Coal batch management method and apparatus based on point cloud data, and device

Abstract

A coal batch management method and apparatus based on point cloud data, and a device. The method comprises: using a laser coal pile scanner to scan a coal yard, so as to acquire coal pile surface information data, and converting the coal pile surface information data into three-dimensional spatial coordinate data; separating various coal qualities in the coal yard, and presenting coal pile structures by means of three-dimensional structures; acquiring coal piling / taking dispatch task information of a fuel management system and a generation management system within the same time period, batch information of coal piled and taken by trains and cars in the coal yard, and coal quality composition information, and determining an assigned coal zone in a dispatch task; comparing the assigned coal zone in the dispatch task with coal zones in the coal pile structures, and if coal zone information is identical, determining that the coal zone in a corresponding coal pile structure conforms to the coal quality in the dispatch task, so as to complete the matching and binding of coal quality information; and on the basis of the matching and binding result, displaying, in real time, three-dimensional models for different batches of coal piled and taken in the coal yard. Thus, coal is managed more accurately, and effective guidance is also provided for coal blending.

Description

Coal batch management method, device and equipment based on point cloud data TECHNICAL FIELD

[0001] The present application relates to the technical field of coal management, in particular to a coal batch management method, device and equipment based on point cloud data. BACKGROUND

[0002] About 70% of the cost of thermal power plants comes from coal procurement, and the continuous rise in coal prices will constrain the economic development of thermal power plants. Therefore, achieving fine management of coal is an important means for thermal power plants to improve quality and efficiency from their own perspective. At present, most power plants only intuitively understand the overall situation of the coal yard by coal yarding.

[0003] However, the coal yarding method cannot intuitively present the coal structure according to the coal quality, and the positioning of the whole process of coal into the plant, stacking, taking and into the furnace is not accurate enough, and cannot play a good guiding role in fine blending.

[0004] SUMMARY

[0005] The present application provides a coal batch management method, device and equipment based on point cloud data to solve the defects of non-intuitive and non-accurate coal management in the prior art.

[0006] In a first aspect, the present application provides a coal batch management method based on point cloud data, comprising:

[0007] Using a laser coal yarding instrument to scan the coal yard to obtain coal pile surface information data, and converting the coal pile surface information data into spatial three-dimensional coordinate data;

[0008] Based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure;

[0009] Obtaining the stacking and taking coal scheduling task information, coal yard train and automobile stacking and taking coal batch information and coal quality component information of the fuel management system and the generation management system in the same time period;

[0010] Based on the stacking and taking coal scheduling task information, coal yard train and automobile stacking and taking coal batch information and coal quality component information, determining the active coal area in the scheduling task;

[0011] Comparing the active coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing the coal quality information matching and binding;

[0012] Based on the matching and binding, realizing real-time display of the three-dimensional model of different batches of coal yard stacking and taking coal through the coal yarding instrument system, the visualization system, the standing system, the belt scale system, the servers of each system and the data.

[0013] According to the coal batch management method based on point cloud data provided by the application, the spatial three-dimensional coordinate data is (x, y, z);

[0014] Wherein, (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position point.

[0015] According to the coal batch management method based on point cloud data provided by the application, the spatial three-dimensional coordinate data is (x, y, z);

[0016] Initialize the coal pile structure to obtain the initialized coal pile quantity;

[0017] Traverse each single coal quality coal pile in the initialized coal pile quantity;

[0018] Traverse each grid point in each single coal quality coal pile;

[0019] Determine the coordinates of the current grid point, determine the upper surface coordinates and the lower surface coordinates of the coal pile, and determine the latest coordinates of the current grid point under the scanning result of the coal disc instrument;

[0020] Based on the size relationship of the upper surface coordinates, the lower surface coordinates and the latest coordinates, the various coal qualities in the coal yard are stripped.

[0021] According to the coal batch management method based on point cloud data provided by the application, the upper surface coordinates are The lower surface coordinates are The latest coordinates are (x, y, z1);

[0022] Based on the size relationship of the upper surface coordinates, the lower surface coordinates and the latest coordinates, the various coal qualities in the coal yard are stripped.

