Belt coal quantity detection device and electronic equipment

Abstract

The application provides a belt coal quantity detection device and electronic equipment. The device comprises: an image acquisition module for acquiring a camera imaging image and a laser radar imaging image containing a coal pile on a belt; an image data processing module for performing image processing on the camera imaging image and the laser radar imaging image to generate a three-dimensional coal quantity volume image; a network transmission module for outputting the three-dimensional coal quantity volume image as coal quantity volume data; an optoelectronic isolation protection circuit module for isolating signals based on a digital isolation device and an optocoupler isolation device to realize interface optoelectronic isolation protection of an output interface of the detection device; and an explosion-proof and intrinsic safety protection circuit module located on a circuit board of a power supply part of the detection device and comprising two-stage isolation capacitors meeting preset conditions. The system transmission rate is improved, the system complexity is reduced, and the interface optoelectronic isolation protection circuit realized by the optocoupler isolation and the digital isolation is utilized.

Description

Technical Field

[0001] This application relates to the field of detection device technology, and in particular to a belt coal quantity detection device and electronic equipment. Background Technology

[0002] With the development of intelligent coal mining, accurate detection and analysis in mines have gradually become important means of measuring efficient and safe production. However, when measuring the volume of coal conveyor belts, isolating the high and low voltage power supply circuits is crucial; crosstalk between high and low voltage circuits can lead to circuit instability.

[0003] In related technologies, ordinary optocoupler isolation chips are only suitable for low communication rates and cannot be used in high-speed signal transmission circuits. Summary of the Invention

[0004] This application provides a belt coal quantity detection device and electronic equipment.

[0005] According to a first aspect of this application, a conveyor belt coal quantity detection device is provided, characterized in that it includes an image acquisition module, an image data processing module, a network transmission module, an opto-isolation protection circuit module, and an explosion-proof and intrinsically safe protection circuit module.

[0006] The image acquisition module is used to acquire camera images and lidar images containing coal piles on the conveyor belt.

[0007] The image data processing module is used to process the camera image and the lidar image to generate a three-dimensional coal volume image.

[0008] The network transmission module is used to output the three-dimensional coal volume image as coal volume data.

[0009] The opto-isolation protection circuit module isolates signals based on digital isolation devices and optocoupler isolation devices to achieve opto-isolation protection for the output interface of the detection device;

[0010] The explosion-proof and intrinsically safe protection circuit module is located on the circuit board of the power supply section in the detection device and includes two-stage isolation capacitors that meet preset conditions.

[0011] Optionally, the image acquisition module includes a binocular image acquisition unit and a lidar measurement unit, wherein,

[0012] The binocular image acquisition unit is used to capture camera images of coal piles on the conveyor belt based on a binocular vision camera;

[0013] The lidar measurement unit is used to acquire lidar images of the coal pile based on the lidar measurement device.

[0014] Optionally, the device further includes a power conversion module, wherein the power conversion module is used to convert the power supply voltage into the current operating voltage of the device.

[0015] Optionally, the image data processing module further includes: a feature extraction unit and an image fusion unit, wherein,

[0016] The feature extraction unit is used to perform feature point detection on the camera image and the lidar image respectively, so as to determine the first image and the second image containing the features of the coal pile respectively;

[0017] The image fusion unit is used to fuse the first image and the second image to generate the three-dimensional coal volume image.

[0018] Optionally, the opto-isolation protection circuit module includes: a digital isolation chip, an optocoupler isolation chip, a first resistor, a second resistor, a third resistor, a transistor, a first photodiode, a second photodiode, a third photodiode, a first diode, a second diode, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a first inductor, and a second inductor, wherein,

[0019] The first terminal of the digital isolation chip is connected to the first terminal of the first inductor, the anode of the first diode, and the first terminal of the first resistor;

[0020] The second terminal of the digital isolation chip is connected to the first terminal of the second resistor;

[0021] The third and fourth terminals of the digital isolation chip are connected to the first power supply, and the second terminal of the first inductor is connected to the first power supply.

[0022] The first end of the optocoupler isolation chip is connected to the second power supply, and the second end of the optocoupler isolation chip is connected to the base of the transistor, the first end of the second capacitor, and the anode of the second diode. The first end of the first capacitor is connected to the first resistor, the second end of the first capacitor is connected to the collector of the transistor, and the second end of the second capacitor is connected to the emitter of the transistor and the cathode of the second diode.

