Coal quantity determination method and device on scraper conveyor and electronic equipment

Abstract

The present disclosure provides a coal quantity determination method and device on a scraper conveyor and an electronic device, and relates to the technical field of scraper conveyor operation monitoring. The method comprises the following steps: acquiring a plurality of first sub-point clouds corresponding to the scraper conveyor in an empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in a loaded state; splicing the plurality of first sub-point clouds to obtain a first point cloud corresponding to the scraper conveyor in the empty state; splicing the plurality of second sub-point clouds to obtain a second point cloud corresponding to the scraper conveyor in the loaded state; and determining the coal quantity on the scraper conveyor according to the first point cloud, the second point cloud and the coal density. Thus, the plurality of point cloud acquisition devices can be used to acquire the first point cloud corresponding to the entire scraper conveyor in the empty state and the second point cloud corresponding to the entire scraper conveyor in the loaded state, so that the overall coal quantity on the entire scraper conveyor can be accurately determined, thereby providing a condition for accurately controlling the transportation speed of the scraper conveyor.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of scraper conveyor operation monitoring, and particularly relates to a coal quantity determination method and device on a scraper conveyor and an electronic device. BACKGROUND

[0002] The scraper conveyor is a conveying device of a fully mechanized coal mining face in a coal mine. In the process of transporting coal by using the scraper conveyor in the coal mine, coal quantity monitoring is not only a basis for yield statistics, but also an important link in safety production and process control.

[0003] For example, in the process of transporting coal by using the scraper conveyor in the coal mine, if the transportation speed of the scraper conveyor does not match the coal cutting and falling speed of the coal mining machine, the problem of overloading or light loading of the scraper conveyor will occur, which is easy to cause waste of electric power resources.

[0004] Therefore, how to accurately determine the coal quantity of the scraper conveyor in the coal mine has become a technical problem to be solved. SUMMARY

[0005] The present disclosure aims to at least solve one of the technical problems in the related art to some extent.

[0006] A coal quantity determination method on a scraper conveyor is provided in the first aspect of the present disclosure, comprising:

[0007] obtaining a plurality of first sub-point clouds corresponding to the scraper conveyor in an empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in a loaded state;

[0008] splicing the plurality of first sub-point clouds to obtain a first point cloud corresponding to the scraper conveyor in the empty state;

[0009] splicing the plurality of second sub-point clouds to obtain a second point cloud corresponding to the scraper conveyor in the loaded state;

[0010] determining the coal quantity on the scraper conveyor according to the first point cloud, the second point cloud and a coal density.

[0011] Optionally, the determination of the coal quantity on the scraper conveyor according to the first point cloud, the second point cloud and the coal density comprises:

[0012] aligning the first point cloud and the second point cloud;

[0013] sampling the aligned first point cloud and the second point cloud based on a preset sampling interval to obtain a plurality of sampling point pairs, wherein each sampling point pair contains a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the horizontal coordinates of the first sampling point and the second sampling point are the same;

[0014] obtaining a first depth value corresponding to the first sampling point and a second depth value corresponding to the second sampling point in each sampling point pair;

[0015] determining the amount of coal on the scraper conveyor according to each first depth value, each second depth value, the sampling interval and the density of the coal.

[0016] Optionally, the splicing of the plurality of first sub-point clouds to obtain the first point cloud corresponding to the scraper conveyor in the empty state comprises:

[0017] determining a first rotation and translation matrix between each two adjacent first sub-point clouds based on a point cloud registration algorithm;

[0018] splicing the plurality of first sub-point clouds based on the first rotation and translation matrix between each two adjacent first sub-point clouds to obtain the first point cloud.

[0019] Optionally, the splicing of the plurality of second sub-point clouds to obtain the second point cloud corresponding to the scraper conveyor in the loaded state comprises:

[0020] obtaining a third sub-point cloud and a fourth sub-point cloud corresponding to each first rotation and translation matrix from the plurality of second sub-point clouds;

[0021] generating a fifth sub-point cloud corresponding to each third sub-point cloud according to each first rotation and translation matrix;

[0022] determining a loss value corresponding to each first rotation and translation matrix according to each first rotation and translation matrix, and the corresponding fourth sub-point cloud and fifth sub-point cloud;

[0023] iteratively optimizing each first rotation and translation matrix until the corresponding loss value is less than a preset threshold to obtain a second rotation and translation matrix between each two adjacent second sub-point clouds;

[0024] splicing the plurality of second sub-point clouds according to each second rotation and translation matrix to obtain the second point cloud.