[0023] When , it is determined that the coal quality is stacked on the current grid point;

[0024] When , it is determined that the coal pile on the current grid point has not changed;

[0025] When , it is determined that the coal pile on the current grid point has changed, and the corresponding coal quality information and the corresponding upper surface coordinates of the current grid point are updated.

[0026] According to the coal batch management method based on point cloud data provided by the application, the spatial three-dimensional coordinate data is (x, y, z);

[0027] When when the current grid point is determined to be empty of coal;

[0028] when the current grid point is determined to be empty of coal, and the adjacent next layer of coal is also determined to be empty of coal.

[0029] According to the present application, a method for managing batches of coal based on point cloud data is provided, which further comprises:

[0030] The coal storage structure is determined by displaying the three-dimensional model of the coal yard in real time.

[0031] The blending decision is made based on the coal storage structure, so as to manage the batches of coal.

[0032] According to the present application, a method for managing batches of coal based on point cloud data is provided, which realizes the real-time display of the three-dimensional model of the coal yard in different batches.

[0033] The three-dimensional depth data of the coal yard in different batches is projected on a rectangular plane domain, and the sampling points in the rectangular plane domain are triangulated according to the Delaunay optimization criterion.

[0034] The grid nodes are transformed to the three-dimensional curved surface after triangulation, and the three-dimensional display of the coal pile is displayed.

[0035] According to the present application, a method for managing batches of coal based on point cloud data is provided, which converts the coal pile surface information data into spatial three-dimensional coordinate data, comprising:

[0036] The coal pile surface information data is filtered, denoised and data registered to obtain pre-processed point cloud data.

[0037] The pre-processed point cloud data is surface meshed to generate a three-dimensional model.

[0038] The coordinate data in the three-dimensional model is exported by using CloudCompare or MeshLab or Blender.

[0039] In a second aspect, the present application further provides a device for managing batches of coal based on point cloud data, comprising:

[0040] The acquisition module is used for acquiring the coal pile surface information data of the coal yard by using a laser coal disc scanner, and converting the coal pile surface information data into spatial three-dimensional coordinate data.

[0041] The stripping module is used for stripping various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and presenting the coal pile structure by using a three-dimensional structure. ​

[0042] An acquisition module is configured to acquire the coal pile scheduling task information, the coal yard train and vehicle coal pile batch information, and the coal quality component information of the fuel management system and the generation management system in the same time period;

[0043] A determination module is configured to determine the active coal area in the scheduling task based on the coal pile scheduling task information, the coal yard train and vehicle coal pile batch information, and the coal quality component information.

[0044] A binding module is configured to compare the active coal area in the scheduling task with each coal area in the coal pile structure, and if the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding. A display module is configured to realize the real-time display of the three-dimensional model of the different batches of coal yard coal piling and coal taking based on the matching and binding, through the coal disc system, the visualization system, the vertical credit system, the belt scale system, the system servers, and the data.

[0045] In a third aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the coal batch management method based on the point cloud data according to any one of the above aspects.

[0046] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium, which stores a computer program executable by a processor to realize the coal batch management method based on the point cloud data according to any one of the above aspects.

[0047] In a fifth aspect, the present application further provides a computer program product, which includes a computer program executable by a processor to realize the coal batch management method based on the point cloud data according to any one of the above aspects.

[0048] The application provides a coal batch management method, device and equipment based on point cloud data, which comprises the following steps: obtaining coal pile surface information data by scanning a coal yard with a laser coal disc instrument, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure; obtaining pile and coal scheduling task information, coal yard train and automobile pile and coal batch information and coal quality composition information of a fuel management system and a generation management system in the same time period; based on the pile and coal scheduling task information, the coal yard train and automobile pile and coal batch information and the coal quality composition information, a coal area in the scheduling task is determined; the coal area in the scheduling task is compared with each coal area in the coal pile structure, if the coal area information is the same, the coal area in the corresponding coal pile structure is determined as the coal quality in the scheduling task, and the coal quality information matching and binding are completed; based on the matching and binding, the coal yard pile and coal different batches are realized through the real-time display of the three-dimensional model by the coal disc instrument system, the visualization system, the credit system, the belt scale system, each system server and data, the coal pile structure is presented in a three-dimensional way, the related information of various coal qualities in the coal yard can be intuitively understood, and therefore the management of the coal is more accurate, and the coal blending is also facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0050] Fig. 1 is a flow diagram of the coal batch management method based on point cloud data provided by the present embodiment;

