Method and device for analyzing the level of a slag pool

Abstract

This invention provides a method and apparatus for analyzing the height of material surface in a slag flushing pool, relating to the field of detection technology. The method includes: acquiring three-dimensional point cloud data of the material surface in the slag flushing pool; determining the grabbing range of the grab bucket within the pool based on its size parameters; determining multiple cubes based on the grab bucket's size parameters and the three-dimensional point cloud data of each material surface within the grabbing range; wherein each cube contains multiple three-dimensional point cloud data of the material surface, with one of the multiple three-dimensional point cloud data serving as the cube's center point; determining the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface within each cube; wherein the equivalent material surface height is used to measure the volume of slag contained within the cube; and determining the grab bucket's operating position based on the equivalent material surface height of each cube. This invention is used to analyze the height of material surface in a slag flushing pool, which can improve slag grabbing efficiency and increase economic efficiency.

Description

Technical Field

[0001] This invention relates to the field of detection technology, and more particularly to a method and apparatus for analyzing the height of material surface in a slag flushing pool. Background Technology

[0002] This section is intended to provide background or context for the embodiments of the invention set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] A slag flushing tank is a bucket-shaped concrete structure, wider at the top and narrower at the bottom, used to collect blast furnace slag. In the metallurgical industry, blast furnace smelting produces a large amount of slag. After being granulated by high-speed water quenching, the slag enters the slag flushing tank. The large amount of slag settling at the bottom of the tank can easily lead to poor water permeability, affecting the operation of related pumps and even disrupting normal blast furnace production. Simultaneously, the water-quenched slag is a high-quality cement raw material. Therefore, in actual production, the slag needs to be continuously removed from the slag flushing tank, and overhead cranes are one of the most important slag removal devices. The overhead crane system uses grab buckets to grab slag at any position in the slag flushing tank. Currently, the method of grabbing slag is inefficient and requires many grabs, increasing the energy consumption of the overhead crane and thus resulting in poor economic performance. Summary of the Invention

[0004] This invention provides a method for analyzing the material level in a slag flushing tank. This method improves slag handling efficiency and economic efficiency, and includes:

[0005] Obtain three-dimensional point cloud data of the slag flushing pool surface;

[0006] Determine the grabbing range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket;

[0007] Based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range, multiple cubes are determined; each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube.

[0008] Based on the three-dimensional point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined; whereby the equivalent material surface height is used to measure the volume of slag contained in the cube.

[0009] The grab bucket's operating position is determined based on the equivalent material surface height of each cube.

[0010] This invention provides a device for analyzing the material level in a slag flushing pool, which can improve the efficiency of slag grabbing and increase economic benefits. The device includes:

[0011] The data acquisition module is used to acquire three-dimensional point cloud data of the slag flushing pool surface;

[0012] The range determination module is used to determine the grabbing range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket;

[0013] The cube determination module is used to determine multiple cubes based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range; wherein, each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube.

[0014] The height determination module is used to determine the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface within each cube; wherein, the equivalent material surface height is used to measure the volume of slag contained in the cube;

[0015] The position determination module is used to determine the grab bucket's operating position based on the equivalent material surface height of each cube.

[0016] An embodiment of the present invention provides a computer device, 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 a method for analyzing the material level height in a slag flushing pool.

[0017] This invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a method for analyzing the material level in a slag flushing pool.

[0018] This invention provides a computer program product, which includes a computer program that, when executed by a processor, implements a method for analyzing the material level height in a slag flushing pool.

[0019] This invention addresses the problems of low efficiency, numerous grabbing operations, high overhead crane energy consumption, and poor economic performance in existing slag-grabbing methods. This invention acquires three-dimensional point cloud data of the slag-flushing pool surface; determines the grabbing range of the grab bucket within the pool based on its size parameters; defines multiple cubes based on the grab bucket's size parameters and the three-dimensional point cloud data of each slag surface within the grabbing range; each cube contains multiple three-dimensional point cloud data of the slag surface, with one of these data serving as the cube's center point; determines the equivalent slag surface height of each cube based on the three-dimensional point cloud data of the slag surface within each cube; the equivalent slag surface height measures the volume of slag contained within the cube; and determines the grab bucket's operating position based on the equivalent slag surface height of each cube. This invention achieves analysis of the slag-flushing pool surface height, determining the grab bucket's operating position based on the equivalent slag surface height of each cube defined on the slag-flushing pool surface, thereby improving slag-grabbing efficiency, reducing the number of grabbing operations, lowering overhead crane energy consumption, and improving economic efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the method for analyzing the material level in a slag flushing tank according to an embodiment of the present invention.

