A coal quantity detection method, device and system

Abstract

The application discloses a coal quantity detection method, device and system, which are used for quickly and accurately detecting the coal quantity. The coal quantity detection method of the application is applied to a scraper conveyor, at least two laser radars are arranged at intervals above the scraper conveyor, and the coal quantity detection method comprises the following steps: driving the at least two laser radars to operate so as to scan the coal on the scraper conveyor; obtaining scanning data; determining point cloud data of the coal based on the scanning data; and determining coal quantity information of the coal based on the point cloud data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal flow detection, and particularly relates to a coal quantity detection method, device and system. BACKGROUND

[0002] The scraper conveyor is a kind of conveyor that uses a scraper chain to transport bulk materials in a trough. In the current coal mining face, the scraper conveyor not only serves to transport coal and materials, but also serves as the running track of the coal mining machine, so it becomes an indispensable main equipment in the modernized coal mining process. The scraper conveyor can maintain continuous operation, and the production can proceed normally. Otherwise, the entire coal mining face will be in a state of shutdown, causing the entire production to be interrupted.

[0003] At present, the transportation of coal mines is mostly completed by scraper conveyors. Due to uncontrollable coal quantity and insufficient design margin of the scraper conveyor in the early stage or equipment capacity problems, problems such as material accumulation or energy waste of the scraper conveyor caused by excessive coal quantity for a short time, or the phenomenon of not being able to start under heavy load, will occur, which leads to the paralysis of the entire transportation system, and makes each part of the scraper conveyor be in a working state lower than the design standard for a long time. This phenomenon seriously affects the normal production of coal mines and the service life of the scraper conveyor, and this phenomenon is widespread in many coal mines. SUMMARY

[0004] The present application provides a coal quantity detection method, device and system for quickly and accurately detecting coal quantity.

[0005] The present application provides a coal quantity detection method applied to a scraper conveyor, at least two laser radars are arranged above the scraper conveyor at intervals, and the coal quantity detection method comprises the following steps:

[0006] Driving the at least two laser radars to operate to scan the coal materials on the current scraper conveyor;

[0007] Obtaining scanning data;

[0008] Determining point cloud data of the coal materials based on the scanning data;

[0009] Determining coal quantity information of the coal materials based on the point cloud data.

[0010] As an optional embodiment, the laser radar is a planar array laser radar.

[0011] As an optional embodiment, the method further comprises the following steps:

[0012] Obtaining operating parameters of the scraper conveyor;

[0013] Obtaining setting positions and attribute information of the at least two laser radars;

[0014] Determine a driving interval based on the operation parameter, setting position and attribute information, the driving interval being used to indicate a time interval when the at least two laser radars are sequentially driven to operate.

[0015] As an optional embodiment, the operation parameter of the scraper conveyor is obtained, including:

[0016] At least the operation speed of the scraper conveyor is obtained.

[0017] As an optional embodiment, the setting position and attribute information of the at least two laser radars are obtained, including:

[0018] The setting interval of two adjacent laser radars is sequentially obtained in sequence;

[0019] The radiation surface size of each laser radar is obtained.

[0020] As an optional embodiment, the at least two laser radars include a first laser radar and a second laser radar, and the at least two laser radars are driven to operate to scan the coal material on the current scraper conveyor, including:

[0021] The first laser radar is driven to collect odd number data and the second laser radar is driven to collect even number data based on the time interval.

[0022] As an optional embodiment, the point cloud data of the coal material is determined based on the scanning data, including:

[0023] The odd number data and the even number data are sequentially spliced to form combined data;

[0024] The point cloud data is processed based on the combined data.

[0025] As an optional embodiment, the coal quantity information of the coal material is determined based on the point cloud data, including:

[0026] The point cloud data is denoised;

[0027] The surface fitting processing is performed based on the denoised point cloud data, so as to determine the coal quantity information based on the processing result.

[0028] Another embodiment of the present application simultaneously provides a coal quantity detection system, including:

[0029] At least one processor; and,

[0030] The memory in communication connection with the at least one processor; wherein,

[0031] The memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor to implement the coal quantity detection method according to any one of the above embodiments.

