Coal storage quantity determination system, control method and control device for coal storage quantity determination system

Abstract

The present application provides a coal storage amount determination system, a control method and a control device for the coal storage amount determination system. The system includes: a coal storage area for storing coal to form a coal pile; a laser scanner for scanning the coal storage area and collecting point cloud data of the coal storage area; and a processor for determining the coal amount of the coal pile in the coal storage area according to the point cloud data of the coal storage area. By installing a laser scanner in the dome coal storage yard in this solution, the coal pile stored in the dome coal storage yard can be laser scanned, so that three-dimensional point cloud data can be obtained, and then the coal amount can be calculated according to the three-dimensional point cloud data. There is no need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of coal storage in coal mines. Specifically, it relates to a coal storage quantity determination system, a control method for the coal storage quantity determination system, a control device for the coal storage quantity determination system, and a computer-readable storage medium. Background Technique

[0002] In current large coal enterprises, the main mining method is open-pit mining. After mining, part of the coal is directly transported out by a loading system, and the other part is stored in a circular dome coal storage yard in the coal mine. In the past, the coal storage quantity in the dome coal storage yard was calculated by using an in-out belt scale or manual estimation. However, this method has a large calculation error, resulting in a huge gap between the actual coal storage quantity in the coal storage yard and the book data, thus making it impossible to accurately count the coal quantity in the coal mine. Summary of the Invention

[0003] The main object of the present application is to provide a coal storage quantity determination system, a control method for the coal storage quantity determination system, a control device for the coal storage quantity determination system, and a computer-readable storage medium, so as to at least solve the problem that the coal quantity in the coal mine cannot be accurately counted in the prior art.

[0004] To achieve the above object, according to one aspect of the present application, a coal storage quantity determination system is provided, including: a coal storage area for storing coal to form a coal pile; a laser scanner for scanning the coal storage area and collecting point cloud data of the coal storage area; a processor for determining the coal quantity of the coal pile in the coal storage area according to the point cloud data of the coal storage area.

[0005] Optionally, the coal storage quantity determination system further includes: a stacker-reclaimer including a stacking boom and a reclaiming boom; a first laser scanner located at the material dropping port of the stacking boom, the first laser scanner being used for scanning a first coal storage area and collecting the point cloud data of the first coal storage area, the first coal storage area being the coal storage area centered on the material dropping port of the stacking boom; a second laser scanner located on the gantry platform of the reclaiming boom, the second laser scanner being used for scanning a second coal storage area and collecting the point cloud data of the second coal storage area, the second coal storage area being the coal storage area centered on the gantry platform of the reclaiming boom.

[0006] Optionally, the coal storage quantity determination system further includes: a first angle acquisition device located on the stacking boom, the first angle acquisition device being used for acquiring first angle data of the stacking boom; a second angle acquisition device located on the reclaiming boom, the second angle acquisition device being used for acquiring second angle data of the reclaiming boom.

[0007] Optionally, the coal storage amount determination system further includes: a third laser scanner located at the dome of the coal storage area, where the third laser scanner is configured to scan the third coal storage area and collect the point cloud data of the third coal storage area, and the third coal storage area is the coal storage area centered on the dome of the coal storage area.

[0008] According to another aspect of the present application, there is provided a control method for any one of the coal storage amount determination systems, the method including: acquiring the point cloud data of the coal storage area collected by the laser scanner; determining the volume and density of the coal pile according to the point cloud data of the coal storage area, where the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data; calculating the product of the volume and the density to obtain the coal amount of the coal pile.

[0009] Optionally, the coal storage amount determination system includes a first laser scanner, a second laser scanner, and a third laser scanner. The first laser scanner is located at the material dropping port of the stacking arm, and the first laser scanner is configured to scan the first coal storage area and collect the point cloud data of the first coal storage area. The second laser scanner is located on the gantry platform of the reclaiming arm, and the second laser scanner is configured to scan the second coal storage area and collect the point cloud data of the second coal storage area. The third laser scanner is located at the dome of the coal storage area, and the third laser scanner is configured to scan the third coal storage area and collect the point cloud data of the third coal storage area. Before determining the volume and density of the coal pile according to the point cloud data of the coal storage area, the method further includes: constructing a first point cloud coordinate system according to the point cloud data of the first coal storage area, where the coordinate origin of the first point cloud coordinate system is the material dropping port of the stacking arm; constructing a second point cloud coordinate system according to the point cloud data of the second coal storage area, where the coordinate origin of the second point cloud coordinate system is the gantry platform of the reclaiming arm; constructing a third point cloud coordinate system according to the point cloud data of the third coal storage area, where the coordinate origin of the third point cloud coordinate system is the third laser scanner; performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to a coordinate transformation algorithm to obtain a target coordinate system, where the coordinate transformation algorithm is a Cartesian coordinate transformation algorithm and / or a polar coordinate transformation algorithm.

[0010] Optionally, after performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain a target coordinate system, the method further includes: performing denoising processing on the point cloud data in the target coordinate system by using a discrete point averaging processing algorithm to obtain a denoised target coordinate system.

[0011] Optionally, the coal storage amount determination system further includes a first angle acquisition device and a second angle acquisition device. The first angle acquisition device is located on the stacking arm, and the first angle acquisition device is used to acquire first angle data of the stacking arm. The second angle acquisition device is located on the reclaiming arm, and the second angle acquisition device is used to acquire second angle data of the reclaiming arm. Before obtaining the point cloud data of the coal storage area collected by the laser scanner, the method further includes: controlling the stacking arm to pause operation when the first angle data is greater than or equal to a first angle threshold; controlling the reclaiming arm to pause operation when the second angle data is greater than or equal to a second angle threshold.