[0051] Fig. 2 is a structural diagram of the coal batch management device based on point cloud data provided by the present embodiment;

[0052] Fig. 3 is a structural diagram of the electronic device provided by the present embodiment. DETAILED DESCRIPTION

[0053] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely in the following with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0054] Fig. 1 is a flow diagram of the coal batch management method based on point cloud data provided by the present embodiment.

[0055] As shown in FIG. 1, the coal batch management method based on point cloud data provided by the embodiment of the present application mainly comprises the following steps: 101, using a laser coal disc instrument to scan the coal pile surface information data obtained from the coal yard, and converting the coal pile surface information data into spatial three-dimensional coordinate data.

[0056] In a specific implementation process, the coal yard includes many coal piles, and each coal pile can be of one coal quality or different coal qualities in different layers. Therefore, first, the entire coal yard is scanned using a laser coal disc instrument to obtain the surface information data of all coal piles, and then the coal pile surface information data is converted to obtain spatial three-dimensional coordinate data, i.e., (x, y, z); wherein (x, y) represents the ground position of the coal yard, and z represents the height of the coal at the ground position point of the coal pile. Through the given coordinates, the position of a point in three-dimensional space can be accurately described and located, and this representation can be used for calculating and analyzing three-dimensional geometric shapes, simulation and visualization, etc. Therefore, when the coal pile changes (increases or decreases), it will be reflected in the change of the three-dimensional spatial coordinate value.

[0057] The conversion of the coal pile surface information data into spatial three-dimensional coordinate data can specifically be filtering, denoising and data registration of the coal pile surface information data, smoothing the data through Gaussian filtering or median filtering, identifying and removing abnormal values or noise points through denoising, and finally registering the data to a unified coordinate system if the data comes from multiple perspectives or devices, achieving data registration, completing data preprocessing, and obtaining preprocessed point cloud data.

[0058] The preprocessed point cloud data is surface meshed to generate a three-dimensional model. For a stereo camera system, corresponding points in left and right images are found through a stereo matching algorithm, and depth information is calculated to generate point clouds, which are then surface meshed to generate a three-dimensional model. Then, CloudCompare or MeshLab or Blender is used to export the coordinate data in the three-dimensional model. According to requirements, different file formats can be selected to store the coordinate data, such as CSV, PLY, OBJ, etc.

[0059] Thus, data acquisition and conversion are efficiently completed, and three-dimensional coordinates can intuitively reflect the change of the coal pile.

[0060] 102, based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure.

[0061] After obtaining the spatial three-dimensional coordinate data, set that there are n coal piles of coal quality in the existing coal pile structure, and after updating the coal pile structure this time, there are n newA coal pile of a certain type of coal is denoted as C for each type of coal. i , 1≤i≤n.

[0062] The coal pile structure is initialized to obtain the initial number of coal piles. Before updating the coal pile structure, since no new coal piles have been removed, let n be... new =n. Then iterate through each coal pile of a single coal type in the initial coal pile quantity, and record the coal pile of the single coal type currently being analyzed and calculated as C. p , where: 1≤p≤n.

[0063] Then iterate through each coal pile C of a single coal type. p For each grid point in the data, determine the coordinates of the current grid point, denoted as (x, y). Determine the coordinates of the upper and lower surfaces of the coal pile, and determine the latest coordinates of the current grid point based on the coal inventory analyzer scan results; the upper surface coordinates are... The coordinates of the lower surface are The latest coordinates are (x, y, z1), from which it is obvious that...

[0064] Then, based on the relationship between the upper surface coordinates, lower surface coordinates, and the latest coordinates, various coal types in the coal yard are stripped, i.e., compared. The relationship between z1 and z2 is as follows:

[0065] when When it is determined that there is coal deposited at the current grid point, it is denoted as C. new+1 Update the number of coal piles n new +=1;

[0066] when If the coal pile at the current grid point has not changed, the information bound to that current grid point will not be updated.