[0022] Figure 2 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0023] Figure 3 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0024] Figure 4 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0025] Figure 5 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0026] Figure 6 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0027] Figure 7 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0028] Figure 8 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0029] Figure 9 This is a specific example diagram of the slag flushing tank material level height analysis method according to an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of the slag flushing tank material level analysis device according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0033] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0034] In the description of this specification, the terms "comprising," "including," "having," and "containing" are open-ended terms, meaning that they include but are not limited to. The terms "an embodiment," "a specific embodiment," "some embodiments," and "for example," etc., refer to specific features, structures, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The order of steps involved in the various embodiments is used to illustrate the implementation of this application, and the order of steps is not limited and can be adjusted appropriately as needed.

[0035] The principles and spirit of the present invention will be explained in detail below with reference to several representative embodiments.

[0036] Figure 1 This is a flowchart illustrating the method for analyzing the material level in a slag flushing tank according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0037] Step 101: Obtain the three-dimensional point cloud data of the slag flushing pool surface;

[0038] Step 102: Determine the grabbing range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket;

[0039] Step 103: Based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range, determine multiple cubes; wherein, each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube.

[0040] Step 104: Determine the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface within each cube; wherein, the equivalent material surface height is used to measure the volume of slag contained in the cube.

[0041] Step 105: Determine the grab bucket's operating position based on the equivalent material surface height of each cube.

[0042] Depend on Figure 1As shown in the flowchart, this embodiment of the invention acquires three-dimensional point cloud data of the material surface in the slag flushing pool; determines the grabbing range of the grab bucket within the slag flushing pool based on the grab bucket's size parameters; determines multiple cubes based on the grab bucket's size parameters and each three-dimensional point cloud data of the material surface within the grabbing range; wherein each three-dimensional point cloud data of the material surface within the grabbing range is used as the center point of each cube, each cube contains multiple three-dimensional point cloud data of the material surface, and one of the multiple three-dimensional point cloud data is used as the center point of the cube; determines the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface within each cube; wherein the equivalent material surface height is used to measure the volume of slag contained in the cube; and determines the grab bucket's operating position based on the equivalent material surface height of each cube. This embodiment of the invention achieves the evaluation of the material surface height in the slag flushing pool, and determines the grab bucket's operating position based on the equivalent material surface height of each cube divided on the material surface of the slag flushing pool, which can improve the slag grabbing efficiency, reduce the number of grabbing operations, reduce the energy consumption of the overhead crane, and improve economic efficiency.

[0043] To provide a clearer explanation of the above-mentioned method for analyzing the material level in the slag flushing pool, each step will be explained in detail below.

[0044] Figure 2 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0045] In one embodiment of the present invention, reference is made to Figure 2 The detailed process for obtaining the 3D point cloud data of the slag flushing pool surface is as follows:

[0046] Step 201: Use lidar to scan the surface of the slag flushing pool and obtain point cloud polar coordinate data of the slag flushing pool surface;

[0047] Step 202: Perform coordinate transformation on the polar coordinate data of the point cloud of the slag flushing pool material surface to obtain the three-dimensional point cloud data of the slag flushing pool material surface in the world coordinate system.

[0048] Figure 3 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0049] In one embodiment of the present invention, reference is made to Figure 3 The data acquisition device needs to be installed above the slag flushing pool, and its scanning range needs to be able to completely cover the slag flushing pool. The data acquisition device is used to obtain three-dimensional information of the slag flushing pool material surface within its scanning range. The data acquisition device includes a lidar and a turntable.