[0012] According to another aspect of the present application, there is provided a control device for any one of the coal storage amount determination systems. The device includes: an acquisition unit for acquiring the point cloud data of the coal storage area collected by the laser scanner; a determination unit for determining the volume and density of the coal pile according to the point cloud data of the coal storage area, wherein the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data; a calculation unit for calculating the product of the volume and the density to obtain the coal amount of the coal pile.

[0013] According to another aspect of the present application, there is provided a computer-readable storage medium. The computer-readable storage medium includes a stored program. When the program runs, it controls the device where the computer-readable storage medium is located to execute the control method of any one of the coal storage amount determination systems.

[0014] Applying the technical solution of the present application, by installing a laser scanner in the dome coal storage yard, the coal pile stored in the dome coal storage yard can be laser scanned, so that three-dimensional point cloud data can be obtained. Furthermore, the coal amount can be calculated according to the three-dimensional point cloud data, without the need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, with a large amount of point cloud information, which is more refined in details, so that a relatively accurate coal amount of the coal mine can be obtained. Description of the Drawings

[0015] The specification drawings constituting a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0016] Figure 1 Shows a schematic structural diagram of a coal storage amount determination system provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram showing the installation positions of various devices in the coal storage amount determination system;

[0018] Figure 3 A hardware structure block diagram of a mobile terminal showing a control method for implementing a coal storage amount determination system according to an embodiment of the present application;

[0019] Figure 4 A schematic flow diagram showing a control method for a coal storage amount determination system according to an embodiment of the present application;

[0020] Figure 5 A schematic diagram of the coordinate system before coordinate transformation;

[0021] Figure 6 A schematic diagram of the target coordinate system after coordinate transformation;

[0022] Figure 7 A schematic diagram of the planar point cloud before homogenization processing;

[0023] Figure 8 A schematic diagram of the three-dimensional point cloud before homogenization processing;

[0024] Figure 9 A schematic diagram of the planar point cloud after homogenization processing;

[0025] Figure 10 A schematic diagram of the three-dimensional point cloud after homogenization processing;

[0026] Figure 11 A structure block diagram of a control device for a coal storage amount determination system according to an embodiment of the present application.

[0027] Among them, the above-mentioned drawings include the following reference numerals:

[0028] 10, coal storage area; 11, stacker-reclaimer; 12, first laser scanner; 13, second laser scanner; 14, first angle acquisition device; 15, second angle acquisition device; 16, third laser scanner; 17, first communication device; 18, second communication device; 19, central switch; 20, point cloud processing server; 21, panoramic display client; 102, processor; 104, memory; 106, transmission device; 108, input / output device. Detailed implementation manners

[0029] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0030] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to implement the embodiments of this application described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0032] In the past, the coal storage volume in the dome storage coal yard was calculated by using an in-out belt scale or manual estimation method. However, this method has a large calculation error, resulting in a huge gap between the actual coal storage volume in the coal yard and the book data. With the continuous change of the current coal price and the continuous improvement of the refined management of coal mines, the requirements for the accuracy and real-time accurate statistics of the data in the coal yard are very prominent. Therefore, a scientific and accurate coal yard inventory measurement system is urgently needed to complete the measurement of the coal yard inventory.

[0033] Currently, the common three-dimensional real-time laser modeling methods for large bulk material yards mainly include: handheld portable laser measurement method, fixed laser measurement method, and unmanned aerial vehicle photogrammetry method.

[0034] Handheld portable laser measurement method: The measurement personnel use a laser rangefinder and, through manual point marking, during the use process, the measurement personnel hold the laser measurement device and walk around the material yard for one week. During the walking process, the coal pile is scanned by the laser measurement device, and the scanning result is sent to the handheld terminal. After the scanning is completed, the measurement modeling is completed through the handheld terminal.

[0035] Fixed laser measurement method: The laser measurement device is installed on the coal yard stacker-reclaimer. During the measurement, the stacker-reclaimer driver needs to be notified to move the stacker-reclaimer equipment according to the measurement requirements to complete the laser scanning of the material yard. During the scanning process, the contour data of the material pile is sent to the three-dimensional material yard data processing terminal, and after the scanning is completed, three-dimensional scanning modeling is performed through the background.

[0036] UAV Photogrammetry Method: After a UAV carrying a camera flies over the coal yard for one circle, the coal yard photos are processed by photogrammetry, and the photo data is converted into point cloud data according to the gray-scale processing algorithm, so as to calculate the volume of the coal yard.

[0037] The above measurement methods have certain defects and disadvantages in terms of on-site use environment, measurement integrity, measurement time, and use convenience, which are mainly manifested in:

[0038] Handheld Portable Laser Measurement Method: The amount of point cloud data measured is small, generally about 1000 - 2000 points, the measurement time is relatively long, and it generally takes 1 - 2 hours to complete for a single coal yard. The error is also relatively large in terms of accuracy, and it is currently only used in small bulk material yards.

[0039] Fixed Laser Measurement Method: The amount of point cloud data measured is relatively large, but it needs to rely on the movement of the bucket wheel machine, and the measurement conditions are limited. At the same time, because it is installed on the bucket wheel machine, there are measurement blind spots during the measurement process of the entire coal yard.

[0040] UAV Photogrammetry Method: There are almost no inventory blind spots, and the amount of collected point cloud data is large. However, the inventory is greatly affected by light factors, and there are problems in photo processing in case of wind, rain, cloudy days or at night. In addition, although the measurement time of photogrammetry is reduced, the photo processing speed takes a certain amount of time and the measurement results cannot be output immediately.

[0041] As introduced in the background technology, the problem that the coal quantity in coal mines cannot be accurately counted in the prior art. To solve the above problems, the embodiments of the present application provide a coal storage quantity determination system, a control method of the coal storage quantity determination system, a control device of the coal storage quantity determination system, and a computer-readable storage medium.