[0067] when When it is determined that a coal removal operation has occurred on the coal pile of the current grid point, update C. p The current grid point contains coal quality information and its corresponding upper surface coordinates, while the lower surface coordinates remain unchanged.

[0068] when When it is determined that the coal pile at the current grid point has been completely removed, and there is no more coal C to burn at that grid point. p ;

[0069] when At that time, determine the coal pile C at the current grid point. p Once all the coal has been removed, and the coal pile of the next adjacent layer has also undergone a coal removal operation, the above process is repeated to update the coal quality when traversing to that coal pile.

[0070] Then the next coal pile is analyzed, p is incremented, p+ = 1, and the coal pile C is traversed step by step p At each grid point, the comparison The size relationship with z1 is determined until all coal piles are traversed. That is, when p > n, it indicates that all coal piles have been updated and the traversal is terminated.

[0071] At this point, each coal quality has been stripped from the coal yard and presented through a three-dimensional structure, allowing for intuitive viewing of the coal yard coal pile structure.

[0072] 103. Obtain the coal stacking and unstacking scheduling task information, coal yard train and vehicle coal stacking and unstacking batch information, and coal quality component information of the fuel management system and the generation management system in the same time period.

[0073] The acquisition method can be direct acquisition through the control system or input of time period information for inquiry, as long as the coal stacking and unstacking scheduling task information, coal yard train and vehicle coal stacking and unstacking batch information, and coal quality component information can be obtained.

[0074] 104. Based on the coal stacking and unstacking scheduling task information, coal yard train and vehicle coal stacking and unstacking batch information, and coal quality component information, determine the active coal area in the scheduling task.

[0075] Using the length information of each coal area in each period of the coal yard, determine the coal area to which each coal pile structure belongs, that is, determine the active coal area in the scheduling task, and determine in which coal area the scheduling task should be performed.

[0076] 105. Compare the active coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding.

[0077] Through comparative analysis, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding, so as to start or stop the scheduling task based on the bound information, ensure the accurate performance of the scheduling work, ensure the accuracy of the coal quality and coal pile positioning, and better achieve batch management of the coal.

[0078] 106. Based on the matching and binding, realize real-time display of the three-dimensional model of different batches of coal stacking and unstacking in the coal yard through the coal yard instrument system, visualization system, Lixin system, belt scale system, servers of each system, and data.

[0079] After the matching binding, the scheduling task can be more efficiently executed, and then the coal yard instrument system, the visualization system, the Lishin system, the belt scale system, various system servers and data are integrated, the coal stacking and taking information is fed back to the platform system in a timely manner, the system realizes real-time display of the three-dimensional model of different batches of coal stacking and taking in the coal yard by processing related data, mainly projecting the three-dimensional depth data of different batches of coal stacking and taking in the coal yard on a rectangular plane domain, and performing triangulation on the sampling points in the rectangular plane domain according to the Delaunay optimization criterion; the grid nodes are transformed to the three-dimensional curved surface after triangulation, and the display of the three-dimensional graph of the coal pile is performed.

[0080] After the three-dimensional display, the coal storage structure can be determined through the real-time display of the three-dimensional model of different batches of coal stacking and taking in the coal yard; the blending decision is formed based on the coal storage structure, so as to facilitate the batch management of the coal, and provide a guidance reference for the batch management.

[0081] The coal yard instrument system, the visualization system, the Lishin system, the belt scale system, various system servers and data in the embodiment are mutually coordinated to realize the analysis of the coal storage structure in the coal yard and intelligently manage the batches of coal. By peeling off the coal quality of each batch from the coal yard, the current coal storage structure in the coal yard is mastered in real time, the data of the coal entering the plant, stacking and taking and entering the furnace are linked, the three-dimensional visualization technology is combined, the information of the coal yard is fully, intuitively and dynamically displayed, the real-time coal storage structure is obtained, and the blending decision is quickly formed.