[0023] The third terminal of the optocoupler isolation chip is connected to the first terminal of the second inductor. The cathodes of the first photodiode, the second photodiode, and the first diode are connected to the cathode of the first photodiode. The anodes of the first photodiode and the second photodiode are connected to the anode of the second photodiode.

[0024] The second end of the second inductor is connected to the cathode of the first photodiode and one end of the third resistor. The other end of the third resistor is connected to the second end of the second resistor, as well as the first end of the third capacitor and the first end of the fourth capacitor, wherein the second ends of the third capacitor and the second ends of the fourth capacitor are grounded.

[0025] Optionally, the device may also include an EMC protection circuit.

[0026] Optionally, the network transmission module is connected to a communication and expansion interface.

[0027] Optionally, the preset conditions are to meet the following requirements: rated operating voltage of 25V, rated capacity of 2200 microfarads, corresponding transmission energy of less than 1500μJ, and compliance with national standards.

[0028] Optionally, the device is based on the NSi83085 chip to implement the EMC protection circuit.

[0029] According to a second aspect of this application, an electronic device is provided, which includes the apparatus described in the first aspect of this application.

[0030] In summary, by fusing images and laser point cloud data simultaneously detected by cameras and LiDAR, more accurate and denser depth information can be obtained. Furthermore, based on the equipment requirements in underground coal mines, the conveyor belt coal quantity detection device is designed with explosion-proof and intrinsically safe performance, as well as opto-isolation and EMC protection circuits for the interface. This design effectively copes with the complex and unstructured environment of coal mines and generates stable information. Analog signals can continue to be isolated using optocoupler isolation devices, while the digital signal path can be implemented using high-speed digital isolation chips. Compared to traditional optocoupler circuits, the system transmission rate is increased, and the system complexity is reduced. The interface opto-isolation protection circuit utilizes both optocoupler isolation and digital isolation.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0032] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0033] Figure 1 This is a structural diagram of a conveyor belt coal quantity detection device provided in an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of an opto-isolation protection circuit provided in an embodiment of this application;

[0035] Figure 3 This is a circuit diagram of a conveyor belt coal quantity detection device provided in an embodiment of this application;

[0036] Figure 4 An EMC protection circuit diagram provided in an embodiment of this application;

[0037] Figure 5 This is an example diagram of the electronic equipment architecture of the conveyor belt coal quantity detection device according to an embodiment of this application. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] The following description, with reference to the accompanying drawings, describes a conveyor belt coal quantity detection device, system, and storage medium according to embodiments of this application.

[0040] Figure 1 This is a structural diagram of a conveyor belt coal quantity detection device provided in an embodiment of this application. Figure 1 As shown, the conveyor belt coal quantity detection device 100 may include:

[0041] Image acquisition module 110, image data processing module 120, network transmission module 130, opto-isolation protection circuit module 140, and explosion-proof and intrinsically safe protection circuit module 150.

[0042] The image acquisition module is used to acquire camera images and lidar images containing coal piles on the conveyor belt.

[0043] The image data processing module is used to process the camera image and the lidar image to generate a three-dimensional coal volume image.

[0044] The network transmission module is used to output the three-dimensional coal volume image as coal volume data.

[0045] The opto-isolation protection circuit module isolates signals based on digital isolation devices and optocoupler isolation devices to achieve opto-isolation protection for the output interface of the detection device;

[0046] The explosion-proof and intrinsically safe protection circuit module is located on the circuit board of the power supply section in the detection device and includes two-stage isolation capacitors that meet preset conditions.

[0047] Optionally, the image acquisition module includes a binocular image acquisition unit and a lidar measurement unit, wherein,

[0048] The binocular image acquisition unit is used to capture camera images of coal piles on the conveyor belt based on a binocular vision camera;

[0049] The lidar measurement unit is used to acquire lidar images of the coal pile based on the lidar measurement device.

[0050] Optionally, the device further includes a power conversion module, wherein the power conversion module is used to convert the power supply voltage into the current operating voltage of the device.

[0051] Specifically, according to the intrinsic safety parameters of the underground equipment, the power conversion module converts the commonly used underground power supply voltage of 127V to the working voltage of the detection device of 12V, while the working current is ≤1A, which can meet the intrinsic safety design requirements of coal mines.