[0032] Another embodiment of the present application also provides a computer storage medium, when instructions in the computer storage medium are executed by a processor corresponding to the vehicle-mounted lamp language editing system, the line defect detection system can implement the coal quantity detection method according to any one of the above embodiments.

[0033] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned through practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structure specifically pointed out in the written description, claims, and drawings.

[0034] The technical solutions of the present application will be further described in detail below with the help of the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation to the present application. In the drawings:

[0036] Figure 1 It is a combination diagram of the scraper conveyor and the laser radar in the embodiment of the present application (the scraper conveyor is numbered 1 in the figure, and the laser radar is numbered 3);

[0037] Figure 2 It is a combination diagram of part of the structure of the scraper conveyor and the laser radar in the embodiment of the present application (the scraper conveyor is numbered 1 in the figure, the mounting frame is numbered 2, and the laser radar is numbered 3);

[0038] Figure 3 It is a flowchart of the coal quantity detection method in an embodiment of the present application.

[0039] Figure 4 It is a flowchart of the coal quantity detection method in another embodiment of the present application.

[0040] Figure 5 It is a flowchart of the actual application of the coal quantity detection method in the embodiment of the present application.

[0041] Figure 6 It is a schematic diagram of the component connection relationship of a coal quantity detection system in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following, specific embodiments of the present application are described in detail with the help of the drawings, but not as a limitation of the present application.

[0043] It is to be understood that various modifications can be made to the embodiments disclosed herein. Consequently, the description herein is not to be taken in a limiting sense but is made merely for illustrating general principles of embodiments. Those skilled in the art will readily recognize a variety of other modifications within the scope and spirit of the present disclosure.

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0045] These and other characteristics of the present application will become apparent from the following description of the preferred forms given, by way of non-limiting example, with reference to the attached drawings.

[0046] It is also to be understood that, although a certain specific example has been dropped, those skilled in the art will be able to determine other equivalent forms of the present application, which have the characteristics as claimed and are therefore within the scope of protection defined thereby.

[0047] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0048] Specific embodiments of the present disclosure are described hereinafter, with reference to the drawings; however, it will be understood that the disclosed embodiments are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but are merely to be used as a basis for the claims and a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriate detailed structure.

[0049] The present specification can use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which can refer to one or more of the same or different embodiments of the application.

[0050] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0051] Figure 1 A combination diagram of the scraper conveyor and the laser radar in an embodiment of the present application; Figure 2 A combination diagram of the scraper conveyor and the laser radar in an embodiment of the present application; Figure 3 A flowchart of a coal amount detection method in an embodiment of the present application, which can be used to calculate the amount of coal transported in real time, as shown in Figure 1 , Figure 2 and Figure 3 .

[0052] This invention provides a coal quantity detection method applied to a scraper conveyor, wherein at least two lidar sensors are spaced apart above the scraper conveyor. The coal quantity detection method includes:

[0053] Drive the at least two lidars to operate in order to scan the coal on the scraper conveyor.

[0054] Obtain scan data;

[0055] The point cloud data of the coal is determined based on the scan data;

[0056] The coal quantity information of the coal material is determined based on the point cloud data.

[0057] The coal quantity detection method in this embodiment can be applied to the coal transportation process, and of course it can also be applied to the transportation of materials in other fields to detect the amount of coal and materials being transported in real time, so as to avoid the failure of transportation equipment due to excessive accumulation of coal and materials.

[0058] like Figure 1 and Figure 2 As shown, in this embodiment, the coal is transported by a scraper conveyor. Multiple lidar mounting frames can be spaced apart on the scraper conveyor, and one lidar is installed on each frame. In practical applications, the number of lidars can be changed according to the length of the conveying path, such as setting 3 or 5. In this embodiment, there are two lidars, namely the first lidar and the second lidar, which are spaced apart along the coal transport direction.