[0082] Based on the same overall inventive concept, the application also protects a coal batch management device based on point cloud data. The coal batch management device based on point cloud data provided by the application is described below, and the coal batch management device based on point cloud data described below can be correspondingly referred to the coal batch management method based on point cloud data described above.

[0083] FIG. 2 is a structural schematic diagram of the coal batch management device based on point cloud data provided by the embodiment.

[0084] As shown in FIG. 2, the coal batch management device based on point cloud data provided by the embodiment includes:

[0085] The acquisition module 201 is configured to acquire the coal pile surface information data obtained by scanning the coal yard by using the laser coal yard instrument, and convert the coal pile surface information data into spatial three-dimensional coordinate data;

[0086] The peeling module 202 is configured to peel off various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and present the coal pile structure through the three-dimensional structure;

[0087] The acquisition module 203 is configured to acquire the coal stacking and unstacking scheduling task information, the coal yard train and vehicle coal stacking and unstacking batch information, and the coal quality composition information of the fuel management system and the generation management system in the same time period.

[0088] The determination module 204 is configured to determine the active coal area in the scheduling task based on the coal stacking and unstacking scheduling task information, the coal yard train and vehicle coal stacking and unstacking batch information, and the coal quality composition information.

[0089] The binding module 205 is configured to compare the active coal area in the scheduling task with each coal area in the coal pile structure, and if the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding.

[0090] The display module 206 is configured to realize real-time display of the three-dimensional model of different batches of coal stacking and unstacking in the coal yard based on the matching and binding, through the coal yard instrument system, the visualization system, the Lixing system, the belt scale system, the servers of each system, and the data.

[0091] Further, the spatial three-dimensional coordinate data in the embodiment is (x, y, z).

[0092] Wherein, (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position point.

[0093] Further, the stripping module 202 in the embodiment is specifically configured to:

[0094] Initialize the coal pile structure to obtain the initialized coal pile quantity.

[0095] Iterate each single-coal-quality coal pile in the initialized coal pile quantity.

[0096] Iterate each grid point in each single-coal-quality coal pile.

[0097] Determine the coordinates of the current grid point, determine the upper surface coordinates and the lower surface coordinates of the coal pile, and determine the latest coordinates of the current grid point in the coal yard instrument scanning result.

[0098] Based on the size relationship of the upper surface coordinates, the lower surface coordinates and the latest coordinates, the various coal qualities in the coal yard are stripped.

[0099] Further, the upper surface coordinates in the embodiment are The lower surface coordinates are The latest coordinates are (x, y, z1).

[0100] The stripping module 202 is specifically further configured to:

[0101] When when the current grid point is in the coal quality stack, it is determined that the coal quality stack at the current grid point has changed;

[0102] when the current grid point is not in the coal quality stack, it is determined that the coal quality stack at the current grid point has not changed;

[0103] when the current grid point is in the coal quality stack, it is determined that the coal quality stack at the current grid point has changed;

[0104] the stripping module 202 is specifically further configured to

[0105] when the current grid point is not in the coal quality stack, it is determined that the coal quality stack at the current grid point has not changed;

[0106] when the current grid point is not in the coal quality stack, it is determined that the coal quality stack at the current grid point has not changed;

[0107] further, the embodiment further includes a guiding module, configured to:

[0108] by displaying the three-dimensional model of the coal yard in real time, the coal storage structure is determined;

[0109] based on the coal storage structure, a blending decision is made to facilitate the batch management of the coal.

[0110] further, the display module 206 in the embodiment is specifically configured to:

[0111] the three-dimensional depth data of the coal yard in different batches is projected on a rectangular plane domain, and the sampling points in the rectangular plane domain are triangulated according to the Delaunay optimization criterion;

[0112] the grid nodes are transformed to the three-dimensional curved surface after triangulation, and the three-dimensional display of the coal stack is displayed.

[0113] further, the acquisition module 201 in the embodiment is specifically configured to:

[0114] the coal stack surface information data is filtered, denoised and data registered to obtain preprocessed point cloud data;

[0115] the preprocessed point cloud data is surface meshed to generate a three-dimensional model;

[0116] the coordinate data in the three-dimensional model is exported by using CloudCompare or MeshLab or Blender.

