Coal yard stacking and taking material three-dimensional detection method

Abstract

The application provides a coal yard stacking and taking material three-dimensional detection method, comprising the following steps: according to the actual management requirement of a target coal yard, the target coal yard is divided into a plurality of coal stacking areas; according to a category analysis standard, category existence judgment is performed on each coal stacking area, real-time infrared detection is performed, and a category distribution set of the same coal stacking area is obtained; a three-dimensional change model of the same coal stacking area is constructed; according to the coal quality, coal price and coal storage time of the same coal stacking area, and in combination with the three-dimensional change model, a three-dimensional display result of the target coal yard is obtained, and the three-dimensional display result is dynamically updated according to the real-time detection result of the corresponding area. Through the construction of the three-dimensional change model of the same coal stacking area and the real-time updating, the stacking state is accurately obtained in time, the staff can make corresponding judgments more accurately, and the work efficiency and quality of the target coal yard are improved.

Description

Technical Field

[0001] This invention relates to the field of coal mine inspection technology, and in particular to a three-dimensional inspection method for coal yard stockpiling and reclaiming. Background Technology

[0002] Currently, with the increase in my country's coal production capacity, stricter requirements have been placed on coal yard management. Coal yards are places for storing coal, typically ancillary facilities of coal-fired power plants or steel mills. Controlling fuel costs while ensuring supply and demand balance is crucial to guaranteeing the economic benefits of power plants. Data management is fundamental to effective management. The advantages of 3D detection technology—rapid, accurate, and complete data acquisition, as well as its non-contact measurement capabilities—effectively alleviate the problems of low efficiency, large errors, and incomplete data associated with traditional manual coal inventory.

[0003] Therefore, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming. Summary of the Invention

[0004] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming. By analyzing the actual management needs of a target coal yard, the method divides the target coal yard into several coal stockpiling areas. Each coal stockpiling area is then classified according to a category analysis standard. Real-time infrared detection is performed on the matching coal stockpiling areas using the detection equipment corresponding to the existing categories, resulting in a category distribution set for the same coal stockpiling area. A three-dimensional change model of the same coal stockpiling area is then constructed, yielding a three-dimensional display of the target coal yard. Furthermore, the three-dimensional display is dynamically updated based on the real-time detection results of the corresponding areas, enabling timely and accurate acquisition of the stockpiling status. This allows staff to make more accurate judgments, improving the efficiency and quality of work at the target coal yard.

[0005] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, comprising:

[0006] Step 1: Divide the target coal yard into several coal storage areas according to the actual management needs of the target coal yard;

[0007] Step 2: Determine the existence of a category for each coal storage area according to the category analysis standard, and perform real-time infrared detection on the matching coal storage areas according to the detection equipment corresponding to the existing category to obtain the category distribution set of the same coal storage area. The category distribution set is related to the coal storage behavior, retrieval behavior and storage behavior.

[0008] Step 3: Based on the category distribution set, construct a three-dimensional variation model of the same coal stacking area;

[0009] Step 4: Based on the coal quality, coal price, and coal storage time in the same coal storage area, and in conjunction with the three-dimensional change model, obtain the three-dimensional display result of the target coal yard, and dynamically update the three-dimensional display result based on the real-time detection results of the corresponding area.

[0010] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which divides the target coal yard into several coal stockpiling areas according to the actual management needs of the target coal yard, including:

[0011] Based on the environment of the coal storage area, a primary classification category was obtained;

[0012] Based on the actual management needs of the target coal yard, the primary classification categories are further divided to obtain secondary classification categories;

[0013] Based on the primary classification categories and the secondary classification categories, several coal storage areas are obtained.

[0014] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which divides the target coal yard into several coal stockpiling areas according to the actual management needs of the target coal yard, and further includes:

[0015] The number of coal piles is obtained based on the regional characteristics of each coal storage area;

[0016] Based on each coal storage area and the corresponding number of coal piles, a camera distribution with no blind spots is obtained.

[0017] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which determines the existence of a category for each coal stockpiling area according to a category analysis standard, and performs real-time infrared detection on matching coal stockpiling areas according to the detection equipment corresponding to the existing category, thereby obtaining a category distribution set for the same coal stockpiling area, including:

[0018] The first monitoring image of the matched coal pile area is acquired by cameras that cover the entire area, and the coordinates of all coal piles in the matched coal pile area are obtained.