[0050] In one embodiment of the present invention, based on the Time-of-Flight (TOF) principle, a data acquisition device is used to scan the slag flushing pool. This data acquisition device is a combination of a lidar and a turntable. Three-dimensional point cloud data of the slag surface in the flushing pool is obtained. When the lidar is working, it continuously acquires two-dimensional data of the scanned section. The lidar is fixed to the shaft connector of the turntable, and the controller controls the turntable to rotate. The lidar moves with the turntable, simultaneously acquiring slag data within the scanning range, thereby achieving the acquisition of three-dimensional point cloud data of the slag surface. The TOF principle involves continuously sending light pulses to a target, receiving the light pulses returning from the object, and measuring the time of flight (round trip) of the light pulses to determine the distance to the target.

[0051] In practice, the lidar can obtain the point cloud polar coordinate data of the object being measured based on the Time-of-Flight (TOF) principle, and then convert the polar coordinate data into the world coordinate system using the following formula:

[0052] x=dsinα

[0053] y = dcosαcosβ

[0054] z=dcosαsinβ

[0055] Where x is the x-direction value in the world coordinate system; y is the y-direction value in the world coordinate system; z is the z-direction value in the world coordinate system; d is the distance value measured by the lidar according to the TOF method; α is the angle between the plane formed by the single-pulse laser and the lidar's vertical ground scan; β is the angle between the projection of the single-pulse laser onto the plane formed by the lidar's vertical ground scan and the horizontal plane.

[0056] In the above embodiments, various parameters of the turntable and lidar can be set during use to control the 3D point cloud data density, scanning range, and scanning time. The scanned data can be stored in the data acquisition device, and the data stored in the data acquisition device can be sent and the register cleared via a communication device.

[0057] Figure 4 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0058] In one embodiment of the present invention, the grabbing range of the grab bucket within the slag flushing tank is determined based on the size parameters of the slag flushing tank and the size parameters of the grab bucket when fully extended; the size parameters of the grab bucket when fully extended are referenced. Figure 4 When the grab bucket is fully open, its length is Lcrab, its width is Zcrab, and its height is Hcrab. That is, the grab bucket can grab a cubic piece of slag with a length of Lcrab, a width of Zcrab, and a height of Hcrab.

[0059] Figure 5This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0060] In one embodiment of the present invention, by scanning the slag flushing pool surface with a lidar, the coordinates of each point cloud data of the material surface can be obtained: X in the length direction, Y in the height direction, and Z in the width direction; therefore, referring to Figure 5 The slag surface can be viewed as a three-dimensional coordinate function Y = f(X, Z).

[0061] Figure 6 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0062] In one embodiment of the present invention, reference is made to Figure 6 Based on the 3D point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined, including:

[0063] For each cube, perform the following steps to determine the equivalent material height of each cube:

[0064] Step 601: Determine the average height of the material surface based on the three-dimensional point cloud data of each material surface inside the cube;

[0065] Step 602: Determine the initial fitting point of the cube based on the center point of the cube and the average material surface height;

[0066] Step 603: Determine the distance and average distance between each three-dimensional point cloud data of the material surface inside the cube and the initial fitting point of the cube;

[0067] Step 604: Determine the height correction coefficient of each three-dimensional point cloud data of the material surface inside the cube based on the distance and average distance between each three-dimensional point cloud data of the material surface inside the cube and the initial fitting point of the cube.

[0068] Step 605: Determine the equivalent material surface height of the cube based on the height coordinates, height correction coefficient, and average material surface height in the three-dimensional point cloud data of each material surface inside the cube.

[0069] Figure 7 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0070] In practice, each three-dimensional point cloud data point of the slag-flushing pool material surface within the grab range of the grab bucket is used as the center of a cube. Based on the three-dimensional point cloud data of the material surface within each cube, the equivalent material surface height of each cube is iteratively calculated. (Reference) Figure 7Taking the three-dimensional point cloud data of the slag flushing pool surface within the grabbing range of the grab bucket as an example, the width of the cube determined along this length direction is Zcrab. The size parameters of the cube are the same as those when the grab bucket is fully open, that is, the length of the cube is Lcrab, the width is Zcrab, and the height is Hcrab. Specifically, based on the center coordinates (X0, Y0, Z0) and the length Lcrab, width Zcrab, and height Hcrab when the grab bucket is fully open, a cube is determined. The three-dimensional point cloud data within this cube has the following values: (X0-0.5Lcrab, X0+0.5Lcrab) along the length of the slag flushing pool, (Y0-0.5Ycrab, Y0+0.5Ycrab) along the height of the slag flushing pool, and (Z0-0.5Zcrab, Z0+0.5Zcrab) along the width of the slag flushing pool. The coordinate information of the three-dimensional point cloud data within this cube is obtained, totaling G points. The average material surface height within this cube is determined according to the following formula:

