A coal quantity detection method, device, system and storage medium

Abstract

The application provides a coal quantity detection method, device, system and storage medium, and belongs to the field of coal quantity detection. The method comprises the following steps: obtaining initial three-dimensional coordinates from a laser scanner previously arranged on a cantilever of a bucket wheel machine; constructing a plurality of initial triangular groups through the plurality of initial three-dimensional coordinates to obtain a plurality of initial triangular groups; projecting each initial triangular group to obtain a projected triangular group; calculating the total volume of the plurality of projected triangular groups and the plurality of initial triangular groups to obtain the total volume of a coal yard; and calculating the coal quantity of the total volume of the coal yard to obtain a coal quantity detection result. The application reduces the influence of correction weighing error, belt speed error, calibration error, environmental influence error and other factors on coal quantity measurement, improves the accuracy of coal quantity measurement, can be applied to complex environments, and saves manpower and resources.

Description

TECHNICAL FIELD

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

[0002] At present, coal quantity detection methods mainly include electronic belt scale measurement, ultrasonic measurement and video recognition. Among them, the electronic belt scale measurement is widely applied, but it is difficult to correct the influence of factors such as weighing error, belt speed error, calibration error and environmental influence error on coal quantity measurement due to the non-collimation of the weighing roller, belt tension and running resistance and other 'belt effects'; the ultrasonic measurement can only measure the first point where the ultrasonic wave returns first, which is very inaccurate for the measurement of irregular coal flow cross section; and the video recognition is difficult to identify in a complex environment with weak light and much dust, is inaccurate, and the coal quantity detection by simply relying on a laser ranging scanner has low accuracy and is limited by the environment, and cannot obtain accurate coal quantity. SUMMARY

[0003] The present application mainly relates to the technical field of coal quantity detection, and particularly relates to a coal quantity detection method, device, system and storage medium.

[0004] The technical scheme for solving the above technical problem is as follows: a coal quantity detection method, comprising the following steps:

[0005] Obtaining point cloud data from a laser scanner previously arranged on a boom of a bucket wheel machine, wherein the point cloud data comprises a plurality of initial three-dimensional coordinates;

[0006] Constructing a plurality of initial triangular groups through the plurality of initial three-dimensional coordinates to obtain the plurality of initial triangular groups;

[0007] Projecting each of the initial triangular groups to obtain a projection triangular group corresponding to each of the initial triangular groups;

[0008] Calculating the total volume of the plurality of projection triangular groups and the plurality of initial triangular groups to obtain a total volume of a coal yard;

[0009] Calculating the coal quantity of the total volume of the coal yard to obtain a coal yard coal quantity, and taking the coal yard coal quantity as a coal quantity detection result.

[0010] Another technical scheme for solving the above technical problem is as follows: a coal quantity detection device, comprising:

[0011] A data obtaining module is configured to obtain point cloud data from a laser scanner previously arranged on a boom of a bucket wheel machine, wherein the point cloud data comprises a plurality of initial three-dimensional coordinates;

[0012] A constructing module is configured to construct a plurality of initial triangular groups through the plurality of initial three-dimensional coordinates, so as to obtain the plurality of initial triangular groups;

[0013] A projecting module is configured to project each of the initial triangular groups, so as to obtain a projected triangular group corresponding to each of the initial triangular groups;

[0014] A calculating module is configured to calculate a total volume of the plurality of projected triangular groups and the plurality of initial triangular groups, so as to obtain a total volume of the coal yard;

[0015] A detection result obtaining module is configured to calculate a coal amount of the total volume of the coal yard, so as to obtain a coal amount of the coal yard, and take the coal amount of the coal yard as a coal amount detection result.

[0016] Based on the coal amount detection method, the application further provides a coal amount detection system.

[0017] Another technical solution of the application to solve the above technical problem is as follows: a coal amount detection system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program, the coal amount detection method is realized.

[0018] Based on the coal amount detection method, the application further provides a computer readable storage medium.

[0019] Another technical solution of the application to solve the above technical problem is as follows: a computer readable storage medium, the computer readable storage medium stores a computer program, when the computer program is executed by a processor, the coal amount detection method is realized.