[0025] Optionally, the obtaining of the plurality of first sub-point clouds corresponding to the scraper conveyor in the empty state and the plurality of second sub-point clouds corresponding to the scraper conveyor in the loaded state comprises:

[0026] obtaining the plurality of first sub-point clouds collected by a plurality of point cloud collection devices when the scraper conveyor is in the empty state, and the plurality of second sub-point clouds collected by the plurality of point cloud collection devices when the scraper conveyor is in the loaded state;

[0027] wherein each two adjacent point cloud collection devices use light sources of different wave bands.

[0028] The second aspect embodiment of the present disclosure provides a coal quantity determination device on a scraper conveyor, comprising:

[0029] A first acquisition module is configured to acquire a plurality of first sub-point clouds corresponding to the scraper conveyor in an empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in a loaded state;

[0030] A second acquisition module is configured to splice the plurality of first sub-point clouds to acquire a first point cloud corresponding to the scraper conveyor in the empty state;

[0031] A third acquisition module is configured to splice the plurality of second sub-point clouds to acquire a second point cloud corresponding to the scraper conveyor in the loaded state;

[0032] A determination module is configured to determine the coal quantity on the scraper conveyor according to the first point cloud, the second point cloud, and a coal density.

[0033] Optionally, the determination module is specifically configured to:

[0034] align the first point cloud and the second point cloud;

[0035] sample the aligned first point cloud and the second point cloud based on a preset sampling interval to acquire a plurality of sampling point pairs, wherein each sampling point pair includes a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the first sampling point and the second sampling point have the same horizontal coordinates;

[0036] acquire a first depth value corresponding to the first sampling point and a second depth value corresponding to the second sampling point in each sampling point pair;

[0037] determine the coal quantity on the scraper conveyor according to each first depth value, each second depth value, the sampling interval, and the coal density.

[0038] Optionally, the second acquisition module is specifically configured to:

[0039] determine a first rotation and translation matrix between each two adjacent first sub-point clouds based on a point cloud registration algorithm;

[0040] splice the plurality of first sub-point clouds based on the first rotation and translation matrix between each two adjacent first sub-point clouds to acquire the first point cloud.

[0041] Optionally, the third acquisition module is specifically configured to:

[0042] acquire a third sub-point cloud and a fourth sub-point cloud corresponding to each first rotation and translation matrix from the plurality of second sub-point clouds;

[0043] generating a fifth sub-point cloud corresponding to each of the third sub-point clouds according to each of the first rotation and translation matrices;

[0044] determining a loss value corresponding to each of the first rotation and translation matrices according to each of the first rotation and translation matrices, and the fourth sub-point cloud and the fifth sub-point cloud corresponding to each of the first rotation and translation matrices;

[0045] iteratively optimizing each of the first rotation and translation matrices until the loss value corresponding to each of the first rotation and translation matrices is less than a preset threshold, to obtain a second rotation and translation matrix between each two adjacent second sub-point clouds;

[0046] splicing the plurality of second sub-point clouds according to each of the second rotation and translation matrices, to obtain the second point cloud.

[0047] Optionally, the first obtaining module is specifically configured to:

[0048] obtaining the plurality of first sub-point clouds collected by the plurality of point cloud collection devices when the scraper conveyor is in an empty state, and the plurality of second sub-point clouds collected by the plurality of point cloud collection devices when the scraper conveyor is in a loaded state;

[0049] wherein each two adjacent point cloud collection devices use light sources of different wave bands.

[0050] A third aspect embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the coal quantity determination method on the scraper conveyor as proposed in the first aspect embodiment of the present disclosure when executing the program.

[0051] A fourth aspect embodiment of the present disclosure provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the coal quantity determination method on the scraper conveyor as proposed in the first aspect embodiment of the present disclosure.

[0052] A fifth aspect embodiment of the present disclosure provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the coal quantity determination method on the scraper conveyor as proposed in the first aspect embodiment of the present disclosure.

[0053] The coal quantity determination method, device and electronic device provided by the present disclosure have the following beneficial effects:

[0054] In the embodiments of the present disclosure, firstly, a plurality of first sub-point clouds corresponding to the scraper conveyor in the empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in the loaded state are acquired, then the plurality of first sub-point clouds are spliced to obtain a first point cloud corresponding to the scraper conveyor in the empty state, then the plurality of second sub-point clouds are spliced to obtain a second point cloud corresponding to the scraper conveyor in the loaded state, and finally, the coal quantity on the scraper conveyor is determined according to the first point cloud, the second point cloud and the coal density. In this way, the sub-point clouds of the scraper conveyor in the empty state and the loaded state can be collected by using a plurality of point cloud collection devices, and then the plurality of sub-point clouds are spliced to obtain the first point cloud corresponding to the entire scraper conveyor in the empty state and the second point cloud corresponding to the entire scraper conveyor in the loaded state, so that the overall coal quantity on the entire scraper conveyor can be accurately determined, thereby providing a condition for accurately controlling the transportation speed of the scraper conveyor.

