Stockpile measuring system and stockpile measuring method

Abstract

The disclosed embodiments provide a stockpile measurement system and a stockpile measurement method. The stockpile measurement system includes: a guide rail, a rail car, a laser radar, a motion measurement component, and a control processing device; the guide rail is parallel to the stacking surface of the stacked materials, is arranged above the stacked materials and extends along the first direction of the stacked materials; the rail car is used to extend and move along the guide rail; the motion measurement component is arranged on the rail car, and is used to measure the motion information of the rail car; the laser radar is arranged on the rail car, and is used to scan the surface of the stacked materials as the rail car moves to obtain point cloud data; the control processing device is used to determine the volume of the stacked materials based on the motion information and the point cloud data.

Description

Technical Field

[0001] The invention relates to the field of information technology, and in particular to a stockpile measurement system and a stockpile measurement method. Background Art

[0002] Some minerals, such as coal, are usually stored in stockpiles in stockpiles, forming coal piles and other stockpiles in the stockpiles. Stockpiles usually occupy a large area, are large in size, and have irregular shapes. With the refinement of industrial and mining enterprise management, it has become an urgent need to timely understand the changes in the volume and weight of stockpiles. For example, the demand for cost reduction and efficiency improvement in steel mills is getting higher and higher, and coal panning has become an increasingly important link in power generation companies. The use of coal is directly related to the economic indicators of steel mills, and the real-time and high-precision measurement of coal pile volume has become the goal pursued by everyone. Therefore, how to conveniently and timely determine the volume of the stockpile is an urgent problem to be solved. Summary of the invention

[0003] In view of this, embodiments of the present disclosure provide a stockpile measurement system and a stockpile measurement method.

[0004] According to a first aspect of an embodiment of the present disclosure, a stockpile measurement system is proposed, the stockpile measurement system comprising: a guide rail, a rail car, a laser radar, a motion measurement component, and a control processing device;

[0005] The guide rail is parallel to the stacking surface of the stacked materials, is arranged above the stacked materials and extends along a first direction of stacking the stacked materials;

[0006] The rail vehicle is used to extend and move along the guide rail;

[0007] The motion measurement component is arranged on the rail vehicle and is used to measure the motion information of the rail vehicle;

[0008] The laser radar is arranged on the rail vehicle and is used to scan the surface of the pile as the rail vehicle moves to obtain point cloud data;

[0009] The control processing device is used to determine the volume of the stockpile according to the motion information and the point cloud data.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, the control processing device is specifically used to:

[0011] Determining, according to the motion information, the position and posture information of the rail vehicle at each scanning moment during the scanning process;

[0012] Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment;

[0013] The volume of the stockpile is determined according to the three-dimensional contour information.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, the control processing device is specifically used to:

[0015] Determine the cross-sectional areas corresponding to N cross-sections of the three-dimensional profile of the stockpile, respectively, wherein the N cross-sections are spaced apart by a predetermined interval along the first direction, and N is an integer greater than or equal to 1;

[0016] The volume of the stockpile is determined based on the cross-sectional areas respectively corresponding to the N cross-sections and the predetermined spacing distance.

[0017] In combination with some embodiments of the first aspect, in some embodiments, the three-dimensional contour information is used to indicate the coordinates of a point cloud constituting the three-dimensional contour of the stockpile;

[0018] The control processing device is further used for at least one of the following:

[0019] Removing point clouds outside a predetermined coordinate range in the three-dimensional contour information;

[0020] Using a search plane parallel to the stacking surface as a search unit to search for a point cloud of the three-dimensional contour of the stockpile, determining that a first statistical value of a first coordinate value in a second direction of a point cloud associated with a current search plane is greater than a first threshold, and removing the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface;

[0021] filtering the point cloud constituting the three-dimensional contour of the stockpile;

[0022] The coordinates of the void defect cloud are determined according to the linear interpolation results of the coordinates of a plurality of point clouds within a predetermined range of the void defect cloud in the three-dimensional contour of the stockpile.

[0023] In conjunction with some embodiments of the first aspect, in some embodiments, the control processing device is specifically used to:

[0024] Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material;

[0025] The coordinate value of the point cloud associated with the previous filtering plane in the second direction is determined by using the calculation result of the second coordinate value of the point cloud associated with the current filtering plane in the second direction.

[0026] In conjunction with some embodiments of the first aspect, in some embodiments, the control processing device is specifically used to:

[0027] The calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane,

[0028] The first point cloud includes:

[0029] The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane,

[0030] The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

[0031] In conjunction with some embodiments of the first aspect, in some embodiments, the control processing device includes a control unit disposed on the rail vehicle and a processing unit disposed on the ground;

[0032] The control unit is used for at least one of the following:

[0033] controlling the movement of the rail vehicle based on control information from the processing unit;

[0034] The acquired motion information and the point cloud data are sent to the processing unit through a communication connection between the control unit and the processing unit;

[0035] The control unit is used to determine the volume of the stockpile based on the motion information and the point cloud data.

[0036] According to a second aspect of an embodiment of the present disclosure, a method for measuring a stockpile is provided, the method comprising:

[0037] Acquiring motion information and point cloud data, wherein the point cloud data is obtained by scanning the surface of the pile of materials by a laser radar installed on the rail vehicle as the rail vehicle moves along the guide rail; the guide rail is parallel to the stacking surface of the pile of materials, is installed above the pile of materials and extends along the first direction of the stacking of the materials; the motion information is obtained by measuring the motion of the rail vehicle by a motion measurement component installed on the rail vehicle;

[0038] The volume of the stockpile is determined according to the motion information and the point cloud data.

[0039] In conjunction with some embodiments of the second aspect, in some embodiments, determining the volume of the pile according to the motion information and the point cloud data includes:

[0040] Determining, according to the motion information, the position and posture information of the rail vehicle at each scanning moment during the scanning process;

[0041] Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment;

[0042] The volume of the stockpile is determined according to the three-dimensional contour information.