[0020] The application has the following beneficial effects: the initial triangular groups are obtained through the triangular group construction of the initial three-dimensional coordinates, the projected triangular groups are obtained through the projection of the initial triangular groups, the total volume of the coal yard is obtained through the calculation of the total volume of the projected triangular groups and the initial triangular groups, the coal amount detection result is obtained through the calculation of the coal amount of the total volume of the coal yard, the influence of the correction weighing error, the belt speed error, the calibration error, the environmental influence error and other factors on the coal amount measurement is reduced, the accuracy of the coal amount measurement is improved, the application can be applied to complex environment, and manpower and material resources are saved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A flowchart of a coal amount detection method provided by an embodiment of the application is shown in the figure;

[0022] Figure 2 An irregular quadrangular prism abcd-a1b1c1d1 projection diagram provided by an embodiment of the application is shown in the figure;

[0023] Figure 3A module block diagram of a coal amount detection device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0024] The principles and features of the present application are described below in conjunction with the accompanying drawings, which are provided only for explanation of the present application and are not intended to limit the scope of the present application.

[0025] Figure 1 A flowchart of a coal amount detection method is provided for an embodiment of the present application.

[0026] As shown in Figure 1 and 2 , a coal amount detection method comprises the following steps:

[0027] Obtaining point cloud data from a laser scanner pre-set on a boom of a bucket wheel machine, the point cloud data comprising a plurality of initial three-dimensional coordinates;

[0028] Constructing a plurality of initial triangular groups through the plurality of initial three-dimensional coordinates, to obtain a plurality of initial triangular groups;

[0029] Projecting each of the initial triangular groups to obtain a corresponding projected triangular group;

[0030] Calculating the total volume of the plurality of projected triangular groups and the plurality of initial triangular groups to obtain a total volume of the coal yard;

[0031] Calculating the coal amount of the total volume of the coal yard to obtain a coal amount of the coal yard, and taking the coal amount of the coal yard as a coal amount detection result.

[0032] It should be understood that the model is reconstructed from the three-dimensional scanning data (i.e., the initial three-dimensional coordinates) that has been preliminarily processed.

[0033] It should be understood that after obtaining the space triangle (i.e., the initial triangular group), the space triangle is projected onto the XOY plane.

[0034] Specifically, the constructed stockyard surface point cloud data (i.e., the point cloud data) is projected onto the XOY plane in triangular units.

[0035] Specifically, Figure 2 In the irregular quadrangular prism abcd-a1b1c1d1, bd is first connected to divide the surface abcd into triangle abd and triangle cbd (i.e., the initial triangular group). The XOY plane is projected to obtain triangle a0b0d0 and triangle c0b0d0 (i.e., the projected triangular group).

[0036] In the above embodiment, the initial triangular groups are constructed by the triangular groups of the initial three-dimensional coordinates, the projected triangular groups are obtained by the projection of the initial triangular groups, the total volume of the coal yard is obtained by the calculation of the total volume of the projected triangular groups and the initial triangular groups, the coal quantity detection result is obtained by the calculation of the total volume of the coal yard, the influence of the correction weighing error, the belt speed error, the calibration error, the environmental influence error and other factors on the coal quantity measurement is reduced, the accuracy of the coal quantity measurement is improved, the method can be applied to complex environment, and manpower and material resources are also saved.

[0037] Optionally, as one embodiment of the present application, the process of constructing the triangular groups by the plurality of initial three-dimensional coordinates to obtain the plurality of projected triangular groups comprises:

[0038] The plurality of initial three-dimensional coordinates are sorted according to a preset rule to obtain the sorted three-dimensional coordinates corresponding to each initial three-dimensional coordinate;

[0039] The adjacent three sorted three-dimensional coordinates are taken as a triangular group respectively, so as to obtain the plurality of initial triangular groups.

[0040] It should be understood that the preset rule can be a triangulation rule.

[0041] It should be understood that all point cloud data (i.e. the plurality of initial three-dimensional coordinates) are combined with each other by 3 vertices according to the triangulation rule.

[0042] In the above embodiment, the plurality of initial three-dimensional coordinates are sorted according to the preset rule to obtain the sorted three-dimensional coordinates corresponding to each initial three-dimensional coordinate, and the adjacent three sorted three-dimensional coordinates are taken as a triangular group respectively, so as to obtain the plurality of initial triangular groups, which lays a foundation for subsequent data processing, reduces the influence of the correction weighing error, the belt speed error, the calibration error, the environmental influence error and other factors on the coal quantity measurement, and improves the accuracy of the coal quantity measurement.