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0043] The present application provides a coal storage quantity determination system, as Figure 1 and Figure 2 shown, including:

[0044] A coal storage area 10 for storing coal to form a coal pile;

[0045] A laser scanner for scanning the above coal storage area and collecting the point cloud data of the above coal storage area;

[0046] A processor for determining the coal quantity of the coal pile in the above coal storage area according to the above point cloud data of the above coal storage area.

[0047] In this system, by installing a laser scanner in the dome-shaped coal storage yard, the coal piles stored in the dome-shaped coal storage yard can be laser scanned, so as to obtain three-dimensional point cloud data. Then, the coal quantity can be calculated based on the three-dimensional point cloud data, without the need to use a belt scale, let alone manual estimation. Compared with the methods of using a belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, with a large amount of point cloud information, being more refined in details, so that a relatively accurate coal quantity of the coal mine can be obtained.

[0048] In the specific implementation process, as Figure 1 and Figure 2 shown, the above coal storage quantity determination system further includes a stacker-reclaimer 11, a first laser scanner 12 and a second laser scanner 13. The stacker-reclaimer includes a stacking boom and a reclaiming boom; the first laser scanner is located at the discharge opening of the stacking boom, and the first laser scanner is used to scan the first coal storage area and collect the point cloud data of the first coal storage area. The first coal storage area is the coal storage area centered on the discharge opening of the stacking boom; the second laser scanner is located on the gantry platform of the reclaiming boom, and the second laser scanner is used to scan the second coal storage area and collect the point cloud data of the second coal storage area. The second coal storage area is the coal storage area centered on the gantry platform of the reclaiming boom.

[0049] In this solution, the first laser scanner can be installed at the position of the discharge opening at the front end of the stacking boom, so as to obtain the point cloud data of a partial coal storage area centered on the position of the discharge opening at the front end of the stacking boom, that is, obtain the point cloud data of the stacked coal pile. The second laser scanner can be installed on the gantry platform of the reclaiming boom, so as to obtain the point cloud data of a partial coal storage area centered on the gantry platform of the reclaiming boom, that is, obtain the point cloud data of the reclaimed coal pile. Thus, the coal quantity of the coal piles in the entire coal storage area can be determined subsequently, avoiding the existence of blind spots.

[0050] To ensure the normal operation of the stacker-reclaimer and avoid abnormal working conditions, as Figure 1 and Figure 2 shown, the above coal storage quantity determination system further includes a first angle acquisition device 14 and a second angle acquisition device 15. The first angle acquisition device is located on the stacking boom, and the first angle acquisition device is used to acquire the first angle data of the stacking boom; the second angle acquisition device is located on the reclaiming boom, and the second angle acquisition device is used to acquire the second angle data of the reclaiming boom.

[0051] In this solution, the first angle acquisition device can be installed on the stacking arm. By using a gear transmission method to engage with the rotation mechanism of the stacking arm, the real-time angle information of the stacking arm can be obtained. The second angle acquisition device can be installed on the reclaiming arm and move synchronously with the travel wheel to obtain the current real-time rotation angle of the reclaiming arm. In this way, the stacker-reclaimer can be controlled based on the angle data subsequently.

[0052] Both the first angle acquisition device and the second angle acquisition device can be position encoders.

[0053] A position encoder is a device used to measure and record the position of rotational or linear motion. The position encoder can be one or more of an optical encoder, a magnetic encoder, a rotary encoder, and a linear encoder. An optical encoder uses optical principles to measure the motion position, including an incremental optical encoder and an absolute optical encoder. A magnetic encoder uses magnetic principles to measure the motion position, including an incremental magnetic encoder and an absolute magnetic encoder. A rotary encoder is used to measure the position of rotational motion, including an absolute rotary encoder and an incremental rotary encoder. A linear encoder is used to measure the position of linear motion, including a linear incremental encoder and a linear absolute encoder.

[0054] For the angle data of the reclaiming arm and the stacking arm, it can be obtained through the following methods:

[0055] Using a rotary encoder: Install a rotary encoder on the reclaiming arm and the stacking arm, and obtain the rotational angle data by reading the output signal of the encoder.

[0056] Using an angle sensor: Install an angle sensor (such as an inclinometer or a gyroscope) to measure the angles of the reclaiming arm and the stacking arm, thereby obtaining the angle data.

[0057] Using a joint position sensor: Install a position sensor at the joints of the reclaiming arm and the stacking arm, and derive the angle data by measuring the joint positions.

[0058] In some embodiments, such as Figure 1 and Figure 2 As shown, the above coal storage quantity determination system further includes a third laser scanner 16. The third laser scanner is located at the dome of the above coal storage area. The third laser scanner is used to scan the third coal storage area and collect the above point cloud data of the third coal storage area. The third coal storage area is the above coal storage area centered on the above dome of the above coal storage area.

[0059] In this solution, the third laser scanner can be installed at the dome of the coal storage area and evenly distributed at the top of the roadway through a pan-tilt, so as to realize the real-time scanning function of the stockpile under the dome. In this way, the point cloud data of part of the coal storage area centered on the dome can be obtained, and then the coal quantity of the coal piles in the entire coal storage area can be determined later, avoiding the existence of blind spots.

[0060] Specifically, if only the scanner at the position of the coal fetching arm or the coal stacking arm of the stacker-reclaimer is used to obtain the point cloud data, there may be blind spots. And if only the scanner at the dome position is used to obtain the point cloud data, there may also be blind spots, such as being blocked by the coal fetching machine. Therefore, multiple laser scanners can be used to obtain the point cloud data of multiple areas.

[0061] Of course, because the belt conveyor at the coal fetching arm is relatively long, multiple laser scanners can also be installed at the dome above the coal fetching arm.