[0043] In conjunction with some embodiments of the second aspect, in some embodiments, determining the volume of the pile according to the three-dimensional contour information includes:

[0044] Determine the cross-sectional areas corresponding to N cross-sections of the three-dimensional profile of the stockpile, respectively, wherein the N cross-sections are spaced apart by a predetermined interval along the first direction, and N is an integer greater than or equal to 1;

[0045] The volume of the stockpile is determined based on the cross-sectional areas respectively corresponding to the N cross-sections and the predetermined spacing distance.

[0046] In conjunction with some embodiments of the second aspect, in some embodiments, the three-dimensional contour information is used to indicate the coordinates of a point cloud constituting the three-dimensional contour of the stockpile;

[0047] The method further comprises at least one of the following:

[0048] Removing point clouds outside a predetermined coordinate range in the three-dimensional contour information;

[0049] Using a search plane parallel to the stacking surface as a search unit to search for a point cloud of the three-dimensional contour of the stockpile, determining that a first statistical value of a first coordinate value in a second direction of a point cloud associated with a current search plane is greater than a first threshold, and removing the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface;

[0050] filtering the point cloud constituting the three-dimensional contour of the stockpile;

[0051] The coordinates of the void defect cloud are determined according to the linear interpolation results of the coordinates of a plurality of point clouds within a predetermined range of the void defect cloud in the three-dimensional contour of the stockpile.

[0052] In conjunction with some embodiments of the second aspect, in some embodiments, filtering the point cloud constituting the three-dimensional contour of the pile includes:

[0053] Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material;

[0054] The coordinate value of the point cloud associated with the previous filtering plane in the second direction is determined by using the calculation result of the second coordinate value of the point cloud associated with the current filtering plane in the second direction.

[0055] In conjunction with some embodiments of the second aspect, in some embodiments, the calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane;

[0056] The first point cloud includes:

[0057] The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane,

[0058] The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

[0059] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, wherein the electronic device includes:

[0060] one or more processors;

[0061] The processor is used to call instructions so that the electronic device executes the pile material measurement method described in the first aspect.

[0062] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, wherein the storage medium stores instructions, and when the instructions are executed on a communication device, the communication device executes the stockpile measurement method described in the second aspect.

[0063] The stockpile measurement system provided by the embodiment of the present disclosure includes: a guide rail, a rail car, a laser radar, a motion measurement component, and a control processing device; the guide rail is parallel to the stacking surface of the stacked stock, is arranged above the stockpile and extends along the first direction of the stockpile; the rail car is used to extend and move along the guide rail; the motion measurement component is arranged on the rail car, and is used to measure the motion information of the rail car; the laser radar is arranged on the rail car, and is used to scan the surface of the stockpile as the rail car moves to obtain point cloud data; the control processing device is used to determine the volume of the stockpile according to the motion information and the point cloud data. In this way, the stockpile is scanned by the laser radar carried by the rail car arranged above the stockpile, and then the volume of the stockpile is determined by the control processing device. On the one hand, the volume of the stockpile is determined by the scanning data of the laser radar, and then the weight of the stockpile can be determined, which is more convenient and flexible than weighing and other methods, and there is no need to move the stockpile. On the other hand, the rail car moves along the track, and the posture is relatively stable. The laser radar data obtained is more accurate, which can improve the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a structural schematic diagram of a stockpile measurement system according to an exemplary embodiment;

[0065] Figure 2 is a structural schematic diagram of a stockpile measurement system according to an exemplary embodiment;

[0066] Figure 3 is a schematic diagram of a three-dimensional outline of a pile of materials according to an exemplary embodiment;

[0067] Figure 4 is a schematic diagram of a three-dimensional outline of a pile of materials according to an exemplary embodiment;

[0068] Figure 5 is a schematic diagram of a three-dimensional contour slice of a pile according to an exemplary embodiment;

[0069] Figure 6 is a schematic flow chart of a method for measuring a stockpile according to an exemplary embodiment;

[0070] Figure 7 is a schematic flow chart of a method for measuring a stockpile according to an exemplary embodiment;

[0071] Figure 8 is a schematic flow chart of a method for measuring a stockpile according to an exemplary embodiment;

[0072] Fig. 9 is a schematic flow chart of a method for measuring a stockpile according to an exemplary embodiment;

[0073] Fig.10 is a schematic diagram of coal pile volume detection according to an exemplary embodiment;

[0074] Fig.11 The figure is a schematic diagram showing the structure of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0075] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0076] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0077] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0078] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0079] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0080] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0081] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0082] In some embodiments, "at least one of A and B", "A and / or B", "A in one case, B in another case", "A in one case, B in another case", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0083] In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0084] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute redundant restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the numerical value of the "device" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0085] In some embodiments, “including A”, “comprising A”, “used to indicate A”, and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0086] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0087] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0088] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0089] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, or any columns may also be implemented as an independent embodiment.

[0090] Figure 1 A stockpile measurement system 10 is shown according to an embodiment of the present disclosure, and the stockpile measurement system 10 includes:

[0091] Guide rail 110, rail car 120, laser radar 130, motion measurement component 140, control processing device 150;

[0092] The guide rail 110 is parallel to the stacking surface of the stacked materials, is arranged above the stacked materials and extends along the first direction of the stacked materials;

[0093] The rail vehicle 120 is used to extend and move along the guide rail 110;

[0094] The motion measurement component 140 is disposed on the rail vehicle 120 and is used to measure the motion information of the rail vehicle 120;

[0095] The laser radar 130 is disposed on the rail vehicle 120 and is used to scan the surface of the pile when the rail vehicle 120 moves to obtain point cloud data;

[0096] The control processing device 150 is used to determine the volume of the stockpile according to the motion information and the point cloud data.

[0097] Here, the guide rail 110 may be erected along the stacking direction of the stockpile (such as a coal pile), and the guide rail 110 may cover the entire stockpile, so that the travel range of the rail vehicle 120 erected on the guide rail 110 may cover the entire stockpile.

[0098] In a possible implementation, the railcar 120 may be powered by an external power source, or the railcar 120 may be powered by a power supply device such as a battery disposed in the railcar 120 .

[0099] In a possible implementation, the motion measurement component 140 may be an inertial measurement device such as a gyroscope and / or an accelerometer.