[0117] FIG. 3 is a structural schematic diagram of an electronic device provided by the embodiment.​​​​

[0118] As shown in FIG. 3, the electronic device can include a processor 310, a communications interface 320, a memory 330, and a communications bus 340, wherein the processor 310, the communications interface 320, and the memory 330 complete mutual communication through the communications bus 340. The processor 310 can invoke the logic instructions in the memory 330 to execute the coal batch management method based on point cloud data, which includes: scanning the coal pile surface information data obtained by the laser coal disc instrument, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through the three-dimensional structure; obtaining the coal stacking and taking scheduling task information, coal yard train and automobile coal stacking and taking batch information, and coal quality composition information of the fuel management system and the generation management system in the same time period; based on the coal stacking and taking scheduling task information, the coal yard train and automobile coal stacking and taking batch information, and the coal quality composition information, determining the active coal area in the scheduling task; comparing the active coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, completing the coal quality information matching and binding; based on the matching and binding, through the coal disc instrument system, the visualization system, the vertical credit system, the belt scale system, each system server and data, realizing the real-time display of the three-dimensional model of the coal yard coal stacking and taking different batches. In addition, the logic instructions in the memory 330 described above can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0119] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program being stored on a non-transitory computer-readable storage medium, and the computer program being executable by a processor to enable a computer to execute the coal batch management method based on point cloud data provided by the above-mentioned methods. The method comprises: scanning the coal pile surface information data obtained by a laser coal disc instrument in a coal yard, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure; obtaining the coal stacking and taking scheduling task information, the coal yard train and automobile coal stacking and taking batch information, and the coal quality composition information of the fuel management system and the generation management system in the same time period; based on the coal stacking and taking scheduling task information, the coal yard train and automobile coal stacking and taking batch information, and the coal quality composition information, determining the active coal area in the scheduling task; comparing the active coal area in the scheduling task with each coal area in the coal pile structure, and if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing the coal quality information matching and binding; based on the matching and binding, realizing the real-time display of the three-dimensional model of different batches of coal stacking and taking in the coal yard through the coal disc instrument system, the visualization system, the standing credit system, the belt scale system, each system server, and data.

[0120] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium, which stores a computer program. The computer program is executable by a processor to implement the coal batch management method based on point cloud data provided by the above-mentioned methods. The method comprises: scanning the coal pile surface information data obtained by a laser coal disc instrument in a coal yard, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure; obtaining the coal stacking and taking scheduling task information, the coal yard train and automobile coal stacking and taking batch information, and the coal quality composition information of the fuel management system and the generation management system in the same time period; based on the coal stacking and taking scheduling task information, the coal yard train and automobile coal stacking and taking batch information, and the coal quality composition information, determining the active coal area in the scheduling task; comparing the active coal area in the scheduling task with each coal area in the coal pile structure, and if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing the coal quality information matching and binding; based on the matching and binding, realizing the real-time display of the three-dimensional model of different batches of coal stacking and taking in the coal yard through the coal disc instrument system, the visualization system, the standing credit system, the belt scale system, each system server, and data.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0122] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A coal batch management method based on point cloud data, characterized in that, The method comprises the following steps: acquiring coal pile surface information data by scanning the coal yard with a laser disc coal instrument, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, stripping various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure; acquiring pile and take coal scheduling task information, coal yard train and automobile pile and take coal batch information, and coal quality composition information of a fuel management system and a generation management system in the same time period; based on the pile and take coal scheduling task information, the coal yard train and automobile pile and take coal batch information, and the coal quality composition information, determining the role of the coal area in the scheduling task; comparing the role of the coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing coal quality information matching and binding; based on the matching and binding, realizing real-time display of three-dimensional models of different batches of coal piles and coal taking in the coal yard through a disc coal instrument system, a visualization system, a standing credit system, a belt scale system, each system server, and data.

2. The coal batch management method based on point cloud data according to claim 1, characterized in that, The spatial three-dimensional coordinate data is (x, y, z); wherein (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position point.