[0062] Specifically, as Figure 1 shown, the coal storage quantity determination system further includes a first communication device 17, a second communication device 18, a central switch 19, a point cloud processing server 20, and a panoramic display client 21. The first communication device and the second communication device are hardware devices for transmitting and receiving information, such as routers, switches, modems, etc. The first communication device and the second communication device are used to transmit data in the network and provide network connection and communication functions. The central switch refers to a switch used to connect multiple network devices in a computer network, usually located at the core of the network. The central switch is used to process the forwarding and routing of network traffic to ensure that data can be transmitted from the source device to the target device and is the core hub of the network. The point cloud processing server refers to a server used to process large-scale point cloud data. A point cloud is a three-dimensional data model composed of a large number of discrete points, used to represent the shape and structure of an object. The point cloud processing server can perform operations such as storage, processing, analysis, and visualization of point cloud data. The panoramic display client refers to an application program or device for displaying and browsing panoramic images or panoramic videos. The panoramic display client can provide an interactive panoramic experience, allowing users to feel an immersive visual effect, and can be used in virtual reality (VR) applications, games, tourism and other fields to provide an immersive visual experience.

[0063] Specifically, in this solution, the multi-point three-dimensional real-time laser modeling system for the open-pit dome silo yard realizes the full-coverage scanning of the stockpiles within the coverage of the stored coal in the silo by installing laser scanners and angle acquisition devices on the coal stacking arm and the coal fetching arm of the stacker-reclaimer in the circular coal yard, and installing fixed-point laser scanners on the roadway at the top of the dome silo. Finally, through background processing, the scanning results are spliced, imaged, modeled, and data analyzed to realize the calculation and publishing functions of the real-time stored coal quantity in the dome silo.

[0064] The method embodiments provided in the embodiments of the present application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 3 is a hardware structural block diagram of a mobile terminal for a control method of a coal storage amount determination system according to an embodiment of the present invention. As Figure 3 shown, the mobile terminal may include one or more ( Figure 3 only one is shown in the figure) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Among them, the above mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 3 the structure shown in the figure is only schematic and does not limit the structure of the above mobile terminal. For example, the mobile terminal may further include more or fewer components than Figure 3 shown in the figure, or have a different configuration from Figure 3 shown in the figure.

[0065] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiments of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories may be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (Radio Frequency, abbreviated as RF) module, which is used to communicate with the Internet wirelessly.

[0066] In this embodiment, a control method for a coal storage amount determination system running on a mobile terminal, a computer terminal, or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0067] Figure 4 It is a schematic flowchart of a control method for a coal storage amount determination system according to an embodiment of the present application. As Figure 4 shown, the method includes the following steps:

[0068] Step S201, obtaining the point cloud data of the coal storage area collected by the above laser scanner;

[0069] Specifically, multiple laser scanners are installed in the coal storage area, and the point cloud data of the coal storage area can be obtained by scanning with the laser scanner.

[0070] Step S202, determining the volume and density of the coal pile according to the point cloud data of the coal storage area, wherein the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data;

[0071] Specifically, after obtaining the point cloud data, three-dimensional modeling can be performed through the point cloud data, and any currently feasible three-dimensional modeling software can be used for modeling to obtain a three-dimensional virtual coal pile, and then the volume and density of the coal pile can be directly determined through the three-dimensional modeling software.

[0072] Step S203, calculating the product of the volume and the density to obtain the coal amount of the coal pile.

[0073] Specifically, after obtaining the volume and density of the coal pile, the product of the volume and density can be calculated, and then a more accurate coal amount of the coal pile can be obtained.

[0074] Through this embodiment, by installing a laser scanner in the dome coal storage yard, the coal pile stored in the dome coal storage yard can be laser scanned, so that three-dimensional point cloud data can be obtained. Then, the coal amount can be calculated according to the three-dimensional point cloud data, without the need to use a belt scale and even less the need for manual estimation. Compared with the methods of using a belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

[0075] Specifically, in this solution, by establishing various installation and measurement methods of laser scanning devices in the coal yard, the rapid, automatic, and accurate three-dimensional scanning and modeling of the coal yard are realized in an automated manner, and finally the requirements of coal yard inventory and digital coal yard management are accurately completed.

[0076] Specifically, the purpose of this solution is to establish a set of rapid and accurate multi-point three-dimensional real-time laser measurement systems in the circular dome warehouse of the coal mine, and use the automated, full-coverage, and precise measurement functions of the system to realize the real-time and accurate statistical function of the coal storage information in the circular dome warehouse. At the same time, the reserved interface is used to provide the real-time three-dimensional information display function of the dome warehouse for the intelligent mine system.

[0077] The coal storage quantity determination system includes multiple laser scanners, which are installed in different places and each has its own structure. During the laser scanning process, each laser scanner calculates the measurement distance with itself as the coordinate center, so there will be multiple independent point cloud coordinate systems. Since the three-dimensional modeling of the coal yard needs to be established in a unified coordinate system, it is necessary to perform coordinate transformation on multiple independent three-dimensional coordinate systems. In the specific implementation process, the above-mentioned coal storage quantity determination system includes a first laser scanner, a second laser scanner, and a third laser scanner. The first laser scanner is located at the material dropping port of the stacking arm, and the first laser scanner is used to scan the first coal storage area and collect the point cloud data of the first coal storage area. The second laser scanner is located on the gantry platform of the reclaiming arm, and the second laser scanner is used to scan the second coal storage area and collect the point cloud data of the second coal storage area. The third laser scanner is located at the dome of the coal storage area, and the third laser scanner is used to scan the third coal storage area and collect the point cloud data of the third coal storage area. Before determining the volume and density of the coal pile based on the point cloud data of the coal storage area, the above method further includes the following steps: constructing a first point cloud coordinate system based on the point cloud data of the first coal storage area, where the coordinate origin of the first point cloud coordinate system is the material dropping port of the stacking arm; constructing a second point cloud coordinate system based on the point cloud data of the second coal storage area, where the coordinate origin of the second point cloud coordinate system is the gantry platform of the reclaiming arm; constructing a third point cloud coordinate system based on the point cloud data of the third coal storage area, where the coordinate origin of the third point cloud coordinate system is the third laser scanner; performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain the target coordinate system, where the coordinate transformation algorithm is the Cartesian coordinate transformation algorithm and / or the polar coordinate transformation algorithm.