[0052] Optionally, the image data processing module further includes: a feature extraction unit and an image fusion unit, wherein,

[0053] The feature extraction unit is used to perform feature point detection on the camera image and the lidar image respectively, so as to determine the first image and the second image containing the features of the coal pile respectively;

[0054] The image fusion unit is used to fuse the first image and the second image to generate the three-dimensional coal volume image.

[0055] It should be noted that, based on a binocular vision camera, multiple camera images of the coal pile on the conveyor belt can be acquired at a preset frequency within a specified time period. Then, based on a lidar measurement device, a lidar image of the coal pile on the conveyor belt can be acquired at each specified time. Finally, based on a convolutional neural network, features are extracted from the camera image and the lidar image corresponding to the same time to obtain a first image and a second image, namely, a binocular disparity map and a lidar disparity map.

[0056] The binocular camera parameters are: ROI of 300µs exposure and 1650fps frame rate. The lidar uses a 32-line lidar with a 450nm (blue light) wavelength laser and a vertical field of view of 40° (-25° to +15°). The belt conveyor operates at a constant speed of 1.0m / s.

[0057] Understandably, the camera images captured by the left and right lenses are processed by the binocular image acquisition module, which uses a camera automatic exposure algorithm based on feature point detection to form a high-quality first image, namely a binocular parallax map.

[0058] Optionally, the detection device is installed above the belt, with the binocular camera installed in a direction parallel to the direction of the belt and the lidar measuring device installed in a direction perpendicular to the direction of the belt.

[0059] This disclosure allows for the fusion of LiDAR data and binocular vision data, utilizing the complementary properties of images to acquire 3D environmental information from differential vision. The laser-vision fusion detection technology uses LiDAR and point clouds to acquire 3D environmental information from images, and obtains the point cloud based on laser measurement principles, including 3D coordinates, laser reflection intensity, and color information. For image fusion, images from LiDAR and cameras are extracted, and the binocular disparity map and LiDAR disparity map are fused using a convolutional network.

[0060] Optionally, the binocular parallax map and the lidar parallax map, which are synchronously acquired by the CPU and the lidar (using a 450nm (blue light) wavelength laser), are fused together. The fusion result is output as stereo point cloud data and coal volume data through the network transmission module, which is a stereo coal volume image.

[0061] Optional, such as Figure 2 As shown, Figure 2 A circuit diagram of an opto-isolation protection circuit is shown. The opto-isolation protection circuit module includes: a digital isolation chip (IC7), an optocoupler isolation chip (CN5-4), a first resistor R27, a second resistor R24, a third resistor R28, a transistor D5, a first photodiode CT11D475, a second photodiode CT12D475, a third photodiode CT13D475, a first diode ZD2, a second diode ZD1, a first capacitor C68, a second capacitor C29, a third capacitor C70, a fourth capacitor C71, a first inductor L5, and a second inductor L6.

[0062] The first terminal of the digital isolation chip is connected to the first terminal of the first inductor, the anode of the first diode, and the first terminal of the first resistor;

[0063] The second terminal of the digital isolation chip is connected to the first terminal of the second resistor;

[0064] The third and fourth terminals of the digital isolation chip are connected to the first power supply VDD, and the second terminal of the first inductor is connected to the first power supply.

[0065] The first end of the optocoupler isolation chip is connected to the second power supply VCC. The second end of the optocoupler isolation chip is connected to the base of the transistor, the first end of the second capacitor, and the anode of the second diode. The first end of the first capacitor is connected to the first resistor. The second end of the first capacitor is connected to the collector of the transistor. The second end of the second capacitor is connected to the emitter of the transistor and the cathode of the second diode.

[0066] The third terminal of the optocoupler isolation chip is connected to the first terminal of the second inductor. The cathodes of the first photodiode, the second photodiode, and the first diode are connected to the cathode of the first photodiode. The anodes of the first photodiode and the second photodiode are connected to the anode of the second photodiode.

[0067] The second end of the second inductor is connected to the cathode of the first photodiode and one end of the third resistor. The other end of the third resistor is connected to the second end of the second resistor, as well as the first end of the third capacitor and the first end of the fourth capacitor, wherein the second ends of the third capacitor and the second ends of the fourth capacitor are grounded.

[0068] The first power supply refers to the internal operating voltage of the chip; the second power supply refers to the power supply voltage of the circuit.

