Radar disc coal method and system based on density stratification, electronic device and medium

Abstract

This application relates to a density-stratified radar coal inventory method, system, electronic device, and medium, belonging to the technical field of intelligent coal inventory. The method includes: acquiring a first three-dimensional geometric model of the coal pile in the current inventory; acquiring a second three-dimensional geometric model of the coal pile in the previous inventory and corresponding historical quality information; determining the deformation type of the current inventory relative to the previous inventory based on the comparison results of the first and second three-dimensional geometric models; calculating the quality of newly added areas using a stratified integration strategy; and determining the remaining area of ​​the coal pile in the previous inventory relative to the missing area, and calculating the quality of the remaining area using a stratified integration strategy and a corresponding density correction strategy based on the volume ratio of the missing area to the coal pile in the previous inventory. This application has the effect of improving coal inventory accuracy.

Description

Technical Field

[0001] This application relates to the technical field of intelligent coal inventory, and in particular to a radar coal inventory method, system, electronic device and medium based on density stratification. Background Technology

[0002] In industries such as coal, power, and ports, the inventory of coal stored in coal yards mainly relies on three-dimensional lidar scanning technology. By acquiring power data on the surface of the coal pile, a key model is reconstructed, the coal pile mass is calculated, and then multiplied by the density to obtain the mass.

[0003] In the actual storage of coal piles, the bottom of the pile bears the weight of the upper coal seam, resulting in a high degree of compaction and a relatively high density, while the surface coal is loose and has a lower density. However, traditional methods use a single density value for the entire coal pile, which cannot reflect the density differences caused by gravity compaction within the pile.

[0004] Therefore, there is an urgent need for a radar coal inventory method that can take into account the density stratification characteristics of coal piles under gravity and achieve accurate estimation of coal pile mass. Summary of the Invention

[0005] To improve coal counting accuracy, this application provides a radar coal counting method, system, electronic device, and medium based on density stratification.

[0006] Firstly, this application provides a radar coal inventory method based on density stratification, employing the following technical solution: Obtain the first three-dimensional geometric model of the coal pile in the current batch; Determine whether a second three-dimensional geometric model of the previous coal pile exists; If it does not exist, the entire first three-dimensional geometric model is taken as the new region, and the mass of the new region is calculated using a hierarchical integration strategy, which is used as the total mass of the coal pile in the current batch. If it exists, obtain the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information; Based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model, the deformation type of the current plate relative to the previous plate is determined, and the deformation type includes newly added areas and / or missing areas. For newly added regions, a hierarchical integration strategy is used to calculate the quality of the newly added regions; For the missing area, the remaining area of ​​the previous coal pile relative to the missing area is determined. Based on the volume ratio of the missing area to the previous coal pile, the mass of the remaining area is calculated using a layered integration strategy and a corresponding density correction strategy. The total mass is determined by at least one of the mass of the newly added region and the mass of the remaining region.

[0007] By adopting the above technical solution, the geometric model of the coal pile is obtained in a refined manner, and the layered integration strategy and density correction strategy are used to calculate the mass of the newly added and missing areas according to the deformation type of the coal pile. This can effectively overcome the limitations of the traditional single density estimation method, accurately reflect the density stratification characteristics of the coal pile caused by gravity compaction, and thus significantly improve the accuracy and reliability of coal inventory in the coal yard.

[0008] Furthermore, the hierarchical integration strategy includes: Obtain the current coal type parameters, stockpiling time, and stockpile conditions of the coal pile; Based on at least one of the coal type parameters, stockpiling time, and stockpile conditions, select the corresponding depth density stratification model from the pre-built depth density stratification model library; The selected depth density stratification model is invoked, which is used to characterize the mapping relationship between depth and density; Based on the first three-dimensional geometric model, the newly added region is divided into multiple thickness units in the vertical direction, and the depth value and volume corresponding to each thickness unit are determined. Based on the depth value corresponding to each thickness unit, the corresponding density value is obtained by matching from the called depth density layering model; The mass of the newly added region is obtained by integrating the volume and density values ​​of each thickness unit.

[0009] By adopting the above technical solution, the depth-density stratification model that best matches the current coal pile characteristics can be dynamically selected or constructed according to the actual working conditions of the coal pile. When calculating the mass of the newly added area, the newly added area is meticulously divided into multiple thickness units in the vertical direction, and the density value at a specific depth is matched for each unit. Then, by integrating the volume and density values ​​of each thickness unit, the mass of the newly added area is accurately calculated. The stratified integration strategy effectively overcomes the mass calculation error caused by the uneven density of the coal pile in the traditional coal inventory method, and significantly improves the accuracy and reliability of the coal inventory results.

[0010] Furthermore, the calculation of the remaining region's mass based on the volume ratio of the missing region to the previous coal pile, using a layered integration strategy and a corresponding density correction strategy, includes: Calculate the ratio of the volume of the missing area to the total volume of the previous coal pile to obtain the volume ratio; When the volume ratio is less than a preset threshold, the remaining area uses the depth-density stratification model from the previous batch. When the volume ratio reaches a preset threshold, the remaining area is divided into a core area and an active area. The active area is the area that is less than a preset distance from the boundary of the missing area, and the core area is the area in the remaining area excluding the active area. The core area adopts the depth-density stratification model from the previous batch; The depth density stratification model corresponding to the activity area is obtained by multiplying the depth density stratification model of the previous round by a reduction factor, wherein the reduction factor is less than 1. Based on the first three-dimensional geometric model, the remaining area, core area or active area is divided into multiple thickness units in the vertical direction, and the depth value and volume corresponding to each thickness unit are determined. Based on the depth value corresponding to each thickness unit, the corresponding density value is obtained by matching from the corresponding depth density layering model; The mass of the remaining region is obtained by integrating the volume and density values ​​of each thickness unit.

[0011] By adopting the above technical solution, it is possible to intelligently select whether to perform fine-grained density correction. When the missing amount is small, the historical density model can be used to maintain computational efficiency. However, when the missing amount is large, the remaining area is divided into the affected active area and the relatively stable core area. The depth density stratification model after the reduction factor is applied to the active area can more accurately reflect the stress release and density changes inside the coal pile caused by the material reclaiming operation. This avoids the errors caused by simply using the historical model, so that the coal inventory results can more accurately reflect the actual quality of the coal pile and improve the accuracy and reliability of the coal inventory.