[0078] In this solution, the rotation center of the stacker-reclaimer can be used as the coordinate origin, and a coordinate transformation algorithm can be adopted to transform multiple independent point cloud coordinate systems to obtain the final unified target coordinate system, thereby meeting the requirements of coal yard modeling.

[0079] Specifically, a reference coordinate system can be selected, which is usually a known or predefined coordinate system. Then, the coordinate transformation parameters between each coordinate system are collected, such as rotation matrices, translation vectors, scaling factors, etc. The coordinates of other coordinate systems are transformed into the coordinates of the reference coordinate system using the selected algorithm (such as Euler angles, quaternions, axis rotation, etc.). This involves transformations such as rotating, translating, and scaling the coordinates. If there are multiple coordinate transformation steps, they can be combined in sequence to obtain the final coordinate transformation matrix or parameters. The coordinates of the points or objects that need to be transformed into the standard coordinate system are applied to the obtained coordinate transformation matrix or parameters to transform them into the standard coordinate system.

[0080] Unifying multiple different coordinate systems into a standard coordinate system can achieve the consistency and unity of coordinates. Through coordinate transformation, the data of multiple different coordinate systems can be unified into the standard coordinate system, facilitating data processing and analysis. The standard coordinate system can provide a unified interface and standardized data format, enabling data exchange and sharing between different systems. Through coordinate transformation, the errors and inconsistencies between coordinate systems can be eliminated, improving the accuracy and precision of data. Transforming multiple coordinate systems into the standard coordinate system can facilitate visualization and analysis, helping to understand and interpret the data.

[0081] Specifically, as Figure 5 shown, before the laser coordinate transformation, the center (O) of the laser scanning device (laser scanner) emits a laser beam to the measured points on the coal pile to be measured. Through the background three-dimensional modeling system, the measured points are transformed into a three-dimensional coordinate system, forming a spatial three-dimensional coordinate point P. The planar projection distance (p), angle (θ), and height information (z) of the measured point in the coordinate system. In this system, each scanning device will form its own independent point cloud, and the effect presented in the coordinate system is chaotic and the required stockpile graphics cannot be distinguished.

[0082] Specifically, a reference coordinate system can be established in the point cloud coordinate transformation. In this solution, a spherical space coordinate system is established with the center origin of the stacker-reclaimer as the coordinate origin and the reference plane of the circular coal yard as the coordinate plane. By transforming the coordinate positions (P) of each laser scanning device measured relative to this spherical space coordinate system into the same coordinate system, (x, y, z) coordinate transformation is performed according to the offset of each laser scanning device relative to this spherical coordinate, forming the spatial position M of the point cloud data in the spherical coordinate. The transformation relationship is as Figure 6As shown, after the point cloud coordinate transformation, the graphs scanned by all laser scanning devices are processed in a common coordinate system to form a relatively complete point cloud graph, which can be used for 3D modeling of the stockyard.

[0083] To remove the noise points in the target coordinate system, after performing coordinate transformation on the above-mentioned first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain the target coordinate system, the method further includes the following steps: using the discrete point averaging processing algorithm to perform denoising processing on the point cloud data in the target coordinate system to obtain the target coordinate system after denoising processing.

[0084] In this solution, through the discrete point averaging processing algorithm, the messy point cloud data in multiple coordinate systems can be gridded to achieve the function of removing noise points, thereby ensuring that the coal mine modeling requirements can be met.

[0085] Specifically, after the 3D point cloud stitching and transformation, due to equipment installation errors and vibration problems during the equipment scanning process in the graph, there are still many noise points to be processed in the transformed point cloud coordinates. By using the regular grid DEM data model to organize the laser measurement data, the 3D image can be automatically corrected and denoised, and obvious noise data and error data can be automatically filtered to form intuitive, smooth, and complete model data. The regular grid DEM data model has the advantages of regular data arrangement, simple structure, good real-time performance for calculating the elevation value of each point, being able to fully represent the detailed changes in elevation, simple topological relationship, and easy algorithm implementation. In addition, the grid interval of the DEM data of the normalized grid can be adjusted to adapt to the accuracy and calculation efficiency required on site.

[0086] The discrete measurement point data distributed in a plane can be gridded through the grid normalization processing of discrete data, as Figure 7 and Figure 8 shown. According to the plane coordinates P(x, y) given in the system, using the adjacent known discrete measurement points as reference points, the elevation of point P is calculated. Since the data density collected by the laser is large, the weighted average algorithm is used to calculate the elevation of point P in this solution. The idea of this algorithm is to average the heights z of the points distributed in the same grid, and it is stipulated that the (x, y) coordinates of the grid points are the center of each grid. By reasonably determining the size of the grid, the grid can be enlarged as much as possible without affecting the accuracy, which can improve the calculation efficiency, achieve a balance between calculation time and accuracy, and at the same time reduce the influence of jitter on the data, as Figure 9 and Figure 10 shown.