[0055] Additional aspects and advantages of the present disclosure will be made apparent from the following description, which, taken together with the accompanying drawings, describes or illustrates such aspects and advantages by way of example as described below. BRIEF DESCRIPTION OF DRAWINGS

[0056] The above described and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments, taken together with the accompanying drawings, in which:

[0057] Figure 1 A flowchart of a coal quantity determination method of a scraper conveyor provided by an embodiment of the present disclosure is shown;

[0058] Figure 2 A flowchart of a coal quantity determination method of a scraper conveyor provided by another embodiment of the present disclosure is shown;

[0059] Figure 3 A structure diagram of a coal quantity determination device of a scraper conveyor provided by an embodiment of the present disclosure is shown;

[0060] Figure 4 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0061] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0062] A coal quantity determination method, device, electronic device and storage medium of a scraper conveyor of an embodiment of the present disclosure are described below with reference to the accompanying drawings.

[0063] Figure 1A flowchart of a coal quantity determination method on a scraper conveyor provided by embodiments of the present disclosure is shown.

[0064] Embodiments of the present disclosure illustrate the coal quantity determination method on the scraper conveyor configured in a coal quantity determination device on the scraper conveyor, which can be applied to any electronic device to enable the electronic device to perform the coal quantity determination function on the scraper conveyor.

[0065] The electronic device can be a personal computer (PC), a cloud device, a mobile device, etc. The mobile device can be a mobile phone, a tablet computer, a personal digital assistant, a wearable device, a vehicle-mounted device, etc. The mobile device has various operating systems, touch screens, and / or display screens.

[0066] As shown in Figure 1 The coal quantity determination method on the scraper conveyor can include the following steps:

[0067] In step 101, a plurality of first sub-point clouds corresponding to the scraper conveyor in an empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in a loaded state are obtained.

[0068] It should be noted that the scraper conveyor generally has a transport distance of 200 meters (m) to 350 m, and the width of the middle trough is 1000 millimeters (mm) to 1500 mm. For non-contact measurement methods, the field of view is relatively narrow and long, and it is almost impossible for a single point cloud acquisition device to complete coal quantity measurement. Therefore, in the present embodiment, a plurality of point cloud acquisition devices are used to cooperatively complete the measurement.

[0069] Optionally, a plurality of first sub-point clouds collected by a plurality of point cloud acquisition devices when the scraper conveyor is in an empty state and a plurality of second sub-point clouds collected by the plurality of point cloud acquisition devices when the scraper conveyor is in a loaded state are obtained. Each adjacent two point cloud acquisition devices uses a light source of different wavebands.

[0070] It should be noted that the plurality of point cloud acquisition devices can be installed above the scraper conveyor to obtain the plurality of first sub-point clouds of the scraper conveyor in the empty state and the plurality of second sub-point clouds of the scraper conveyor in the loaded state. Adjacent two point cloud acquisition devices use light sources of different wavebands and light source wavelengths corresponding to the light filters, which can avoid mutual interference of the overlapping parts.

[0071] The point cloud acquisition device can be composed of an industrial camera, a lens, a coded structured light module, an image processing module, and software. The coded structured light module mainly completes structured light projection, the industrial camera and the lens mainly complete image acquisition, and the image processing module provides the computing power required by the software. The software part mainly includes structured light projection pattern coding, camera calibration, three-dimensional point cloud calculation, etc.

[0072] Specifically, the main process of the point cloud acquisition device acquiring the plurality of first sub-point clouds and the plurality of second sub-point clouds includes: a structured light coding module projects structured light to a surface of a to-be-measured object (such as a surface of a scraper conveyor in an empty state, a surface of the scraper conveyor in a loaded state, etc.), an industrial camera acquires a structured light modulation image of the surface of the to-be-measured object, an image processing module decodes the acquired structured light image, and reconstructs a three-dimensional point cloud of the surface of the to-be-measured object, that is, the plurality of first sub-point clouds and the plurality of second sub-point clouds.

[0073] In step 102, the plurality of first sub-point clouds are spliced to obtain a first point cloud corresponding to the scraper conveyor in the empty state.

[0074] The first point cloud is a whole point cloud corresponding to the scraper conveyor in the empty state.

[0075] Optionally, the plurality of first sub-point clouds collected by the plurality of point cloud acquisition devices can be spliced by using a target splicing method to obtain the first point cloud corresponding to the scraper conveyor in the empty state. Specifically, three or more targets are arranged in an overlapping area of two adjacent point cloud acquisition devices, the first sub-point clouds collected by the two adjacent point cloud acquisition devices and the targets are scanned in sequence, and finally, the point clouds are registered by using the same target data in different first sub-point clouds.