[0043] Optionally, as one embodiment of the present application, the initial triangular group comprises a first initial three-dimensional coordinate, a second initial three-dimensional coordinate and a third initial three-dimensional coordinate, the projected triangular group comprises a first projected three-dimensional coordinate corresponding to the first initial three-dimensional coordinate, a second projected three-dimensional coordinate corresponding to the second initial three-dimensional coordinate and a third projected three-dimensional coordinate corresponding to the third initial three-dimensional coordinate,

[0044] The process of calculating the total volume of the plurality of projected triangular groups and the plurality of initial triangular groups to obtain the total volume of the coal yard comprises:

[0045] The length of each of the first projected three-dimensional coordinates and each of the second projected three-dimensional coordinates is calculated by a first formula, to obtain a first length corresponding to each of the initial triangular group, the first formula is:

[0046]

[0047] Wherein, P1 is the first length, Y1 is the Y-axis coordinate of the first projected three-dimensional coordinate, Y2 is the Y-axis coordinate of the second projected three-dimensional coordinate, X2 is the X-axis coordinate of the second projected three-dimensional coordinate, X1 is the X-axis coordinate of the first projected three-dimensional coordinate;

[0048] The length of each of the first projected three-dimensional coordinates and each of the third projected three-dimensional coordinates is calculated by a second formula, to obtain a second length corresponding to each of the initial triangular group, the second formula is:

[0049]

[0050] Wherein, P2 is the second length, Y1 is the Y-axis coordinate of the first projected three-dimensional coordinate, Y3 is the Y-axis coordinate of the third projected three-dimensional coordinate, X3 is the X-axis coordinate of the third projected three-dimensional coordinate, X1 is the X-axis coordinate of the first projected three-dimensional coordinate;

[0051] The length of each of the second projected three-dimensional coordinates and each of the third projected three-dimensional coordinates is calculated by a third formula, to obtain a third length corresponding to each of the initial triangular group, the third formula is:

[0052]

[0053] Wherein, P3 is the third length, Y2 is the Y-axis coordinate of the second projected three-dimensional coordinate, Y3 is the Y-axis coordinate of the third projected three-dimensional coordinate, X3 is the X-axis coordinate of the third projected three-dimensional coordinate, X2 is the X-axis coordinate of the second projected three-dimensional coordinate;

[0054] The area of the first length, the second length and the third length corresponding to each of the initial triangular group is calculated, to obtain a triangular group area corresponding to each of the initial triangular group;

[0055] The average value of each of the first initial three-dimensional coordinate, the second initial three-dimensional coordinate and the third initial three-dimensional coordinate is calculated by a fourth formula, to obtain a target average value corresponding to each of the initial triangular group, the fourth formula is:

[0056]

[0057] Wherein, Z is the target average value, Z1 is the Z-axis coordinate of the first initial three-dimensional coordinate, Z2 is the Z-axis coordinate of the second initial three-dimensional coordinate, and Z3 is the Z-axis coordinate of the third initial three-dimensional coordinate;

[0058] The volume of each of the target average value and each of the triangular group area corresponding to the initial triangular group is calculated to obtain the triangular group volume corresponding to each of the initial triangular group;

[0059] All the triangular group volumes are summed to obtain the total volume of the coal yard.

[0060] It should be understood that the average value of the Z coordinates of the three vertices is obtained as the height of the prism (i.e. the target average value), the volume of the prism is obtained (i.e. the triangular group volume), and the total volume of the model is obtained by summing all the prism volumes (i.e. the total volume of the coal yard).

[0061] Specifically, assuming that the coordinates of vertex a are (X1, Y1, Z1), the coordinates of vertex b are (X2, Y2, Z2), the coordinates of vertex d are (X3, Y3, Z3), and the coordinates of vertex c are (x4, y4, z4), the coordinate values of the projection points a0, b0, c0, and d0 (i.e. the first projected three-dimensional coordinates or the second projected three-dimensional coordinates or the third projected three-dimensional coordinates) can be obtained. First, the areas of △a0b0d0 and △c0b0d0 (i.e. the triangular group area) are calculated using the Heron formula.

[0062] Specifically, Figure 2 For example, the area of △a0b0d0 is calculated first, and the lengths of the three sides of △a0b0d0, a0b0, a0d0, and b0d0 (i.e. the first side length, the second side length, and the third side length) are calculated as follows:

[0063]

[0064]

[0065]

[0066] It should be understood that the average value of the elevation coordinates z of points a, b, and d (i.e. the Z-axis coordinate of the first initial three-dimensional coordinate or the Z-axis coordinate of the second initial three-dimensional coordinate or the Z-axis coordinate of the third initial three-dimensional coordinate) is obtained as follows:

[0067]

[0068] Specifically, in the quadrangular prism abcd-a1b1c1d1, a point p is determined. The normal vectors i emanating from p are defined as follows: positive when pointing upwards in the XOY plane, and negative when pointing downwards. That is, the volume of the plane's normal vector below the XOY plane is negative, and positive when pointing upwards.