[0087] In some embodiments, the above coal storage amount determination system further includes a first angle acquisition device and a second angle acquisition device. The first angle acquisition device is located on the stacking arm, and the first angle acquisition device is used to acquire the first angle data of the stacking arm. The second angle acquisition device is located on the reclaiming arm, and the second angle acquisition device is used to acquire the second angle data of the reclaiming arm. Before obtaining the point cloud data of the coal storage area collected by the above laser scanner, the above method further includes the following steps: when the above first angle data is greater than or equal to a first angle threshold, control the stacking arm to pause working; when the above second angle data is greater than or equal to a second angle threshold, control the reclaiming arm to pause working.

[0088] In this solution, whether it is the stacking arm or the reclaiming arm, there are cables covering them. If the rotation angle is too large, the pulling amount of the cable on the stacking arm or the cable on the reclaiming arm will be too large, which will cause the cable to break. Therefore, if the rotation angle is too large, the stacking arm or the reclaiming arm can be controlled to pause working to ensure the normal operation of the stacker-reclaimer.

[0089] Specifically, the stacking arm or the reclaiming arm may collide with surrounding objects or equipment, resulting in damage or accidents, which may affect the balance of the stacker-reclaimer and cause tilting or collapse. The threshold value of the rotation angle of the stacking arm or the reclaiming arm can be determined, and when the rotation angle exceeds this threshold value, the condition for pausing work is triggered. The first angle threshold can be 90°, 120° or 150°, and the second angle threshold can be 90°, 120° or 150°.

[0090] After completing the point cloud discretization processing, a complete three-dimensional model of the coal yard can be established through three-dimensional modeling software, and the model has various viewing modes, such as point cloud model, wireframe model, mesh model, terrain model, solid model, etc.

[0091] In addition, combined with the three-dimensional digital system, through the 3D effect presentation using the existing point cloud data, the change of the coal storage in the entire dome bin yard and the operation of the equipment can be displayed in real time in the system background, providing a data basis for the subsequent intelligent mine.

[0092] Through the implementation of the solution of this application, by using the multi-point laser measurement method, the full range and non-blind area coverage scanning of the circular dome bin is achieved, greatly improving the accuracy of the coal storage calculation in the circular dome bin yard, and providing effective data support for the refined management implementation of enterprise production accounting and profit calculation.

[0093] For conventional inventory checks of coal yards, inventory personnel need to go to the site every half month to perform manual operations to complete the measurement of the coal yard contour. After that, it is processed through processing software in the background to form a coal yard inventory report. Each inventory result takes one day and at least three personnel are required to participate to complete it. Through the implementation of the solution of this application, it is possible to conduct an inventory every 10 minutes and immediately complete the result calculation and graphic output functions, greatly saving time and labor costs.

[0094] The environment of the coal yard is harsh. Especially during the operation of the stacker-reclaimer, there are a large amount of dust and toxic and harmful gases. When using manual inventory, personnel do not need to enter the coal yard environment, which poses a great harm to the physical health of the participating personnel. Through the implementation of the solution of this application, the working environment of on-site personnel can be effectively improved, the physical and mental health of employees can be protected, and the social responsibility of the enterprise can be enhanced.

[0095] Through the implementation of the solution of this application, it provides reference experience for the construction of the enterprise's intelligent mine system in the later stage. As an important part of the construction of the intelligent mine, the digital management of the coal storage yard can also provide basic data guarantee.

[0096] The key link in the whole system is to install five sets of laser scanning devices in five places in the coal yard, each with its own motion mechanism. During the laser scanning process, the scanning devices calculate the measured distance with themselves as the coordinate center. Five independent point cloud coordinate systems will appear for the five laser scanning devices in the coal yard. Since the three-dimensional modeling of the coal yard needs to be established in a unified three-dimensional coordinate system, it is necessary to perform coordinate transformation on the five independent three-dimensional coordinate files. In this project, the rotation center of the stacker-reclaimer in the coal yard is used as the coordinate origin, and the polar coordinate method is adopted to realize the coordinate transformation of the five independent point cloud coordinate systems. After the transformation is completed, by using the homogenization algorithm of the discrete point cloud, the messy point cloud data in the five coordinate systems can be processed into a grid to achieve the function of removing noise points, and finally meet the requirements of coal yard modeling.

[0097] The embodiment of this application also provides a control device for a coal storage amount determination system. It should be noted that the control device of the coal storage amount determination system in the embodiment of this application can be used to execute the control method for the coal storage amount determination system provided in the embodiment of this application. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0098] The following introduces the control device for the coal storage amount determination system provided in the embodiment of this application.

[0099] Figure 11It is a structural block diagram of a control device of a coal storage amount determination system according to an embodiment of the present application. As Figure 11 shown, the device includes:

[0100] An acquisition unit 100, configured to acquire the point cloud data of the coal storage area collected by the above laser scanner;

[0101] A determination unit 200, configured to determine the volume of the coal pile and the density of the coal pile according to the point cloud data of the coal storage area, wherein the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data;

[0102] A calculation unit 300, configured to calculate the product of the volume and the density to obtain the coal amount of the coal pile.

[0103] Through this embodiment, by installing a laser scanner in the dome coal storage yard, the coal pile stored in the dome coal storage yard can be laser scanned, so that three-dimensional point cloud data can be obtained, and then the coal amount can be calculated according to the three-dimensional point cloud data. There is no need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of the object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