[0059] Furthermore, when detecting the coal quantity on the scraper conveyor, a host computer can be used for assistance. Alternatively, other electronic devices with data transmission and processing capabilities can also be used. This embodiment only uses a host computer as an example. The host computer in this embodiment includes a wireless signal transmitting module, a wireless signal receiving module, and a data processing module. Preferably, it may also include an image display module, such as a monitor. Specifically, during the coal quantity detection on the scraper conveyor, the host computer can send drive signals to the first and second lidars via the wireless signal transmitting module to activate them, scanning the coal transported to the scanning areas of each lidar and generating corresponding scan data. This scan data is transmitted to the data processing module via the wireless signal receiving module, allowing the data processing module to obtain the scan data, process it to form point cloud data, and then calculate and determine the specific coal quantity based on this point cloud data. This specific coal quantity can be output via the image display module for user viewing, or it can be output in other forms, such as through broadcasting.

[0060] Through the above method in the embodiment, the host computer can control the laser radar to accurately collect the scanning data of the coal material in real time or periodically during the transportation of the coal material via the scraper conveyor, and efficiently and accurately calculate and determine the amount of the coal material based on the scanning data, thereby assisting the staff to monitor the transportation of the coal material and preventing the scraper conveyor from malfunctioning due to excessive accumulation of the coal material, thereby affecting the transportation efficiency of the coal material. Especially, it can effectively avoid problems such as material accumulation of the scraper conveyor or energy waste caused by excessive coal material in a short time, or the phenomenon of heavy load starting failure, thereby causing the entire transportation system to be paralyzed, and making each part of the scraper conveyor be in a working state lower than the design standard for a long time.

[0061] Optionally, the laser radar in the embodiment is a planar array laser radar, and preferably a flash laser planar array radar. Since the flash laser planar array radar can cover all azimuths within the visual angle in a single detection, it realizes global imaging at one time to complete the detection of the coal material in a large area. Moreover, based on the flash laser planar array radar to scan the coal material, since the projected laser points are many and the coverage is wide, the data obtained by scanning the coal material via the flash laser planar array radar can be directly processed to form point cloud data, without subsequent processing by the data processing module in the host computer, thereby simplifying the process and improving the efficiency. Of course, a common radar can also be used, but the host computer needs to control the laser radar to quickly adjust the azimuth and make multiple scans. Based on the scanning data of the multiple scans, the data processing module in the host computer can also process it to form corresponding point cloud data.

[0062] Further, as shown in Figure 4 The coal amount detection method in the embodiment further includes:

[0063] obtaining the running parameters of the scraper conveyor;

[0064] obtaining the setting positions and attribute information of the at least two laser radars;

[0065] determining a driving interval based on the running parameters, the setting positions and the attribute information, the driving interval being used to indicate the time interval when the at least two laser radars are driven to operate respectively.

[0066] For example, different types of sensors can be arranged on the scraper conveyor, and the operating parameters of the scraper conveyor are obtained based on the sensors, or the host computer can be connected to the central control machine, motor, etc. of the scraper conveyor to obtain the operating parameters of the scraper conveyor through the connection. Further, when determining the setting positions of the two laser radars, the setting positions can be input by manual measurement or obtained by setting distance sensors and uploading to the host computer, and the specific method is not limited. When obtaining the attribute information of the laser radars, the host computer can directly obtain the attribute parameters and select the target parameters based on the attribute parameters. When the operating parameters of the scraper conveyor, the setting positions and attribute information of the laser radars are determined, the host computer can calculate the driving interval based on the obtained information. That is, the multiple laser radars are not driven at the same time, but are driven one by one by the host computer, and the multiple laser radars are driven with a driving interval, which refers to the time interval required for driving the multiple laser radars respectively.

[0067] In addition, when driving the multiple laser radars, they can be driven one by one or classified and driven by category. For example, the multiple laser radars are sequentially numbered, the odd-numbered laser radars are driven together to make the odd-numbered laser radars operate together, and then after a time interval, i.e. the driving interval, the even-numbered laser radars are driven together to make the even-numbered laser radars operate together. Of course, the driving method in actual application is far more than the above, and can be adjusted according to actual needs.

[0068] Specifically, the operating parameters of the scraper conveyor obtained in the embodiment include:

[0069] At least the operating speed of the scraper conveyor is obtained.

