Method and device for eliminating smoke interference in coal yard

Abstract

The present invention provides a method and device for eliminating smoke interference in a coal yard, belonging to the field of communication technology. Among them, the method for eliminating smoke interference in the coal yard of the present invention includes the following steps: using the laser scanner to scan the area where the material fetching arm of the stacker-reclaimer rotates, and obtaining the point cloud data of this area; constructing a three-dimensional model of the coal yard according to the point cloud data, and at the same time generating a grayscale image from the point cloud data; determining the position height of the material according to the grayscale image, and comparing this height with the height of the material fetching arm of the stacker-reclaimer at the material fetching point to judge whether there is smoke interference and further eliminate the smoke interference. The method of the present invention is based on the establishment and correction of the three-dimensional model, and can completely eliminate the smoke interference of the three-dimensional model of the coal yard, and improve the automatic operation efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of communication technologies, and particularly relates to a method and device for eliminating smoke interference in a coal yard. Background Art

[0002] In the related technologies for warehousing material management (such as the management of coal fuel), the management method is basically to stack, scrape, and shape the fuel by manually operating mechanical equipment on site. The operator controls the rotation and pitching angles of the robotic arm in the on-site cab. However, due to the harsh on-site working environment with high dust pollution, it causes great harm to the health of long-term operators. In recent years, with the application of technologies such as 3D scanning, encoder positioning, and video monitoring in coal yard management, currently, it is possible to achieve remote control of stacking and reclaiming equipment by operators in a remote control room, and automatic operations such as fuel stacking, scraping, and shaping can be realized, basically achieving unattended coal yard management.

[0003] The key technology for unattended coal yard management is to establish a three-dimensional model of on-site materials in a remote control room. Its principle is based on computer vision technology. That is, a laser scanner is a high-precision data acquisition device. Its working principle is mainly to emit laser pulses in all directions along a fixed angle and feedback distance data and angle data. The backend program calculates the spatial coordinates of discrete points in the scanned area by parsing the feedback data.

[0004] During the stacking and reclaiming process in the coal yard, since the materials themselves are prone to generating smoke, the laser scanner cannot distinguish between fuel and smoke, resulting in irregular protrusions in the scanned coal shape, which in turn affects the calculation of the reclaiming strategy. During the automatic reclaiming process, the three-dimensional imaging of the smoke by the scanner is also regarded as fuel for scraping, thus performing ineffective operations and leading to low efficiency of automatic operations.

[0005] Therefore, in view of the above problem of low efficiency of automatic operations in the coal yard caused by smoke interference, it is necessary to propose a method and device for eliminating smoke interference in the coal yard. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a method for eliminating smoke interference in a coal yard and a device for eliminating smoke interference in a coal yard.

[0007] On one hand of the present invention, a method for eliminating smoke interference in a coal yard is provided. The device for eliminating smoke interference in a coal yard includes a stacking and reclaiming machine and laser scanners arranged on both sides of the end of the reclaiming arm of the stacking and reclaiming machine. Among them, the method includes the following steps:

[0008] Use the laser scanner to scan the area where the reclaiming arm of the stacking and reclaiming machine rotates, and obtain the point cloud data of this area;

[0009] Construct a 3D model of the coal yard based on the point cloud data, and at the same time generate a grayscale map from the point cloud data;

[0010] Determine the position height of the material according to the grayscale map, and compare this height with the height of the coal fetching arm of the stacker-reclaimer at the coal fetching point to determine whether there is smoke interference and further eliminate the smoke interference.

[0011] Optionally, the step of using the laser scanner to scan the area where the coal fetching arm of the stacker-reclaimer rotates and obtaining the point cloud data of this area includes:

[0012] When performing the coal fetching task, when the coal fetching arm of the stacker-reclaimer rotates to fetch coal in any one side direction, the laser scanner on the corresponding side is automatically activated and scans the area passed by the coal fetching arm to obtain the point cloud data of this area.