[0019] Based on the coordinates of the coal pile, the first monitoring image is divided to obtain the first coal pile image;

[0020] Feature extraction is performed on the first coal pile image to obtain the coal pile image features;

[0021] Based on the features of the coal pile image and the features of the target coal in the target coal yard, the type of coal piled up corresponding to the first coal pile image is obtained.

[0022] Based on the type of coal being stockpiled, the transportation and storage characteristics of the stockpiled coal are obtained from the type-transportation and storage mapping table;

[0023] Based on the characteristics of coal storage and transportation, the corresponding detection equipment is obtained from the transportation-equipment mapping table;

[0024] Based on the detection device, a set of real-time infrared detection images corresponding to the coal pile is obtained, and the duplicate parts of the infrared images in the set of real-time infrared detection images are removed and stitched together to obtain the first infrared image.

[0025] Based on the first infrared image, the first average temperature is obtained;

[0026] If the first temperature change of the first average temperature of the same coal pile at two adjacent moments is greater than the preset temperature change, then the first moment is recorded.

[0027] Record the moment when the first temperature change is greater than the preset temperature change as the second moment;

[0028] Acquire the second infrared image at the second time point to obtain the second outline of the corresponding type of coal pile in the image;

[0029] Based on the first infrared image, the first outline of the corresponding type of coal pile in the image is obtained;

[0030] Based on the first contour and the second contour, the values ​​of contour changes are input into the contour change model to obtain the contour change values.

[0031] If the contour change value is positive, it is marked as piled up, and the current contour change value of the coal pile is recorded as the first contour change value.

[0032] If the contour change value is negative, it is marked as used, and the current contour change value of the coal pile is recorded as the second contour change value.

[0033] Based on the first contour change value, the estimated stock value is obtained;

[0034] Based on the second contour change value, the estimated quantity value is obtained;

[0035] Based on the first and second moments marked as stacking and the corresponding stock values, and the first and second moments marked as retrieval and the corresponding retrieval values, construct a category distribution set.

[0036] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which obtains a first average temperature based on a first infrared image, and further includes:

[0037] Obtain the first highest temperature in the first infrared image;

[0038] If the first maximum temperature is greater than or equal to the safe temperature, then obtain the coordinates of the first point corresponding to the first maximum temperature;

[0039] Based on the high-temperature influence range of the surrounding coal at the first point coordinates, automatic water spraying is performed until the temperature within the high-temperature influence range of the first point coordinates is lower than the safe temperature.

[0040] Calculate the safe cooling time based on the highest temperature and the safe temperature.

[0041] The duration for which the first highest temperature is greater than or equal to the safe temperature is obtained, thus determining the cooling duration.

[0042] If the cooling duration is greater than or equal to the safe cooling time, an alert message will be sent.

[0043] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which calculates the safe cooling time based on a first maximum temperature and a safe temperature, including:

[0044]

[0045]

[0046]

[0047] Where y(s1,s0,w1) represents the cooling effect function based on the coordinates of the first point s1, the center coordinates of the corresponding coal pile to be cooled s0, and the water spraying effect w1 of the automatic sprinkler, and its value range is (0, 1); R max R0 represents the highest temperature; r1 represents the cooling coefficient; a1 represents the cooling effect coefficient; d0 represents the preset effective spraying distance; w max This indicates the best watering effect; The value represents the effect loss factor during the water spraying process, with a value of [0, 0.1]; T represents the safe cooling time.

[0048] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which constructs a three-dimensional variation model of the same coal stockpiling area based on the category distribution set, including:

[0049] Based on the category distribution set, we obtain the first and second moments marked as stacking, and the first and second moments marked as retrieval.

[0050] Based on the first and second moments marked as stacking, the first time period is obtained;

[0051] The second time period is obtained based on the first and second times marked as being used;

[0052] Based on the first time period and the corresponding set of infrared images, the first contour set is obtained;

[0053] Based on the second time period and the corresponding set of infrared images, a second contour set is obtained;

[0054] Based on the first contour set and the corresponding existing values, a stacked training set is constructed.

[0055] Based on the second contour set and the corresponding measurement values, a training set is constructed.