[0100] In a possible implementation, the motion information of the rail vehicle 120 is used to indicate at least one of the following: speed, acceleration, and swing angle.

[0101] In a possible implementation, the control processing device 150 may be disposed on the rail vehicle 120 or on the ground.

[0102] In a possible implementation, the control processing device 150 may also be used for at least one of the following: obtaining control information of the user; and controlling the movement of the rail vehicle 120 .

[0103] In one possible implementation, the laser radar 130 is fixedly connected to the rail vehicle 120 .

[0104] In one possible implementation, the laser radar 130 may include one of the following: a single-line laser radar 130 capable of generating one laser beam; or a multi-line laser radar 130 capable of generating multiple laser beams.

[0105] In a possible implementation, the laser radar 130 may scan the stockpile back and forth in a third direction while moving in the first direction, and determine the coordinates of different scanning points in the first direction, the second direction, and / or the third direction based on the reflected laser. Here, the coordinates of the scanning points may include the coordinates relative to the laser radar 130.

[0106] The first direction, the second direction and the third direction are perpendicular to each other. The first direction is the direction of the guide rail 110, the third direction is the scanning direction of the laser radar 130, and the second direction may be the height direction of the pile. The height information of the scanning points obtained by the laser radar 130 at different times and / or different positions constitutes point cloud data. For example, the point cloud data may include the coordinates of different point clouds, etc.

[0107] In one possible implementation, the coordinates of different point clouds in the point cloud data are associated with timestamps. The point cloud data includes timestamps corresponding to the coordinates of different point clouds, which are used to determine the coordinates of different point clouds in three-dimensional space in combination with the positions of the laser radar 130 at different timestamps.

[0108] The control processing device 150 can establish a communication connection with the laser radar 130 to control the scanning of the laser radar 130 and obtain point cloud data from the laser radar 130.

[0109] The control processing device 150 may establish a communication connection with the motion measurement component 140 to obtain motion information. For example, the control processing device 150 may be connected to the motion measurement component 140 via I2C, serial port communication, etc.

[0110] The control processing device 150 can determine the position and posture of the rail vehicle 120 at different times based on the motion information, and in combination with the point cloud data of the laser radar 130, it can determine the three-dimensional contour of the pile of materials, and then determine the volume of the pile of materials.

[0111] In this way, the track vehicle 120 mounted on the pile of materials is equipped with a laser radar 130 to scan the pile of materials, and then the volume of the pile of materials is determined by the control processing device 150. On the one hand, the volume of the pile of materials is determined by the scanning data of the laser radar 130, and then the weight of the pile of materials can be determined, which is more convenient and flexible than weighing and other methods, and there is no need to move the pile of materials. On the other hand, the track vehicle 120 moves along the track, and its posture is relatively stable, so the laser radar 130 data obtained is more accurate, which can improve the measurement accuracy.

[0112] In some embodiments, Figure 2 As shown, the control processing device 150 includes a control unit 151 disposed on the rail vehicle 120 and a processing unit 152 disposed on the ground;

[0113] The control unit 151 is used for at least one of the following:

[0114] controlling the movement of the rail vehicle 120 based on the control information of the processing unit 152;

[0115] The acquired motion information and the point cloud data are sent to the processing unit 152 through the communication connection between the control unit 151 and the processing unit 152;

[0116] The control unit 151 is configured to determine the volume of the stockpile based on the motion information and the point cloud data.

[0117] In a possible implementation, the control unit 151 may include an industrial computer or the like.

[0118] In a possible implementation, the processing unit 152 may include an electronic device with data processing capability, such as a server.

[0119] The communication connection between the control unit 151 and the control unit 151 may include at least one of the following: a wired communication connection, a wireless communication connection, wherein the wireless communication connection may include cellular wireless communication, Wi-Fi, and the like.

[0120] The rail car 120 moves back and forth along the guide rail 110, and the laser radar 130 scans the pile of materials below to obtain point cloud data. The control unit 151 preliminarily processes the point cloud data and transmits it to the processing unit 152 through a communication connection. The processing unit 152 establishes and determines the volume of the pile of materials based on the point cloud data.

[0121] The control unit 151 is disposed on the rail vehicle 120, which can facilitate the control unit 151 to control the rail vehicle 120, the laser radar 130 and the motion measurement component 140. The processing unit 152 is disposed on the ground to reduce the load of the rail vehicle 120, improve the running stability of the rail vehicle 120, and thus improve the measurement accuracy.

[0122] In some embodiments, the control processing device 150 is specifically used to:

[0123] Determine, according to the motion information, the position and posture information of the rail vehicle 120 at each scanning moment during the scanning process;

[0124] Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment;

[0125] The volume of the stockpile is determined according to the three-dimensional contour information.

[0126] In one possible implementation, the motion information is associated with a timestamp. That is, the motion information is used to indicate the motion state corresponding to different timestamps, such as speed, etc. Therefore, the control processing device 150 can determine the position information of the rail vehicle 120 at different scanning times based on the motion information. The position information is used to indicate at least one of the following items of the rail vehicle 120: position, posture (such as deflection angle, pitch angle, etc.). Since the laser radar 130 is set on the rail vehicle 120, the position information of the laser radar 130 can be determined based on the position information of the rail vehicle 120.

[0127] In one possible implementation, the position information of the rail vehicle 120 is the same as the position information of the laser radar 130 .

[0128] Based on the position information of the laser radar 130 at different times and the point cloud data obtained by the laser radar 130 at different times, the point cloud coordinates of the entire pile can be determined.

[0129] Here, the point cloud coordinates of the stockpile can take a position fixed relative to the stockpile as the origin of the coordinate system.

[0130] In a possible implementation, the starting position of the rail vehicle 120 during the process of measuring the stockpile can be used as the origin of the coordinate system.

[0131] In a possible implementation, one end of the guide rail 110 may be used as the origin of the coordinate system.

[0132] In a possible implementation, the first direction may be the X-axis direction, the second direction may be the Z-axis direction, and the third direction may be the Y-axis direction.