[0012] Furthermore, the method for determining the reduction factor includes: The active area is divided into multiple sub-regions according to the operating history of the material handling equipment. Each sub-region corresponds to a different stress response characteristic. The empirical coefficient of the sub-region is determined based on the stress response characteristic. Calculate the surface height change of the missing region and multiple points within the range of the disturbance influence, and decompose the surface height change into instantaneous deformation component and creep component that has occurred. Based on the operation log of the material handling equipment, the time interval from the formation time of the missing area to the current coal inventory time is obtained. The creep completion ratio is determined based on the time interval, and the creep completion ratio is directly proportional to the time interval. Based on the operation log of the material handling equipment, the time interval from the formation time of the missing area to the current coal inventory time is obtained. The creep completion ratio is determined based on the time interval, and the creep completion ratio is directly proportional to the time interval. Based on the pre-established calibration curve of creep completion ratio and time interval, the creep component that has occurred is divided by the creep completion ratio corresponding to the current time interval to obtain the total creep. The instantaneous deformation component is added to the total creep to obtain the effective height change ∆h. The stress relief level at the corresponding point is estimated based on the effective height change ∆h, and the reduction factor is negatively correlated with the stress relief level. ; Where H is the local original stack height, and c is the pre-calibrated empirical coefficient of the sub-region to which the corresponding point belongs; The theoretical mass is calculated based on the reduced depth-density stratification model. The theoretical mass is then compared with the cumulative conveying mass recorded by the material handling equipment. If the deviation exceeds a preset threshold, the reduction coefficient is adjusted by scaling to make the corrected volume consistent with the belt scale mass, while maintaining the relative proportion of the reduction coefficients in different sub-regions.

[0013] By adopting the above technical solution, the active area is divided into multiple sub-regions and empirical coefficients are introduced. The disturbance influence range is set in combination with the mechanical properties of the coal, and the range affected by stress release is accurately defined. Then, by decomposing the surface height change into instantaneous deformation components and creep components that have occurred, and using the creep completion ratio for backtracking, a more realistic effective height change is obtained. Based on the effective height change, combined with the local original pile height and sub-region empirical coefficients, a quantitative relationship between the reduction coefficient and the degree of stress release is established, so that the density correction is more consistent with the actual stress state and material redistribution inside the coal pile. In addition, the comparison and verification mechanism with the cumulative conveying mass of the reclaiming equipment can adaptively adjust the calculated reduction coefficient, effectively eliminate systematic errors, and ensure that the final coal inventory calculation result is highly consistent with the actual situation, significantly improving the accuracy and reliability of the coal inventory.

[0014] Furthermore, the method also includes: Obtain the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model to identify the theoretical interface between the old and new coal seams; Collect full waveform data of radar echoes and detect whether there are abnormal reflection features near the theoretical interface depth. The abnormal reflection features include: the echo energy shows a gradual change rather than an abrupt change within the interface depth range, or multiple consecutive reflection peaks appear. When abnormal reflection characteristics are detected, it is determined that there is a mixing transition zone between the old and new coal seams; The mixing transition zone is divided into multiple sub-layers. Each sub-layer uses an interpolation density model that is between the new coal model and the old coal model, or the mixing ratio of each sub-layer is estimated based on the echo energy distribution.

[0015] By adopting the above technical solution, the comparison results of the first three-dimensional geometric model and the second three-dimensional geometric model are obtained, the theoretical interface between the new and old coal seams is identified, and the full waveform data of the radar echo is further collected to detect whether there are abnormal reflection characteristics near the depth of the theoretical interface. This can accurately identify the mixing transition zone. The mixing transition zone is divided into multiple sub-layers, and an interpolation density model between the new coal model and the old coal model is used, or the mixing ratio of each sub-layer is estimated based on the echo energy distribution. This makes the density calculation of each sub-layer more refined and consistent with the actual situation, avoiding the density calculation error caused by simply treating the mixing zone as a single new coal or old coal area. This significantly improves the accuracy of coal stockpile quality calculation, especially in scenarios with frequent coal stockpiling and complex alternation between new and old coal seams, and can more accurately reflect the actual stock of the coal stockpile.

[0016] Furthermore, when the volume ratio is less than a preset threshold, the remaining region adopts the depth-density stratification model from the previous batch, including: The remaining region is divided into a stable region and an affected region, wherein the stable region satisfies at least one of the following conditions: The stable region is more than a second preset distance from the boundary of the missing region; The stable region is where the rate of change of volume between the first three-dimensional geometric model and the second three-dimensional geometric model is less than a third preset threshold; The surface curvature change of the stable region in the first three-dimensional geometric model is less than the fourth pre-set threshold. The stable region uses the quality calculation results of the corresponding region from the previous test. The affected area uses the same depth-density stratification model as the previous plate, and the stratification integration is performed again.

[0017] By adopting the above technical solution, the remaining area is meticulously divided into stable and affected areas, enabling differentiated quality calculation strategies for different areas. For stable areas, the quality calculation results from the previous batch are directly used, greatly improving calculation efficiency and avoiding unnecessary duplication. For affected areas, layered integration is performed again based on the geometric model of the current batch, ensuring that the quality is accurately reflected even in the case of local deformation. This avoids the errors that may result from generalizing the entire remaining area, especially in scenarios where the volume of the missing area is small but the local impact is significant, significantly improving the overall accuracy and reliability of coal quality calculation while also taking into account calculation efficiency.

[0018] Furthermore, the method also includes: Before each coal inventory, a fixed reference object is scanned, the fixed reference object including at least three non-coplanar feature points; By comparing the known distance between feature points with the scanning distance, the difference between the known size of the fixed reference object and the geometric size obtained by scanning is obtained, and the measurement error compensation coefficient of the current radar equipment in three dimensions is calculated. The compensation coefficient is applied to the point cloud data of the current cycle to correct the first three-dimensional geometric model.

[0019] By adopting the above technical solution, the scanning and calibration steps of a fixed reference object are introduced before each coal inventory, which can effectively detect and quantify the measurement error of the radar equipment in the current working state. By applying the calculated measurement error compensation coefficient to the point cloud data of the current inventory, the acquired first three-dimensional geometric model can be accurately corrected, thereby significantly improving the accuracy of the coal pile geometric model. This avoids the problem of inaccurate coal inventory results caused by the accumulation or drift of radar equipment measurement errors, and improves the accuracy and reliability of the entire coal inventory method.

[0020] Secondly, this application provides a radar coal inventory system based on density stratification, employing the following technical solution: The first three-dimensional geometric model acquisition module is used to acquire the first three-dimensional geometric model of the coal pile in the current batch. The judgment module is used to determine whether a second three-dimensional geometric model of the previous coal pile exists. The first calculation module is used to determine that the judgment module does not exist, take the entire first three-dimensional geometric model as the new region, and use a hierarchical integration strategy to calculate the mass of the new region as the total mass of the coal pile in the current batch. The second three-dimensional geometric model acquisition module is used by the judgment module to determine the existence of the previous coal pile and to acquire the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information. The deformation type determination module is used to determine the deformation type of the current batch relative to the previous batch based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model. The deformation type includes newly added areas and / or missing areas. A new region calculation module has been added, which is used to calculate the quality of the new region using a hierarchical integration strategy. The missing region calculation module is used to determine the remaining region of the previous coal pile relative to the missing region, and calculate the mass of the remaining region based on the volume ratio of the missing region to the previous coal pile using a layered integration strategy and a corresponding density correction strategy. The total mass calculation module is determined by at least one of the mass of the newly added region and the mass of the remaining region.