[0013] Optionally, after obtaining the point cloud data of this area, it further includes:

[0014] Convert the point cloud data according to the custom coordinates and store it in the database.

[0015] Optionally, the step of obtaining the point cloud data of this area includes:

[0016] Represent the point cloud data of the coal yard in polar coordinates. The pole of the polar coordinates is defined as the rotation center of the stacker-reclaimer, the height is the height of the bottom surface of the coal yard, and, set the rotation angle of the laser scanner as A, the pitch angle as B, the height of the scanner support as M, the distance between the laser scanner and the rotation center as L, and the scanning angle as 180°;

[0017] According to the above-defined parameters, set the scanning angle of a certain material point as C and the distance of the material corresponding to this angle as N, then the material coordinates of scanning to this material point are as follows:

[0018]

[0019] Wherein, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface.

[0020] Optionally, the step of constructing a 3D model of the coal yard based on the point cloud data and at the same time generating a grayscale map from the point cloud data includes:

[0021] Construct 3D models of the coal yard fuel tank and the stacker-reclaimer in equal proportions respectively, and in the same coordinate system, implant the 3D models according to the corresponding positions to form a 3D scene;

[0022] In the 3D scene, use the 3D model of the stacker-reclaimer to simulate the rotation and pitching actions of the coal fetching arm;

[0023] Import the information of the materials in the three-dimensional model of the coal yard fuel bin into a BMP image and perform automatic spatial stretching to generate a grayscale image.

[0024] Optionally, the grayscale value of each pixel point in the grayscale image represents the height value of the corresponding position of the material point.

[0025] Optionally, the determination of whether there is smoke interference and the further elimination of smoke interference include:

[0026] When the height of the material is less than the height of the coal stacker-reclaimer's material fetching arm at the material fetching point, there is no smoke interference;

[0027] When the height of the material is greater than the height of the coal stacker-reclaimer's material fetching arm at the material fetching point, there is smoke interference, and further calculate and update the point cloud data to correct the three-dimensional model to eliminate the interference of smoke.

[0028] Optionally, the formula for calculating the height of the coal stacker-reclaimer's material fetching arm at the material fetching point is as follows:

[0029] H ql = R tan D;

[0030] Where, H ql is the height value of the material fetching arm at the material fetching point, D is the pitching angle of the material fetching arm at the material fetching point. In the polar coordinate system, θ is the slewing angle, and R is the slewing radius.

[0031] Optionally, the following relational formula is used to calculate and update the point cloud data:

[0032]

[0033] Where, it is set that the slewing angle of the laser scanner is A, the pitching angle is B, the distance between the laser scanner and the slewing center is L, the scanning angle of a certain material point is C, θ is the slewing angle of the material point, R is the horizontal radius from the slewing center, and H is the height of the material point from the bottom surface.

[0034] On the other hand, the present invention proposes a device for eliminating smoke interference in a coal yard, including a coal stacker-reclaimer, and laser scanners, a model system, and a comprehensive information processing system arranged on both sides of the end of the material fetching arm of the coal stacker-reclaimer; where

[0035] The laser scanner is used to scan the area where the material fetching arm of the coal stacker-reclaimer slews and obtain the point cloud data of the area;

[0036] The model system is used to construct a three-dimensional model of the coal yard according to the point cloud data, and at the same time generate a grayscale image from the point cloud data;

[0037] The comprehensive information processing system is used to determine the position height of the material according to the grayscale image, and compare this height with the height of the coal stacker / reclaimer's material fetching arm at the material fetching point to determine whether there is smoke interference and further eliminate the smoke interference.