[0133] Exemplarily, the direction of the guide rail 110 is taken as the X-axis, one end of the guide rail 110 is set as the origin of the coordinate system (0,0,0), and the position of the rail vehicle 120 at time t is calculated as (Xt,0,0) based on the timestamp and the posture information of the rail vehicle 120.

[0134] According to the original point cloud data (Xi, Yi, Zi) of the laser radar 130, the point cloud coordinates of the pile scanned at time t are calculated as (Xt+Xi, Yi, Zi).

[0135] In a possible implementation, the point cloud coordinates of the material pile contour surface may be determined, and the coordinates of the material pile surface may be used as the coordinates of the material pile bottom.

[0136] In this way, the point cloud coordinates of the three-dimensional contour of the pile of materials can be determined, and the volume of the pile of materials can be calculated based on the three-dimensional contour of the pile of materials.

[0137] In some embodiments, the three-dimensional contour information is used to indicate coordinates of a point cloud constituting the three-dimensional contour of the stockpile.

[0138] In some embodiments, the control processing device 150 is further used to remove point clouds outside a predetermined coordinate range in the three-dimensional contour information.

[0139] The point cloud obtained by the laser radar 130 is related to the scanning angle of the laser radar 130.

[0140] like Figure 3 As described above, the laser radar 130 can obtain point cloud data of the external environment such as the wall and ceiling of the warehouse where the material is piled. Therefore, the point cloud coordinates of the external environment such as the wall and ceiling may exist in the three-dimensional contour information of the material pile.

[0141] Therefore, the boundary range of the pile of materials, that is, the predetermined coordinate range of the boundary of the pile of materials, can be preset, and the point cloud exceeding the predetermined coordinate range can be removed from the three-dimensional contour information.

[0142] Figure 3 As shown, the Z-axis coordinate of the guide rail 110 is 0. It can be considered that the point clouds with Z-axis coordinates higher than the guide rail 110 are not stockpiling point clouds. Therefore, the point cloud data points with Zi>0 can be removed from the three-dimensional contour information, that is, the invalid data above the guide rail 110 and the ceiling are removed.

[0143] By removing the point cloud outside the predetermined coordinate range, the interference of the surrounding environment of the pile on the three-dimensional contour of the pile is reduced, and the accuracy of determining the volume of the pile is improved.

[0144] In some embodiments, the control processing device 150 is also used to use a search plane parallel to the stacking surface as a search unit to search the point cloud of the three-dimensional contour of the pile of materials, determine that the first statistical value of the first coordinate value in the second direction of the point cloud associated with the current search plane is greater than a first threshold, and remove the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface.

[0145] The second direction is the height direction of the pile. In some scenarios, the pile yard is provided with pillars, walls, etc. supporting the ceiling, and the pillars, walls, etc. are higher than the pile surface. Here, the three-dimensional contours of the pile can be searched one by one in units of the search plane.

[0146] Exemplarily, △x and △y can be used as the search step size in the first direction (X-axis direction) and the third direction (Y-axis direction) to search, that is, the Z-axis coordinate value of the point cloud within the rectangle with length and width of △x and △y respectively is calculated. The point cloud associated with the current search plane includes the point cloud with X-axis and Y-axis coordinates within the current search plane. Since pillars, walls, etc. are higher than the pile surface, if the first statistical value of the first coordinate value of the point cloud associated with the current search plane in the second direction is greater than the first threshold, it means that the point cloud associated with the search plane is very likely to be a pillar, wall, etc., so the point cloud associated with the current search plane can be removed from the three-dimensional contour of the pile.

[0147] In a possible implementation, the first threshold may be set based on the maximum height of the pile, etc.

[0148] In a possible implementation, the first statistical value may include one of the following: an average value, a median value, etc.

[0149] For example, to search for the contour boundary of the pile, set the search step length to (△x and △y), the single-step search area is a square, the diagonal vertices are (0,0) and (△x and △y), find all the point cloud coordinates Zi values ​​that fall within this range are Z1, Z2, ...Zn, and calculate their average value as (Z1+Z2+...+Zn) / n. If the point cloud data with Zi greater than the average value exceeds the set threshold P, it is judged as a wall or a column. Search the entire XY plane, remove the point clouds of walls and columns, and obtain the contour point cloud data of pure piles.

[0150] By using a search plane to search the three-dimensional contour of the pile, objects outside the pile are removed, the interference of objects outside the pile on the three-dimensional contour of the pile is reduced, and the accuracy of determining the volume of the pile is improved.

[0151] In some embodiments, the control processing device 150 is further used to filter the point cloud constituting the three-dimensional contour of the stockpile.

[0152] The 3D contour of the pile is usually not smooth, which will increase the complexity and calculation amount of determining the volume based on the 3D contour of the pile. Therefore, the point cloud of the 3D contour of the pile can be filtered to reduce the complexity of the 3D contour of the pile.

[0153] Here, filtering includes smoothing the three-dimensional contour of the pile and reducing the sudden change of the point cloud coordinates in one direction (such as the second direction).

[0154] In some embodiments, the control processing device 150 is specifically used to:

[0155] Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material;

[0156] The coordinate value of the point cloud associated with the previous filtering plane in the second direction is determined by using the calculation result of the second coordinate value of the point cloud associated with the current filtering plane in the second direction.

[0157] The second direction is the height direction of the pile. The three-dimensional contours of the pile can be searched one by one in units of filtering planes.

[0158] Exemplarily, △x and △y can be used as the search step in the first direction (X-axis direction) and the third direction (Y-axis direction) to search, that is, the Z-axis coordinate values ​​of the point cloud within the rectangle with length and width of △x and △y respectively are counted, and the Z-axis statistical results are used as the Z-axis coordinates of all point clouds in the filtering plane. The point cloud associated with the current filtering plane includes the point cloud with X-axis and Y-axis coordinates within the current filtering plane. In this way, the point cloud of the filtering plane can be smoothed and the complexity of the three-dimensional contour of the stockpile can be reduced.