[0021] Thirdly, this application provides an electronic device that adopts the following technical solution: An electronic device, comprising: At least one processor; Memory; At least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program being configured to: perform the method as described in any one of the first aspects.

[0022] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and execute the method as described in any one of the first aspects.

[0023] For a detailed description of the second to fourth aspects of the present invention and their various implementations, please refer to the detailed description in the first aspect and its various implementations; and for a detailed description of the beneficial effects of the second to fourth aspects and their various implementations, please refer to the beneficial effect analysis in the first aspect and its various implementations, which will not be repeated here.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. By obtaining a refined geometric model of the coal pile and using a layered integration strategy and a density correction strategy for newly added and missing areas respectively according to the deformation type of the coal pile, the limitations of the traditional single density estimation method can be effectively overcome, and the density stratification characteristics caused by gravity compaction inside the coal pile can be accurately reflected, thereby significantly improving the accuracy and reliability of coal storage quality inventory in the coal yard. 2. The newly added area is meticulously divided into multiple thickness units in the vertical direction, and a density value at a specific depth is matched for each unit. Then, by integrating the volume and density values ​​of each thickness unit, the mass of the newly added area is accurately calculated. This effectively overcomes the mass calculation error caused by the uneven coal density in the traditional coal inventory method, and significantly improves the accuracy and reliability of the coal inventory results. Attached Figure Description

[0025] Figure 1 This is a schematic flowchart of the radar coal inventory method based on density stratification in the embodiments of this application.

[0026] Figure 2 This is a cross-sectional view of the three-dimensional geometric model along the ZX axis when only the missing region exists in the embodiments of this application.

[0027] Figure 3 This is a cross-sectional view of the three-dimensional geometric model along the ZX axis when only the newly added region exists in the embodiments of this application.

[0028] Figure 4This is a cross-sectional view of the three-dimensional geometric model along the ZX axis when there are newly added and missing regions in the embodiments of this application.

[0029] Figure 5 This is a structural block diagram of the radar coal inventory system based on density stratification in the embodiments of this application.

[0030] Figure 6 This is a structural block diagram of the electronic device in the embodiments of this application. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0033] This application discloses a radar coal inventory method based on density stratification. (Refer to...) Figure 1 This is performed by an electronic device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, desktop computer, etc., but is not limited to these. (Steps S101 to S108)

[0034] Step S101: Obtain the first three-dimensional geometric model of the coal pile in the current batch.

[0035] Specifically, the first three-dimensional geometric model is obtained by scanning the surface of the coal pile using a three-dimensional lidar device, collecting point cloud data, and then reconstructing the geometric model of the coal pile using point cloud processing software. Electronic devices acquire the data scanned by the three-dimensional lidar device, thus establishing the first three-dimensional geometric model.

[0036] Step S102: Determine whether a second three-dimensional geometric model of the previous coal pile exists.

[0037] Specifically, the electronic device queries the system database to determine if historical 3D geometric model data corresponding to the previous coal inventory time or batch exists. If no relevant data is found in the specified storage location, it is determined that the data does not exist. This is used to distinguish whether the current inventory is the first coal inventory. If the second 3D geometric model of the previous coal pile does not exist, then the current inventory is the first coal inventory.

[0038] If it does not exist, proceed to step S103: treat the entire first three-dimensional geometric model as a new region, and use a layered integration strategy to calculate the mass of the new region as the total mass of the coal pile in the current batch.

[0039] The hierarchical integration strategy includes steps S11 to S16:

[0040] Step S11: Obtain the coal type parameters, stacking time, and yard conditions of the current coal pile.

[0041] Specifically, coal type parameters can include coal type, particle size distribution, moisture content, etc., which directly affect the compaction characteristics of the coal. Stockpiling time refers to the time elapsed since the coal pile was formed; under its own weight, the coal pile gradually compacts over time, increasing its density. Stockyard conditions encompass environmental temperature, humidity, and foundation bearing capacity, which also influence the compaction process. These parameters can be obtained through manual input, automatic synchronization with Enterprise Resource Planning (ERP) or Manufacturing Execution System (MES) data interfaces, or real-time monitoring using sensors deployed within the stockyard.

[0042] Step S12: Select the corresponding depth density stratification model from the pre-built depth density stratification model library based on at least one of the coal type parameters, stockpiling time, and stockpile conditions. The depth density stratification model is used to characterize the mapping relationship between depth and density.

[0043] Specifically, the model library pre-stores various models illustrating the mapping relationship between coal pile depth and density under different coal types, storage durations, and storage yard environmental conditions. These models can be empirical formulas, polynomial functions, exponential functions derived from historical data statistical analysis, or lookup tables obtained through simulations using physical models such as finite element analysis. The selection process can be based on rule matching; for example, if the coal type is "lean coal" and the storage time is "more than six months," the system will select the corresponding "lean coal - long-term storage" model.

[0044] Specifically, the depth-density stratification model is used to characterize the mapping relationship between depth and density within a coal pile; that is, given a depth value, the model can output the expected density of the coal at that depth. For example, the model can be represented as... In the form of, For density, Let a represent the depth, and b and c represent the model parameters.

[0045] For example, after testing, a coal yard stored coking coal, the type of which was 1 / 3 coking coal, with a pile height ranging from 3 to 12 meters, and the longest storage time was 45 days.

[0046] When calibrating the density stratification model, coal samples at different depths were first obtained using core drilling. The measured density data are as follows: Depth range (m) Average density (kg / m³) Standard deviation (kg / m³) Sample size 0-2 850 25 30 2-4 880 20 30 4-6 910 15 30 6-8 940 12 30 8-10 970 10 30

[0047] Based on the above data, a cubic polynomial was used to fit the depth-density relationship to obtain the depth-density stratification model for this coal type: Where h is the depth.

[0048] Similarly, electronic devices can pre-store various models of the mapping relationship between coal pile depth and density.

[0049] Step S13: Invoke the selected depth density stratification model.

[0050] Step S14: Based on the first three-dimensional geometric model, the newly added region is divided into multiple thickness units in the vertical direction, and the depth value and volume corresponding to each thickness unit are determined.

[0051] Specifically, the electronic equipment typically starts from the top surface of the coal pile and horizontally slices it at a preset fixed thickness (e.g., every 0.1 m or 0.5 m), or adaptively divides it according to the coal pile geometry and density gradient. For each sliced ​​thickness cell, the system determines its corresponding depth value (e.g., the center depth or bottom depth of the cell) and volume. The volume can be calculated by meshing the three-dimensional geometric model, counting the number of voxels contained in each thickness cell and multiplying by the voxel volume, or by using geometric calculation methods.

[0052] Step S15: Based on the depth value corresponding to each thickness unit, match the corresponding density value from the called depth density layering model.