[0056] Based on the stacking training set and the retrieval training set, a three-dimensional variation model of the same coal stacking area is trained.

[0057] Preferably, the present invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which obtains a three-dimensional display result of the target coal yard based on the coal quality, coal price, and coal storage time in the same coal stockpiling area, combined with the three-dimensional change model, and dynamically updates the three-dimensional display result according to the real-time detection results of the corresponding area, including:

[0058] Based on the three-dimensional change model, a real-time three-dimensional map of the same coal stacking area and the corresponding real-time coal stacking parameters are obtained.

[0059] Based on the coal quality, coal price, coal storage time, and real-time coal pile parameters in the same coal storage area, detailed real-time coal pile information is obtained.

[0060] By combining the real-time detailed information on the coal pile with the real-time 3D map, a 3D display of the target coal yard is obtained.

[0061] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0062] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0063] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0064] Figure 1 This is a flowchart of a three-dimensional detection method for coal yard stockpiling and reclaiming in an embodiment of the present invention. Detailed Implementation

[0065] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0066] Example 1:

[0067] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, such as... Figure 1 As shown, it includes:

[0068] Step 1: Divide the target coal yard into several coal storage areas according to the actual management needs of the target coal yard;

[0069] Step 2: Determine the existence of a category for each coal storage area according to the category analysis standard, and perform real-time infrared detection on the matching coal storage areas according to the detection equipment corresponding to the existing category to obtain the category distribution set of the same coal storage area. The category distribution set is related to the coal storage behavior, retrieval behavior and storage behavior.

[0070] Step 3: Based on the category distribution set, construct a three-dimensional variation model of the same coal stacking area;

[0071] Step 4: Based on the coal quality, coal price, and coal storage time in the same coal storage area, and in conjunction with the three-dimensional change model, obtain the three-dimensional display result of the target coal yard, and dynamically update the three-dimensional display result based on the real-time detection results of the corresponding area.

[0072] In this embodiment, actual management needs refer to the management needs of the target coal yard regarding the coal storage area, including: the area of ​​the coal storage area, the environment of the coal storage area, and the amount of coal required for storage.

[0073] In this embodiment, the category analysis standard refers to the standard that identifies the type of target coal in the coal pile image by analyzing the features of the coal pile image acquired by the camera and comparing them with the features of the target coal in the target coal yard. It is related to the color and reflectivity of the coal.

[0074] In this embodiment, category existence determination refers to the process of analyzing the features of the coal pile image acquired by the camera and comparing them with the features of the target coal in the target coal yard to determine which type of target coal the coal pile in the image belongs to.

[0075] In this embodiment, the existence of a category refers to the category of the coal pile image obtained by analyzing the features of the coal pile image acquired by the camera and comparing it with the features of the target coal in the target coal yard.

[0076] In this embodiment, the category distribution set refers to the set that includes the coal pile categories in the coal pile images acquired by the camera and the corresponding stock of stacking behavior or the amount of retrieval behavior.

[0077] In this embodiment, the three-dimensional change model refers to the model obtained by analyzing the data in the category distribution set, and training the model on a training set consisting of the coal pile category of the coal pile image acquired by the camera and the corresponding stock or retrieval behavior. This model can convert real-time data of the coal pile into three-dimensional images, and obtain a three-dimensional change map of the same coal pile area based on the three-dimensional image at each moment.

[0078] In this embodiment, the three-dimensional display result refers to the combination of a three-dimensional change map and real-time information of the coal pile, which can display the coal quality, coal price, remaining storage time of the coal, and the quality of the coal.

[0079] The working principle and beneficial effects of the above technical solution are as follows: By analyzing the actual management needs of the target coal yard, the target coal yard is divided into several coal stacking areas. According to the category analysis standard, the existence of each coal stacking area is judged. Real-time infrared detection is performed on the matching coal stacking areas according to the detection equipment corresponding to the existing category, so as to obtain the category distribution set of the same coal stacking area. A three-dimensional change model of the same coal stacking area is constructed to obtain the three-dimensional display result of the target coal yard. The three-dimensional display result is dynamically updated according to the real-time detection results of the corresponding area, so as to obtain the stacking status in a timely and accurate manner, enabling the staff to make more accurate judgments and improving the work efficiency and quality of the target coal yard.