[0159] In some embodiments, the control processing device 150 is specifically used to:

[0160] The calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane,

[0161] The first point cloud includes:

[0162] The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane,

[0163] The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

[0164] Exemplarily, the Z-axis coordinate values ​​of all point clouds associated with the current filtering plane can be arranged in order of size, and the point clouds with larger Z-axis coordinate values ​​of the first proportion among all point clouds and the point clouds with smaller Z-axis coordinate values ​​of the second proportion among all point clouds are removed, and the second statistical value of the Z-axis coordinate values ​​of the remaining point clouds is determined as the Z-axis coordinate value of all point clouds associated with the current filtering plane.

[0165] In a possible implementation, the second statistical value includes one of the following: an average value and a median value.

[0166] For example, the single-step filtering area is a square with diagonal vertices (0,0) and (△x and △y). All point cloud coordinate Zi values ​​falling within this range are sorted as Z1, Z2, ...Zn, and 10% of the minimum values ​​and 10% of the maximum values ​​are removed to obtain the average value Zp. Only one point cloud data (Xi, Xi, Zp) is retained within this range, and the entire stockpile area is filtered to obtain the filtered stockpile point cloud data.

[0167] In some embodiments, the control processing device 150 is further used to determine the coordinates of the void point cloud according to the linear interpolation result of the coordinates of multiple point clouds within a predetermined range of the void point cloud in the three-dimensional contour of the stockpile.

[0168] In some scenarios, due to the reflection of the pile, the removal of point clouds, etc., the point cloud in the three-dimensional outline of the pile is incoherent, and there are gaps in the point cloud. Here, the gap point cloud can be interpolated. The linear interpolation result of the coordinates of multiple point clouds within the predetermined range of the gap point cloud is used as the coordinates of the gap point cloud.

[0169] For example, at the positions of three consecutive point clouds along the Y-axis direction, the coordinates of the first point cloud are (X1, Y1, Z1), the coordinates of the third point cloud are (X3, Y1, Z3), and the second point cloud located between the first point cloud and the third point cloud is vacant. Interpolation calculation is performed based on the coordinates of the first point cloud and the third point cloud, and the interpolation result is used as the coordinates of the second point cloud. For example, the average value of the coordinates of the first point cloud and the coordinates of the third point cloud can be used as the coordinates of the second point cloud.

[0170] In practical applications, the coordinates of the vacancy point cloud can be obtained by linear interpolation of the coordinates of multiple point clouds in multiple axis directions (X axis, Y axis and Z axis). The principle is similar to the above example and will not be described in detail here.

[0171] By filling in the empty spots and cloud of the three-dimensional outline of the stockpile, the integrity of the three-dimensional outline of the stockpile is improved, and the accuracy of determining the volume of the stockpile is improved.

[0172] In some embodiments, the control processing device 150 is specifically used to:

[0173] Determine the cross-sectional areas corresponding to N cross-sections of the three-dimensional profile of the stockpile, respectively, wherein the N cross-sections are spaced apart by a predetermined interval along the first direction, and N is an integer greater than or equal to 1;

[0174] The volume of the stockpile is determined based on the cross-sectional areas respectively corresponding to the N cross-sections and the predetermined spacing distance.

[0175] For example, the three-dimensional outline of the stockpile after point cloud removal, filtering and point cloud difference is as follows: Figure 4 shown.

[0176] like Figure 5 As shown, the cross-sectional areas of N cross-sections spaced at a predetermined interval in the first direction (X-axis direction) can be determined, and the cumulative sum of the products of each cross-sectional area multiplied by the predetermined interval distance is taken as the volume of the pile.

[0177] In one possible implementation, the predetermined interval distance may be determined based on a scanning interval of the laser radar 130 .

[0178] For example, if the laser radar 130 is a single-line laser radar 130, the predetermined spacing distance can be determined based on the scanning spacing of the single-line laser in the third direction (Y-axis direction). If the laser radar 130 is a single-line laser radar 130, the predetermined spacing distance can be determined based on the spacing of the two laser beams irradiated on the pile in the third direction (Y-axis direction).

[0179] For example, Figure 5 As shown, the point cloud data is sliced ​​sequentially in the third direction (Y-axis direction) along the first direction (X-axis direction) of the guide rail 110 with a thickness of X0, and n slices are obtained. The area of ​​each slice is S(Yi, Zi) through gridding. The stockpile volume can be further expressed by expression (1).

[0180]

[0181] In this way, the volume of the pile of materials can be determined according to the three-dimensional contour of the pile of materials.

[0182] Figure 6 A method for measuring pile materials according to an embodiment of the present disclosure is shown as follows: Figure 6 As shown, the method includes:

[0183] Step 601: acquiring motion information and point cloud data, wherein the point cloud data is obtained by scanning the surface of the pile of materials by a laser radar 130 disposed on a rail vehicle 120 as the rail vehicle 120 moves along a guide rail 110; the guide rail 110 is parallel to a stacking surface on which the pile of materials is stacked, and is disposed above the pile of materials and extends along a first direction in which the pile of materials is stacked; the motion information is obtained by measuring the motion of the rail vehicle 120 by a motion measurement component 140 disposed on the rail vehicle 120;

[0184] Step 602: Determine the volume of the stockpile according to the motion information and the point cloud data.

[0185] The stockpile measurement method of the disclosed embodiment can be applied to Figure 1 and / or Figure 2 The control processing device 150 in the stockpile measurement system is shown.

[0186] Here, the guide rail 110 may be erected along the stacking direction of the stockpile, and the guide rail 110 may cover the entire stockpile, so that the travel range of the rail vehicle 120 erected on the guide rail 110 may cover the entire stockpile.

[0187] In a possible implementation, the railcar 120 may be powered by an external power source, or the railcar 120 may be powered by a power supply device such as a battery disposed in the railcar 120 .

[0188] In a possible implementation, the motion measurement component 140 may be an inertial measurement device such as a gyroscope and / or an accelerometer.

[0189] In a possible implementation, the motion information of the rail vehicle 120 is used to indicate at least one of the following: speed, acceleration, and swing angle.

[0190] In a possible implementation, the control processing device 150 may be disposed on the rail vehicle 120 or on the ground.

[0191] In a possible implementation, the control processing device 150 may also be used for at least one of the following: obtaining control information of the user; and controlling the movement of the rail vehicle 120 .