[0038] The present invention provides a method for eliminating smoke interference in a coal yard, including the following steps: using the laser scanner to scan the area where the material fetching arm of the coal stacker / reclaimer rotates, and obtaining the point cloud data of this area; constructing a three-dimensional model of the coal yard according to the point cloud data, and at the same time generating a grayscale image from the point cloud data; determining the position height of the material according to the grayscale image, and comparing this height with the height of the coal stacker / reclaimer's material fetching arm at the material fetching point to determine whether there is smoke interference and further eliminate the smoke interference. The method of the present invention is based on the establishment and correction of the three-dimensional model, effectively solving the problem that the irregular protrusions in the imaging of the three-dimensional model of the coal yard caused by smoke interference affect the calculation of the material fetching strategy, and can completely eliminate the smoke interference of the three-dimensional model of the coal yard, improving the efficiency of automatic operation. Brief Description of the Drawings

[0039] Figure 1 It is a flowchart of the method for eliminating smoke interference in a coal yard according to an embodiment of the present invention;

[0040] Figure 2 It is a schematic structural diagram of a circular coal yard and a coal stacker / reclaimer according to another embodiment of the present invention;

[0041] Figure 3 It is a schematic structural diagram of a circular coal stacker / reclaimer according to another embodiment of the present invention;

[0042] Figure 4 It is a schematic diagram of the installation position of the scanner according to another embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of obtaining point cloud data according to another embodiment of the present invention;

[0044] Figure 6 It is the laser scan data according to another embodiment of the present invention;

[0045] Figure 7 It is the discrete point cloud data of the circular coal yard according to another embodiment of the present invention;

[0046] Figure 8 It is the three-dimensional reconstruction model of the circular coal yard according to another embodiment of the present invention;

[0047] Figure 9 It is the unoptimized three-dimensional model according to another embodiment of the present invention;

[0048] Figure 10 It is the optimized three-dimensional model according to another embodiment of the present invention;

[0049] Figure 11 Device for eliminating smoke interference in coal yard according to another embodiment of the present invention. Detailed implementation manners

[0050] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0051] As Figure 1 shown, on one hand of the present invention, a method S100 for eliminating smoke interference in a coal yard is provided, and in combination with Figure 11 shown, the device 200 for eliminating smoke interference in the coal yard corresponding to this embodiment includes a stacker-reclaimer 210 and laser scanners 220 arranged on both sides of the end of the reclaiming arm of the stacker-reclaimer. Among them, based on the above device, the method of this example includes the following steps S110 to S130:

[0052] S110. Use the laser scanner to scan the area where the reclaiming arm of the stacker-reclaimer rotates, and obtain the point cloud data of this area.

[0053] Specifically, in combination with Figure 2 shown, the structure of the coal yard and the stacker-reclaimer is shown. Among them, the coal yard in this embodiment is a circular coal yard, and coal materials are stored in the circular coal yard. The stacking and scraping of coal materials are realized through the stacker-reclaimer.

[0054] It should be understood that since the coal yard in this example is a circular coal yard, therefore, the stacker-reclaimer in this embodiment is correspondingly set as a circular stacker.

[0055] Exemplarily, as Figure 3 shown, the circular stacker includes a stacking robotic arm 1, a reclaiming robotic arm (also known as a scraper) 2, a fuel inlet 3, and corresponding detection modules and control modules.

[0056] Specifically, as Figure 4 shown, based on this embodiment, the laser scanners are installed on both sides (left and right) of the end of the reclaiming arm of the stacker-reclaimer, Figure 4 In

[0057] Further, laser scanners are respectively arranged on both sides of the material fetching arm of the stacker-reclaimer. Thus, the laser scanners are used to scan the area where the material fetching arm of the stacker-reclaimer rotates, and the point cloud data of this area is obtained, including: when performing the material fetching task, when the material fetching arm of the stacker-reclaimer rotates to fetch materials in any one side direction, the laser scanner on the corresponding side is automatically started and scans the area passed by the material fetching arm to obtain the point cloud data of this area.

[0058] Specifically, the following steps can be performed through the laser scanning system: when performing the stacking task, the laser scanner installed on the stacking arm is automatically started to scan the area passed by the stacking arm and obtain the point cloud data of this area; when performing the material fetching task, when the material fetching arm rotates to the left to fetch materials, the laser scanner installed on the left side of the material fetching arm is automatically started to scan the area passed by the material fetching arm and obtain the point cloud data of this area; when the material fetching arm rotates to the right to fetch materials, the laser scanner on the right side of the material fetching arm is started to scan the area passed by the material fetching arm and obtain the point cloud data of this area.