[0076] It should be noted that each target corresponds to an ID number, and the ID numbers of the same target in different first sub-point clouds must be consistent to complete the splicing.

[0077] In step 103, the plurality of second sub-point clouds are spliced to obtain a second point cloud corresponding to the scraper conveyor in the loaded state.

[0078] The second point cloud is a whole point cloud corresponding to the scraper conveyor in the loaded state.

[0079] Optionally, the plurality of second sub-point clouds collected by the plurality of point cloud acquisition devices can also be spliced by using the target splicing method to obtain the second point cloud corresponding to the scraper conveyor in the loaded state.

[0080] In step 104, the amount of coal on the scraper conveyor is determined according to the first point cloud, the second point cloud, and the density of the coal.

[0081] It can be understood that after the first point cloud and the second point cloud are determined, that is, the upper surface of the coal and the lower surface of the coal are determined when the scraper conveyor is conveying the coal, the volume of the coal can be determined by using the upper surface of the coal and the lower surface of the coal, and then the weight of the coal, that is, the amount of coal on the scraper conveyor at the current time, can be determined according to the density of the coal and the volume of the coal.

[0082] In the embodiment of the present disclosure, firstly, a plurality of first sub-point clouds corresponding to the scraper conveyor in the empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in the loaded state are acquired, then the plurality of first sub-point clouds are spliced to obtain the first point cloud corresponding to the scraper conveyor in the empty state, then the plurality of second sub-point clouds are spliced to obtain the second point cloud corresponding to the scraper conveyor in the loaded state, and finally, the coal quantity on the scraper conveyor is determined according to the first point cloud, the second point cloud and the coal density. In this way, the sub-point clouds of the scraper conveyor in the empty state and the loaded state can be collected by using a plurality of point cloud collection devices, and then the plurality of sub-point clouds are spliced to obtain the first point cloud corresponding to the entire scraper conveyor in the empty state and the second point cloud corresponding to the entire scraper conveyor in the loaded state, so that the overall coal quantity on the entire scraper conveyor can be accurately determined, thereby providing a condition for accurately controlling the transportation speed of the scraper conveyor.

[0083] Figure 2 The flowchart of the coal quantity determination method on the scraper conveyor provided by an embodiment of the present disclosure is shown in FIG. 1. Figure 2 As shown in FIG. 1, the coal quantity determination method on the scraper conveyor can include the following steps:

[0084] In step 201, a plurality of first sub-point clouds corresponding to the scraper conveyor in the empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in the loaded state are acquired.

[0085] In step 202, the first rotation and translation matrix between each two adjacent first sub-point clouds is determined based on the point cloud registration algorithm.

[0086] Optionally, the first rotation and translation matrix between each two adjacent first sub-point clouds is determined based on the point cloud registration algorithm, and then the plurality of first sub-point clouds are spliced based on the first rotation and translation matrix between each two adjacent first sub-point clouds to obtain the first point cloud.

[0087] Specifically, four approximately coplanar points can be randomly selected on the overlapping region of the two adjacent first sub-point clouds, then the 4-point congruence set registration algorithm (4PCS) is used to roughly register the two adjacent first sub-point clouds, then the normal distribution transformation algorithm (NDT) is used to accurately register the two adjacent first sub-point clouds to obtain the first rotation and translation matrix between the two adjacent first sub-point clouds, and finally, each first sub-point cloud is spliced in order based on the first rotation and translation matrix to obtain the first point cloud of the entire scraper conveyor in the empty state.

[0088] In the embodiments of the present disclosure, each point cloud collection device can be numbered in sequence according to the position of each point cloud collection device, that is, the number corresponding to the point cloud collected by each point cloud collection device, and then the point cloud collected by the first point cloud collection device is taken as a reference to sequentially obtain the rotation and translation matrix corresponding to the a+1th point cloud to the ath point cloud. For example, there are m point cloud collection devices, numbered in sequence as 1, 2, 3, …, m, then the first rotation and translation matrix of the 2nd first sub-point cloud to the 1st first sub-point cloud, the first rotation and translation matrix of the 3rd first sub-point cloud to the 2nd first sub-point cloud, …, and the first rotation and translation matrix of the mth first sub-point cloud to the m-1th first sub-point cloud are sequentially obtained.

[0089] In step 203, the plurality of first sub-point clouds are spliced based on the first rotation and translation matrix between each two adjacent first sub-point clouds to obtain a first point cloud.

[0090] In step 204, a third sub-point cloud and a fourth sub-point cloud corresponding to each first rotation and translation matrix are obtained from the plurality of second sub-point clouds.