[0080] Example 2:

[0081] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which divides the target coal yard into several coal storage areas according to the actual management needs of the target coal yard, including:

[0082] Based on the environment of the coal storage area, a primary classification category was obtained;

[0083] Based on the actual management needs of the target coal yard, the primary classification categories are further divided to obtain secondary classification categories;

[0084] Based on the primary classification categories and the secondary classification categories, several coal storage areas are obtained.

[0085] In this embodiment, the coal yard storage area environment refers to the storage environment of the coal yard storage area of ​​the target coal yard, including: oxygen content, light intensity, light exposure time, temperature, and humidity of the coal yard storage area.

[0086] In this embodiment, the primary classification refers to the classification obtained by dividing the coal yard storage area according to the unchangeable environmental parameters, including: oxygen content, light intensity, light duration, temperature, and humidity.

[0087] In this embodiment, the secondary classification refers to the classification of the coal yard storage area into secondary classifications based on the analysis of the actual management needs of the target coal yard and environmental parameters that affect the quality of the stored coal. The environmental parameters include: oxygen content, light intensity, light exposure time, temperature, and humidity.

[0088] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the environment of the coal yard storage area, a primary classification is obtained, and the primary classification is further divided according to the actual management needs of the target coal yard to obtain several coal storage areas. The detailed classification of the coal yard storage areas is conducive to the storage of coal and ensures the quality of the stored coal.

[0089] Example 3:

[0090] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which divides the target coal yard into several coal stockpiling areas according to the actual management needs of the target coal yard, and further includes:

[0091] The number of coal piles is obtained based on the regional characteristics of each coal storage area;

[0092] Based on each coal storage area and the corresponding number of coal piles, a camera distribution with no blind spots is obtained.

[0093] In this embodiment, the regional feature refers to the area obtained by analyzing the coal stacking area, predicting the number of coal stacks that can be stacked, thereby achieving the goal of distributing full-coverage cameras to each coal stacking area.

[0094] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the regional characteristics of each coal storage area, the number of coal piles can be obtained, and the distribution of cameras with no blind spots can be obtained, which is conducive to the comprehensive monitoring of the coal storage area.

[0095] Example 4:

[0096] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming. The method determines the existence of a category for each coal stockpile area according to a category analysis standard, and performs real-time infrared detection on matching coal stockpile areas using the detection equipment corresponding to the existing categories. This yields a category distribution set for the same coal stockpile area, including:

[0097] The first monitoring image of the matched coal pile area is acquired by cameras that cover the entire area, and the coordinates of all coal piles in the matched coal pile area are obtained.

[0098] Based on the coordinates of the coal pile, the first monitoring image is divided to obtain the first coal pile image;

[0099] Feature extraction is performed on the first coal pile image to obtain the coal pile image features;

[0100] Based on the features of the coal pile image and the target coal features of the power plant coal yard, the type of coal piled up corresponding to the first coal pile image is obtained.

[0101] Based on the type of coal being stockpiled, the transportation and storage characteristics of the stockpiled coal are obtained from the type-transportation and storage mapping table;

[0102] Based on the characteristics of coal storage and transportation, the corresponding detection equipment is obtained from the transportation-equipment mapping table;

[0103] Based on the detection device, a set of real-time infrared detection images corresponding to the coal pile is obtained, and the duplicate parts of the infrared images in the set of real-time infrared detection images are removed and stitched together to obtain the first infrared image.

[0104] Based on the first infrared image, the first average temperature is obtained;

[0105] If the first temperature change of the first average temperature of the same coal pile at two adjacent moments is greater than the preset temperature change, then the first moment is recorded.

[0106] Record the moment when the first temperature change is greater than the preset temperature change as the second moment;

[0107] Acquire the second infrared image at the second time point to obtain the second outline of the corresponding type of coal pile in the image;

[0108] Based on the first infrared image, the first outline of the corresponding type of coal pile in the image is obtained;

[0109] Based on the first contour and the second contour, the values ​​of contour changes are input into the contour change model to obtain the contour change values.

[0110] If the contour change value is positive, it is marked as piled up, and the current contour change value of the coal pile is recorded as the first contour change value.

[0111] If the contour change value is negative, it is marked as used, and the current contour change value of the coal pile is recorded as the second contour change value.

