A method and device for obtaining the real-time volume of irregularly stacked objects

Abstract

The present invention discloses a method and a device for obtaining the real-time volume of irregularly stacked objects, belonging to the technical field of resource statistical measurement. In this method, first, the point cloud data of the upper top surface and the lower bottom surface are obtained; then, the downsampling of the point cloud data of the upper top surface and the lower bottom surface is performed; then, the upsampling of the point cloud data of the upper top surface and the lower bottom surface is performed. During downsampling and upsampling, it is ensured that the point clouds on the upper top surface and the lower bottom surface correspond one by one in space and the area occupied by each point is the same; then, the point cloud data of the hollow part between the upper top surface and the lower bottom surface is filled, and it is ensured that each point on the upper top surface, the lower bottom surface, and the hollow part corresponds to each other in three-dimensional space and represents the same volume; finally, the volume of the irregularly stacked objects is calculated according to the number of point clouds and the volume represented by each point in three-dimensional space. In this method, by controllably increasing the density of the point clouds, the volume that each point can represent is accurately refined to a smaller statistical unit, and the obtained volume is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of resource statistical measurement, and particularly to a method and device for obtaining the real-time volume of irregular accumulations. Background Art

[0002] Currently, when calculating the volume of large irregular mineral deposits, mines, and earthwork accumulations, it is generally required that the bottom surface of the accumulation must be flat. Then, point cloud data scanning is performed on the protruding parts of the upper part of the accumulation, and the volume is calculated based on the point cloud data. Specifically, usually, for the collected surface point cloud data, only downsampling can be performed to reduce the density of the point cloud, that is, only the density of the point cloud surface can be reduced, and more regular sorting and increasing the density of the point cloud cannot be performed. Although there are some deep learning methods dedicated to encrypting the point cloud to improve the quality of the point cloud, such as methods like PU-GAN, EC-Net, and MPU, these methods only complement the surface data of the point cloud, and it is a complement of the uncontrollable point cloud density. It is impossible to achieve precise, uniform, and controllable point cloud complementation. Moreover, it is even more impossible to achieve the complementation of internal data in the case of a hollow point cloud. Therefore, the prior art cannot effectively and accurately calculate the volume of mineral deposits, mines, and earthwork accumulations hidden underground or with an uneven bottom surface using point cloud data. Moreover, the methods of the prior art cannot interact with the excavation and mining machinery and equipment of mineral deposits, mines, and earthwork accumulations to realize the real-time volume statistics. Summary of the Invention

[0003] In order to solve the problems existing in the prior art, the present invention provides the following technical solutions.

[0004] The first aspect of the present invention provides a method for obtaining the real-time volume of irregular accumulations, including:

[0005] Performing point cloud scanning on the bottom and top of the irregular accumulation to obtain the point cloud data of the upper top surface and the lower bottom surface;

[0006] Performing downsampling on the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0007] Performing upsampling on the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0008] Filling the point cloud data of the hollow part between the upper top surface and the lower bottom surface, and ensuring that each point on the upper top surface, the lower bottom surface, and the hollow part corresponds to each other in three-dimensional space and represents the same volume;

[0009] Statistically count the number of point clouds on the upper top surface, lower bottom surface, and hollow part, and calculate the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space.

[0010] Preferably, interpolation is used for upsampling the point cloud data of the upper top surface and the lower bottom surface.

[0011] Preferably, interpolation is used to increase the point cloud data of the hollow part between the upper top surface and the lower bottom surface. Specifically, uniform interpolation is performed according to the non-local correspondence of the point clouds on the upper top surface and the lower bottom surface.

[0012] Preferably, the point cloud of the hollow part between the upper top surface and the lower bottom surface is filled by the method of layer-by-layer superposition.

[0013] Preferably, filling the point cloud of the hollow part by the method of layer-by-layer superposition includes: layer-by-layer superposing the point cloud of the upper top surface or the lower bottom surface towards the opposite surface, and the spacing between each layer of point clouds is controlled according to requirements; when the superposition intersects with the point cloud of the opposite surface, the filling of the point cloud of the hollow part is completed.

[0014] Preferably, after filling the point cloud of the hollow part, duplicate points in the intersecting point cloud are removed.

[0015] Preferably, the interpolation method includes: calculating the three-dimensional coordinates of the inserted point according to the three-dimensional coordinates of two adjacent points. If any value of the three-dimensional coordinates is greater than or equal to the preset value, the inserted point is used as one of the two adjacent points for continued interpolation calculation until the three-dimensional coordinate values of the obtained inserted points are all less than the preset value.