[0091] It should be noted that after the first rotation and translation matrix between each two adjacent first sub-point clouds is determined, since the scraper conveyor will vibrate during operation, the pose of the point cloud collection device will change, and then the first rotation and translation matrix is used to splice the second sub-point cloud, which will have a large error. Therefore, in the embodiments of the present disclosure, the first rotation and translation matrix can be further corrected based on the second sub-point cloud to obtain a second rotation and translation matrix between each two adjacent second sub-point clouds, and then the second rotation and translation matrix is used to splice the second sub-point cloud, thereby improving the accuracy of the second point cloud.

[0092] It can be understood that the first rotation and translation matrix is the rotation and translation matrix between the point clouds collected by the adjacent two point cloud collection devices. Therefore, the third point cloud and the fourth point cloud can be the point clouds of the scraper conveyor in the loaded state collected by the two adjacent point cloud collection devices corresponding to the first rotation and translation matrix.

[0093] In step 205, a fifth sub-point cloud corresponding to each third sub-point cloud is generated according to each first rotation and translation matrix.

[0094] Specifically, based on the first rotation and translation matrix, the corresponding coordinates of each coordinate point in the third sub-point cloud after conversion are solved, thereby obtaining the fifth sub-point cloud solved based on the first rotation and translation matrix.

[0095] In step 206, a loss value corresponding to each first rotation and translation matrix is determined according to each first rotation and translation matrix, and the corresponding fourth sub-point cloud and fifth sub-point cloud.

[0096] Optionally, the loss function can be:

[0097]

[0098] wherein (R, t) is the first rotation translation matrix, N p is the number of points in the fourth sub-point cloud, q i is the coordinate of the i-th point in the fifth sub-point cloud, p i is the coordinate of the i-th point in the fourth sub-point cloud.

[0099] In the embodiments of the present disclosure, after the first rotation translation matrix and the corresponding fourth sub-point cloud and fifth sub-point cloud are determined, the first rotation translation matrix, the corresponding fourth sub-point cloud and fifth sub-point cloud are substituted into the loss function to determine the loss value corresponding to the first rotation translation matrix.

[0100] In step 207, each first rotation translation matrix is iteratively optimized until the corresponding loss value is less than a preset threshold to obtain a second rotation translation matrix between each two adjacent second sub-point clouds.

[0101] Specifically, based on a preset iteration step, the first rotation translation matrix is iterated to obtain a new rotation translation matrix, and the loss value corresponding to the new rotation translation matrix is determined. In the case that the loss value of the first rotation translation matrix is less than the loss value corresponding to the new rotation translation matrix, the new rotation translation matrix is iterated in reverse; in the case that the loss value of the first rotation translation matrix is greater than the loss value corresponding to the new rotation translation matrix, the new rotation translation matrix is iterated in forward, until the loss value corresponding to the rotation translation matrix obtained by iteration is less than the preset threshold, and the corresponding rotation translation matrix is determined as the second rotation translation matrix.

[0102] In step 208, based on the second rotation translation matrix between each two adjacent second sub-point clouds, the plurality of second sub-point clouds are spliced to obtain a second point cloud.

[0103] In the embodiments of the present disclosure, after the second rotation translation matrix between each two adjacent second sub-point clouds is determined, the second sub-point clouds are sequentially spliced based on each second rotation translation matrix, so as to obtain the second point cloud of the scraper conveyor in the loaded state.

[0104] In step 209, the first point cloud and the second point cloud are aligned.

[0105] Specifically, the first point cloud and the second point cloud can be aligned with the coordinate system corresponding to the first point cloud acquisition device as the reference.

[0106] At step 210, based on a preset sampling interval, the first point cloud and the second point cloud after alignment are sampled to obtain a plurality of sampling point pairs, wherein each sampling point pair includes a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the horizontal coordinates of the first sampling point and the second sampling point are the same.

[0107] The preset sampling interval can be 1mm, 2mm, etc. The present disclosure does not limit this.

[0108] The horizontal coordinates can include a horizontal coordinate and a vertical coordinate.

[0109] For example, when the sampling interval is 1mm, the horizontal coordinates corresponding to the sampling point pairs can be (1mm, 1mm), (1mm, 2mm), (1mm, 3mm), …, (2mm, 1mm), (2mm, 2mm), (2mm, 3mm), ….

[0110] At step 211, the first depth value corresponding to the first sampling point and the second depth value corresponding to the second sampling point in each sampling point pair are obtained.

[0111] At step 212, based on each first depth value, each second depth value, the sampling interval, and the coal density, the coal amount on the scraper conveyor is determined.