[0071]

[0072] After obtaining the average material height within the cube, the initial fitting point of the cube is determined as (X0, Y0) based on the cube's center point and the average material height. 0_0 The distance and average distance between each 3D point cloud data point within the cube and the initial fitting point of the cube are determined using the following formulas:

[0073]

[0074]

[0075] Based on the distance and average distance between each 3D point cloud data point within the cube and the initial fitted point of the cube, the height correction coefficient for each 3D point cloud data point within the cube is determined using the following formula:

[0076]

[0077] Based on the height coordinates, height correction factor, and average material surface height of each 3D point cloud data within the cube, the equivalent material surface height of the cube is determined using the following formula:

[0078]

[0079] Among them, Y h Y is the equivalent material height of the cube; 0_0 K represents the average material surface height. i Y is the height correction coefficient for the i-th 3D point cloud data; i Let X be the height coordinate of the i-th 3D point cloud data; G is the number of 3D point cloud data in the cube; X is ....i Z represents the length coordinate of the i-th 3D point cloud data in the cube; i Let X0 be the length coordinate of the i-th 3D point cloud data in the cube; Z0 be the length coordinate of the center point of the cube; L be the width coordinate of the center point of the cube; L be the length coordinate of the center point of the cube; Z0 be the width coordinate of the center point of the cube; L be the length coordinate of the center point of the cube; L be the width coordinate of the center point of the cube; L be the length coordinate of the center point of the cube; Z0 be the width coordinate of the center point of the i L represents the distance between the i-th 3D point cloud data point in the cube and the center point; mean This represents the average distance between each 3D point cloud data point in the cube and the center point.

[0080] In one embodiment of the present invention, determining the grab bucket operating position based on the equivalent material surface height of each cube includes: determining the functional relationship between the equivalent material surface height of the cube and the length and width coordinates of the cube's center point based on the length coordinates and width coordinates of the center point of each cube and the equivalent material surface height of each cube; and determining the grab bucket operating position based on the functional relationship between the equivalent material surface height of the cube and the length and width coordinates of the cube's center point.

[0081] In practice, each three-dimensional point cloud data point along the length of the slag-flushing pool material surface within the grab range of the grab bucket is taken as the center of a cube. Based on the three-dimensional point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined. Then, the functional relationship between the equivalent material surface height of the cube and the length coordinate of the cube's center point can be further determined. Similarly, each three-dimensional point cloud data point along the width of the slag-flushing pool material surface within the grab range of the grab bucket is taken as the center of a cube. Based on the three-dimensional point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined. Then, the functional relationship between the equivalent material surface height of the cube and the width coordinate of the cube's center point can be further determined.

[0082] Figure 8 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0083] In one embodiment of the present invention, reference is made to Figure 8 In the slag material surface of the slag flushing pool, the functional relationship between the equivalent material surface height of the cube and the length coordinate of the cube's center point is Y = f(X). Based on the functional relationship between the equivalent material surface height of the cube and the length coordinate of the cube's center point, the grab bucket operation position is determined to be Pcrab, which is the center position of the cube with the largest equivalent material surface height, and the highest point of the slag material surface is Ptop.

[0084] Figure 9 This is a specific example diagram of the slag flushing pool material level height analysis method according to an embodiment of the present invention.