[0112] Based on the first contour change value, the estimated stock value is obtained;

[0113] Based on the second contour change value, the estimated quantity value is obtained;

[0114] Based on the first and second moments marked as stacking and the corresponding stock values, and the first and second moments marked as retrieval and the corresponding retrieval values, construct a category distribution set.

[0115] In this embodiment, the first monitoring image refers to an image that covers the entire coal storage area by stitching together a set of real-time monitoring images of the matched coal storage area captured by the camera, removing duplicate parts from the images in the real-time monitoring image set.

[0116] In this embodiment, the first coal pile image refers to the image of each coal pile obtained by dividing the first monitoring image according to the coordinates of all coal piles in the matched coal pile area.

[0117] In this embodiment, the coal pile image features refer to the features that can be used to determine the type of coal by extracting features from the first coal pile image, including: the color of the coal and the degree of reflectivity.

[0118] In this embodiment, the target coal characteristics refer to the characteristics of the type of coal that needs to be stockpiled in the target coal yard, including: the color of the coal and the degree of reflectivity.

[0119] In this embodiment, the type of coal piled up refers to the type of coal piled up, including: lignite, bituminous coal, anthracite, and semi-anthracite.

[0120] In this embodiment, the type-transportation-storage mapping table refers to a table that contains the mapping relationship between the types of stockpiled coal and the characteristics of stockpiled coal transportation and storage.

[0121] In this embodiment, the characteristics of coal storage and transportation refer to the characteristics of coal transportation and storage, including: the degree of fly ash, ignition point, and optimal storage humidity.

[0122] In this embodiment, the transportation and storage-equipment mapping table refers to a table that contains the mapping relationship between the characteristics of coal transportation and storage and the detection equipment.

[0123] In this embodiment, the detection equipment refers to the corresponding detection equipment obtained according to the characteristics of coal storage and transportation, including: dust sensor, humidity sensor and infrared detector.

[0124] In this embodiment, the real-time infrared detection image set refers to the set of infrared images corresponding to the corresponding coal pile acquired in real time.

[0125] In this embodiment, the first infrared image refers to the infrared image obtained by the detection device from the set of real-time infrared detection images corresponding to the coal pile, the infrared image obtained by removing the duplicate parts of the infrared images in the set of real-time infrared detection images and stitching them together.

[0126] In this embodiment, the first average temperature refers to the average temperature of all thermal points in the first infrared image.

[0127] In this embodiment, the first temperature change refers to the difference in the first average temperature between adjacent time points.

[0128] In this embodiment, the preset temperature change refers to the average temperature change value of the coal pile at adjacent moments, which is set in advance to ensure the storage quality of coal.

[0129] In this embodiment, the first moment refers to the moment when the first temperature change of the first average temperature of two adjacent moments of the same coal pile is greater than the preset temperature change.

[0130] In this embodiment, the second moment refers to the moment when the next first temperature change is greater than the preset temperature change.

[0131] In this embodiment, the second infrared image refers to the infrared image obtained by the detection device at the second moment corresponding to the coal pile, the infrared image obtained by removing the duplicate parts of the infrared images in the infrared image set, and stitching them together.

[0132] In this embodiment, the second contour refers to the coal pile contour of the corresponding type of coal pile in the second infrared image.

[0133] In this embodiment, the first contour refers to the coal pile contour of the corresponding type of coal pile in the first infrared image.

[0134] In this embodiment, the contour change model refers to a model trained from two coal pile contours and their corresponding contour change values, which can output the change values ​​of the two coal pile contours.

[0135] In this embodiment, the contour change value refers to the value obtained by inputting the first contour and the second contour into the contour change model, which can represent the change of the first contour and the second contour. When the contour change value is positive, it is a stacking behavior; when the contour change value is negative, it is a taking behavior.

[0136] In this embodiment, the stock value refers to the stock value obtained by calculating the first contour change value and the scaling ratio when the infrared detector acquires the image.

[0137] In this embodiment, the measured value refers to the measured value obtained by calculating the second contour change value and the scaling ratio when the infrared detector acquires the image.