[0016] The second aspect of the present invention provides a device for obtaining the real-time volume of an irregular accumulation, including:

[0017] A surface point cloud data acquisition module, configured to perform point cloud scanning on the bottom and top of the irregular accumulation to obtain the point cloud data of the upper top surface and the lower bottom surface;

[0018] A surface point cloud downsampling module, configured to downsample the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0019] A surface point cloud upsampling module, configured to upsample the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0020] A hollow point cloud filling module is used to fill the point cloud data of the hollow part between the upper top surface and the lower bottom surface, and ensure that each point on the upper top surface, the lower bottom surface and the hollow part corresponds to each other in three-dimensional space and represents the same volume;

[0021] A volume calculation module is used to count the number of point clouds on the upper top surface, the lower bottom surface and the hollow part, and calculate the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space.

[0022] The third aspect of the present invention provides a memory storing multiple instructions, and the instructions are used to implement the method described in the first aspect.

[0023] The fourth aspect of the present invention provides an electronic device, including a processor and a memory connected to the processor, the memory stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the method described in the first aspect.

[0024] The beneficial effects of the present invention are as follows: A method and device for obtaining the real-time volume of an irregular accumulation provided by the present invention can not only achieve precise regular sorting for the surface point cloud data of the irregular accumulation, but also increase the density of the point cloud according to actual needs, so that the volume that each point can represent is accurate to a smaller statistical unit; for the hollow point cloud, not only can it achieve controllable filling of the internal point cloud data that can be adjusted according to actual needs, but also can ensure the controllability of the increase in point cloud density, the increased point cloud conforms to the point cloud slope of the original data, and the interpolation calculation in the case of uneven original point cloud density can make the point cloud density consistent at all positions after the density is increased, so as to accurately calculate the volume of the irregular accumulation. Description of the Drawings

[0025] Figure 1 It is a schematic flowchart of the method for obtaining the real-time volume of the irregular accumulation described in the present invention;

[0026] Figure 2 It is a display diagram of the point cloud data of the upper top surface and the lower bottom surface of the irregular accumulation - ore layer;

[0027] Figure 3 It is a display diagram of the point cloud data after the point cloud density of the upper top surface and the lower bottom surface is tripled and the hollow part is filled during upsampling;

[0028] Figure 4 For Figure 3 The cross-sectional schematic diagram of;

[0029] Figure 5 It is a schematic functional structure diagram of the device for obtaining the real-time volume of the irregular accumulation described in the present invention. Detailed Embodiments

[0030] To better understand the above technical solution, the following will provide a detailed description of the above technical solution in combination with the accompanying drawings of the specification and specific implementation manners.

[0031] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a memory, and a display screen. Among them, at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0032] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts within the entire terminal, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory, and by calling data stored in the memory, it executes various functions of the terminal and processes data.

[0033] The memory may include a random access memory (RAM), and may also include a read-only memory (ROM). The memory can be used to store instructions, programs, codes, code sets, or instructions.

[0034] The display screen is used to display the user interfaces of various application programs.

[0035] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be elaborated here.

[0036] Embodiment 1

[0037] As Figure 1 shown, the embodiment of the present invention provides a method for obtaining the real-time volume of irregularly stacked objects, including:

[0038] S101, performing point cloud scanning on the bottom and top of the irregularly stacked objects to obtain the point cloud data of the upper top surface and the lower bottom surface;

[0039] S102, performing downsampling on the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0040] S103, performing upsampling on the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same;

[0041] S104, fill the point cloud data in the hollow part between the upper top surface and the lower bottom surface, and ensure that each point on the upper top surface, the lower bottom surface, and the hollow part corresponds to each other in three-dimensional space and represents the same volume;

[0042] S105, count the number of point clouds on the upper top surface, the lower bottom surface, and the hollow part, and calculate the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space.

[0043] In the present invention, in order to calculate the volume of the irregular accumulation, enough points are used to represent the accumulation, and it is ensured that the distance between points in space is the same, so that the volume size represented by each point in space is determined, and thus the volume of the irregular accumulation can be calculated according to the number of points.

[0044] In the above method, after the point cloud data of the upper top surface and the lower bottom surface are collected, there will be two problems. The first problem is that there are many discrete points and uneven data arrangement in the collected point cloud data. For the case of more discrete points, when collecting the point cloud data, try to be as close as possible to the surface of the object to be measured, and the collection speed is half of the walking speed, so that enough data can be collected for subsequent processing. The second step is to make the data as balanced as possible through denoising, and at the same time remove most of the noise points and discrete points.