[0069] Therefore, the volume of the quadrangular prism abcd-a1b1c1d1 (i.e., the total volume of the coal yard) is:

[0070] V = V1 + V2 + V3 + V4.

[0071] In the above embodiments, the total volume of the coal yard is obtained by calculating the total volume of multiple projected triangle groups and multiple initial triangle groups. This reduces the impact of factors such as corrected weighing error, belt speed error, calibration error, and environmental influence error on coal quantity measurement, improves the accuracy of coal quantity measurement, is applicable to complex environments, and also saves manpower and material resources.

[0072] Optionally, as an embodiment of the present invention, the process of calculating the area of ​​the first side length, the second side length, and the third side length corresponding to each of the initial triangle groups to obtain the area of ​​the triangle group corresponding to each of the initial triangle groups includes:

[0073] The area of ​​each initial triangle group is obtained by calculating the area of ​​the triangle group corresponding to the first, second, and third side lengths using the fifth equation. The fifth equation is:

[0074] S = P(P-P1)(P-P2)(P-P3),

[0075] in,

[0076] Where S is the area of ​​the triangle group, P is the perimeter of the triangle group, P1 is the length of the first side, P2 is the length of the second side, and P3 is the length of the third side.

[0077] It should be understood that, according to Heron's formula, the area of ​​△a0b0d0 (i.e., the area of ​​the triangle group) is calculated as follows:

[0078] S Δa0b0d0 =p(p-p1)(p-p2)(p-p3)

[0079] Similarly, the area of ​​△c0b0d0 can be obtained.

[0080] In the above embodiments, the area of ​​the first side length, second side length, and third side length corresponding to each initial triangle group is calculated by the fifth formula, thereby obtaining the area of ​​the triangle group corresponding to each initial triangle group. This reduces the impact of factors such as corrected weighing error, belt speed error, calibration error, and environmental influence error on coal quantity measurement, and improves the accuracy of coal quantity measurement.

[0081] Optionally, as an embodiment of the present invention, the process of calculating the average value of each of the targets and the volume of the triangle group area corresponding to each of the initial triangle groups to obtain the volume of the triangle group corresponding to each of the initial triangle groups includes:

[0082] The volume of each target average and the area of ​​each triangle group corresponding to the initial triangle group are calculated using the sixth formula, thereby obtaining the volume of the triangle group corresponding to each initial triangle group. The sixth formula is:

[0083] V = S × Z,

[0084] Where V is the volume of the triangle group, S is the area of ​​the triangle group, and Z is the target average value.

[0085] It should be understood that Figure 2 In the diagram, the volume of the triangular prism abd-a0b0d0 (i.e., the volume of the triangle group) is:

[0086] V1 = S Δa0b0d0 ×Z abd

[0087] Similarly, the volume of the triangular prism cbd-c0b0d0 is:

[0088] V2 = S Δc0b0d0 ×Z cbd

[0089] The volume of the triangular prism a1b1d1-a0b0d0 is:

[0090] V3 = S Δa0b0d0 ×Z a1b1d1

[0091] The volume of the triangular prism c1b1d1-c0b0d0 is:

[0092] V4 = S Δc0b0d0 ×Z c1b1d1 .

[0093] In the above embodiments, the average value of each target and the volume of each triangle group corresponding to the initial triangle group are calculated by the sixth formula to obtain the volume of each triangle group corresponding to the initial triangle group. This reduces the impact of factors such as corrected weighing error, belt speed error, calibration error, and environmental influence error on coal quantity measurement and improves the accuracy of coal quantity measurement.

[0094] Optionally, as an embodiment of the present invention, the process of calculating the total volume of coal in the coal yard to obtain the amount of coal in the coal yard includes:

[0095] The amount of coal in the coal yard is obtained by calculating the total volume of coal in the coal yard using the seventh formula, which is:

[0096] M = ρ × V',

[0097] Where M is the amount of coal in the coal yard, ρ is the preset coal density, and V' is the total volume of the coal yard.