[0059] Optionally, after obtaining the point cloud data of this area, it further includes: converting the point cloud data according to the custom coordinates and storing it in the database.

[0060] Specifically, the fuel point cloud data in this embodiment is obtained through the following calculation method, including: representing the point cloud data of the coal yard in polar coordinates, defining the pole of the polar coordinates as the rotation center of the stacker-reclaimer, and the height as the height of the bottom surface of the coal yard. Taking the left scanner of the scraper as an example, when the right side of the scraper rotates, the coal type is updated through the left scanner. Combining Figure 5 As shown, the rotation angle of the laser scanner is set as A, the pitch angle is B, the height of the scanner support is M, the distance between the laser scanner and the rotation center is L, and the scanning angle is 180°;

[0061] According to the above-defined parameters, assuming the scanning angle of a certain material point is C (the included angle between the connection line between the scanner and the rotation center and the scanning direction with the scanner as the center), and the distance of the material corresponding to this angle is N, then the material coordinates of scanning to this material point are as follows:

[0062]

[0063] Wherein, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface.

[0064] S120. Construct a three-dimensional model of the coal yard according to the point cloud data, and at the same time generate a grayscale image from the point cloud data.

[0065] Specifically, while scanning using the above laser scanner, point cloud data will be obtained in real time, converted according to custom coordinates, updated to the database, and a geographical topography model of the three-dimensional coal pile will be calculated and constructed. At the same time, the point cloud data will be compressed and lightweight processed to generate an 8-bit BMP format grayscale image.

[0066] It should be noted that the grayscale value of each pixel point in the image represents the height of the corresponding position of the coal pile, thereby determining the position height of the material.

[0067] Furthermore, the model system of this embodiment can obtain a three-dimensional simulation model of the entire fuel process through the following steps, specifically including: constructing a proportional three-dimensional model according to the fuel warehouse planning and construction information, and constructing a three-dimensional model of the equipment (such as a stacker-reclaimer) according to the equipment size information. And in the same coordinate system, the three-dimensional models will be implanted according to the corresponding positions to form a three-dimensional scene. After that, in the three-dimensional scene, use the three-dimensional model of the stacker-reclaimer to simulate the rotation and pitching actions of the material fetching arm, read the real-time data of the equipment in the control system through the data interface, and simulate the execution actions in the three-dimensional scene. After that, the three-dimensional model of the fuel in the system is automatically stretched in space after importing the BMP image in the software control to generate a grayscale image. That is to say, through this model system in this embodiment, a complete and accurate three-dimensional simulation model of the entire fuel process is established.

[0068] It should be noted that when there is no smoke interference, the coordinates of each material point can be calculated through the above formula (1), and the three-dimensional model of the entire circular coal yard can be obtained by aggregating the material point cloud data of the entire coal yard.

[0069] S130 Determine the position height of the material according to the grayscale image, and compare this height with the height of the material fetching arm of the stacker-reclaimer at the material fetching point to determine whether there is smoke interference and further eliminate it

[0070] Specifically, determine the height value of the material according to the pixel value of the grayscale image, and further compare this height with the height of the material fetching arm of the stacker-reclaimer at the material fetching point to determine whether there is smoke interference and further eliminate the smoke interference, including: in response to the height of the material being less than the height of the material fetching arm of the stacker-reclaimer at the material fetching point, there is no smoke interference; in response to the height of the material being greater than the height of the material fetching arm of the stacker-reclaimer at the material fetching point, there is smoke interference, and further calculate and update the point cloud data to correct the three-dimensional model to eliminate the interference of the smoke.

[0071] It should be noted that the formula for calculating the height of the material fetching arm of the stacker-reclaimer at the material fetching point in this embodiment is as follows:

[0072] H ql = R tan D (2);

[0073] Where, H qlH is the height value of the material fetching arm at the material fetching point, D is the pitching angle of the material fetching arm at the material fetching point. In the polar coordinate system, θ is the rotation angle and R is the rotation radius.