[0069] It should be noted that, to isolate the high and low voltage power supply circuits, prevent high-voltage circuits from interfering with low-voltage circuits (such as digital low-voltage circuits like the CPU control module) and damaging low-voltage circuit equipment, and to prevent crosstalk between high and low voltages leading to circuit instability, an opto-isolation protection circuit is designed for the output interface of the detection device (such as the RS485 interface). Since ordinary optocoupler isolation chips are only suitable for low communication rates, in high-speed signal transmission circuits, analog signals can continue to be isolated using optocoupler isolation devices, while digital signal paths can be implemented using high-speed digital isolation chips. This increases the system transmission rate and reduces system complexity. VDD and VCC are two sets of non-common grounded power supplies, with voltage values ​​ranging from 1 to 5V, generally implemented using isolated DC-DC converters. The optical signal input at CN5-4 is isolated and transmitted through optocoupler isolation. The IC7 (digital isolation chip) and the microcontroller unit are not grounded, isolating the generation of high common-mode voltage, reducing the signal damage rate, and enhancing the intrinsic safety performance of the device.

[0070] Optionally, the device may also include an EMC protection circuit.

[0071] While isolation effectively suppresses high common-mode voltage, surges and short circuits may still occur on the bus. Coal mine underground equipment has high EMC requirements, necessitating additional protection measures on the bus. The NSi83085 (half-duplex isolation chip) bus interface has a system-level contact discharge ESD protection capability of ±16kV, and its surge protection across the isolation zone reaches ±8kV. This disclosure presents a method for designing a 485 EMC protection circuit using the NSi83085.

[0072] Figure 4 An EMC protection circuit diagram provided in an embodiment of this application;

[0073] The NSi83085 features internal fail-safe circuitry. When the receiver input is open-circuited or short-circuited, or when all transmitters connected to the termination matching bus are disabled, the receiver will output a logic high level. Furthermore, the RE and DE pins have built-in pull-down resistors, and the D pin has a built-in pull-up resistor. Therefore, no pull-down or pull-up resistors are needed on any input pins or the bus to ensure a consistent transmit and receive state. A 120Ω resistor is added between the A and B buses for impedance matching.

[0074] It should be noted that, due to the presence of explosive mixtures of gases such as methane and dust in underground coal mines, there are high requirements for the safety performance of underground equipment. According to coal mine standards, underground equipment is mainly divided into two types: intrinsically safe and explosion-proof. In order to design the detection device as an explosion-proof and intrinsically safe device, overcurrent protection design is required for the circuit board of the power supply section of the detection device.

[0075] Figure 3 This is a circuit diagram of a belt coal quantity detection device provided in an embodiment of this application.

[0076] The explosion-proof and intrinsically safe protection circuit module achieves intrinsic safety through two-stage isolation capacitors. The capacitor value is selected as 2200uf / 25V, which is 1.5 times the safety factor. The isolation capacitors meet the requirements of 8.6.1 in GB 3836.4-2021, and the energy transfer is less than 1500μJ, which meets the requirements of 10.7 in GB 3836.4-2021.

[0077] Optionally, the network transmission module is connected to a communication and expansion interface.

[0078] Optionally, the preset conditions are to meet the following requirements: rated operating voltage of 25V, rated capacity of 2200 microfarads, corresponding transmission energy of less than 1500μJ, and compliance with national standards.

[0079] Optionally, the device is based on the NSi83085 chip to implement the EMC protection circuit.

[0080] In summary, by fusing images and laser point cloud data simultaneously detected by cameras and LiDAR, more accurate and denser depth information can be obtained. Furthermore, based on the equipment requirements in underground coal mines, the conveyor belt coal quantity detection device is designed with explosion-proof and intrinsically safe performance, as well as opto-isolation and EMC protection circuits for the interface. This design effectively copes with the complex and unstructured environment of coal mines and generates stable information. Analog signals can continue to be isolated using optocoupler isolation devices, while the digital signal path can be implemented using high-speed digital isolation chips. Compared to traditional optocoupler circuits, the system transmission rate is increased, and the system complexity is reduced. The interface opto-isolation protection circuit utilizes both optocoupler isolation and digital isolation.

[0081] Figure 5 A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0082] like Figure 5 As shown, device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 302 or a computer program loaded from storage unit 308 into random access memory (RAM) 303. The RAM 303 may also store various programs and data required for the operation of device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via bus 304. Input / output (I / O) interface 305 is also connected to bus 304.

[0083] Multiple components in device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of monitors, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0084] The computing unit 301 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. For example, in some embodiments, a computer software program is tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on device 300 via ROM 302 and / or communication unit 309. The computer program is loaded into RAM 303 and executed by computing unit 301.