[0085] In another embodiment of the present invention, reference is made to Figure 9Using lidar to scan the material surface, three-dimensional point cloud data is obtained. Based on the grab bucket width, the material surface is divided into N sub-material surfaces along the width direction of the slag flushing pool. Each sub-material surface has the same width direction coordinates. N sub-material surfaces are divided according to each three-dimensional point cloud data point along the width direction. The nth sub-material surface is selected, and its width direction coordinates are determined. Based on the width direction coordinates of the nth sub-material surface, M cubes are determined along the length direction of the nth sub-material surface according to the grab bucket length. Cubes are selected from the starting position, and three-dimensional point cloud data within the range of the m-th cube are collected, totaling G three-dimensional point cloud data points. The center of the cube is the three-dimensional point cloud data point. The average material surface height of the G three-dimensional point cloud data points is calculated. Based on the cube center point and the average material surface height, the initial fitting point coordinates of the m-th cube are determined. The distances between the G three-dimensional point cloud data points and the initial fitting point are calculated, and the average distance and sum are further calculated. For each 3D point cloud data and height correction coefficient, the equivalent height of the current cube, i.e., the equivalent height of the m-th cube, is determined based on the 3D point cloud data and height correction coefficient within the cube's range. It is then determined whether the equivalent height calculation for the M cubes along the length direction of the n-th sub-material surface has been completed. If not, the calculation for the next cube along the same length direction, i.e., the length direction of the n-th sub-material surface, needs to be performed. Here, the center of each cube can be determined using the 3D point cloud data along the center line of the sub-material surface's length direction, and the grab's dimensions can be used as the cube's dimensions. If the equivalent height calculation for the M cubes along the length direction of the n-th sub-material surface has been completed, it is determined whether the calculation for the N sub-material surfaces has been completed. If not, the calculation for the next sub-material surface needs to be performed, determining the M cubes along the length direction of the next sub-material surface, until the calculation for the N sub-material surfaces is completed, thus completing the height analysis.

[0086] It should be noted that although the operation of the method of the present invention has been described in a specific order in the above embodiments and figures, this does not require or imply that the operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0087] The implementation of the dynamic data charting and statistical device can refer to the implementation of the method described above, and repeated details will not be elaborated further. The term "module" or "unit" used below can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0088] Based on the same inventive concept, this invention also proposes a device for analyzing the material level in a slag flushing tank, such as... Figure 10 As shown, the device includes:

[0089] The data acquisition module 1001 is used to acquire three-dimensional point cloud data of the slag flushing pool material surface;

[0090] The range determination module 1002 is used to determine the grab range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket;

[0091] The cube determination module 1003 is used to determine multiple cubes based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range; wherein, each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube.

[0092] The height determination module 1004 is used to determine the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface inside each cube; wherein, the equivalent material surface height is used to measure the volume of slag contained in the cube.

[0093] The position determination module 1005 is used to determine the grab bucket's operating position based on the equivalent material surface height of each cube.

[0094] In one embodiment of the present invention, the data acquisition module 1001 is specifically used for:

[0095] The surface of the slag flushing pool is scanned using lidar to obtain point cloud polar coordinate data of the slag flushing pool surface;

[0096] The polar coordinate data of the point cloud of the slag pool surface are transformed to obtain the three-dimensional point cloud data of the slag pool surface in the world coordinate system.

[0097] In one embodiment of the present invention, the range determination module 1002 is specifically used for:

[0098] The grabbing range of the grab bucket within the slag flushing pool is determined based on the size parameters of the slag flushing pool and the size parameters of the grab bucket when it is fully open.

[0099] In one embodiment of the present invention, the height determination module 1004 is specifically used for:

[0100] For each cube, perform the following steps to determine the equivalent material height of each cube:

[0101] The average height of the material surface is determined based on the three-dimensional point cloud data of each material surface inside the cube.

[0102] The initial fitting point of the cube is determined based on the center point of the cube and the average material surface height.

[0103] Determine the distance and average distance between each 3D point cloud data of the material surface inside the cube and the initial fitting point of the cube;

[0104] Based on the distance and average distance between each three-dimensional point cloud data of the material surface inside the cube and the initial fitting point of the cube, determine the height correction coefficient of each three-dimensional point cloud data of the material surface inside the cube;

[0105] The equivalent material surface height of the cube is determined based on the height coordinates, height correction coefficient, and average material surface height in each three-dimensional point cloud data of the material surface inside the cube.

[0106] In one embodiment of the present invention, the height determination module 1004 is specifically used for:

[0107] The equivalent material height of the cube is determined using the following formula:

[0108]

[0109] Among them, Y h Y is the equivalent material height of the cube; 0_0 K represents the average material surface height. i Y is the height correction coefficient for the i-th 3D point cloud data; i G represents the height coordinates in the i-th 3D point cloud data; G is the number of 3D point cloud data points on the inner surface of the cube.