[0045] In the present invention, first, downsample the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density, and then, based on the result of the downsampling, upsample the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density. Specifically, uniform interpolation is performed according to the point cloud correspondence of different locations on the upper top surface and the lower bottom surface. The amount of interpolation can be determined according to actual needs, and the area occupied by each interpolated point in the plane is the same. At the same time, the density of the convex and concave parts should also be the same as that of the plane.

[0046] In the present invention, the point cloud data for filling the hollow part between the upper top surface and the lower bottom surface can adopt the interpolation method, specifically, uniform interpolation is performed according to the point cloud correspondence of different locations on the upper top surface and the lower bottom surface. Moreover, the point cloud data for filling the hollow part between the upper top surface and the lower bottom surface fills the hollow part of the point cloud in a layered superposition manner.

[0047] Among them, the filling of the point cloud in the hollow part in a layered superposition manner includes: layer-by-layer superposition of the point cloud on the upper top surface or the lower bottom surface towards the opposite surface, and the spacing of each layer of the point cloud is controlled according to requirements; when the superposition intersects with the point cloud on the opposite surface, the filling of the point cloud in the hollow part is completed. After the filling of the point cloud in the hollow part is completed, duplicate points in the intersecting point cloud are removed.

[0048] The interpolation method described in the present invention may include: calculating the three-dimensional coordinates of the insertion point based on the three-dimensional coordinates of two adjacent points. If any value of the three-dimensional coordinates is greater than or equal to a preset value, the insertion point is used as one of the two adjacent points for continued interpolation calculation until the three-dimensional coordinate values of the obtained insertion point are all less than the preset value. Among them, the interpolation formula may be: x = (x1 + x2) / 2, y = (y1 + y2) / 2, z = (z1 + z2) / 2. In the formula, x1, y1, z1 are the three-dimensional coordinates of one of the two adjacent points, x2, y2, z2 are the three-dimensional coordinates of the other of the two adjacent points, and x, y, z are the three-dimensional coordinates of the interpolation point.

[0049] In a specific embodiment, when using the method provided by the present invention to calculate the real-time volume of irregular accumulations, the distribution of point cloud data may be as Figures 2 - 4 shown. It can be seen from the result of increased point cloud density and filling that the point cloud distribution is relatively uniform and the density is moderate, which is conducive to accurately calculating the volume of irregular accumulations.

[0050] Embodiment 2

[0051] As Figure 5 shown, another aspect of the present invention further includes a functional module architecture that completely corresponds to the foregoing method flow. That is, the embodiment of the present invention also provides a device for obtaining the real-time volume of irregular accumulations, including:

[0052] A surface point cloud data acquisition module 201, configured to perform point cloud scanning on the bottom and top of the irregular accumulation to obtain the point cloud data of the upper top surface and the lower bottom surface;

[0053] A surface point cloud downsampling module 202, configured to perform downsampling on the point cloud data of the upper top surface and the lower bottom surface, reduce the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one by one in space and the area occupied by each point is the same;

[0054] A surface point cloud upsampling module 203, configured to perform upsampling on the point cloud data of the upper top surface and the lower bottom surface, increase the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one by one in space and the area occupied by each point is the same;

[0055] A hollow point cloud filling module 204, configured to fill the point cloud data of the hollow part between the upper top surface and the lower bottom surface, and ensure that each point on the upper top surface, the lower bottom surface, and the hollow part corresponds to each other in three-dimensional space and represents the same volume;

[0056] A volume calculation module 205, configured to count the number of point clouds on the upper top surface, the lower bottom surface, and the hollow part, and calculate the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space.

[0057] Wherein, the upsampling of the point cloud data of the upper top surface and the lower bottom surface adopts an interpolation method.

[0058] Furthermore, the point cloud data for filling the hollow portion between the upper top surface and the lower bottom surface is interpolated, and specifically, uniform interpolation is performed according to the remote correspondence of the point clouds of the upper top surface and the lower bottom surface.

[0059] Furthermore, the point cloud data for filling the hollow portion between the upper top surface and the lower bottom surface is filled with the point cloud of the hollow portion in a layered superposition manner.

[0060] Furthermore, the point cloud of the hollow part is filled in a layered superposition manner, including: superimposing the point cloud of the upper top surface or the lower bottom surface layer by layer on the opposite surface, and the spacing of each layer of point cloud is controlled according to demand; when the superposition intersects with the point cloud of the opposite surface, the point cloud filling of the hollow part is completed.

[0061] Furthermore, after the point cloud filling of the hollow part is completed, the intersection point cloud is deduplicated.