[0098] In the above embodiments, the amount of coal in the coal yard is obtained by calculating the total volume of the coal yard using the seventh formula. This reduces the impact of factors such as corrected weighing error, belt speed error, calibration error, and environmental influence error on the coal quantity measurement, improves the accuracy of coal quantity measurement, is applicable to complex environments, and also saves manpower and material resources.

[0099] Optionally, as another embodiment of the present invention, the present invention projects three-dimensional spatial coordinates onto the XOY plane using the Delaunay technique, obtains an irregular triangular mesh in the plane using the X and Y coordinates according to the mesh construction rules, and then assigns a Z value to the triangular mesh in the plane to form a triangular mesh model with spatial solidity.

[0100] Figure 3 This is a block diagram of a coal quantity detection device provided in an embodiment of the present invention.

[0101] Alternatively, as another embodiment of the present invention, such as Figure 3 As shown, a coal quantity detection device includes:

[0102] The data acquisition module is used to acquire point cloud data from a laser scanner pre-set on the cantilever of the bucket wheel excavator, the point cloud data including multiple initial three-dimensional coordinates;

[0103] The construction module is used to construct triangle groups using multiple initial three-dimensional coordinates to obtain multiple initial triangle groups;

[0104] The projection module is used to project each of the initial triangle groups to obtain the projected triangle groups corresponding to each of the initial triangle groups.

[0105] The calculation module is used to calculate the total volume of the multiple projected triangle groups and the multiple initial triangle groups to obtain the total volume of the coal yard;

[0106] The detection result acquisition module is used to calculate the total volume of coal in the coal yard, obtain the coal quantity in the coal yard, and use the coal quantity in the coal yard as the coal quantity detection result.

[0107] Optionally, as an embodiment of the present invention, the building module is specifically used for:

[0108] The initial three-dimensional coordinates are sorted according to a preset rule to obtain sorted three-dimensional coordinates corresponding to each initial three-dimensional coordinate.

[0109] Each of the three adjacent sorted 3D coordinates is used as a triangle group to obtain multiple initial triangle groups.

[0110] Optionally, another embodiment of the present invention provides a coal quantity detection system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the coal quantity detection method as described above. This system can be a computer or similar system.

[0111] Optionally, another embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the coal quantity detection method as described above.

[0112] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0113] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0115] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0116] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0117] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for detecting coal quantity, characterized in that, Includes the following steps: Point cloud data is obtained from a laser scanner pre-set on the cantilever of the bucket wheel excavator, the point cloud data including multiple initial three-dimensional coordinates; Multiple initial triangle groups are obtained by constructing triangle groups using multiple initial three-dimensional coordinates; Project each of the initial triangle groups to obtain the projected triangle groups corresponding to each of the initial triangle groups; The total volume of the coal yard is obtained by calculating the total volume of the multiple projected triangle groups and the multiple initial triangle groups. Calculate the total volume of coal in the coal yard to obtain the coal quantity in the coal yard, and use the coal quantity in the coal yard as the coal quantity detection result; The process of constructing multiple triangle groups using multiple initial three-dimensional coordinates to obtain multiple projected triangle groups includes: The initial three-dimensional coordinates are sorted according to a preset rule to obtain sorted three-dimensional coordinates corresponding to each initial three-dimensional coordinate. Each of the three adjacent sorted 3D coordinates is used as a triangle group to obtain multiple initial triangle groups.