[0104] The coal storage quantity determination system includes multiple laser scanners, which are respectively installed in different places and have their own structures. During the laser scanning process, each laser scanner calculates the measured distance with itself as the coordinate center. As a result, there will be multiple independent point cloud coordinate systems. Since the 3D modeling of the coal yard needs to be established in a unified coordinate system, it is necessary to perform coordinate transformation on multiple independent 3D coordinate systems. In the specific implementation process, the above-mentioned coal storage quantity determination system includes a first laser scanner, a second laser scanner, and a third laser scanner. The first laser scanner is located at the material dropping port of the stacking arm. The first laser scanner is used to scan the first coal storage area and collect the point cloud data of the first coal storage area. The second laser scanner is located on the gantry platform of the reclaiming arm. The second laser scanner is used to scan the second coal storage area and collect the point cloud data of the second coal storage area. The third laser scanner is located at the dome of the coal storage area. The third laser scanner is used to scan the third coal storage area and collect the point cloud data of the third coal storage area. The device further includes a first construction unit, a second construction unit, a third construction unit, and a conversion unit. The first construction unit is used to construct a first point cloud coordinate system according to the point cloud data of the first coal storage area before determining the volume and density of the coal pile based on the point cloud data of the coal storage area. Among them, the coordinate origin of the first point cloud coordinate system is the material dropping port of the stacking arm. The second construction unit is used to construct a second point cloud coordinate system according to the point cloud data of the second coal storage area. Among them, the coordinate origin of the second point cloud coordinate system is the gantry platform of the reclaiming arm. The third construction unit is used to construct a third point cloud coordinate system according to the point cloud data of the third coal storage area. Among them, the coordinate origin of the third point cloud coordinate system is the third laser scanner. The conversion unit is used to perform coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain a target coordinate system. Among them, the coordinate transformation algorithm is a Cartesian coordinate transformation algorithm and / or a polar coordinate transformation algorithm.

[0105] In this solution, the rotation center of the stacker-reclaimer can be used as the coordinate origin, and the coordinate transformation algorithm is used to transform multiple independent point cloud coordinate systems to obtain the final unified target coordinate system, so as to meet the requirements of coal yard modeling.

[0106] To remove the noise points in the target coordinate system, the device further includes a denoising unit. The denoising unit is used to perform denoising processing on the point cloud data in the target coordinate system by using the discrete point averaging processing algorithm after performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain the target coordinate system, so as to obtain the denoised target coordinate system.

[0107] In this solution, through the discrete point averaging processing algorithm, the messy point cloud data in multiple coordinate systems can be gridded to achieve the function of removing noise points, thereby ensuring that the coal mine modeling requirements can be met.

[0108] In some embodiments, the above coal storage amount determination system further includes a first angle acquisition device and a second angle acquisition device. The first angle acquisition device is located on the stacking arm, and the first angle acquisition device is used to acquire the first angle data of the stacking arm. The second angle acquisition device is located on the reclaiming arm, and the second angle acquisition device is used to acquire the second angle data of the reclaiming arm. The device further includes a first control unit and a second control unit. The first control unit is used to control the stacking arm to pause working before obtaining the point cloud data of the coal storage area collected by the laser scanner when the first angle data is greater than or equal to a first angle threshold. The second control unit is used to control the reclaiming arm to pause working when the second angle data is greater than or equal to a second angle threshold.

[0109] In this solution, whether it is the stacking arm or the reclaiming arm, there are cables covering them. If the rotation angle is too large, the pulling amount of the cable on the stacking arm or the cable on the reclaiming arm will be too large, which will cause the cable to break. Therefore, if the rotation angle is too large, the stacking arm or the reclaiming arm can be controlled to pause working to ensure the normal operation of the stacker-reclaimer.

[0110] The control device of the above coal storage amount determination system includes a processor and a memory. The above acquisition unit, determination unit, calculation unit, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions. The above modules are all located in the same processor; or, the above modules are respectively located in different processors in any combination form.

[0111] The processor contains a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem that the coal amount of a coal mine cannot be accurately counted in the prior art can be solved.

[0112] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0113] An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute the control method of the coal storage amount determination system.

[0114] An embodiment of the present invention provides a processor, which is used to run a program. When the program runs, it executes the control method of the coal storage amount determination system.

[0115] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of the control method of the coal storage amount determination system. The device herein can be a server, a PC, a PAD, a mobile phone, etc.

[0116] The present application also provides a computer program product, which is suitable for executing a program initialized with at least the steps of the control method of the coal storage amount determination system when executed on a data processing device.

[0117] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. They can be implemented by program codes executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described herein can be executed in a different order, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module to implement. In this way, the present invention is not limited to any specific combination of hardware and software.

[0118] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0119] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementing in the process Figure 1 one process or multiple processes and / or blocks Figure 1means for the functions specified in one or more boxes.

[0120] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one Figure 1 one or more processes and / or boxes Figure 1 means for the functions specified in one or more boxes.

[0121] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one Figure 1 one or more processes and / or boxes Figure 1 means for the functions specified in one or more boxes.

[0122] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0123] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0124] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0125] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0126] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0127] 1), The coal storage amount determination system of the present application can perform laser scanning on the coal piles stored in the dome storage coal yard by installing a laser scanner in the dome storage coal yard, so as to obtain three-dimensional point cloud data, and then calculate the coal amount according to the three-dimensional point cloud data. There is no need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

[0128] 2), The control method of the coal storage amount determination system of the present application can perform laser scanning on the coal piles stored in the dome storage coal yard by installing a laser scanner in the dome storage coal yard, so as to obtain three-dimensional point cloud data, and then calculate the coal amount according to the three-dimensional point cloud data. There is no need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

[0129] 3), The control device of the coal storage amount determination system of the present application can perform laser scanning on the coal piles stored in the dome storage coal yard by installing a laser scanner in the dome storage coal yard, so as to obtain three-dimensional point cloud data, and then calculate the coal amount according to the three-dimensional point cloud data. There is no need to use a belt scale, let alone manual estimation. Compared with the methods of belt scale and manual estimation, the point cloud data can accurately represent the shape and boundary of an object, and there is a large amount of point cloud information, which is more refined in details, so that a more accurate coal amount of the coal mine can be obtained.

