal pile structure according to claim 2, characterized in that: If the current coal pile height is different from the previous coal pile height corresponding to the previous time point, determining that the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is the coal pile change area includes: If the current coal pile height is greater than the previous coal pile height corresponding to the previous time point, determine that the area corresponding to the second coal pile point cloud data corresponding to all the current coal pile heights is the coal pile area; If the current coal pile height is less than the previous coal pile height corresponding to the previous time point, the area corresponding to all the second coal pile point cloud data corresponding to the current coal pile height is determined as the coal collection area.

4. The method for dynamic modeling of coal pile structure according to claim 3, characterized in that: Generating a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile includes: Determining the corresponding coal pile volume according to the coal pile change area; If the volume of the coal pile is greater than a preset threshold, a changed coal pile three-dimensional model corresponding to the coal pile change area is generated.

5. The method for dynamic modeling of coal pile structure according to claim 4, characterized in that: The determining of the corresponding coal pile volume according to the coal pile change area includes: Projecting the second coal pile point cloud data onto a two-dimensional plane and performing clustering processing; When the coal pile change area is a coal pile area, each type of point cloud data after clustering processing is determined as the top surface of the coal pile, and the third coal pile point cloud data corresponding to the previous coal pile height is determined as the bottom surface, and the coal pile volume corresponding to the coal pile change area is calculated based on the top surface and the bottom surface; When the coal pile change area is the coal taking area, each type of point cloud data after clustering processing is determined as the bottom surface of the coal pile, and the third coal pile point cloud data corresponding to the last coal pile height is determined as the top surface. The coal pile volume corresponding to the coal pile change area is calculated based on the top surface and the bottom surface.

6. The method for dynamic modeling of coal pile structure according to any one of claims 3 to 5, characterized in that: Generating a current three-dimensional model of the coal pile structure in the coal yard based on all initial three-dimensional models generated from the coal pile data corresponding to the previous time point among the adjacent time points and the changed three-dimensional model of the coal pile includes: Obtaining a first height in the point cloud data corresponding to the coal extraction area, and determining the bottom surface height and top surface height in the coal pile data corresponding to the previous time point at the same ground position; If the first height is greater than the bottom surface height and less than the top surface height, the top surface height is updated to the first height, and the initial three-dimensional model is updated according to the updated first height to obtain a new three-dimensional model, and the changed coal pile three-dimensional model corresponding to the coal extraction area is deleted; If the first height is greater than the bottom surface height and equal to the top surface height, the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position of the coal-taking area is kept unchanged, and the changed coal pile three-dimensional model corresponding to the coal-taking area is deleted; If the first height is less than or equal to the bottom surface height, deleting the changed coal pile three-dimensional model corresponding to the coal taking area and the initial three-dimensional model generated by the coal pile data corresponding to the previous time point at the same ground position; All current 3D models are combined to generate a 3D model of the current coal pile structure in the coal yard.

7. The method for dynamic modeling of coal pile structure according to claim 6, characterized in that: After generating a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models generated from the coal pile data corresponding to the previous time point among the adjacent time points and the changed coal pile three-dimensional model, the method further includes: The coal burning information of the current coal yard is obtained, and the coal burning information is time-linked with the three-dimensional model of the current coal pile structure.

8. A device for dynamic modeling of coal pile structure, characterized in that: include: An acquisition module, used to obtain coal pile data corresponding to each preset time point; The data processing module is used to compare and analyze the coal pile data corresponding to adjacent time points and identify the coal pile change areas; A model building module is used to generate a corresponding three-dimensional model of the changed coal pile according to the changed area of ​​the coal pile; The model building module is also used to generate a three-dimensional model of the current coal pile structure in the coal yard based on all initial three-dimensional models generated by the coal pile data corresponding to the previous time point in the adjacent time points and the changed coal pile three-dimensional model.

9. A terminal comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory, characterized in that: When the processor executes the computer program, the steps of the method for dynamic modeling of coal pile structure as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for dynamic modeling of coal pile structure as described in any one of claims 1 to 7 are implemented.

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