[0053] For example, if the center depth of a certain thickness unit is 2.5 meters, then inputting 2.5 meters into the depth density stratification model will return the coal density value at that depth.

[0054] Step S16: Integrate the volume and density values ​​of each thickness element to obtain the mass of the newly added region.

[0055] Specifically, the integration process essentially involves summing the masses of all thickness units. The mass of each thickness unit equals its volume multiplied by its corresponding density value. Through this refined layered calculation, the density variation within the coal pile with depth can be accurately reflected, thus obtaining a more precise mass for newly added areas.

[0056] For example, the newly added area is divided into 50 thickness units (0.1m each) according to the vertical height. The depth and volume of each unit are calculated, the density is obtained from the model, and the mass is obtained by integration = 3210 tons.

[0057] In addition, if a second three-dimensional geometric model of the previous coal pile exists, then steps S104 to S108 are executed.

[0058] Step S104: Obtain the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information.

[0059] Specifically, the electronic device reads the second three-dimensional geometric model file from a historical database or storage system, and simultaneously extracts the total mass record of the previous batch of coal associated with the model.

[0060] Step S105: Based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model, determine the deformation type of the current plate relative to the previous plate. The deformation type includes newly added areas and / or missing areas.

[0061] Specifically, comparisons can be achieved through Boolean operations or point cloud difference analysis between 3D models. For example, by calculating the volume difference set between two models, newly added and removed coal pile sections can be identified.

[0062] like Figure 2 Taking the cross-sectional view of the three-dimensional geometric model along the ZX axis as an example, the red area is the second three-dimensional geometric model and the blue area is the first three-dimensional geometric model. After comparison, it is determined that area A is the missing area.

[0063] like Figure 3 Taking the cross-sectional view of the three-dimensional geometric model along the ZX axis as an example, the blue area is the first three-dimensional geometric model, and the red area is the second three-dimensional geometric model. After comparison, area B is determined to be the newly added area.

[0064] like Figure 4 Taking the cross-sectional view of the three-dimensional geometric model along the ZX axis as an example, the blue area is the first three-dimensional geometric model, and the red area is the second three-dimensional geometric model. After comparison, it is determined that area B is the newly added area and area A is the missing area.

[0065] The above are just examples of newly added and missing regions in a two-dimensional image. In reality, missing and newly added regions are three-dimensional regions.

[0066] Step S106: For the newly added region, the quality of the newly added region is calculated using a hierarchical integration strategy.

[0067] Step S107: For the missing area, determine the remaining area of ​​the previous coal pile relative to the missing area. Based on the volume ratio of the missing area to the previous coal pile, calculate the mass of the remaining area using a layered integration strategy and the corresponding density correction strategy.

[0068] Specifically, the remaining area of ​​the previous coal pile relative to the missing area does not include the newly added area in the current pile.

[0069] Based on the volume ratio of the missing area to the previous coal pile, the mass of the remaining area is calculated using a layered integration strategy and a corresponding density correction strategy, including steps S21 to S28:

[0070] Step S21: Calculate the ratio of the volume of the missing area to the total volume of the previous coal pile to obtain the volume ratio.

[0071] Specifically, the electronic device accurately identifies and calculates the geometric volume of the missing area by comparing the first three-dimensional geometric model of the current coal pile with the second three-dimensional geometric model of the previous coal pile. Simultaneously, the total volume of the previous coal pile can be obtained from historical coal inventory data, or calculated from the second three-dimensional geometric model. Then, the volume ratio is obtained by dividing the volume of the missing area by the total volume of the previous coal pile.

[0072] Step S22: When the volume ratio is less than the preset threshold, the remaining area uses the depth-density stratification model from the previous batch.

[0073] The preset threshold can be set according to the actual application scenario, coal characteristics, material handling frequency, and historical data analysis results. For example, it can be set to 5%, 10%, or a smaller value. When the calculated volume ratio of the missing area is lower than this threshold, it indicates that the missing amount is relatively small and has no significant impact on the overall density distribution of the coal pile. In this case, the system will directly call the depth density stratification model used in the previous batch of coal and apply it to the mass calculation of the current remaining area to simplify the calculation process and improve efficiency.

[0074] In another possible implementation, if the remaining area is directly calculated using the depth-density stratification model from the previous batch, the local disturbances or deformations caused by the missing area to the surrounding coal piles may be ignored, thus affecting the accuracy of the coal mass calculation. Therefore, the above method also includes steps S221 to S223:

[0075] Step S221: Divide the remaining region into stable regions and affected regions. The stable regions shall satisfy at least one of the following conditions:

[0076] (1) The distance between the stable region and the boundary of the missing region is greater than the second preset distance.

[0077] (2) The volume change rate of the stable region between the first three-dimensional geometric model and the second three-dimensional geometric model is less than the third preset threshold.

[0078] (3) The surface curvature change of the stable region in the first three-dimensional geometric model is less than the fourth pre-set threshold.

[0079] Regarding item (1), the second preset distance is an empirical value determined based on factors such as the physical properties of the coal, the stacking angle, and the disturbance range of the surrounding area caused by the material removal operation, or obtained through experimental calibration. When the area is far enough away from the missing area, it is considered that the coal pile structure and density distribution in the corresponding area are minimally affected by the missing area and can be regarded as stable.

[0080] For item (2), the volume change rate is calculated as the ratio of the volume difference to the volume of the previous batch. The third preset threshold is used to quantify the allowable range of small volume fluctuations. When the volume change rate is lower than the third preset threshold, it indicates that the coal pile volume structure in this area has maintained a high degree of stability.

[0081] Regarding item (3), the electronic device calculates the surface curvature based on the ratio of the change in surface area of ​​a region between two adjacent coal pile measurements to the surface area during the previous coal pile measurement. The change in surface curvature reflects the flatness or degree of deformation of the coal pile surface. If the change in surface curvature of a region is very small, it indicates that the surface morphology of the coal pile in that region is stable and no obvious collapse, bulging or other deformation has occurred, thus it can be regarded as a stable region. Among them, the fourth preset threshold is set according to the actual application scenario and the requirements for deformation sensitivity.

[0082] Step S222: The stable region uses the quality calculation results of the corresponding region from the previous batch.

[0083] Specifically, for regions identified as stable, their geometry and density distribution are considered highly consistent with the previous batch, allowing the direct use of the quality calculation results for the corresponding region from the previous batch. This avoids redundant geometric division, depth-density matching, and integral calculations for stable regions, significantly improving coal inventory efficiency.

[0084] Step S223: The affected area uses the depth-density stratification model from the previous plate and performs stratification integration again.

[0085] Specifically, for the areas identified as affected, although their overall density stratification model may still be similar to the previous plate, their geometry may have changed locally due to the formation of missing regions. Therefore, it is necessary to reuse the depth-density stratification model from the previous plate and re-integrate the affected area based on the first three-dimensional geometric model of the current plate. Thus, even if the density model remains unchanged, the re-integration can more accurately reflect the actual quality of the affected area due to the changes in volume and depth distribution.