[0085] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0086] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0087] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0088] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0089] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0090] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0091] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0092] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A conveyor belt coal quantity detection device, characterized in that, It includes an image acquisition module, an image data processing module, a network transmission module, an opto-isolation protection circuit module, and an explosion-proof and intrinsically safe protection circuit module. The image acquisition module is used to acquire camera images and lidar images containing coal piles on the conveyor belt. The image data processing module is used to process the camera image and the lidar image to generate a three-dimensional coal volume image. The network transmission module is used to output the three-dimensional coal volume image as coal volume data. The opto-isolation protection circuit module isolates signals based on digital isolation devices and optocoupler isolation devices to achieve opto-isolation protection for the output interface of the detection device; The explosion-proof and intrinsically safe protection circuit module is located on the circuit board of the power supply section in the detection device and includes two-stage isolation capacitors that meet preset conditions. The image data processing module further includes: a feature extraction unit and an image fusion unit, wherein... The feature extraction unit is used to perform feature point detection on the camera image and the lidar image respectively, so as to determine the first image and the second image containing the features of the coal pile respectively; The image fusion unit is used to fuse the first image and the second image to generate the three-dimensional coal volume image; The device is also used to: fuse lidar data and binocular vision data, and use the complementary characteristics of graphics to obtain three-dimensional environmental information of differential vision. The laser and vision fusion detection technology uses lidar and point cloud to obtain three-dimensional environmental information of images, and obtains point cloud according to the laser measurement principle, including three-dimensional coordinates, laser reflection intensity and color information. In terms of image fusion, it extracts images from lidar and camera, and fuses binocular disparity map and lidar disparity map through convolutional network.

2. The apparatus according to claim 1, characterized in that, The image acquisition module includes a binocular image acquisition unit and a lidar measurement unit, wherein... The binocular image acquisition unit is used to capture camera images of coal piles on the conveyor belt based on a binocular vision camera; The lidar measurement unit is used to acquire lidar images of the coal pile based on the lidar measurement device.

3. The apparatus according to claim 1, characterized in that, The device further includes a power conversion module, wherein the power conversion module is used to convert the power supply voltage into the current operating voltage of the device.

4. The apparatus according to claim 1, characterized in that, The opto-isolation protection circuit module includes: a digital isolation chip, an optocoupler isolation chip, a first resistor, a second resistor, a third resistor, a transistor, a first photodiode, a second photodiode, a third photodiode, a first diode, a second diode, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a first inductor, and a second inductor. The first terminal of the digital isolation chip is connected to the first terminal of the first inductor, the anode of the first diode, and the first terminal of the first resistor; The second terminal of the digital isolation chip is connected to the first terminal of the second resistor; The third and fourth terminals of the digital isolation chip are connected to the first power supply, and the second terminal of the first inductor is connected to the first power supply. The first end of the optocoupler isolation chip is connected to the second power supply, and the second end of the optocoupler isolation chip is connected to the base of the transistor, the first end of the second capacitor, and the anode of the second diode. The first end of the first capacitor is connected to the first resistor, the second end of the first capacitor is connected to the collector of the transistor, and the second end of the second capacitor is connected to the emitter of the transistor and the cathode of the second diode. The third terminal of the optocoupler isolation chip is connected to the first terminal of the second inductor. The cathodes of the first photodiode, the second photodiode, and the first diode are connected to the cathode of the first photodiode. The anodes of the first photodiode and the second photodiode are connected to the anode of the second photodiode. The second end of the second inductor is connected to the cathode of the first photodiode and one end of the third resistor. The other end of the third resistor is connected to the second end of the second resistor, as well as the first end of the third capacitor and the first end of the fourth capacitor, wherein the second ends of the third capacitor and the second ends of the fourth capacitor are grounded.

5. The apparatus according to claim 1, characterized in that, The device also includes an EMC protection circuit.

6. The apparatus according to claim 1, characterized in that, The network transmission module connects to the communication and expansion interface.

7. The apparatus according to claim 1, characterized in that, The preset conditions are that the rated operating voltage is 25V, the rated capacity is 2200 microfarads, the corresponding transmission energy is less than 1500μJ, and it meets the requirements of the national standard.

8. The apparatus according to claim 5, characterized in that, The device is based on the NSi83085 chip to implement the EMC protection circuit.

9. An electronic device comprising the means as described in any one of claims 1-8.

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