[0130] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a coal storage quantity determination system, characterized in that, The control method of the coal storage amount determination system is applied to the coal storage amount determination system. The coal storage amount determination system includes a coal storage area for storing coal to form a coal pile, and a laser scanner for scanning the coal storage area and collecting the point cloud data of the coal storage area. A processor for determining the coal amount of the coal pile in the coal storage area according to the point cloud data of the coal storage area. The method includes: Obtaining the point cloud data of the coal storage area collected by the laser scanner. Determining the volume and density of the coal pile according to the point cloud data of the coal storage area, where the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data. Calculating the product of the volume and the density to obtain the coal amount of the coal pile. The coal storage amount determination system further includes a first laser scanner, a second laser scanner, and a third laser scanner. The first laser scanner is located at the material dropping port of the stacking arm and is used to scan the first coal storage area and collect the point cloud data of the first coal storage area. The first coal storage area is the coal storage area centered on the material dropping port of the stacking arm. The second laser scanner is located on the gantry platform of the reclaiming arm and is used to scan the second coal storage area and collect the point cloud data of the second coal storage area. The second coal storage area is the coal storage area centered on the gantry platform of the reclaiming arm. The third laser scanner is located at the dome of the coal storage area and is used to scan the third coal storage area and collect the point cloud data of the third coal storage area. The third coal storage area is the coal storage area centered on the dome of the coal storage area. Before determining the volume and density of the coal pile according to the point cloud data of the coal storage area, the method further includes: Constructing a first point cloud coordinate system according to the point cloud data of the first coal storage area, where the coordinate origin of the first point cloud coordinate system is the material dropping port of the stacking arm. Constructing a second point cloud coordinate system according to the point cloud data of the second coal storage area, where the coordinate origin of the second point cloud coordinate system is the gantry platform of the reclaiming arm. Constructing a third point cloud coordinate system according to the point cloud data of the third coal storage area, where the coordinate origin of the third point cloud coordinate system is the third laser scanner. Performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to a coordinate transformation algorithm to obtain a target coordinate system, where the coordinate transformation algorithm is a Cartesian coordinate transformation algorithm and / or a polar coordinate transformation algorithm.

2. The method according to claim 1, wherein After performing coordinate transformation on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to the coordinate transformation algorithm to obtain a target coordinate system, the method further includes: Performing denoising processing on the point cloud data in the target coordinate system by using a discrete point averaging processing algorithm to obtain a denoised target coordinate system.

3. The method according to claim 1, characterized in that, The coal storage amount determination system further includes a first angle acquisition device and a second angle acquisition device. The first angle acquisition device is located on the stacking arm, and is used to acquire first angle data of the stacking arm. The second angle acquisition device is located on the reclaiming arm, and is used to acquire second angle data of the reclaiming arm. Before obtaining the point cloud data of the coal storage area collected by the laser scanner, the method further includes: When the first angle data is greater than or equal to a first angle threshold, controlling the stacking arm to pause operation; When the second angle data is greater than or equal to a second angle threshold, controlling the reclaiming arm to pause operation.

4. A control device for a coal storage quantity determination system, characterized in that The control device of the coal storage amount determination system is applied to the coal storage amount determination system. The coal storage amount determination system includes a coal storage area for storing coal to form a coal pile; a laser scanner for scanning the coal storage area and collecting point cloud data of the coal storage area; a processor for determining the coal amount of the coal pile in the coal storage area according to the point cloud data of the coal storage area. The control device includes: an acquisition unit for acquiring the point cloud data of the coal storage area collected by the laser scanner; a determination unit for determining the volume and density of the coal pile according to the point cloud data of the coal storage area, wherein the volume is positively correlated with the coverage range of the point cloud data, and the density is positively correlated with the density of the point cloud data; a calculation unit for calculating the product of the volume and the density to obtain the coal amount of the coal pile; The coal storage amount determination system further includes a first laser scanner, a second laser scanner, and a third laser scanner. The first laser scanner is located at the material dropping opening of the stacking arm. The first laser scanner is configured to scan a first coal storage area and collect the point cloud data of the first coal storage area. The first coal storage area is the coal storage area centered on the material dropping opening of the stacking arm. The second laser scanner is located on the gantry platform of the reclaiming arm. The second laser scanner is configured to scan a second coal storage area and collect the point cloud data of the second coal storage area. The second coal storage area is the coal storage area centered on the gantry platform of the reclaiming arm. The third laser scanner is located at the dome of the coal storage area. The third laser scanner is configured to scan a third coal storage area and collect the point cloud data of the third coal storage area. The third coal storage area is the coal storage area centered on the dome of the coal storage area. The control device further includes a first construction unit, a second construction unit, a third construction unit, and a conversion unit. The first construction unit is configured to construct a first point cloud coordinate system according to the point cloud data of the first coal storage area before determining the volume and density of the coal pile based on the point cloud data of the coal storage area. Wherein, the coordinate origin of the first point cloud coordinate system is the material dropping opening of the stacking arm; the second construction unit is configured to construct a second point cloud coordinate system according to the point cloud data of the second coal storage area. Wherein, the coordinate origin of the second point cloud coordinate system is the gantry platform of the reclaiming arm; the third construction unit is configured to construct a third point cloud coordinate system according to the point cloud data of the third coal storage area. Wherein, the coordinate origin of the third point cloud coordinate system is the third laser scanner; the conversion unit is configured to perform coordinate conversion on the first point cloud coordinate system, the second point cloud coordinate system, and the third point cloud coordinate system according to a coordinate conversion algorithm to obtain a target coordinate system. Wherein, the coordinate conversion algorithm is a Cartesian coordinate conversion algorithm and / or a polar coordinate conversion algorithm.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program. Wherein, when the program runs, it controls the device where the computer-readable storage medium is located to execute the control method of the coal storage amount determination system according to any one of claims 1 to 3.

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