[0110] In one embodiment of the present invention, the position determination module 1005 is specifically used for:

[0111] Based on the length coordinates and width coordinates of the center point of each cube, and the equivalent material surface height of each cube, determine the functional relationship between the equivalent material surface height of the cube and the length coordinates and width coordinates of the center point of the cube.

[0112] The grab bucket's operating position is determined based on the functional relationship between the equivalent material surface height of the cube and the length and width coordinates of the cube's center point.

[0113] It should be noted that although several modules of the slag flushing pool material level analysis device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0114] Based on the aforementioned inventive concept, such as Figure 11 As shown, the present invention also proposes a computer device 1100, including a memory 1101, a processor 1102, and a computer program 1103 stored in the memory 1101 and executable on the processor 1102. When the processor 1102 executes the computer program 1103, it implements the aforementioned method for analyzing the material level of the slag flushing pool.

[0115] Based on the aforementioned inventive concept, the present invention proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned method for analyzing the material level height in a slag flushing pool.

[0116] Based on the aforementioned inventive concept, the present invention proposes a computer program product, which includes a computer program that, when executed by a processor, implements a method for analyzing the material level height in a slag flushing pool.

[0117] This invention addresses the problems of low efficiency, numerous grabbing operations, high overhead crane energy consumption, and poor economic performance in existing slag-grabbing methods. The invention acquires three-dimensional point cloud data of the slag-flushing pool surface; determines the grabbing range of the grab bucket within the pool based on its size parameters; defines multiple cubes based on the grab bucket's size parameters and the three-dimensional point cloud data of each slag surface within the grabbing range; each cube contains multiple three-dimensional point cloud data of the slag surface, with one of these data serving as the cube's center point; determines the equivalent slag surface height of each cube based on the three-dimensional point cloud data of the slag surface within each cube; this equivalent slag surface height measures the volume of slag contained within the cube; and determines the grab bucket's operating position based on the equivalent slag surface height of each cube. This invention achieves the assessment of the slag-flushing pool surface height, determining the grab bucket's operating position based on the equivalent slag surface height of each cube defined on the slag-flushing pool surface, thereby improving slag-grabbing efficiency, reducing the number of grabbing operations, lowering overhead crane energy consumption, and improving economic efficiency.

[0118] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0120] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0121] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0122] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for analyzing the material level height in a slag flushing tank, characterized in that, include: Obtain three-dimensional point cloud data of the slag flushing pool surface; Determine the grabbing range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket; Based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range, multiple cubes are determined; each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube. Based on the three-dimensional point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined; whereby the equivalent material surface height is used to measure the volume of slag contained in the cube. The grab bucket's operating position is determined based on the equivalent material surface height of each cube; The equivalent material surface height of the cube is determined by the following formula: ； in, This is the equivalent material height of the cube; This represents the average material surface height. For the first i Height correction coefficient for 3D point cloud data; For the first i The height coordinates in a 3D point cloud dataset; G The number of three-dimensional point cloud data points on the material surface inside the cube; The grab bucket's operating position is determined based on the equivalent material surface height of each cube, including: Based on the length coordinates and width coordinates of the center point of each cube, and the equivalent material surface height of each cube, determine the functional relationship between the equivalent material surface height of the cube and the length coordinates and width coordinates of the center point of the cube. The grab bucket's operating position is determined based on the functional relationship between the equivalent material surface height of the cube and the length and width coordinates of the cube's center point; whereby the grab bucket's operating position is determined as Pcrab, which is the center position of the cube with the largest equivalent material surface height.

2. The method according to claim 1, characterized in that, Obtain 3D point cloud data of the slag flushing pool surface, including: The surface of the slag flushing pool is scanned using lidar to obtain point cloud polar coordinate data of the slag flushing pool surface; The polar coordinate data of the point cloud of the slag pool surface are transformed to obtain the three-dimensional point cloud data of the slag pool surface in the world coordinate system.