[0086] Step S23: When the volume ratio reaches the preset threshold, the remaining area is divided into a core area and an active area. The active area is the area that is less than the preset distance from the boundary of the missing area, and the core area is the area in the remaining area excluding the active area.

[0087] Specifically, the preset distance should comprehensively consider the mechanical properties of the coal, the operating range of the reclaiming equipment, and empirical values; for example, it can be set to several meters to tens of meters. Using three-dimensional geometric modeling technology, the geometric boundary of the missing area can be identified. Based on this boundary, a preset distance can be extended into the coal pile, thus defining the active area most significantly affected by the reclaiming operation. The remaining area is defined as the core area, which is farther from the missing area and relatively less affected by the reclaiming operation.

[0088] For example, the boundary of the missing area is extended outward by 2 meters as the disturbance influence radius, i.e., the preset distance, and the remaining area is divided into: active area: the area less than 2m away from the boundary of the missing area; core area: the rest of the remaining area.

[0089] Step S24: The core area uses the same depth-density stratification model as the previous batch.

[0090] Specifically, since the core area is far from the missing area, the stress state and compaction degree of the internal coal body do not change significantly. Therefore, its density distribution can be considered to be consistent with the previous block. For each thickness unit within the core area, its depth value will be directly mapped to the depth-density stratification model of the previous block to obtain the corresponding density value.

[0091] Step S25: The depth density stratification model corresponding to the active area is obtained by multiplying the depth density stratification model of the previous round by a reduction factor, where the reduction factor is less than 1.

[0092] Specifically, in active zones, due to their proximity to deficient areas, the coal body may expand or loosen due to stress release caused by material removal operations, resulting in a localized decrease in density. The reduction factor, a value less than 1, is used to correct the estimated density of the coal body in the active zone to reflect this density reduction. The reduction factor can be an empirically fixed value, such as 0.95, representing an average density reduction of 5% in the active zone; or it can be dynamically calculated through more complex mechanical models or historical data analysis to more accurately reflect the actual density changes.

[0093] Step S26: Based on the first three-dimensional geometric model, divide the remaining area, core area or active area into multiple thickness units in the vertical direction, and determine the depth value and volume corresponding to each thickness unit.

[0094] Step S27: Based on the depth value corresponding to each thickness unit, obtain the corresponding density value from the corresponding depth density layering model.

[0095] Step S28: Integrate the volume and density values ​​of each thickness element to obtain the mass of the remaining region.

[0096] Specifically, the electronic equipment utilizes the first three-dimensional geometric model of the current coal pile, and through three-dimensional geometric processing techniques such as mesh generation and voxelization, divides the remaining area vertically into multiple horizontal layers, forming thickness units. For each thickness unit, its average depth and geometric volume within the current coal pile are calculated. For thickness units in the core area, the depth-density stratification model from the previous pile is used for matching; for thickness units in the active area, a depth-density stratification model corrected by a reduction factor is used. Using the depth-density stratification model, the corresponding density value is output by inputting the depth value of the thickness unit. The mass of each thickness unit is obtained by multiplying its volume by its matched density value. Subsequently, the masses of all thickness units are summed to obtain the mass of the entire remaining area.

[0097] In another possible implementation, the internal stress state of the coal pile undergoes complex changes after reclaiming operations, resulting in a non-uniform density reduction. The degree of density reduction is closely related to regional characteristics, reclaiming history, and time effects. Relying solely on experience or a single coefficient for correction makes it difficult to accurately reflect the actual density changes, thus affecting the accuracy of the coal mass calculation. Therefore, the above-mentioned method for determining the reduction coefficient includes steps Sa to Sg:

[0098] Step Sa: Divide the active area into multiple sub-regions based on the operating history of the material handling equipment. Each sub-region corresponds to different stress response characteristics. Determine the empirical coefficients of the sub-regions based on the stress response characteristics.

[0099] Specifically, the active zone is not homogeneous. Due to historical factors such as the operating mode, intensity, and sequence of the material handling equipment, different locations within it will exhibit varying stress release and material redistribution characteristics. For example, the active zone can be divided into several sub-regions with similar stress response characteristics based on parameters such as the operating frequency, depth, and type of the material handling equipment. For each sub-region, an empirical coefficient c is pre-calibrated through historical data analysis, field experiments, or numerical simulations. The empirical coefficient c reflects the sensitivity or inherent characteristics of the density reduction in that sub-region when subjected to stress release.

[0100] Step Sb: Based on the mechanical characteristics of the coal, set the disturbance influence range around the missing area. The disturbance influence range is the range affected by the stress release of the missing area.

[0101] Specifically, as a bulk material, the internal stress release of coal is not limited to the feed port but spreads to the surrounding area. The disturbance influence range refers to the spatial range formed by extending a certain distance outward from the boundary of the missing area. Within the disturbance influence range, the material experiences stress release due to the loss of lateral support, resulting in a lower density than the original state, requiring a reduction in the scanned volume.

[0102] The size of the disturbance's influence range is preset based on the mechanical properties of the coal. The specific value can be determined using one of the following methods:

[0103] Method 1: Determine based on the angle of repose of the coal. The smaller the angle of repose, the greater the disturbance propagation distance. For example, for thermal coal with an angle of repose of 35°, the disturbance influence distance between the disturbance influence range and the boundary of the missing area is taken as 0.8 times the maximum size of the missing area; for anthracite with an angle of repose of 45°, it is taken as 0.5 times.

[0104] Method 2: Use fixed empirical values, such as 2 meters or 3 meters, which is suitable for stockpiles with relatively stable material characteristics.

[0105] Method 3: Determine the disturbance influence distance through simple on-site testing. Set up observation points at different distances outside the boundary of the missing area, measure the surface height change, and take the distance where the height change decays to 10% of the maximum change as the disturbance influence distance.

[0106] Step Sc: Calculate the surface height change of multiple points in the missing area and within the range of disturbance influence, and decompose the surface height change into instantaneous deformation component and creep component that has occurred.

[0107] Specifically, when a coal pile experiences a reclaiming operation that creates a missing area, its surface height changes. Radar scanning can acquire high-precision point cloud data. By comparing the point cloud data before and after the formation of the missing area, the change in surface height at each point can be calculated. This height change is the result of the combined effects of instantaneous elasticity, plastic deformation, and time-dependent creep. Electronic equipment can decompose these two components by establishing a rheological model of the coal and fitting it with on-site monitoring data, or by analyzing surface height changes over different time intervals to separate the instantaneous response and the time-dependent response.

[0108] Step Sd: Based on the operation log of the material handling equipment, obtain the time interval from the time of formation of the missing area to the current coal inventory time, and determine the creep completion ratio based on the time interval. The creep completion ratio is directly proportional to the time interval.