[0074] It should be understood that under normal circumstances, since the material should be under the material fetching arm, there is a relationship: H ql > H. If H ql < H occurs, it means there is smoke interference. At this time, the point cloud data cannot be updated with the H value, but needs to be updated with the H ql value.

[0075] So when it is judged that H ql < H, the following relational formula is used to calculate and update the point cloud data:

[0076]

[0077] Among them, it is set that the rotation angle of the laser scanner is A, the pitching angle is B, the distance between the laser scanner and the rotation center is L, the scanning angle of a certain material point is C, θ is the rotation angle of the material point, R is the horizontal radius from the rotation center, and H is the height of the material point from the bottom surface.

[0078] When there is smoke interference, in this embodiment, the height of the material is calculated by the above formula, and the smoke interference can be eliminated. It should be noted that the material in this embodiment refers to the fuel coal pile.

[0079] Furthermore, the comprehensive information processing system sends a laser scanning instruction through the Ethernet, analyzes the data fed back by the laser scanner (the data fed back by the laser scanner includes distance, starting angle, and angle resolution), obtains the point cloud data of the fuel distribution, and reconstructs a three-dimensional model based on the obtained data through a three-dimensional reconstruction algorithm.

[0080] Even further, the data scanned by the laser scanner is as Figure 6 shown, the discrete point cloud data of the circular storage yard is as Figure 7 shown, and the three-dimensional reconstruction model of the circular storage yard is as Figure 8 shown. Through the reconstruction of the three-dimensional model, the operator can clearly understand the on-site fuel distribution situation and issue an automatic material fetching task as needed.

[0081] Exemplarily, the smoke generated when the material fetching arm in the circular coal yard fetches coal will block a large area of the camera, which will seriously interfere with the work of the scanner. At this time, the scanner will mistake the scanned smoke for the material, resulting in many irregular protrusions in the three-dimensional model. Figure 9 is the three-dimensional model generated when there is smoke, and the influence is relatively serious. In this case, the automatic material fetching operation will scrape these protrusions as materials, thus affecting the automatic coal fetching efficiency.

[0082] Furthermore,Figure 10 The 3D model obtained by the method of this embodiment is compared with the models in the front-middle part and the right side of the figure. The right side is the model not obtained by the method of this embodiment, and the front-middle part is the model obtained by the method of this embodiment. As can be seen from the figure, by the method of this embodiment, the interference of smoke can be completely eliminated, and a model consistent with the actual situation of the circular coal yard can be obtained.

[0083] In this embodiment, laser scanners are installed on both sides of the front end of the scraper of the stacker-reclaimer, so as to update the 3D model of the coal yard in real time during the coal acquisition operation of the stacker-reclaimer, solve the problem of real-time update of the 3D model during the coal acquisition operation in the circular coal yard, and solve the problem that the imaging of the 3D model of the circular coal yard is affected by smoke interference and has irregular protrusions, which affects the strategy calculation of coal fetching, improve the accuracy of the 3D model imaging of the coal yard, and improve the automation operation efficiency of the coal yard.

[0084] As Figure 11 shown, on the other hand, the present invention proposes a device 200 for eliminating smoke interference in a coal yard, including a stacker-reclaimer 210, laser scanners 220, a model system 230, and a comprehensive information processing system 240 provided on both sides of the end of the coal fetching arm of the stacker-reclaimer; wherein, the laser scanner 210 is used to scan the area where the coal fetching arm of the stacker-reclaimer rotates and obtain the point cloud data of the area; the model system 220 is used to construct a 3D model of the coal yard according to the point cloud data, and at the same time generate a grayscale image from the point cloud data; the comprehensive information processing system 230 is used to determine the position height of the material according to the grayscale image, and compare the height with the height of the coal fetching arm of the stacker-reclaimer at the coal fetching point to judge whether there is smoke interference and further eliminate the smoke interference.