[0070] If the operating speed is changing, the different operating speeds in a period of time can be taken and processed by mean value to obtain the average operating speed.

[0071] Further, the setting positions and attribute information of the at least two laser radars include:

[0072] The setting interval of the adjacent two laser radars is sequentially obtained;

[0073] The radiation surface size of each laser radar is obtained.

[0074] For example, when there are multiple laser radars, the setting distance between two adjacent laser radars can be obtained in sequence, so as to facilitate the positioning of multiple laser radars. For the two laser radars involved in the embodiment, the setting distance can be obtained by the aforementioned manual measurement and uploading or sensor measurement. For the attribute information of the laser radar, since the laser radar in the embodiment is a planar laser radar, the laser beams projected by the laser radar are large and can form a radiation surface. Therefore, in the embodiment, the radiation surface size of each laser radar is mainly obtained.

[0075] Taking the running speed V, the distance L between the two laser radars, and the length d of the laser radar surface as an example, the data processing module in the host computer can calculate the driving interval T based on the obtained data and the following formula:

[0076] T = (L + d) / V

[0077] Based on the above formula, it can be seen that the present application does not collect all the scanning data of the coal, but collects the scanning data of the coal at intervals, so as to estimate the coal quantity state of all the coal based on the collected data of part of the coal. Alternatively, the driving interval can also be determined based on the formula: T = d / V. Based on the driving interval, the laser radar can splice the collected scanning images in time sequence to obtain the complete image data of the coal, that is, the adjacent two scanning images can be seamlessly spliced, which corresponds to the actual coal state one by one, that is, seamless scanning is realized. Thus, the coal quantity of the coal at each position on the scraper conveyor can be more accurately calculated and determined.

[0078] Further, after the driving interval is determined, the at least two laser radars are driven to run to scan the coal on the scraper conveyor, comprising:

[0079] Based on the time interval, the first laser radar is alternately driven to collect odd number data, and the second laser radar is driven to collect even number data.

[0080] For example, as described above, the two laser radars in the embodiment are respectively a first laser radar and a second laser radar. After the driving interval is determined, the host computer can send driving signals to the first laser radar and the second laser radar alternately based on the driving interval based on the wireless signal transmitting module, that is, the first laser radar is sent a driving signal first, then the second laser radar is sent a driving signal after a driving interval, then the first laser radar is sent a driving signal after a driving interval, then the second laser radar is sent a driving signal after a driving interval, and so on. In this way, the first laser radar can collect odd-numbered group data, and the second laser radar can collect even-numbered group data. The odd-numbered group data can be recorded as Date[1], Date[3], Date[5], Date[7]…, and the even-numbered group data can be recorded as Date[2], Date[4], Date[6], Date[8]…

[0081] Further, the embodiment determines the point cloud data of the coal material based on the scanning data, which includes:

[0082] The odd-numbered group data and the even-numbered group data are spliced in sequence to form combined data.

[0083] The point cloud data is processed based on the combined data.

[0084] For example, when the laser radar itself cannot directly form point cloud data, the data obtained by scanning can be sent to the data processing module in the host computer in time, so that all the odd-numbered group data and the even-numbered group data obtained by splicing in sequence according to the time sequence are obtained to form combined data. Then, the point cloud data is processed based on the combined data. If the laser radar itself can scan to form point cloud data, such as the above-mentioned area array laser radar, such as the Flash area array laser radar, the step of processing the point cloud data by the data processing module can be ignored.

[0085] Further, the coal quantity information of the coal material is determined based on the point cloud data, which includes:

[0086] The point cloud data is denoised.

[0087] The point cloud data after denoising is subjected to surface fitting processing, so that the coal quantity information is determined based on the processing result.

[0088] In other words, the point cloud data is first denoised to remove interference data. Then, surface fitting is performed on the point cloud data. For example, this may include sampling the point cloud data for surface points, converting the point cloud data that meets the sampling points into raster data, and then calling functions such as mesh and surf to draw graphics and perform surface fitting to obtain a surface image representing the coal on the scraper conveyor. The data processing module can further calculate the amount of coal based on this surface image, or it can pre-set a standard surface fitting map that meets the coal transportation requirements. Then, the difference between the calculated surface fitting map and the standard surface fitting map is determined, such as whether the calculated surface fitting map has a part that is higher than the standard surface fitting map, and then whether there is a part of the coal on the scraper conveyor that exceeds the standard.

