Laser coal disc device

Abstract

The present disclosure discloses a laser coal-climbing device, comprising: a laser scanner configured to scan the surface of a coal pile to obtain raw scan data of the coal pile surface; a data processing unit, comprising an origin determination unit, a point cloud data processing unit, a grid reconstruction unit, and a volume estimation unit. The laser coal-climbing device provided by the present invention scans the surface of a coal pile by means of a laser scanner, thereby obtaining coordinate values ​​of feature points on the surface of the coal pile relative to the coordinate origin. The coordinate values ​​can be used to generate point cloud data, and then generate a three-dimensional model. The three-dimensional model can be constructed based on a triangulated network and can be cut into multiple triangular prisms for volume estimation during cutting, which has a relatively more accurate coal-climbing result.

Description

Technical Field

[0001] The invention relates to a coal coiling device, in particular to a laser coal coiling device. Background Art

[0002] At present, in thermal power plants, monitoring fuel consumption through digital technology is a trend of technological development and has great significance. Coal counting, as an important link in the fuel management system, is an important manifestation of enterprise fuel control. Generally speaking, the coal counting work for coal piles in coal yards is mainly carried out by drones or lasers. Most of the drones use computer vision. At present, due to the limitation of bandwidth and the computing power of the drones themselves, the accuracy cannot be well guaranteed. As for the laser coal counting technology, the existing technology is to install the laser scanner on the roof of the shed, and complete the inventory of the entire coal yard by splicing and registering the point cloud data of multiple laser scanners. At the same time, even for laser coal counting, there are several important factors that affect its accuracy. One is the three-dimensional construction process, and the other is the link of segmenting and estimating the volume of the constructed three-dimensional model. However, the inventors found that these two points have not been well solved in the existing technology, so the estimation accuracy still needs to be improved. Summary of the invention

[0003] In view of the above-mentioned problems existing in the prior art, an object of one aspect of the present invention is to provide a laser coal-rolling method with higher coal-rolling accuracy.

[0004] In order to achieve the above-mentioned purpose, the laser coal discing device provided by the present invention comprises:

[0005] a laser scanner configured to scan a surface of the coal pile to obtain scanned raw data of the surface of the coal pile;

[0006] A data processing unit, comprising an origin determination unit, a point cloud data processing unit, a mesh reconstruction unit and a volume estimation unit, wherein the origin determination unit is configured to obtain the three-dimensional coordinates of the top of the coal pile according to the scanned original data and set it as the origin, and the point cloud data processing unit is configured to generate point cloud data according to the scanned original data; the mesh reconstruction unit is configured to generate a triangular mesh according to the point cloud data, and perform three-dimensional reconstruction based on the triangular mesh; the volume estimation unit is configured to divide the triangular prism corresponding to the triangular mesh, calculate the estimated volume of each triangular prism and add them up to obtain the estimated volume of the coal pile.

[0007] Preferably, the data processing unit further comprises a filtering unit, and the filtering unit is configured to perform filtering processing on the point cloud data to eliminate noise data.

[0008] Preferably, when the filtering unit is executed, it calculates the absolute value and variance of the slope of the three vertices of the meshed triangle surface, and compares the absolute value and variance of the local slope with a preset value respectively, and removes the group of data if they are greater than the preset value.

[0009] Preferably, the mesh reconstruction unit traverses all triangular meshes in sequence when performing mesh reconstruction.

[0010] Preferably, when performing volume estimation, the volume estimation unit calculates the projection area and elevation of the triangular mesh on the XY plane to obtain the estimated volume of each triangular prism, and then obtains the estimated volume value of the entire coal pile through a discrete integration algorithm.

[0011] Preferably, a laser rangefinder is further included, wherein the laser rangefinder is configured to be held by a field worker to assist in determining the origin.

[0012] Preferably, it further comprises a pan-tilt platform, and the laser scanner is arranged on the pan-tilt platform.

[0013] Preferably, the point cloud data processing unit is further configured to perform splicing processing on multiple segments of point cloud data.

[0014] The laser coal counting device provided by the present invention scans the surface of the coal pile through a laser scanner, thereby obtaining the coordinate values ​​of the characteristic points on the surface of the coal pile relative to the coordinate origin. The coordinate values ​​can be used to generate point cloud data, and then generate a three-dimensional model. The three-dimensional model can be constructed based on a triangulated network and can be divided into multiple triangular prisms for volume estimation when divided, which has a relatively more accurate coal counting result. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a flow chart of the laser coal discing method of the present invention. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0017] Various aspects and features of the present invention are described herein with reference to the accompanying drawings.