2. The coal quantity detection method according to claim 1, characterized in that, The initial triangle set includes a first initial 3D coordinate system, a second initial 3D coordinate system, and a third initial 3D coordinate system. The projected triangle set includes a first projected 3D coordinate system corresponding to the first initial 3D coordinate system, a second projected 3D coordinate system corresponding to the second initial 3D coordinate system, and a third projected 3D coordinate system corresponding to the third initial 3D coordinate system. The process of calculating the total volume of the multiple projected triangle groups and the multiple initial triangle groups to obtain the total volume of the coal yard includes: The side lengths of each of the first projected three-dimensional coordinates and each of the second projected three-dimensional coordinates are calculated using the first formula to obtain the first side lengths corresponding to each of the initial triangle groups. The first formula is: ， in, Let be the length of the first side. The Y-axis coordinate of the three-dimensional coordinates after the first projection. The Y-axis coordinate of the second projected 3D coordinates. The X-axis coordinate of the three-dimensional coordinates after the second projection. The X-axis coordinate of the three-dimensional coordinates after the first projection; The side lengths of each of the first projected three-dimensional coordinates and each of the third projected three-dimensional coordinates are calculated using the second formula to obtain the second side lengths corresponding to each of the initial triangle groups. The second formula is: ， in, The length of the second side. The Y-axis coordinate of the three-dimensional coordinates after the first projection. The Y-axis coordinate of the three-dimensional coordinates after the third projection. The X-axis coordinate of the three-dimensional coordinates after the third projection. The X-axis coordinate of the three-dimensional coordinates after the first projection; The side lengths of each of the second projected three-dimensional coordinates and each of the third projected three-dimensional coordinates are calculated using the third equation to obtain the third side lengths corresponding to each of the initial triangle groups. The third equation is: ， in, Let the length of the third side be 3. The Y-axis coordinate of the second projected 3D coordinates. The Y-axis coordinate of the three-dimensional coordinates after the third projection. The X-axis coordinate of the three-dimensional coordinates after the third projection. The X-axis coordinate of the three-dimensional coordinates after the second projection; Calculate the area of ​​the first side length, the second side length, and the third side length corresponding to each of the initial triangle groups to obtain the area of ​​the triangle group corresponding to each of the initial triangle groups; The average value of each of the first, second, and third initial three-dimensional coordinates is calculated using the fourth formula to obtain the target average value corresponding to each of the initial triangle groups. The fourth formula is: ， in, The target average value, The Z-axis coordinate of the first initial three-dimensional coordinate system. The Z-axis coordinate of the second initial three-dimensional coordinate system. The Z-axis coordinate of the third initial three-dimensional coordinate system; Calculate the average value of each target and the volume of the triangle group area corresponding to each initial triangle group to obtain the volume of the triangle group corresponding to each initial triangle group; The total volume of the coal yard is obtained by summing the volumes of all the triangular groups.

3. The coal quantity detection method according to claim 2, characterized in that, The process of calculating the area of ​​the first side length, second side length, and third side length corresponding to each of the initial triangle groups, to obtain the area of ​​the triangle group corresponding to each of the initial triangle groups, includes: The area of ​​each initial triangle group is obtained by calculating the area of ​​the triangle group corresponding to the first, second, and third side lengths using the fifth equation. The fifth equation is: ， in, , in, Let the area of ​​the triangle group be... The perimeter of the triangle group. Let be the length of the first side. The length of the second side. Let be the length of the third side.

4. The coal quantity detection method according to claim 2, characterized in that, The process of calculating the average value of each target and the volume of the triangle group corresponding to each initial triangle group, to obtain the volume of the triangle group corresponding to each initial triangle group, includes: The volume of each target average and the area of ​​each triangle group corresponding to the initial triangle group are calculated using the sixth formula, thereby obtaining the volume of the triangle group corresponding to each initial triangle group. The sixth formula is: ， in, For the volume of the triangle group, Let the area of ​​the triangle group be... This is the target average value.

5. The coal quantity detection method according to claim 1, characterized in that, The process of calculating the total volume of coal in the coal yard to obtain the coal quantity includes: The amount of coal in the coal yard is obtained by calculating the total volume of coal in the coal yard using the seventh formula, which is: ， in, For the amount of coal in the coal yard, To preset the coal density, This represents the total volume of the coal yard.

6. A coal quantity detection device, characterized in that, include: The data acquisition module is used to acquire point cloud data from a laser scanner pre-set on the cantilever of the bucket wheel excavator, the point cloud data including multiple initial three-dimensional coordinates; The construction module is used to construct triangle groups using multiple initial three-dimensional coordinates to obtain multiple initial triangle groups; The projection module is used to project each of the initial triangle groups to obtain the projected triangle groups corresponding to each of the initial triangle groups. The calculation module is used to calculate the total volume of the multiple projected triangle groups and the multiple initial triangle groups to obtain the total volume of the coal yard; The detection result acquisition module is used to calculate the amount of coal in the total volume of the coal yard, obtain the amount of coal in the coal yard, and use the amount of coal in the coal yard as the coal quantity detection result; The building module is specifically used for: The initial three-dimensional coordinates are sorted according to a preset rule to obtain sorted three-dimensional coordinates corresponding to each initial three-dimensional coordinate. Each of the three adjacent sorted 3D coordinates is used as a triangle group to obtain multiple initial triangle groups.

7. A coal quantity detection system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the coal quantity detection method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the coal quantity detection method as described in any one of claims 1 to 5.

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