[0089] Optionally, during application, the host computer can directly output a comparison diagram between the above-mentioned surface fitting diagrams through the display module, or it can only output the calculated surface fitting diagram, or it can output the calculated specific coal quantity.

[0090] Furthermore, for example, when calculating the amount of coal, the following method can be used:

[0091] First, calculate the height of each voxel point on the coal surface in the 3D image of the coal pile:

[0092] l i =hz i ;

[0093] Among them, l i h represents the height of each voxel on the coal surface; h represents the height from the laser radar to the scraper conveyor; z represents the height of each voxel on the coal surface. i The distance from the laser radar to the voxel point on the coal surface.

[0094] Secondly, voxel points at the same height are clustered into one class, and then the ratio of each class of coal surface voxel points to all voxels in the 3D image of the coal pile is calculated:

[0095]

[0096] Where, p i Let n be the ratio of all voxel points on the surface of coal of category i to all voxels in the 3D image of the coal pile; i denoted as the number of voxel points on the surface of coal of category i; N is the total number of voxels in the 3D image of the coal pile.

[0097] Simultaneously, the amount of coal is calculated based on the ratio of voxel points on the surface of different types of coal to all voxels in the 3D image of the coal, the base area corresponding to all coal flowing through the lidar detection range, and the height of voxel points on the surface of each type of coal, including:

[0098] The volume of the coal material is calculated according to the following formula:

[0099]

[0100] wherein V is the volume of the coal material; p i is the ratio of the surface voxel points of the i-th category of coal material to all voxels in the three-dimensional image of the coal material; l i is the height of the surface voxel points of the coal material; s is the bottom area corresponding to all coal materials flowing through the detection range of the laser radar, which can be determined based on the width of the chute, the running speed of the scraper conveyor and the detection time of the laser radar.

[0101] In addition, when the host computer finds that the amount of coal in a region on the scraper conveyor exceeds the standard, it can output a prompt through a display module, or output a prompt sound through a loudspeaker or the like, an alarm, etc. to prompt the staff to determine the actual transportation situation of the coal material as soon as possible, so as to avoid the phenomenon of conveyor failure.

[0102] Figure 6 The hardware structure schematic diagram of the coal amount detection system 600 of the present application comprises:

[0103] at least one processor 602; and

[0104] a memory 604 in communication with the at least one processor; wherein

[0105] The memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor to implement the coal amount detection method involved in any of the above embodiments.

[0106] Referring to Figure 6 The coal amount detection system 600 can include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0107] The processing component 602 generally controls the overall operation of the coal amount detection system 600, such as calculating and determining the driving interval, calculating and determining the point cloud data, etc. The processing component 602 can include one or more processors 620 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 602 can include one or more modules to facilitate interaction between the processing component 602 and other components. For example, the processing component 602 can include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

[0108] The memory 604 is configured to store various types of data to support the operation of the coal quantity detection system 600. Examples of such data include instructions for any application programs or methods operating on the coal quantity detection system 600, such as text, pictures, videos, etc. The memory 604 can be implemented by any type of volatile or nonvolatile storage devices, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic or optical disk.

[0109] The power component 606 provides power to the various components of the coal quantity detection system 600. The power component 606 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the coal quantity detection system 600.