[0112] The calculation formula of the total amount of coal can be:

[0113]

[0114] Wherein, M is the coal amount on the scraper, p is the coal density, n is the total number of sampling point pairs, i is the i-th sampling point pair, and d is the difference between the first depth value and the second depth value corresponding to each sampling point pair.

[0115] In the embodiment of the present disclosure, first, based on the point cloud registration algorithm, the first rotation and translation matrix between each two adjacent first sub-point clouds is determined, and based on the first rotation and translation matrix between each two adjacent first sub-point clouds, the plurality of first sub-point clouds are spliced to obtain the first point cloud. Then, the first rotation and translation matrix is iteratively corrected to determine the second rotation and translation matrix between each two adjacent second sub-point clouds, and based on each second rotation and translation matrix, the plurality of second sub-point clouds are spliced to obtain the second point cloud. Then, based on the first point cloud, the second point cloud, and the coal density, the coal amount on the scraper conveyor is determined. Thus, the second rotation and translation matrix between each two adjacent second sub-point clouds can be accurately determined, so that the second point cloud corresponding to the entire scraper conveyor in the load state can be accurately determined, thereby improving the accuracy of determining the total coal amount on the scraper conveyor.

[0116] To achieve the above-mentioned embodiments, the disclosure also proposes a coal quantity determination device on a scraper conveyor.

[0117] Figure 3 A structural schematic diagram of the coal quantity determination device on the scraper conveyor provided by the embodiments of the disclosure.

[0118] As Figure 3 shown, the coal quantity determination device 300 on the scraper conveyor can include a first acquisition module 310, a second acquisition module 320, a third acquisition module 330, and a determination module 340.

[0119] The first acquisition module 310 is configured to acquire a plurality of first sub-point clouds corresponding to the scraper conveyor in an empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in a loaded state.

[0120] The second acquisition module 320 is configured to splice the plurality of first sub-point clouds to acquire a first point cloud corresponding to the scraper conveyor in the empty state.

[0121] The third acquisition module 330 is configured to splice the plurality of second sub-point clouds to acquire a second point cloud corresponding to the scraper conveyor in the loaded state.

[0122] The determination module 340 is configured to determine the coal quantity on the scraper conveyor according to the first point cloud, the second point cloud, and the coal density.

[0123] Optionally, the determination module 340 is specifically configured to:

[0124] align the first point cloud and the second point cloud;

[0125] sample the aligned first point cloud and the second point cloud based on a preset sampling interval to obtain a plurality of sampling point pairs, wherein each sampling point pair includes a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the first sampling point and the second sampling point have the same horizontal coordinates;

[0126] acquire a first depth value corresponding to the first sampling point and a second depth value corresponding to the second sampling point in each sampling point pair;

[0127] determine the coal quantity on the scraper conveyor according to each first depth value, each second depth value, the sampling interval, and the coal density.

[0128] Optionally, the second acquisition module 320 is specifically configured to:

[0129] determine a first rotation and translation matrix between each two adjacent first sub-point clouds based on a point cloud registration algorithm.

[0130] The plurality of first sub-point clouds are spliced based on the first rotation and translation matrix between each two adjacent first sub-point clouds to obtain a first point cloud.

[0131] Optionally, the third obtaining module 330 is specific for:

[0132] The third sub-point cloud and the fourth sub-point cloud corresponding to each first rotation and translation matrix are obtained from the plurality of second sub-point clouds;

[0133] The fifth sub-point cloud corresponding to each third sub-point cloud is generated according to each first rotation and translation matrix;

[0134] The loss value corresponding to each first rotation and translation matrix is determined according to each first rotation and translation matrix, and the corresponding fourth sub-point cloud and fifth sub-point cloud;

[0135] Each first rotation and translation matrix is iteratively optimized until the corresponding loss value is less than a preset threshold to obtain a second rotation and translation matrix between each two adjacent second sub-point clouds;

[0136] The plurality of second sub-point clouds are spliced according to each second rotation and translation matrix to obtain a second point cloud.

[0137] Optionally, the first obtaining module 310 is specific for:

[0138] The plurality of first sub-point clouds collected by the plurality of point cloud collection devices when the scraper conveyor is in an empty state and the plurality of second sub-point clouds collected when the scraper conveyor is in a loaded state are obtained;

[0139] Each two adjacent point cloud collection devices use light sources of different wave bands.

[0140] The functions and specific implementation principles of the above modules in the embodiments of the present disclosure can be referred to the above method embodiments, which will not be described here.