[0109] Specifically, creep is a slow, time-dependent change, and its degree is closely related to the time interval. The operating log of the material reclaiming equipment records the time, location, and quantity of each reclaiming operation in detail, allowing for accurate determination of the specific moment when the missing area formed. By calculating the time difference from the reclaiming time to the current coal inventory time, the time interval at which creep occurred can be obtained. The creep completion percentage represents the proportion of total creep that has occurred within a given time interval.

[0110] Step Se: Based on the pre-established calibration curve of creep completion ratio and time interval, divide the creep component that has occurred by the creep completion ratio corresponding to the current time interval to obtain the total creep. Add the instantaneous deformation component to the total creep to obtain the effective height change. .

[0111] Specifically, to accurately assess the degree of stress release, the total deformation of the coal pile after complete creep is required. Pre-established calibration curves, obtained through laboratory tests or long-term field monitoring, describe the proportion of creep completion for a specific coal at different time intervals, allowing the creep components that have occurred to be "retrospectively traced back" to their total value at the fully creeped state. Adding this total creep value to the instantaneous deformation component yields a more comprehensive and accurate effective height change ∆h, representing the final, stable deformation at that point under stress release.

[0112] Step Sf: Based on the effective height change The reduction factor is negatively correlated with the degree of stress release when estimating the stress release level at the corresponding point. ; in, For the original local stacking height, These are the pre-calibrated empirical coefficients for the sub-region to which the corresponding point belongs.

[0113] Specifically, the effective height change ∆h directly reflects the degree of material rearrangement and density reduction within the coal pile, and therefore can be used to estimate the stress release level at the corresponding point. The higher the stress release level, the lower the material density, and the greater the density reduction. The reduction coefficient k is negatively correlated with the stress release level; that is, the greater the stress release level, the smaller the value of k. (Formula) In this context, H represents the local original stack height at that point, used to normalize the height variation and make it a relative value. c is the empirical coefficient of the sub-region to which the point belongs, taking into account the characteristics of the sub-region and making the calculation of the reduction coefficient more targeted.

[0114] For example, the electronic device selects representative measurement points from three sub-regions in the active area, located at the edge, middle, and far edge of the missing area, respectively, and calculates the reduction coefficient.

[0115] Taking measurement point A from a sub-region 0.3m from the boundary of the missing region as an example:

[0116] The original local stockpile height H = 8.2m, and the change in surface height at that point after material removal is Δ. =0.3m, the empirical coefficient c=0.65 for the sub-region to which this point belongs, and the effective height change Δ is calculated. =0.31m.

[0117] Reduction factor: k= =1-0.65× =0.9754.

[0118] Measuring point B (1.1m from the boundary of the missing area): Δ =0.12m, H=8.2m, c=0.45, then k=0.9934.

[0119] Measuring point C (1.8m from the boundary of the missing area): Δ =0.03m, H=8.2m, c=0.25, then k=0.9991.

[0120] Step Sg: Calculate the theoretical mass based on the reduced depth-density stratification model, compare the theoretical mass with the cumulative conveying mass recorded by the material handling equipment, and if the deviation exceeds the preset threshold, adjust the overall scaling of the reduction coefficient to make the corrected volume consistent with the mass of the belt scale, while keeping the relative proportion of the reduction coefficients of different sub-regions unchanged.

[0121] Specifically, after the initial calculation of the reduction factor, the theoretical mass can be calculated based on the reduced depth-density stratification model. This is then verified using the actual cumulative conveyed mass recorded by the material handling equipment. If the deviation between the theoretical mass and the conveyed mass exceeds a preset allowable threshold, it indicates that the current reduction factor may have a systematic error. In this case, an overall scaling adjustment of the reduction factor for all sub-regions is required.

[0122] Furthermore, a unified scaling factor is used for multiplication correction to ensure that the theoretical quality matches the actual delivery quality as closely as possible. When making overall scaling adjustments, the relative proportions of the reduction coefficients between different sub-regions must remain unchanged to ensure that the characteristic differences between each sub-region are still reflected.

[0123] Step S108: The total mass is determined by at least one of the mass of the newly added region and the mass of the remaining region.

[0124] For example, if only new regions exist, the total quality is the quality of the new regions. If both new and missing regions exist, the total quality can be the sum of the quality of the remaining regions and the quality of the new regions.

[0125] In another possible implementation, during actual coal inventory, the interface between the old and new coal seams may not be ideally smooth or clearly demarcated, but rather exhibits a certain degree of mixing. This can lead to errors when directly applying a single density model to the interface region, affecting the accuracy of the inventory results. The above method also includes steps S31 to S34:

[0126] Step S31: Obtain the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model, and identify the theoretical interface between the old and new coal seams.

[0127] Specifically, the first three-dimensional geometric model represents the shape of the coal pile in the current pan, and the second three-dimensional geometric model represents the shape of the coal pile in the previous pan. By performing volume difference analysis in three-dimensional space on these two geometric models, the theoretical contact surface between the newly added coal seam and the existing coal seam can be identified. For example, electronic equipment can identify the bottom surface of the newly added area, which is the theoretical interface between the old and new coal seams. The interface is usually an irregular curved surface, and its position and shape are the basis for subsequent detection of the mixing transition zone. By superimposing the first three-dimensional geometric model and the second three-dimensional geometric model, the part of the first three-dimensional geometric model that extends beyond the second three-dimensional geometric model can be identified, and the bottom surface of the extended part is the theoretical interface.

[0128] Step S32: Collect full waveform data of radar echo and detect whether there are abnormal reflection characteristics near the theoretical interface depth. Abnormal reflection characteristics include: the echo energy shows a gradual change rather than an abrupt change within the interface depth range, or multiple continuous reflection peaks appear.

[0129] Specifically, the full waveform data of radar echoes includes information on the reflection intensity and time of the signal at different depths. Ideally, if there is a clear physical interface between old and new coal seams, the radar echo energy will exhibit a relatively obvious abrupt change at that depth. However, if a mixing transition zone exists, the change in echo energy will be gradual rather than a steep abrupt change. Furthermore, multiple minute interfaces or inhomogeneities may exist within the mixing zone, resulting in multiple consecutive reflection peaks.

[0130] Electronic equipment can use high-resolution radar to scan the coal pile, acquiring full waveform data at each scan point. The data is then processed to analyze the gradient and peak distribution of the echo energy with depth near the theoretical interface depth. For example, if the derivative of the energy curve remains consistently low within a certain depth range, it indicates a gradual change; if multiple local maxima appear near the theoretical interface, it indicates the presence of multiple consecutive reflection peaks.

[0131] Step S33: When abnormal reflection characteristics are detected, it is determined that there is a mixing transition zone between the old and new coal seams.

[0132] Step S34: Divide the mixing transition zone into multiple sub-layers. Each sub-layer uses an interpolation density model that is between the new coal model and the old coal model, or estimates the mixing ratio of each sub-layer based on the echo energy distribution.