[0085] Combined with Figure 2 shown, the structure of the coal yard and the stacker-reclaimer is given. Among them, the coal yard in this embodiment is a circular coal yard, and the circular coal yard stores coal materials, and the stacking and scraping of coal materials are realized through the stacker-reclaimer.

[0086] Furthermore, as Figure 3 shown, the stacker-reclaimer (for example, a circular stacker) includes a stacking robotic arm 1, a coal fetching robotic arm (also called a scraper) 2, a fuel inlet 3, and corresponding detection modules and control modules.

[0087] Specifically, as Figure 4 shown, based on this embodiment, the laser scanners are installed on both sides (left and right) of the end of the coal fetching arm of the stacker-reclaimer, Figure 4 In the figure, reference numerals 2 and 3 show the installation positions of the laser scanners on the left and right sides of the coal fetching arm. The laser scanners on both sides are used to scan the area where the coal fetching arm of the stacker-reclaimer rotates, and obtain the point cloud data of the corresponding area.

[0088] Furthermore, based on the fact that laser scanners are respectively arranged on both sides of the reclaiming boom of the stacker-reclaimer, thereby, the laser scanners are used to scan the area where the boom of the stacker-reclaimer rotates, and the point cloud data of this area is obtained, including: when performing the reclaiming task, when the reclaiming boom of the stacker-reclaimer rotates to reclaim in any one side direction, the laser scanner on the corresponding side is automatically started and scans the area passed by the reclaiming boom to obtain the point cloud data of this area.

[0089] Furthermore, based on the above structure, the fuel point cloud data of this embodiment is obtained through the following calculation method, including: representing the point cloud data of the coal yard in polar coordinates, defining the pole of the polar coordinates as the rotation center of the stacker-reclaimer, and the height as the height of the bottom surface of the coal yard. Taking the left scanner of the scraper as an example, when the right side of the scraper rotates, the coal type is updated through the left scanner. As Figure 5 shown, set the rotation angle of the laser scanner as A, the pitch angle as B, the height of the scanner support as M, the distance between the laser scanner and the rotation center as L, and the scanning angle as 180°;

[0090] According to the parameters defined above, set the scanning angle of a certain material point as C (the included angle between the line connecting the scanner and the rotation center and the scanning direction with the scanner as the center), and the distance of the material corresponding to this angle as N, then the material coordinates of scanning to this material point are as follows:

[0091]

[0092] where, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface.

[0093] Specifically, while scanning with the above laser scanner, the point cloud data will be obtained in real time, converted according to the custom coordinates, updated to the database, and the geographical morphology model of the three-dimensional coal pile will be calculated and constructed. At the same time, the point cloud data will be compressed and light-weight processed to generate an 8-bit BMP format grayscale image.

[0094] Further, the model system of this embodiment can obtain the three-dimensional simulation model of the whole process of fuel through the following steps, specifically including: constructing a proportional three-dimensional model according to the fuel warehouse planning and construction information, and constructing a three-dimensional model of the equipment (such as the stacker-reclaimer) according to the equipment size information, and implanting the three-dimensional models at the corresponding positions in the same coordinate system to form a three-dimensional scene. Then, in the three-dimensional scene, use the three-dimensional model of the stacker-reclaimer to simulate the rotation and pitch actions of the reclaiming boom, read the real-time data of the equipment in the control system through the data interface, and simulate the execution actions in the three-dimensional scene. Then, the three-dimensional model of the fuel in the system is automatically stretched in space after importing the BMP image in the control of the software to generate a grayscale image. That is to say, through this model system of this embodiment, a complete and accurate three-dimensional simulation model of the whole process of fuel is established.

[0095] It should be noted that when there is no smoke interference, the coordinates of each material point can be calculated through the above formula (1), and the three-dimensional model of the entire circular coal yard can be obtained by aggregating the material point cloud data of the entire coal yard.