[0141] The coal amount determination device on the scraper conveyor in the embodiments of the present disclosure first obtains the plurality of first sub-point clouds corresponding to the empty state of the scraper conveyor and the plurality of second sub-point clouds corresponding to the loaded state, then splices the plurality of first sub-point clouds to obtain the first point cloud corresponding to the empty state of the scraper conveyor, then splices the plurality of second sub-point clouds to obtain the second point cloud corresponding to the loaded state of the scraper conveyor, and finally determines the coal amount on the scraper conveyor according to the first point cloud, the second point cloud and the coal density. Thus, the sub-point clouds of the scraper conveyor in the empty state and the loaded state can be collected by the plurality of point cloud collection devices, and then the plurality of sub-point clouds are spliced to obtain the first point cloud corresponding to the empty state of the entire scraper conveyor and the second point cloud corresponding to the loaded state, so that the overall coal amount on the entire scraper conveyor can be accurately determined, which provides a condition for accurately controlling the transportation speed of the scraper conveyor.

[0142] To implement the above embodiments, this disclosure also proposes an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method for determining the amount of coal on the scraper conveyor as proposed in the foregoing embodiments of this disclosure.

[0143] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for determining the amount of coal on a scraper conveyor as proposed in the foregoing embodiments of this disclosure.

[0144] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the method for determining the amount of coal on a scraper conveyor as proposed in the foregoing embodiments of this disclosure.

[0145] Figure 4 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 4 The electronic device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0146] like Figure 4 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0147] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0148] Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and non- volatile media, removable and non-removable media.

[0149] Memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (i.e., a "hard drive"). Figure 4 not shown, is typically provided as residual storage across computer device 12, and can be used for storing data that is less frequently accessed. Although exemplary computing system 10 is described and shown with respect to the use of a hard drive, those skilled in the art will appreciate that other types of storage media can be used instead of, or in addition to, the hard drive. For example, a magnetic floppy or optical disk drive can be used. A suitable modulator-demodulator (modem) 36 can be provided for establishing communications over a wired or wireless communications medium to various other computing systems. Figure 4 not shown, is typically provided as residual storage across computer device 12, and can be used for storing data that is less frequently accessed. Although exemplary computing system 10 is described and shown with respect to the use of a hard drive, those skilled in the art will appreciate that other types of storage media can be used instead of, or in addition to, the hard drive. For example, a magnetic floppy or optical disk drive can be used. A suitable modulator-demodulator (modem) 36 can be provided for establishing communications over a wired or wireless communications medium to various other computing systems.

[0150] Program / utility 40 having a set (at least one) of program modules 42 can be stored in, for example, memory 28 by way of example, such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of or some combination of which can include implementation of a networking environment. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0151] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, computer device 12 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through network adapter 20. As an example, network adapter 20 can include a modem, a network card (wireless or wired), or other well-known interface devices. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with computer device 12. Such as, but not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0152] Processing unit 16 performs various function applications and data processing by running programs stored in system memory 28, such as implementing the methods mentioned in the foregoing embodiments.

[0153] The technical solution of the present disclosure first acquires a plurality of first sub-point clouds corresponding to the scraper conveyor in the empty state and a plurality of second sub-point clouds corresponding to the scraper conveyor in the loaded state, then splices the plurality of first sub-point clouds to obtain the first point cloud corresponding to the scraper conveyor in the empty state, then splices the plurality of second sub-point clouds to obtain the second point cloud corresponding to the scraper conveyor in the loaded state, and finally determines the amount of coal on the scraper conveyor according to the first point cloud, the second point cloud, and the coal density. Thus, the sub-point clouds of the scraper conveyor in the empty state and the loaded state can be collected by using a plurality of point cloud collection devices, and then the plurality of sub-point clouds are spliced to obtain the first point cloud corresponding to the entire scraper conveyor in the empty state and the second point cloud corresponding to the entire scraper conveyor in the loaded state, so that the overall amount of coal on the entire scraper conveyor can be accurately determined, thereby providing a condition for accurately controlling the transportation speed of the scraper conveyor.

[0154] In the description of the disclosure, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the disclosure. In the description of the disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, a person skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0155] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0156] Any process or method descriptions in flow charts or otherwise described herein represent embodiments that can be understood as a module, segment, or portion of code that includes one or more executable instructions for implementing the specified logical function or process. The scope of the preferred embodiments of the disclosure includes additional implementation in which the functions described in the illustrated or discussed order are performed in a different order, including substantially simultaneously, or in reverse order, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the disclosure belong.

[0157] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of executable instructions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. The computer-readable medium can include, but is not limited to, the following: an electronic connection (an electronic device having one or more wires), a portable computer diskette (a magnetic device), a RAM (random access memory), a ROM (read-only memory), an EPROM (erasable programmable ROM) or a Flash memory, an optical fiber, and a portable CD ROM. In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example via the optical scanner of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0158] It should be understood that portions of the present disclosure can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations, can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0159] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiments is included.