[0062] Furthermore, the interpolation method includes: calculating the three-dimensional coordinates of the insertion point based on the three-dimensional coordinates of two adjacent points; if any value of the three-dimensional coordinates is greater than or equal to a preset value, the insertion point is taken as one of the two adjacent points and the interpolation calculation is continued until the obtained three-dimensional coordinate values ​​of the insertion point are all less than the preset value.

[0063] The device can be implemented by the method for obtaining the real-time volume of irregular deposits provided in the above-mentioned embodiment 1. The specific implementation method can be found in the description of embodiment 1 and will not be repeated here.

[0064] The present invention also provides a memory storing a plurality of instructions, wherein the instructions are used to implement the method described in the first embodiment.

[0065] The present invention also provides an electronic device, comprising a processor and a memory connected to the processor, wherein the memory stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the method described in the first embodiment.

[0066] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for obtaining the real-time volume of irregularly stacked objects, characterized in that, Including: Performing point cloud scanning on the bottom and top of the irregular accumulation to obtain the point cloud data of the upper top surface and the lower bottom surface; Performing downsampling on the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same; Performing upsampling on the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same; Filling the point cloud data of the hollow part between the upper top surface and the lower bottom surface, and ensuring that each point on the upper top surface, the lower bottom surface and the hollow part corresponds to each other in three-dimensional space and represents the same volume; Counting the number of point clouds on the upper top surface, the lower bottom surface and the hollow part, and calculating the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space; The method of filling the point cloud data of the hollow part between the upper top surface and the lower bottom surface adopts the interpolation method, specifically, uniform interpolation is performed according to the point cloud density of the upper top surface and the lower bottom surface; The method of filling the point cloud data of the hollow part between the upper top surface and the lower bottom surface fills the point cloud of the hollow part in a layered superposition manner.

2. The method for obtaining the real-time volume of irregularly stacked objects according to claim 1, characterized in that, The method of performing upsampling on the point cloud data of the upper top surface and the lower bottom surface adopts the interpolation method.

3. The method for obtaining the real-time volume of irregularly stacked objects according to claim 1, characterized in that, The method of filling the point cloud of the hollow part in a layered superposition manner includes: stacking the point cloud of the upper top surface or the lower bottom surface layer by layer towards the opposite surface, and the spacing of each layer of point cloud is controlled according to requirements; When the stacking intersects with the point cloud of the opposite surface, the filling of the point cloud of the hollow part is completed.

4. The method for obtaining the real-time volume of irregularly stacked objects according to claim 3, wherein, After the filling of the point cloud of the hollow part is completed, the duplicate points in the intersecting point cloud are removed.

5. The method for obtaining the real-time volume of irregularly stacked objects according to any one of claims 1, 3-4, characterized in that, The interpolation method includes: calculating the three-dimensional coordinates of the inserted point according to the three-dimensional coordinates of two adjacent points, if any value of the three-dimensional coordinates is greater than or equal to the preset value, then the inserted point is used as one of the two adjacent points to continue the interpolation calculation until the three-dimensional coordinate values of the obtained inserted points are all less than the preset value.

6. An apparatus for obtaining the real-time volume of irregularly stacked objects, characterized in that, Including: A surface point cloud data acquisition module, which is used to perform point cloud scanning on the bottom and top of the irregular accumulation to obtain the point cloud data of the upper top surface and the lower bottom surface; A surface point cloud downsampling module, which is used to perform downsampling on the point cloud data of the upper top surface and the lower bottom surface to reduce the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same; A surface point cloud upsampling module, which is used to perform upsampling on the point cloud data of the upper top surface and the lower bottom surface to increase the point cloud density, and ensure that the point clouds on the upper top surface and the lower bottom surface correspond one-to-one in space and the area occupied by each point is the same; A hollow point cloud filling module, which is used to fill the point cloud data of the hollow part between the upper top surface and the lower bottom surface, and ensure that each point on the upper top surface, the lower bottom surface and the hollow part corresponds to each other in three-dimensional space and represents the same volume; A volume calculation module, which is used to count the number of point clouds on the upper top surface, the lower bottom surface and the hollow part, and calculate the volume of the irregular accumulation according to the number of point clouds and the volume represented by each point in three-dimensional space; The point cloud data filling the hollow part between the upper top surface and the lower bottom surface adopts an interpolation method, specifically, uniform interpolation is carried out according to the point cloud density of the upper top surface and the lower bottom surface; The point cloud data filling the hollow part between the upper top surface and the lower bottom surface fills the point cloud of the hollow part in a layered superposition manner.

7. A memory, characterized in that, There are multiple instructions stored, and the instructions are used to implement the method described in any one of claims 1-5.

8. An electronic device, characterized in that, It includes a processor and a memory connected to the processor. The memory stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the method described in any one of claims 1-5.

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