[0018] These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the accompanying drawings.

[0019] It should also be understood that, although the invention has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the invention that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

[0020] The above and other aspects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0021] like Figure 1 As shown, the laser coal discing device provided by the embodiment of the present invention includes:

[0022] A laser scanner 1, configured to scan the surface of the coal pile to obtain raw scan data of the surface of the coal pile;

[0023] The data processing unit 2 includes an origin determination unit 21, a point cloud data processing unit 22, a grid reconstruction unit 23 and a volume estimation unit 25. The origin determination unit 21 is configured to obtain the three-dimensional coordinates of the top of the coal pile according to the scanned original data and set it as the origin. The point cloud data processing unit 22 is configured to generate point cloud data according to the scanned original data. As an improvement, the point cloud data processing unit is also configured to perform splicing processing on multiple segments of point cloud data.

[0024] The mesh reconstruction unit 23 is configured to generate a triangular mesh according to the point cloud data and perform three-dimensional reconstruction based on the triangular mesh; the volume estimation unit 25 is configured to divide the triangular prism corresponding to the triangular mesh, calculate the estimated volume of each triangular prism and add them up to obtain the estimated volume of the coal pile.

[0025] Dust or water vapor in the coal yard has a great impact on laser scanning, and the acquired data often contains a lot of noise data. By analyzing the characteristics of such data, it appears as a bulge in the discrete point cloud data and as a burr-like triangular surface after reconstructing the 3D model. In order to solve this problem, Figure 1 As shown, in some improved solutions, the data processing unit further includes a filtering unit 24, and the filtering unit 24 is configured to perform filtering processing on the point cloud data to eliminate noise data. Specifically, when the filtering unit 24 is executed, the absolute value and variance of the slope of the three vertices of the meshed triangular surface are calculated, and the absolute value and variance of the local slope are compared with a preset value respectively. If the absolute value and variance are greater than the preset value, the group of data is removed.

[0026] In other improved solutions, the mesh reconstruction unit 23 traverses all triangular meshes in sequence when performing mesh reconstruction. And for the volume estimation unit 25, when performing volume estimation, the projection area and elevation of the triangular mesh on the XY plane are calculated to obtain the estimated volume of each triangular prism, and then the estimated volume value of the entire coal pile is obtained through a discrete integral algorithm.

[0027] For example Figure 1As shown, it also includes a laser rangefinder 4, which is configured to be held by a field worker for auxiliary origin determination. In addition, it can also include a pan-tilt platform, on which the laser scanner 1 is arranged.

[0028] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. Laser coal disc device, including: a laser scanner configured to scan a surface of the coal pile to obtain scanned raw data of the surface of the coal pile; A data processing unit, comprising an origin determination unit, a point cloud data processing unit, a mesh reconstruction unit and a volume estimation unit, wherein the origin determination unit is configured to obtain the three-dimensional coordinates of the top of the coal pile according to the scanned raw data and set it as the origin, and the point cloud data processing unit is configured to generate point cloud data according to the scanned raw data; the mesh reconstruction unit is configured to generate a triangular mesh according to the point cloud data, and perform three-dimensional reconstruction based on the triangular mesh; the volume estimation unit is configured to segment the triangular prism corresponding to the triangular mesh, calculate the estimated volume value of each triangular prism and add them up to obtain the estimated volume value of the coal pile; A laser rangefinder configured to be handheld by a field worker for assisted origin determination.

2. The laser coal mining device as described in claim 1, wherein the data processing unit further comprises a filtering unit, and the filtering unit is configured to perform filtering processing on the point cloud data to eliminate noise data.

3. In the laser coal cleaning device as described in claim 2, when the filtering unit is executed, it calculates the absolute value and variance of the slope of the three vertices of the meshed triangular surface, and compares the absolute value and variance of the slope with a preset value respectively. If they are greater than the preset value, the three vertices of the meshed triangular surface are removed.

4. The laser coal mining device as claimed in claim 1, wherein the mesh reconstruction unit traverses all triangular meshes in sequence when performing mesh reconstruction.

5. In the laser coal discing device as described in claim 1, when performing volume estimation, the volume estimation unit calculates the projected area and elevation of the triangular grid on the XY plane to obtain the estimated volume of each triangular prism, and then obtains the estimated volume value of the entire coal pile through a discrete integration algorithm.

6. The laser coal mining device as described in claim 1 further includes a pan-tilt platform, and the laser scanner is arranged on the pan-tilt platform.

7. The laser coal mining device as described in claim 1, wherein the point cloud data processing unit is further configured to perform splicing processing on multiple segments of point cloud data.

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