[0138] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the first monitoring image of the matched coal stacking area captured by the camera covering the entire area, the first coal stack image is obtained and its features are extracted. The existence of the category is judged, and the matched coal stacking area is subjected to real-time infrared detection by the detection equipment corresponding to the existence category. The first infrared image at each moment is obtained, and the first average temperature change between two adjacent moments is obtained. The analysis is performed to obtain the stacking behavior, the retrieval behavior, and the corresponding inventory value and retrieval value. A category distribution set is constructed, and the stacking status is obtained in a timely and accurate manner, enabling the staff to make more accurate judgments and improving the working efficiency and quality of the target coal yard.

[0139] Example 5:

[0140] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which obtains a first average temperature based on a first infrared image, and further includes:

[0141] Obtain the first highest temperature in the first infrared image;

[0142] If the first maximum temperature is greater than or equal to the safe temperature, then obtain the coordinates of the first point corresponding to the first maximum temperature;

[0143] Based on the high-temperature influence range of the surrounding coal at the first point coordinates, automatic water spraying is performed until the temperature within the high-temperature influence range of the first point coordinates is lower than the safe temperature.

[0144] Calculate the safe cooling time based on the highest temperature and the safe temperature.

[0145] The duration for which the first highest temperature is greater than or equal to the safe temperature is obtained, thus determining the cooling duration.

[0146] If the cooling duration is greater than or equal to the safe cooling time, an alert message will be sent.

[0147] In this embodiment, the first highest temperature refers to the highest temperature value among all heat value points in the first infrared image.

[0148] In this embodiment, the safe temperature refers to the maximum temperature range within which stockpiled coal can be safely stored, obtained by analyzing the ignition point of different types of coal.

[0149] In this embodiment, the coordinates of the first point refer to the coordinates of the heat value point with the highest temperature among all heat value points in the first infrared image.

[0150] In this embodiment, the high temperature influence range refers to the range of influence on the surrounding temperature obtained by analyzing the temperature of the first point coordinate.

[0151] In this embodiment, the safe cooling time refers to the time that can be calculated from the first maximum temperature and the safe temperature of the piled coal to indicate a cooling time that will not cause serious combustion.

[0152] In this embodiment, the cooling duration refers to the duration during which the first maximum temperature is greater than or equal to the safe temperature.

[0153] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the highest temperature in the first infrared image, the coordinates of the first point are obtained. Based on the high temperature influence range of the surrounding coal according to the coordinates of the first point, cooling treatment is carried out, the safe cooling time is calculated, and compared with the cooling duration. A warning is issued in case of danger to ensure the safety of the stockpiled coal and prevent fires.

[0154] Example 6:

[0155] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which calculates a safe cooling time based on a first maximum temperature and a safe temperature, including:

[0156]

[0157]

[0158]

[0159] Where y(s1,s0,w1) represents the cooling effect function based on the coordinates of the first point s1, the center coordinates of the corresponding coal pile to be cooled s0, and the water spraying effect w1 of the automatic sprinkler, and its value range is (0, 1); R max R0 represents the highest temperature; r1 represents the cooling coefficient; a1 represents the cooling effect coefficient; d0 represents the preset effective spraying distance; w max This indicates the best watering effect; The value represents the effect loss factor during the water spraying process, with a value of [0, 0.1]; T represents the safe cooling time.

[0160] The working principle and beneficial effects of the above technical solution are as follows: by calculating the safe cooling time and comparing it with the cooling duration, a warning is issued in case of danger, ensuring the safety of the stockpiled coal and accurately preventing the occurrence of fire.

[0161] Example 7:

[0162] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming, which constructs a three-dimensional variation model of the same coal stockpiling area based on the category distribution set, including:

[0163] Based on the category distribution set, we obtain the first and second moments marked as stacking, and the first and second moments marked as retrieval.

[0164] Based on the first and second moments marked as stacking, the first time period is obtained;

[0165] The second time period is obtained based on the first and second times marked as being used;

[0166] Based on the first time period and the corresponding set of infrared images, the first contour set is obtained;

[0167] Based on the second time period and the corresponding set of infrared images, a second contour set is obtained;

[0168] Based on the first contour set and the corresponding existing values, a stacked training set is constructed.

[0169] Based on the second contour set and the corresponding measurement values, a training set is constructed.

[0170] Based on the stacking training set and the retrieval training set, a three-dimensional variation model of the same coal stacking area is trained.