[0192] In one possible implementation, the laser radar 130 is fixedly connected to the rail vehicle 120 .

[0193] In one possible implementation, the laser radar 130 may include one of the following: a single-line laser radar 130 capable of generating one laser beam; or a multi-line laser radar 130 capable of generating multiple laser beams.

[0194] In a possible implementation, the laser radar 130 may scan the stockpile back and forth in a third direction while moving in the first direction, and determine the coordinates of different scanning points in the first direction, the second direction, and / or the third direction based on the reflected laser. Here, the coordinates of the scanning points may include the coordinates relative to the laser radar 130.

[0195] The first direction, the second direction and the third direction are perpendicular to each other. The first direction is the direction of the guide rail 110, the third direction is the scanning direction of the laser radar 130, and the second direction may be the height direction of the pile. The height information of the scanning points obtained by the laser radar 130 at different times and / or different positions constitutes point cloud data. For example, the point cloud data may include the coordinates of different point clouds, etc.

[0196] In one possible implementation, the coordinates of different point clouds in the point cloud data are associated with timestamps. The point cloud data includes timestamps corresponding to the coordinates of different point clouds, which are used to determine the coordinates of different point clouds in three-dimensional space in combination with the positions of the laser radar 130 at different timestamps.

[0197] The control processing device 150 can establish a communication connection with the laser radar 130 to control the scanning of the laser radar 130 and obtain point cloud data from the laser radar 130.

[0198] The control processing device 150 may establish a communication connection with the motion measurement component 140 to obtain motion information. For example, the control processing device 150 may be connected to the motion measurement component 140 via I2C, serial port communication, etc.

[0199] The control processing device 150 can determine the position and posture of the rail vehicle 120 at different times based on the motion information, and in combination with the point cloud data of the laser radar 130, it can determine the three-dimensional contour of the pile of materials, and then determine the volume of the pile of materials.

[0200] In this way, the track vehicle 120 mounted on the pile of materials is equipped with a laser radar 130 to scan the pile of materials, and then the volume of the pile of materials is determined by the control processing device 150. On the one hand, the volume of the pile of materials is determined by the scanning data of the laser radar 130, and then the weight of the pile of materials can be determined, which is more convenient and flexible than weighing and other methods, and there is no need to move the pile of materials. On the other hand, the track vehicle 120 moves along the track, and its posture is relatively stable, so the laser radar 130 data obtained is more accurate, which can improve the measurement accuracy.

[0201] In a possible implementation, the control unit 151 may include an industrial computer or the like.

[0202] In a possible implementation, the processing unit 152 may include an electronic device with data processing capability, such as a server.

[0203] The communication connection between the control unit 151 and the control unit 151 may include at least one of the following: a wired communication connection, a wireless communication connection, wherein the wireless communication connection may include cellular wireless communication, Wi-Fi, and the like.

[0204] The rail car 120 moves back and forth along the guide rail 110, and the laser radar 130 scans the pile of materials below to obtain point cloud data. The control unit 151 preliminarily processes the point cloud data and transmits it to the processing unit 152 through a communication connection. The processing unit 152 establishes and determines the volume of the pile of materials based on the point cloud data.

[0205] The control unit 151 is disposed on the rail vehicle 120, which can facilitate the control unit 151 to control the rail vehicle 120, the laser radar 130 and the motion measurement component 140. The processing unit 152 is disposed on the ground to reduce the load of the rail vehicle 120, improve the running stability of the rail vehicle 120, and thus improve the measurement accuracy.

[0206] In some embodiments, step 602 includes:

[0207] Determine, according to the motion information, the position and posture information of the rail vehicle 120 at each scanning moment during the scanning process;

[0208] Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment;

[0209] The volume of the stockpile is determined according to the three-dimensional contour information.

[0210] In one possible implementation, the motion information is associated with a timestamp. That is, the motion information is used to indicate the motion state corresponding to different timestamps, such as speed, etc. Therefore, the control processing device 150 can determine the position information of the rail vehicle 120 at different scanning times based on the motion information. The position information is used to indicate at least one of the following items of the rail vehicle 120: position, posture (such as deflection angle, pitch angle, etc.). Since the laser radar 130 is set on the rail vehicle 120, the position information of the laser radar 130 can be determined based on the position information of the rail vehicle 120.

[0211] In one possible implementation, the position information of the rail vehicle 120 is the same as the position information of the laser radar 130 .

[0212] Based on the position information of the laser radar 130 at different times and the point cloud data obtained by the laser radar 130 at different times, the point cloud coordinates of the entire pile can be determined.

[0213] Here, the point cloud coordinates of the stockpile can take a position fixed relative to the stockpile as the origin of the coordinate system.

[0214] In a possible implementation, the starting position of the rail vehicle 120 during the process of measuring the stockpile can be used as the origin of the coordinate system.

[0215] In a possible implementation, one end of the guide rail 110 may be used as the origin of the coordinate system.

[0216] In a possible implementation, the first direction may be the X-axis direction, the second direction may be the Z-axis direction, and the third direction may be the Y-axis direction.

[0217] Exemplarily, the direction of the guide rail 110 is taken as the X-axis, one end of the guide rail 110 is set as the origin of the coordinate system (0,0,0), and the position of the rail vehicle 120 at time t is calculated as (Xt,0,0) based on the timestamp and the posture information of the rail vehicle 120.

[0218] According to the original point cloud data (Xi, Yi, Zi) of the laser radar 130, the point cloud coordinates of the pile scanned at time t are calculated as (Xt+Xi, Yi, Zi).

[0219] In a possible implementation, the point cloud coordinates of the material pile contour surface may be determined, and the coordinates of the material pile surface may be used as the coordinates of the material pile bottom.

[0220] In this way, the point cloud coordinates of the three-dimensional contour of the pile of materials can be determined, and the volume of the pile of materials can be calculated based on the three-dimensional contour of the pile of materials.