[0110] The multimedia component 608 includes a screen providing an output interface between the coal quantity detection system 600 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensor can not only sense a boundary of a touch or swiping action, but also detect duration and pressure related to the touch or swiping action. In some embodiments, the multimedia component 608 can also include a front camera and / or a rear camera. The front camera and / or the rear camera can receive external multimedia data when the coal quantity detection system 600 is in an operation mode, such as a shooting mode or a video mode. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0111] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) configured to receive external audio signals when the coal quantity detection system 600 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0112] The I / O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which can be a keyboard, a click wheel, a button, etc. These buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0113] The sensor assembly 614 includes one or more sensors configured to provide various aspects of state assessment for the coal quantity detection system 600. For example, the sensor assembly 614 can include a sound sensor. In addition, the sensor assembly 614 can detect an open / close state of the coal quantity detection system 600, relative positioning of components, such as a display and a keypad of the coal quantity detection system 600, a change in position of the coal quantity detection system 600 or a component thereof, presence or absence of user contact with the coal quantity detection system 600, orientation or acceleration / deceleration of the coal quantity detection system 600, and temperature change of the coal quantity detection system 600. The sensor assembly 614 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 614 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0114] The communication assembly 616 is configured to enable the coal quantity detection system 600 to provide wired or wireless communication capabilities with other devices and cloud platforms. The coal quantity detection system 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an example embodiment, the communication assembly 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an example embodiment, the communication assembly 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0115] In example embodiments, the coal quantity detection system 600 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the coal quantity detection method described above.

[0116] The present application also provides a computer-readable storage medium, when instructions in the storage medium are executed by a processor corresponding to the coal quantity detection system, the coal quantity detection system can implement the coal quantity detection method involved in any of the above embodiments.

[0117] Those skilled in the art will appreciate that embodiments of the present application can be devised for a variety of applications. It is therefore intended that the present application cover all such modifications and variations of this application provided they come within the scope of the appended claims and their equivalents. It is intended to embrace all alternatives, modifications and variations of this application within the scope of the following claims.

[0118] The present application is described in reference to the enumerated embodiments of methods and apparatus (systems) and computer program products according to the present application. It will be understood that each of the processes and / or blocks of the flowcharts, and combinations thereof, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowcharts block or blocks. Figure 1 Figure 1

[0119] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function / act specified in the flowchart block or blocks. Figure 1 Figure 1

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions / acts specified in the flowchart block or blocks. Figure 1 Figure 1

[0121] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.​​​​​​

Claims

1. A coal amount detection method characterized by comprising: The coal quantity detection method comprises: driving the at least two laser radars to operate to scan the coal on the current scraper conveyor, the laser radars being face array laser radars; obtaining scanning data; determining point cloud data of the coal based on the scanning data; determining coal quantity information of the coal based on the point cloud data; the at least two laser radars comprising a first laser radar and a second laser radar, the driving the at least two laser radars to operate to scan the coal on the current scraper conveyor comprising: alternately driving the first laser radar to collect odd number data and the second laser radar to collect even number data based on the time interval; the determining the point cloud data of the coal based on the scanning data comprising: sequentially splicing the odd number data and the even number data to form combined data; processing the combined data to form the point cloud data; the method further comprising: obtaining operating parameters of the scraper conveyor, the operating parameters of the scraper conveyor at least comprising an operating speed of the scraper conveyor; obtaining setting positions and attribute information of the at least two laser radars; determining a driving interval based on the operating parameters, the setting positions and the attribute information, the driving interval being used to indicate a time interval when the at least two laser radars are respectively driven to operate; the obtaining the setting positions and the attribute information of the at least two laser radars comprising: sequentially obtaining setting intervals of adjacent two laser radars; obtaining a radiation surface size of each laser radar; the driving interval being calculated according to the following formula: T= (L+d) / V; wherein T is the driving interval, L is the setting interval of the adjacent two laser radars, V is the operating speed of the scraper conveyor, and d is the radiation surface size of the laser radar.

2. The coal amount detection method according to claim 1, characterized by, the determining the coal quantity information of the coal based on the point cloud data comprising: performing noise reduction processing on the point cloud data; performing curved surface fitting processing based on the noise-reduced point cloud data to determine the coal quantity information based on a processing result.

3. A coal amount detection system characterized by comprising: comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the one processor, the instructions being executed by the at least one processor to implement the coal quantity detection method according to any one of claims 1-2.

4. A computer storage medium, when instructions in the storage medium are executed by a processor corresponding to a vehicle-mounted lamp editing system, the line defect detection system can implement the coal quantity detection method according to any one of claims 1-2.

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