[0171] In this embodiment, the first time period refers to the duration of the time period between the first moment marked as the stacking and the second moment.

[0172] In this embodiment, the second time period refers to the duration of the time period between the first time point marked as being used and the second time point.

[0173] In this embodiment, the first contour set refers to the set of contours of the infrared images stitched together from the infrared image set at each moment within the first time period.

[0174] In this embodiment, the second contour set refers to the set of contours of the infrared images stitched together from the infrared image set at each moment in the second time period.

[0175] In this embodiment, the stacked training set refers to the first contour set and the corresponding set of existing values, which are used to train the three-dimensional change model.

[0176] In this embodiment, the training set refers to the second contour set and the corresponding set of measurement values, which are used to train the three-dimensional variation model.

[0177] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the category distribution set, constructing the stacking training set and the retrieval training set, training the three-dimensional change model of the same coal stacking area, accurately simulating the changes of the same coal stacking area at every moment, timely and accurately obtaining the stacking status, enabling staff to make more accurate corresponding judgments, and improving the working efficiency and quality of the target coal yard.

[0178] Example 8:

[0179] This invention provides a three-dimensional detection method for coal yard stockpiling and reclaiming. Based on the coal quality, price, and storage time of the same coal stockpiling area, and combined with a three-dimensional change model, a three-dimensional display result of the target coal yard is obtained. The method also dynamically updates the three-dimensional display result based on real-time detection results of the corresponding area, including:

[0180] Based on the three-dimensional change model, a real-time three-dimensional map of the same coal stacking area and the corresponding real-time coal stacking parameters are obtained.

[0181] Based on the coal quality, coal price, coal storage time, and real-time coal pile parameters in the same coal storage area, detailed real-time coal pile information is obtained.

[0182] By combining the real-time detailed information on the coal pile with the real-time 3D map, a 3D display of the target coal yard is obtained.

[0183] In this embodiment, real-time coal pile parameters refer to the real-time mass, temperature, humidity, and fly ash content of the corresponding coal pile.

[0184] In this embodiment, real-time coal pile details refer to supplementing real-time coal pile parameters according to the coal quality, coal price, and coal storage time of the corresponding coal pile, including: real-time quality, temperature, humidity, fly ash content, optimal storage time, economic benefits, and coal quality description.

[0185] The working principle and beneficial effects of the above technical solution are as follows: by combining the coal quality, coal price, and coal storage time of the same coal stockpile area with the corresponding three-dimensional change model, a three-dimensional display result of the target coal yard is obtained. The three-dimensional display result is dynamically updated according to the real-time detection results of the corresponding area, so as to obtain the stockpile status in a timely and accurate manner, enabling the staff to make more accurate judgments and improving the work efficiency and quality of the target coal yard.