[0221] Figure 7 A method for measuring a pile of materials is shown according to an embodiment of the present disclosure, wherein the three-dimensional contour information is used to indicate the coordinates of a point cloud constituting the three-dimensional contour of the pile of materials;

[0222] like Figure 7 The stockpile measurement method may include at least one of the following:

[0223] Step 701: removing point clouds outside a predetermined coordinate range in the three-dimensional contour information;

[0224] Step 702: using a search plane parallel to the stacking surface as a search unit to search for a point cloud of the three-dimensional contour of the stockpile, determining that a first statistical value of a first coordinate value in a second direction of a point cloud associated with the current search plane is greater than a first threshold, and removing the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface;

[0225] Step 703: filtering the point cloud constituting the three-dimensional contour of the pile;

[0226] Step 704: Determine the coordinates of the void point cloud in the three-dimensional outline of the stockpile according to the linear interpolation results of the coordinates of multiple point clouds within a predetermined range of the void point cloud.

[0227] like Figure 3 As described above, the laser radar 130 can obtain point cloud data of the external environment such as the wall and ceiling of the warehouse where the material is piled. Therefore, the point cloud coordinates of the external environment such as the wall and ceiling may exist in the three-dimensional contour information of the material pile.

[0228] Therefore, the boundary range of the pile of materials, that is, the predetermined coordinate range of the boundary of the pile of materials, can be preset, and the point cloud exceeding the predetermined coordinate range can be removed from the three-dimensional contour information.

[0229] By removing the point cloud outside the predetermined coordinate range, the interference of the surrounding environment of the pile on the three-dimensional contour of the pile is reduced, and the accuracy of determining the volume of the pile is improved.

[0230] Figure 3 As shown, the Z-axis coordinate of the guide rail 110 is 0. It can be considered that the point clouds with Z-axis coordinates higher than the guide rail 110 are not stockpiling point clouds. Therefore, the point cloud data points with Zi>0 can be removed from the three-dimensional contour information, that is, the invalid data above the guide rail 110 and the ceiling are removed.

[0231] The second direction is the height direction of the pile. In some scenarios, the pile yard is provided with pillars, walls, etc. supporting the ceiling, and the pillars, walls, etc. are higher than the pile surface. Here, the three-dimensional contours of the pile can be searched one by one in units of the search plane.

[0232] Exemplarily, △x and △y can be used as the search step size in the first direction (X-axis direction) and the third direction (Y-axis direction) to search, that is, the Z-axis coordinate value of the point cloud within the rectangle with length and width of △x and △y respectively is calculated. The point cloud associated with the current search plane includes the point cloud with X-axis and Y-axis coordinates within the current search plane. Since pillars, walls, etc. are higher than the pile surface, if the first statistical value of the first coordinate value of the point cloud associated with the current search plane in the second direction is greater than the first threshold, it means that the point cloud associated with the search plane is very likely to be a pillar, wall, etc., so the point cloud associated with the current search plane can be removed from the three-dimensional contour of the pile.

[0233] In a possible implementation, the first threshold may be set based on the maximum height of the pile, etc.

[0234] In a possible implementation, the first statistical value may include one of the following: an average value, a median value, etc.

[0235] For example, to search for the contour boundary of the pile, set the search step length to (△x and △y), the single-step search area is a square, the diagonal vertices are (0,0) and (△x and △y), find all the point cloud coordinates Zi values ​​that fall within this range are Z1, Z2, ...Zn, and calculate their average value as (Z1+Z2+...+Zn) / n. If the point cloud data with Zi greater than the average value exceeds the set threshold P, it is judged as a wall or a column. Search the entire XY plane, remove the point clouds of walls and columns, and obtain the contour point cloud data of pure piles.

[0236] By using a search plane to search the three-dimensional contour of the pile, objects outside the pile are removed, the interference of objects outside the pile on the three-dimensional contour of the pile is reduced, and the accuracy of determining the volume of the pile is improved.

[0237] The 3D contour of the pile is usually not smooth, which will increase the complexity and calculation amount of determining the volume based on the 3D contour of the pile. Therefore, the point cloud of the 3D contour of the pile can be filtered to reduce the complexity of the 3D contour of the pile.

[0238] Here, filtering includes smoothing the three-dimensional contour of the pile and reducing the sudden change of the point cloud coordinates in one direction (such as the second direction).

[0239] In some embodiments, filtering the point cloud constituting the three-dimensional contour of the pile includes:

[0240] Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material;

[0241] The coordinate value of the point cloud associated with the previous filtering plane in the second direction is determined by using the calculation result of the second coordinate value of the point cloud associated with the current filtering plane in the second direction.

[0242] The second direction is the height direction of the pile. The three-dimensional contours of the pile can be searched one by one in units of filtering planes.

[0243] Exemplarily, △x and △y can be used as the search step length in the first direction (X-axis direction) and the third direction (Y-axis direction) to search, that is, the Z-axis coordinate values ​​of the point cloud within the rectangle with length and width of △x and △y are counted, and the Z-axis statistical results are used as the Z-axis coordinates of all point clouds in the filtering plane. The point cloud associated with the current filtering plane includes the point cloud with X-axis and Y-axis coordinates within the current filtering plane. In this way, the point cloud of the filtering plane can be smoothed and the complexity of the three-dimensional contour of the stockpile can be reduced.

[0244] In some embodiments, the calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane;

[0245] The first point cloud includes:

[0246] The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane,

[0247] The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

[0248] Exemplarily, the Z-axis coordinate values ​​of all point clouds associated with the current filtering plane can be arranged in order of size, and the point clouds with larger Z-axis coordinate values ​​of the first proportion among all point clouds and the point clouds with smaller Z-axis coordinate values ​​of the second proportion among all point clouds are removed, and the second statistical value of the Z-axis coordinate values ​​of the remaining point clouds is determined as the Z-axis coordinate value of all point clouds associated with the current filtering plane.

[0249] In a possible implementation, the second statistical value includes one of the following: an average value and a median value.

[0250] For example, the single-step filtering area is a square with diagonal vertices (0,0) and (△x and △y). All point cloud coordinate Zi values ​​falling within this range are sorted as Z1, Z2, ...Zn, and 10% of the minimum values ​​and 10% of the maximum values ​​are removed to obtain the average value Zp. Only one point cloud data (Xi, Xi, Zp) is retained within this range, and the entire stockpile area is filtered to obtain the filtered stockpile point cloud data.