[0133] Specifically, the electronic device can divide the mixing transition zone into a predetermined number of sub-layers of equal thickness based on the total thickness of the zone. For each sub-layer, density interpolation can be performed between the old coal model and the new coal model based on the relative position of the sub-layer within the mixing zone.

[0134] For example, if a sublayer is located in the middle of the mixing zone, the corresponding density model can be the average of the densities of the new and old coal models or a proportionally weighted average. Alternatively, a mapping relationship can be established between echo energy characteristics and coal mixing ratio. By analyzing the echo energy distribution corresponding to each sublayer, the volume or mass mixing ratio of new and old coal in that sublayer can be estimated, and then the overall density of the sublayer can be calculated.

[0135] In another possible implementation, the measurement accuracy of the radar equipment may drift under different environmental conditions, during long-term operation, or when subjected to external interference, resulting in systematic or random errors in the acquired three-dimensional geometric model of the coal pile, thus affecting the accuracy of the coal inventory results. Therefore, the above method also includes steps S41 to S43:

[0136] Step S41: Before each coal inventory, scan a fixed reference object, which includes at least three non-coplanar feature points.

[0137] Specifically, a fixed reference object is an object whose position and geometry remain stable in the field environment. It is usually made of a material with good radar reflectivity to ensure that radar signals can clearly detect and obtain its surface information.

[0138] To comprehensively evaluate the measurement accuracy of radar equipment in three-dimensional space, a fixed reference object must contain at least three non-coplanar feature points. Feature points are markers on the reference object with clearly defined geometric coordinates, such as precisely machined edges, the center of a sphere, or a specialized reflector. The physical distances between these feature points are precisely measured and recorded when the reference object is set up. The radar equipment acquires the three-dimensional coordinate data of these feature points by transmitting and receiving electromagnetic waves, thereby obtaining the "scanning distance" between the feature points.

[0139] Step S42: By comparing the known distance between feature points with the scanning distance, the difference between the known size of the fixed reference object and the geometric size obtained by scanning is obtained, and the measurement error compensation coefficient of the current radar equipment in three dimensions is calculated.

[0140] For example, if the known distance is L and the scanning distance is L', then L'-L is the measurement error. Based on these differences, the system calculates the measurement error compensation coefficients for the current radar equipment in the X, Y, and Z dimensions.

[0141] The compensation coefficient can be a simple scaling factor or a more complex transformation matrix, capable of correcting the original radar measurements to a level closer to the true value. The compensation coefficient can be calculated using the least squares method or other algorithms to reduce the deviation between the corrected scanning distance and the known distance.

[0142] Step S43: Apply the compensation coefficient to the point cloud data of the current cycle to correct the first three-dimensional geometric model.

[0143] Specifically, before constructing the first three-dimensional geometric model of the coal pile, the electronic equipment adjusts and corrects the coordinates of each point cloud data point accordingly. The point cloud data corrected by the compensation coefficient will be used to generate the first three-dimensional geometric model of the coal pile for the current batch.

[0144] To better implement the above method, embodiments of this application also provide a radar coal inventory system based on density stratification, referring to... Figure 5 The density-stratified radar coal inventory system 200 includes: The first three-dimensional geometric model acquisition module 201 is used to acquire the first three-dimensional geometric model of the coal pile in the current batch. Decision module 202 is used to determine whether a second three-dimensional geometric model of the previous coal pile exists; The first calculation module 203 is used to determine that the module does not exist, treat the entire first three-dimensional geometric model as a new region, and use a hierarchical integration strategy to calculate the mass of the new region as the total mass of the coal pile in the current batch. The second three-dimensional geometric model acquisition module 204 is used to determine the existence of the module and acquire the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information. The deformation type determination module 205 is used to determine the deformation type of the current batch relative to the previous batch based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model. The deformation type includes newly added areas and / or missing areas. A new region calculation module 206 is added, which is used to calculate the quality of the new region using a hierarchical integration strategy. The missing region calculation module 207 is used to determine the remaining area of ​​the previous coal pile relative to the missing region, and calculate the mass of the remaining area based on the volume ratio of the missing region to the previous coal pile using a layered integration strategy and a corresponding density correction strategy. Total mass calculation module 208, the total mass is determined by at least one of the mass of the newly added area and the mass of the remaining area.

[0145] The various variations and specific examples of the methods in the foregoing embodiments are also applicable to the density-stratified radar coal inventory device of this embodiment. Through the foregoing detailed description of the density-stratified radar coal inventory method, those skilled in the art can clearly understand the implementation method of the density-stratified radar coal inventory device in this embodiment. Therefore, for the sake of brevity, it will not be described in detail here.

[0146] To better implement the above methods, embodiments of this application provide an electronic device, referring to... Figure 6 The electronic device 300 includes a processor 301, a memory 303, and a display screen 305. The memory 303 and the display screen 305 are both connected to the processor 301, such as via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.

[0147] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0148] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 may be divided into address bus, data bus, control bus, etc.

[0149] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0150] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0151] Figure 6 The electronic device 300 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0152] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the program implements the density-stratified radar coal inventory method provided in the above embodiments. By acquiring a refined geometric model of the coal pile and performing quality calculations for newly added and missing areas using a stratified integration strategy and a density correction strategy, respectively, based on the deformation type of the coal pile, it can effectively overcome the limitations of traditional single density estimation methods, accurately reflect the density stratification characteristics of the coal pile caused by gravity compaction, and thus significantly improve the accuracy and reliability of coal inventory in coal yards.

[0153] In this embodiment, the computer-readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. The computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer-readable storage medium can be a portable computer disk, a hard disk, a USB flash drive, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical encoding device, or any combination thereof.

[0154] The computer program in this embodiment includes program code for performing all the aforementioned methods. The program code may include instructions corresponding to the method steps provided in the above embodiments. The computer program can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device via a network (e.g., the Internet, a local area network, a wide area network, and / or a wireless network). The computer program can be executed entirely on the user's computer as a standalone software package.

[0155] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

[0156] Additionally, it should be understood that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

Claims

1. A radar coal inventory method based on density stratification, characterized in that, include: Obtain the first three-dimensional geometric model of the coal pile in the current batch; Determine whether a second three-dimensional geometric model of the previous coal pile exists; If it does not exist, the entire first three-dimensional geometric model is taken as the new region, and the mass of the new region is calculated using a hierarchical integration strategy, which is used as the total mass of the coal pile in the current batch. If it exists, obtain the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information; Based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model, the deformation type of the current plate relative to the previous plate is determined, and the deformation type includes newly added areas and / or missing areas. For newly added regions, a hierarchical integration strategy is used to calculate the quality of the newly added regions; For the missing area, the remaining area of ​​the previous coal pile relative to the missing area is determined. Based on the volume ratio of the missing area to the previous coal pile, the mass of the remaining area is calculated using a layered integration strategy and a corresponding density correction strategy. The total mass is determined by at least one of the mass of the newly added region and the mass of the remaining region.