3. The coal batch management method based on point cloud data according to claim 2, characterized in that, The method based on the spatial three-dimensional coordinate data to strip various coal qualities in the coal yard comprises the following steps: initializing the coal pile structure to obtain the number of initialized coal piles; traversing each single coal quality coal pile in the number of initialized coal piles; traversing each grid point in each single coal quality coal pile; determining the coordinates of the current grid point, determining the upper surface coordinates and the lower surface coordinates of the coal pile, and determining the latest coordinates of the current grid point in the disc coal instrument scanning result; based on the size relationship of the upper surface coordinates, the lower surface coordinates, and the latest coordinates, stripping various coal qualities in the coal yard.

4. The coal batch management method based on point cloud data according to claim 3, characterized in that, The upper surface coordinates are The lower surface coordinates are The latest coordinates are (x, y, z1). The method based on the size relationship of the upper surface coordinates, the lower surface coordinates, and the latest coordinates to strip various coal qualities in the coal yard comprises the following steps: When when the current grid point is determined to have coal quality stacking, the coal quality stacking in the current grid point is determined to have coal quality stacking; When when the current grid point is determined to have no change in the coal pile, it is determined that the coal pile in the current grid point has no change; When when the current grid point is determined to have coal quality stacking, the coal quality information and the corresponding upper surface coordinates of the current grid point are updated.

5. The coal batch management method based on point cloud data according to claim 4, characterized in that, The method further comprises the following steps: When when the current grid point is determined to have coal quality stacking, the coal quality stacking in the current grid point is determined to have coal quality stacking; When when the current grid point is determined to have coal quality stacking, the coal quality stacking in the current grid point is determined to have coal quality stacking.

6. The coal batch management method based on point cloud data according to claim 1, characterized in that, The method further comprises the following steps: determining the coal storage structure through real-time display of three-dimensional models of different batches of coal piles and coal taking in the coal yard; forming a blending decision based on the coal storage structure to facilitate coal batch management.

7. The coal batch management method based on point cloud data according to any one of claims 1-6, characterized in that, The method of realizing real-time display of three-dimensional models of different batches of coal piles and coal taking in the coal yard comprises the following steps: projecting the three-dimensional depth data of different batches of coal piles and coal taking in the coal yard on a rectangular plane domain, and performing Delaunay optimization on the sampling points in the rectangular plane domain; transforming the grid nodes to the three-dimensional curved surface after the triangulation, and displaying the three-dimensional perspective view of the coal pile.

8. The coal batch management method based on point cloud data according to any one of claims 1-6, characterized in that, The conversion of the coal pile surface information data into spatial three-dimensional coordinate data comprises: Filtering, denoising and data registration are performed on the coal pile surface information data to obtain pre-processed point cloud data; Surface gridding is performed on the pre-processed point cloud data to generate a three-dimensional model; Coordinate data in the three-dimensional model is exported by using CloudCompare or MeshLab or Blender.

9. A coal batch management device based on point cloud data, characterized by, Comprise: The acquisition module is used for acquiring coal pile surface information data obtained by scanning a coal yard by a laser disc coal instrument, and converting the coal pile surface information data into spatial three-dimensional coordinate data; The stripping module is used for stripping various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and presenting a coal pile structure by a three-dimensional structure; The acquisition module is used for acquiring coal pile and taking coal scheduling task information, coal yard train and automobile coal pile and taking coal batch information and coal quality component information in the same time period by a fuel management system and a generation management system; The determination module is used for determining an effective coal area in a scheduling task based on the coal pile and taking coal scheduling task information, the coal yard train and automobile coal pile and taking coal batch information and the coal quality component information; The binding module is used for comparing the effective coal area in the scheduling task with each coal area in the coal pile structure, and if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing coal quality information matching and binding; The display module is used for realizing real-time display of three-dimensional models of different batches of coal yard coal piling and taking coal by a disc coal instrument system, a visualization system, a Lixing system, a belt scale system, each system server and data based on the matching and binding.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the coal batch management method based on point cloud data according to any one of claims 1 to 8. The processor executes the program to realize the coal batch management method based on point cloud data according to any one of claims 1 to 8.

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