[0186] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A three-dimensional detection method for coal yard stockpiling and reclaiming, characterized in that, include: Step 1: Divide the target coal yard into several coal storage areas according to the actual management needs of the target coal yard; Step 2: Based on the cameras that cover the entire area, acquire the first monitoring image of the matched coal pile area to obtain the coordinates of all coal piles in the matched coal pile area; based on the coal pile coordinates, divide the first monitoring image to obtain the first coal pile image; Feature extraction is performed on the first coal pile image to obtain the coal pile image features; Based on the features of the coal pile image and the features of the target coal in the target coal yard, the type of coal pile corresponding to the first coal pile image is obtained; based on the type of coal pile, the transportation and storage features of the coal pile are obtained from the type-transportation and storage mapping table; based on the transportation and storage features of the coal pile, the corresponding detection equipment is obtained from the transportation and storage-equipment mapping table; based on the detection equipment, a set of real-time infrared detection images corresponding to the coal pile is obtained, and the duplicate parts of the infrared images in the real-time infrared detection image set are removed and stitched together to obtain the first infrared image; based on the first infrared image, the first average temperature is obtained; if the first temperature change of the first average temperature of the same coal pile at two adjacent times is greater than the preset temperature change, the first time is recorded; the time when the first temperature change is greater than the preset temperature change is recorded as the second time; the second time is obtained. The second infrared image is used to obtain the second contour of the corresponding type of coal pile in the image; based on the first infrared image, the first contour of the corresponding type of coal pile in the image is obtained; based on the first contour and the second contour, the values ​​are input into the contour change model to obtain the contour change values; if the contour change value is positive, it is marked as piled up, and the current contour change value of the coal pile is recorded as the first contour change value; if the contour change value is negative, it is marked as taken out, and the current contour change value of the coal pile is recorded as the second contour change value; based on the first contour change value, the stock value is estimated; based on the second contour change value, the take-out value is estimated; based on the first and second times marked as piled up and the corresponding stock value, and the first and second times marked as taken out and the corresponding take-out value, a category distribution set is constructed. Step 3: Based on the category distribution set, construct a three-dimensional variation model of the same coal stacking area; Step 4: Based on the coal quality, coal price, and coal storage time in the same coal storage area, and in conjunction with the three-dimensional change model, obtain the three-dimensional display result of the target coal yard, and dynamically update the three-dimensional display result based on the real-time detection results of the corresponding area; Based on the first infrared image, the first average temperature is obtained, and the method further includes: Obtain the first highest temperature in the first infrared image; If the first maximum temperature is greater than or equal to the safe temperature, then obtain the coordinates of the first point corresponding to the first maximum temperature; Based on the high-temperature influence range of the surrounding coal at the first point coordinates, automatic water spraying is performed until the temperature within the high-temperature influence range of the first point coordinates is lower than the safe temperature. Based on the highest temperature and the safe temperature, calculate the safe cooling time, including: Where y(s1,s0,w1) represents the cooling effect function based on the coordinates of the first point s1, the center coordinates of the corresponding coal pile to be cooled s0, and the water spraying effect w1 of the automatic sprinkler, and its value range is (0, 1); R max R0 represents the highest temperature; r1 represents the cooling coefficient; a1 represents the cooling effect coefficient; d0 represents the preset effective spraying distance; w max This indicates the best watering effect; The effect loss factor during water spraying is represented, with a value of [0, 0.1]; T represents the safe cooling time. The duration for which the first highest temperature is greater than or equal to the safe temperature is obtained, thus determining the cooling duration. If the cooling duration is greater than or equal to the safe cooling time, an alert message will be sent.

2. The method according to claim 1, characterized in that, Based on the actual management needs of the target coal yard, the target coal yard is divided into several coal storage areas, including: Based on the environment of the coal storage area, a primary classification category was obtained; Based on the actual management needs of the target coal yard, the primary classification categories are further divided to obtain secondary classification categories; Based on the primary classification categories and the secondary classification categories, several coal storage areas are obtained.

3. The method according to claim 1, characterized in that, Based on the actual management needs of the target coal yard, the target coal yard is divided into several coal storage areas, including: The number of coal piles is obtained based on the regional characteristics of each coal storage area; Based on each coal storage area and the corresponding number of coal piles, a camera distribution with no blind spots is obtained.

4. The method according to claim 1, characterized in that, Based on the aforementioned category distribution set, a three-dimensional variation model of the same coal stockpile area is constructed, including: Based on the category distribution set, we obtain the first and second moments marked as stacking, and the first and second moments marked as retrieval. Based on the first and second moments marked as stacking, the first time period is obtained; The second time period is obtained based on the first and second times marked as being used; Based on the first time period and the corresponding set of infrared images, the first contour set is obtained; Based on the second time period and the corresponding set of infrared images, a second contour set is obtained; Based on the first contour set and the corresponding existing values, a stacked training set is constructed; Based on the second contour set and the corresponding measurement values, a training set is constructed. Based on the stacking training set and the retrieval training set, a three-dimensional variation model of the same coal stacking area is trained.

5. The method according to claim 1, characterized in that, Based on the coal quality, price, and storage time of the same coal storage area, and combined with the three-dimensional change model, a three-dimensional display result of the target coal yard is obtained. This three-dimensional display result is then dynamically updated based on real-time monitoring results of the corresponding area, including: Based on the three-dimensional change model, a real-time three-dimensional map of the same coal stacking area and the corresponding real-time coal stacking parameters are obtained. Based on the coal quality, coal price, coal storage time, and real-time coal pile parameters in the same coal storage area, detailed real-time coal pile information is obtained. By combining the real-time detailed information on the coal pile with the real-time 3D map, a 3D display of the target coal yard is obtained.

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