[0096] Specifically, the height value of the material is determined according to the pixel value of the grayscale image, and further, the height is compared with the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point to determine whether there is smoke interference and further eliminate the smoke interference, including: in response to the height of the material being less than the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point, there is no smoke interference; in response to the height of the material being greater than the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point, there is smoke interference, and further calculate and update the point cloud data to correct the three-dimensional model to eliminate the interference of the smoke.

[0097] It should be noted that the formula for calculating the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point in this embodiment is as follows:

[0098] H ql = R tan D (2);

[0099] Wherein, H ql is the height value of the reclaiming boom at the reclaiming point, D is the pitching angle of the reclaiming boom at the reclaiming point, in the polar coordinate system, θ is the slewing angle, and R is the slewing radius.

[0100] It should be understood that under normal circumstances, since the material should be below the reclaiming boom, there is a relationship: H ql > H. If the situation of H ql < H occurs, it means that there is smoke interference. At this time, the point cloud data cannot be updated with the H value, but the data needs to be updated with the value of H ql .

[0101] Therefore, when it is judged that H ql < H, the following relational formula is used to calculate and update the point cloud data:

[0102]

[0103] Wherein, it is set that the slewing angle of the laser scanner is A, the pitching angle is B, the distance between the laser scanner and the slewing center is L, the scanning angle of a certain material point is C, θ is the slewing angle of the material point, R is the horizontal radius from the slewing center, and H is the height of the material point from the bottom surface.

[0104] Furthermore, the integrated information processing system sends a laser scanning instruction through the Ethernet, analyzes the data fed back by the laser scanner (the data fed back by the laser scanner includes distance, starting angle, and angle resolution), obtains the point cloud data of the fuel distribution, and reconstructs the three-dimensional model based on the obtained data through a three-dimensional reconstruction algorithm.

[0105] Further, the data scanned by the laser scanner is as follows Figure 6 shown. The discrete point cloud data of the circular stockyard is as follows Figure 7 shown. The 3D reconstruction model of the circular stockyard is as follows Figure 8 shown. Through the reconstruction of the 3D model, the operator can clearly understand the on-site fuel distribution and issue automatic coal fetching tasks as needed. That is to say, in this embodiment, a 3D model is jointly formed by the laser scanning system, the model system and the comprehensive information processing system and updated to eliminate the interference of smoke.

[0106] The present invention provides a method and device for eliminating smoke interference in a coal yard, which has the following beneficial effects compared with the prior art:

[0107] First, the laser scanners are installed on both sides of the front end of the scraper of the stacker-reclaimer, so that the 3D model of the coal yard can be updated in real time during the coal fetching operation of the stacker-reclaimer.

[0108] Second, the present invention judges the height of the material and the height of the coal yard and updates the point cloud data to solve the problem of real-time update of the 3D model during the coal fetching operation in the circular coal yard.

[0109] Third, the present invention solves the problem that the irregular protrusions in the imaging of the 3D model of the circular coal yard caused by smoke interference affect the strategy calculation of coal fetching by eliminating the smoke, improves the accuracy of the imaging of the 3D model of the coal yard, and improves the automation operation efficiency of the coal yard.

[0110] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principle of the present invention, and the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims

1. A method for eliminating smoke interference in a coal yard, characterized in that, The device for eliminating smoke interference in the coal yard includes a stacker-reclaimer and laser scanners arranged on both sides of the end of the reclaiming boom of the stacker-reclaimer; among them, the method includes the following steps: Use the laser scanners to scan the area where the reclaiming boom of the stacker-reclaimer rotates, and obtain the point cloud data of this area, including: when performing the reclaiming task, when the reclaiming boom of the stacker-reclaimer rotates to reclaim in any one side direction, the laser scanner on the corresponding side automatically starts and scans the area passed by the reclaiming boom to obtain the point cloud data of this area. Represent the point cloud data of the coal yard in polar coordinates, define the pole of the polar coordinates as the rotation center of the stacker-reclaimer, the height as the height of the bottom surface of the coal yard, and set the rotation angle of the laser scanner as A, the pitch angle as B, the height of the scanner bracket as M, the distance between the laser scanner and the rotation center as L, and the scanning angle as 180°; According to the above-defined parameters, assume the scanning angle of a certain material point is C and the distance of the material corresponding to this angle is N, then the material coordinates of scanning to this material point are obtained by the following formula: Where, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface; Construct a three-dimensional model of the coal yard according to the point cloud data, and at the same time generate a grayscale image from the point cloud data; Determine the position height of the material according to the grayscale image, and compare this height with the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point to judge whether there is smoke interference and further eliminate the smoke interference.