3. The method according to claim 1, characterized in that, Based on the grab bucket's dimensions, determine the grabbing range within the slag flushing pool, including: The grabbing range of the grab bucket within the slag flushing pool is determined based on the size parameters of the slag flushing pool and the size parameters of the grab bucket when it is fully open.

4. The method according to claim 1, characterized in that, Based on the 3D point cloud data of the material surface within each cube, the equivalent material surface height of each cube is determined, including: For each cube, perform the following steps to determine the equivalent material height of each cube: The average height of the material surface is determined based on the three-dimensional point cloud data of each material surface inside the cube. The initial fitting point of the cube is determined based on the center point of the cube and the average material surface height. Determine the distance and average distance between each 3D point cloud data of the material surface inside the cube and the initial fitting point of the cube; Based on the distance and average distance between each three-dimensional point cloud data of the material surface inside the cube and the initial fitting point of the cube, determine the height correction coefficient of each three-dimensional point cloud data of the material surface inside the cube; The equivalent material surface height of the cube is determined based on the height coordinates, height correction coefficient, and average material surface height in each three-dimensional point cloud data of the material surface inside the cube.

5. A device for analyzing the material level in a slag flushing tank, characterized in that, include: The data acquisition module is used to acquire three-dimensional point cloud data of the slag flushing pool surface; The range determination module is used to determine the grabbing range of the grab bucket in the slag flushing pool based on the size parameters of the grab bucket; The cube determination module is used to determine multiple cubes based on the size parameters of the grab bucket and the three-dimensional point cloud data of each material surface within the grab range; wherein, each cube contains multiple three-dimensional point cloud data of the material surface, and one of the three-dimensional point cloud data is used as the center point of the cube. The height determination module is used to determine the equivalent material surface height of each cube based on the three-dimensional point cloud data of the material surface within each cube; wherein, the equivalent material surface height is used to measure the volume of slag contained in the cube; The position determination module is used to determine the grab bucket's operating position based on the equivalent material surface height of each cube; Specifically, the height determination module is used for: The equivalent material height of the cube is determined using the following formula: ； in, This is the equivalent material height of the cube; This represents the average material surface height. For the first i Height correction coefficient for 3D point cloud data; For the first i The height coordinates in a 3D point cloud dataset; G The number of three-dimensional point cloud data points on the material surface inside the cube; The location determination module is specifically used for: Based on the length coordinates and width coordinates of the center point of each cube, and the equivalent material surface height of each cube, determine the functional relationship between the equivalent material surface height of the cube and the length coordinates and width coordinates of the center point of the cube. The grab bucket's operating position is determined based on the functional relationship between the equivalent material surface height of the cube and the length and width coordinates of the cube's center point; whereby the grab bucket's operating position is determined as Pcrab, which is the center position of the cube with the largest equivalent material surface height.

6. The apparatus according to claim 5, characterized in that, The data acquisition module is specifically used for: The surface of the slag flushing pool is scanned using lidar to obtain point cloud polar coordinate data of the slag flushing pool surface; The polar coordinate data of the point cloud of the slag pool surface are transformed to obtain the three-dimensional point cloud data of the slag pool surface in the world coordinate system.

7. The apparatus according to claim 5, characterized in that, The range determination module is specifically used for: The grabbing range of the grab bucket within the slag flushing pool is determined based on the size parameters of the slag flushing pool and the size parameters of the grab bucket when it is fully open.

8. The apparatus according to claim 5, characterized in that, The height determination module is specifically used for: For each cube, perform the following steps to determine the equivalent material height of each cube: The average height of the material surface is determined based on the three-dimensional point cloud data of each material surface inside the cube. The initial fitting point of the cube is determined based on the center point of the cube and the average material surface height. Determine the distance and average distance between each 3D point cloud data of the material surface inside the cube and the initial fitting point of the cube; Based on the distance and average distance between each three-dimensional point cloud data of the material surface inside the cube and the initial fitting point of the cube, determine the height correction coefficient of each three-dimensional point cloud data of the material surface inside the cube; The equivalent material surface height of the cube is determined based on the height coordinates, height correction coefficient, and average material surface height in each three-dimensional point cloud data of the material surface inside the cube.

9. A computer device, 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 method of any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1 to 4.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 4.

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