[0160] In addition, each functional unit in each embodiment of the present disclosure can be integrated in one processing module, or each unit can exist physically separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0161] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for determining the amount of coal on a scraper conveyor, characterized in that, include: Acquire multiple first sub-point clouds corresponding to the scraper conveyor in the no-load state and multiple second sub-point clouds corresponding to the load state; Based on the point cloud registration algorithm, the first rotation and translation matrix between every two adjacent first sub-point clouds is determined; Based on the first rotation and translation matrix between every two adjacent first sub-point clouds, the plurality of first sub-point clouds are spliced ​​together to obtain the first point cloud corresponding to the scraper conveyor in the no-load state. Obtain the third and fourth sub-point clouds corresponding to each first rotation and translation matrix from the plurality of second sub-point clouds; Based on each of the first rotation and translation matrices, generate a fifth sub-point cloud corresponding to each of the third sub-point clouds; Based on each of the first rotation and translation matrices, and the corresponding fourth and fifth sub-point clouds, determine the loss value corresponding to each of the first rotation and translation matrices; Each of the first rotation and translation matrices is iteratively optimized until the corresponding loss value is less than a preset threshold, so as to obtain the second rotation and translation matrix between every two adjacent second sub-point clouds; Based on each of the second rotation and translation matrices, the plurality of second sub-point clouds are stitched together to obtain a second point cloud; The amount of coal on the scraper conveyor is determined based on the first point cloud, the second point cloud, and the coal density.

2. The method according to claim 1, characterized in that, Determining the amount of coal on the scraper conveyor based on the first point cloud, the second point cloud, and the coal density includes: Align the first point cloud and the second point cloud; Based on a preset sampling interval, the aligned first point cloud and the second point cloud are sampled to obtain multiple sampling point pairs. Each sampling point pair contains a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the horizontal plane coordinates of the first sampling point and the second sampling point are the same. Obtain the first depth value corresponding to the first sampling point and the second depth value corresponding to the second sampling point in each sampling point pair; The amount of coal on the scraper conveyor is determined based on each of the first depth values, each of the second depth values, the sampling interval, and the coal density.

3. The method according to any one of claims 1-2, characterized in that, The acquisition of multiple first sub-point clouds corresponding to the scraper conveyor in the no-load state and multiple second sub-point clouds corresponding to the loaded state includes: Acquire the multiple first sub-point clouds collected by multiple point cloud acquisition devices when the scraper conveyor is in an unloaded state, and the multiple second sub-point clouds collected when the scraper conveyor is in a loaded state; Each pair of adjacent point cloud acquisition devices uses a light source of a different wavelength.

4. A coal quantity determination device for a scraper conveyor, characterized in that, include: The first acquisition module is used to acquire multiple first sub-point clouds corresponding to the scraper conveyor in the no-load state and multiple second sub-point clouds corresponding to the load state. The second acquisition module is used to determine the first rotation and translation matrix between every two adjacent first sub-point clouds based on the point cloud registration algorithm; and to stitch together the multiple first sub-point clouds based on the first rotation and translation matrix between every two adjacent first sub-point clouds to obtain the first point cloud corresponding to the scraper conveyor in the no-load state. The third acquisition module is used to acquire the third and fourth sub-point clouds corresponding to each first rotation and translation matrix from the plurality of second sub-point clouds; generate a fifth sub-point cloud corresponding to each third sub-point cloud according to each first rotation and translation matrix; and determine the loss value corresponding to each first rotation and translation matrix according to each first rotation and translation matrix and the corresponding fourth and fifth sub-point clouds. Each of the first rotation and translation matrices is iteratively optimized until the corresponding loss value is less than a preset threshold, so as to obtain the second rotation and translation matrix between every two adjacent second sub-point clouds; Based on each of the second rotation and translation matrices, the plurality of second sub-point clouds are stitched together to obtain a second point cloud; The determination module is used to determine the amount of coal on the scraper conveyor based on the first point cloud, the second point cloud, and the coal density.

5. The apparatus according to claim 4, characterized in that, The determining module is specifically used for: Align the first point cloud and the second point cloud; Based on a preset sampling interval, the aligned first point cloud and the second point cloud are sampled to obtain multiple sampling point pairs. Each sampling point pair contains a first sampling point in the first point cloud and a second sampling point in the second point cloud, and the horizontal plane coordinates of the first sampling point and the second sampling point are the same. Obtain the first depth value corresponding to the first sampling point and the second depth value corresponding to the second sampling point in each sampling point pair; The amount of coal on the scraper conveyor is determined based on each of the first depth values, each of the second depth values, the sampling interval, and the coal density.

6. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method for determining the amount of coal on a scraper conveyor as described in any one of claims 1-3.

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