2. The method according to claim 1, characterized in that, After obtaining the point cloud data of this area, it further includes: Convert the point cloud data according to the custom coordinates and store it in the database.

3. The method according to claim 1, characterized in that, The constructing a three-dimensional model of the coal yard according to the point cloud data and at the same time generating a grayscale image from the point cloud data includes: Construct proportional three-dimensional models of the coal yard fuel bin and the stacker-reclaimer respectively, and in the same coordinate system, implant the three-dimensional models according to the corresponding positions to form a three-dimensional scene; In the three-dimensional scene, use the three-dimensional model of the stacker-reclaimer to simulate the rotation and pitching actions of the reclaiming boom; Import the information of the materials in the three-dimensional model of the coal yard fuel bin into a BMP image and perform automatic spatial stretching to generate a grayscale image.

4. The method according to claim 3, characterized in that, The grayscale value of each pixel point in the grayscale image represents the height value of the corresponding position of the material point.

5. The method according to claim 3, characterized in that, The judging whether there is smoke interference and further eliminating the smoke interference includes: In response to the height of the material being less than the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point, there is no smoke interference; In response to the height of the material being greater than the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point, there is smoke interference, and further calculate and update the point cloud data to correct the three-dimensional model to eliminate the interference of the smoke.

6. The method according to claim 5, characterized in that, The formula for calculating the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point is as follows: H ql = R tan D; Among them, H ql is the height value of the material taking arm at the material taking point, D is the pitching angle of the material taking arm at the material taking point. In the polar coordinate system, θ is the rotation angle and R is the rotation radius.

7. The method according to claim 6, characterized in that, Use the following relational formula to calculate and update the point cloud data: Where, set the rotation angle of the laser scanner as A, the pitch angle as B, the distance between the laser scanner and the rotation center as L, the scanning angle of a certain material point as C, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface.

8. A device for eliminating smoke interference in a coal yard, characterized in that, It includes a stacker-reclaimer, a laser scanner, a model system and a comprehensive information processing system which are arranged on both sides of the end of the reclaiming boom of the stacker-reclaimer; wherein, The laser scanner is used to scan the area where the reclaiming boom of the stacker-reclaimer rotates and obtain the point cloud data of this area, including: when performing the reclaiming task, when the reclaiming boom of the stacker-reclaimer rotates to reclaim in any one side direction, the laser scanner on the corresponding side is automatically started and scans the area passed by the reclaiming boom to obtain the point cloud data of this area. The point cloud data of the coal yard is represented by polar coordinates. The pole of the polar coordinates is defined as the rotation center of the stacker-reclaimer, the height is the height of the bottom surface of the coal yard, and, the rotation angle of the laser scanner is set as A, the pitch angle is B, the height of the scanner support is M, the distance between the laser scanner and the rotation center is L, and the scanning angle is 180°; According to the above-defined parameters, assuming the scanning angle of a certain material point is C and the distance of the material corresponding to this angle is N, the material coordinates of scanning to this material point are obtained as the following formula: Wherein, θ is the rotation angle of this material point, R is the horizontal radius from the rotation center, and H is the height of this material point from the bottom surface; The model system is used to construct a three-dimensional model of the coal yard according to the point cloud data and generate a grayscale image from the point cloud data at the same time; The comprehensive information processing system is used to determine the position height of the material according to the grayscale image and compare this height with the height of the reclaiming boom of the stacker-reclaimer at the reclaiming point to judge whether there is smoke interference and further eliminate the smoke interference.

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