2. The method according to claim 1, characterized in that, The hierarchical integration strategy includes: Obtain the current coal type parameters, stockpiling time, and stockpile conditions of the coal pile; Based on at least one of the coal type parameters, stockpiling time, and stockpile conditions, a corresponding depth density stratification model is selected from a pre-built depth density stratification model library. The depth density stratification model is used to characterize the mapping relationship between depth and density. Invoke the selected depth density stratification model; Based on the first three-dimensional geometric model, the newly added region is divided into multiple thickness units in the vertical direction, and the depth value and volume corresponding to each thickness unit are determined. Based on the depth value corresponding to each thickness unit, the corresponding density value is obtained by matching from the called depth density layering model; The mass of the newly added region is obtained by integrating the volume and density values ​​of each thickness unit.

3. The method according to claim 1, characterized in that, The calculation of the remaining region's mass based on the proportion of the missing region to the volume of the previous coal pile, using a layered integration strategy and a corresponding density correction strategy, includes: Calculate the ratio of the volume of the missing area to the total volume of the previous coal pile to obtain the volume ratio; When the volume ratio is less than a preset threshold, the remaining area uses the depth-density stratification model from the previous batch. When the volume ratio reaches a preset threshold, the remaining area is divided into a core area and an active area. The active area is the area that is less than a preset distance from the boundary of the missing area, and the core area is the area in the remaining area excluding the active area. The core area adopts the depth-density stratification model from the previous batch; The depth density stratification model corresponding to the activity area is obtained by multiplying the depth density stratification model of the previous round by a reduction factor, wherein the reduction factor is less than 1. Based on the first three-dimensional geometric model, the remaining area, core area or active area is divided into multiple thickness units in the vertical direction, and the depth value and volume corresponding to each thickness unit are determined. Based on the depth value corresponding to each thickness unit, the corresponding density value is obtained by matching from the corresponding depth density layering model; The mass of the remaining region is obtained by integrating the volume and density values ​​of each thickness unit.

4. The method according to claim 3, characterized in that, The method for determining the reduction factor includes: The active area is divided into multiple sub-regions according to the operating history of the material handling equipment. Each sub-region corresponds to a different stress response characteristic. The empirical coefficient of the sub-region is determined based on the stress response characteristic. The disturbance influence range around the missing area is set according to the mechanical characteristics of the coal, and the disturbance influence range is the range affected by the stress release of the missing area; Calculate the surface height change of the missing region and multiple points within the range of the disturbance influence, and decompose the surface height change into instantaneous deformation component and creep component that has occurred. Based on the operation log of the material handling equipment, the time interval from the formation time of the missing area to the current coal inventory time is obtained. The creep completion ratio is determined based on the time interval, and the creep completion ratio is directly proportional to the time interval. Based on the pre-established calibration curve of creep completion ratio and time interval, the creep component that has occurred is divided by the creep completion ratio corresponding to the current time interval to obtain the total creep. The instantaneous deformation component is added to the total creep to obtain the effective height change. ; Based on the effective height change The stress relief level at the corresponding point is estimated, and the reduction factor is negatively correlated with the stress relief level. ； in, For the original local stacking height, For the pre-calibrated empirical coefficients of the sub-region to which the corresponding point belongs; The theoretical mass is calculated based on the reduced depth-density stratification model. The theoretical mass is then compared with the cumulative conveying mass recorded by the material handling equipment. If the deviation exceeds a preset threshold, the reduction coefficient is adjusted by scaling to make the corrected volume consistent with the belt scale mass, while maintaining the relative proportion of the reduction coefficients in different sub-regions.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model to identify the theoretical interface between the old and new coal seams; Collect full waveform data of radar echoes and detect whether there are abnormal reflection features near the theoretical interface depth. The abnormal reflection features include: the echo energy shows a gradual change rather than an abrupt change within the interface depth range, or multiple consecutive reflection peaks appear. When abnormal reflection characteristics are detected, it is determined that there is a mixing transition zone between the old and new coal seams; The mixing transition zone is divided into multiple sub-layers. Each sub-layer uses an interpolation density model that is between the new coal model and the old coal model, or the mixing ratio of each sub-layer is estimated based on the echo energy distribution.

6. The method according to claim 3, characterized in that, When the volume ratio is less than a preset threshold, the remaining region uses the depth-density stratification model from the previous batch, including: The remaining region is divided into a stable region and an affected region, wherein the stable region satisfies at least one of the following conditions: The stable region is more than a second preset distance from the boundary of the missing region; The stable region is where the rate of change of volume between the first three-dimensional geometric model and the second three-dimensional geometric model is less than a third preset threshold. The surface curvature change of the stable region in the first three-dimensional geometric model is less than a fourth preset threshold. The stable region uses the quality calculation results of the corresponding region from the previous test. The affected area uses the same depth-density stratification model as the previous plate, and the stratification integration is performed again.

7. The method according to claim 1, characterized in that, The method further includes: Before each coal inventory, a fixed reference object is scanned, the fixed reference object including at least three non-coplanar feature points; By comparing the known distance between feature points with the scanning distance, the difference between the known size of the fixed reference object and the geometric size obtained by scanning is obtained, and the measurement error compensation coefficient of the current radar equipment in three dimensions is calculated. The compensation coefficient is applied to the point cloud data of the current cycle to correct the first three-dimensional geometric model.

8. A radar coal-digesting device based on density stratification, characterized in that, include: The first three-dimensional geometric model acquisition module is used to acquire the first three-dimensional geometric model of the coal pile in the current batch. The judgment module is used to determine whether a second three-dimensional geometric model of the previous coal pile exists. The first calculation module is used to determine that the judgment module does not exist, take the entire first three-dimensional geometric model as the new region, and use a hierarchical integration strategy to calculate the mass of the new region as the total mass of the coal pile in the current batch. The second three-dimensional geometric model acquisition module is used by the judgment module to determine the existence of the previous coal pile and to acquire the second three-dimensional geometric model of the previous coal pile and the corresponding historical quality information. The deformation type determination module is used to determine the deformation type of the current batch relative to the previous batch based on the comparison results between the first three-dimensional geometric model and the second three-dimensional geometric model. The deformation type includes newly added areas and / or missing areas. A new region calculation module has been added, which is used to calculate the quality of the new region using a hierarchical integration strategy. The missing region calculation module is used to determine the remaining region of the previous coal pile relative to the missing region, and calculate the mass of the remaining region based on the volume ratio of the missing region to the previous coal pile using a layered integration strategy and a corresponding density correction strategy. The total mass calculation module is determined by at least one of the mass of the newly added region and the mass of the remaining region.

9. An electronic device, characterized in that, include: At least one processor; Memory; At least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, the at least one computer program being configured to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and execute the method as described in any one of claims 1 to 7.

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