[0251] In some scenarios, due to the reflection of the pile, the removal of point clouds, etc., the point cloud in the three-dimensional outline of the pile is incoherent, and there are gaps in the point cloud. Here, the gap point cloud can be interpolated. The linear interpolation result of the coordinates of multiple point clouds within the predetermined range of the gap point cloud is used as the coordinates of the gap point cloud.

[0252] For example, at the positions of three consecutive point clouds along the Y-axis direction, the coordinates of the first point cloud are (X1, Y1, Z1), the coordinates of the third point cloud are (X3, Y1, Z3), and the second point cloud located between the first point cloud and the third point cloud is vacant. Interpolation calculation is performed based on the coordinates of the first point cloud and the third point cloud, and the interpolation result is used as the coordinates of the second point cloud. For example, the average value of the coordinates of the first point cloud and the coordinates of the third point cloud can be used as the coordinates of the second point cloud.

[0253] In practical applications, the coordinates of the vacancy point cloud can be obtained by linear interpolation of the coordinates of multiple point clouds in multiple axis directions (X axis, Y axis and Z axis). The principle is similar to the above example and will not be described in detail here.

[0254] By filling in the empty spots and cloud of the three-dimensional outline of the stockpile, the integrity of the three-dimensional outline of the stockpile is improved, and the accuracy of determining the volume of the stockpile is improved.

[0255] In some embodiments, determining the volume of the pile according to the three-dimensional contour information includes:

[0256] Determine the cross-sectional areas corresponding to N cross-sections of the three-dimensional profile of the stockpile, respectively, wherein the N cross-sections are spaced apart by a predetermined interval along the first direction, and N is an integer greater than or equal to 1;

[0257] The volume of the stockpile is determined based on the cross-sectional areas respectively corresponding to the N cross-sections and the predetermined spacing distance.

[0258] For example, the three-dimensional outline of the stockpile after point cloud removal, filtering and point cloud difference is as follows: Figure 4 shown.

[0259] like Figure 5 As shown, the cross-sectional areas of N cross-sections spaced at a predetermined interval in the first direction (X-axis direction) can be determined, and the cumulative sum of the products of each cross-sectional area multiplied by the predetermined interval distance is taken as the volume of the pile.

[0260] In one possible implementation, the predetermined interval distance may be determined based on a scanning interval of the laser radar 130 .

[0261] For example, if the laser radar 130 is a single-line laser radar 130, the predetermined spacing distance can be determined based on the scanning spacing of the single-line laser in the third direction (Y-axis direction). If the laser radar 130 is a single-line laser radar 130, the predetermined spacing distance can be determined based on the spacing of the two laser beams irradiated on the pile in the third direction (Y-axis direction).

[0262] For example, Figure 5 As shown, the point cloud data is sliced ​​in the third direction (Y-axis direction) along the first direction (X-axis direction) of the guide rail 110 in sequence, with a thickness of X0, and n slices are obtained. The area of ​​each slice is S (Yi, Zi) after gridding. The volume of the pile can be further expressed by expression (1). In this way, the volume of the pile is determined according to the three-dimensional contour of the pile.

[0263] The following provides multiple specific examples in combination with any of the above embodiments:

[0264] like Figure 1 or Figure 2 As shown, the stockpile measurement system is composed of the following parts: a guide rail 110, a rail car 120, an industrial computer (i.e., a control unit 151), an inertial measurement unit (i.e., a motion measurement component 140), a laser radar 130, and a server (i.e., a processing unit 152).

[0265] The guide rail 110 is a steel rail, which is erected in a straight line above the stockpile (coal pile) and is kept level with the ground.

[0266] The rail vehicle 120 is suspended on the guide rail 110 and can move linearly along the guide rail 110 . The rail vehicle 120 has its own power supply to supply power to its onboard instruments and equipment.

[0267] The industrial computer is installed on the rail car 120 and has data processing capabilities, wired communication and wireless communication capabilities. The wireless communication method is 5G or WIFI. It can also accept server instructions to control the rail car 120 to move forward or backward.

[0268] The inertial measurement unit can provide velocity and acceleration information, is installed on the rail vehicle 120, and communicates with the industrial computer through an I2C bus or a serial port.

[0269] The laser radar 130 can provide raw data of the scanning point cloud, and its model can be a single-line laser radar 130 or a multi-line laser radar 130, which is installed on the rail car 120 and communicates with the industrial computer by wire.

[0270] The server is installed on the ground and has wireless communication capabilities, and can send control commands such as start and stop to the controller.

[0271] The railcar 120 moves back and forth along the guide rail 110, and the laser radar 130 scans the coal pile below to obtain point cloud data. The industrial computer initially processes the point cloud data and transmits it to the server via wireless (5G or Wifi). The server builds a three-dimensional model based on the point cloud data, forms an envelope diagram of the coal pile, and calculates the volume of the coal pile. The schematic diagram is as follows. If there is an aerial vehicle indoors, the arrangement of the guide rail 110 and the railcar 120 can be cancelled, and the industrial computer, inertial measurement unit, and laser radar 130 can be installed on the aerial vehicle, which can be equivalent to the railcar 120.

[0272] like Figure 8 As shown, the measurement process steps of the specific stockpile measurement system are as follows:

[0273] Step 801: The server sends a startup command to the industrial computer.

[0274] Step 802: After the industrial computer receives the start command, the rail vehicle travels to one end of the track.

[0275] Step 803: The rail vehicle moves toward the other end of the track at a constant speed, and the laser radar starts scanning. The industrial computer records the data of the inertial measurement unit and the original point cloud data of the laser radar at each moment, and sends them to the server.

[0276] Step 804: When the rail vehicle reaches the other end of the track, the industrial computer stops sending data and informs the server that the data collection is completed.

[0277] Step 805: The server calculates the total volume of the coal pile. The server converts the original point cloud data into point cloud data in a Cartesian coordinate system, forms a 3D model through filtering, interpolation and other methods, and draws the envelope of the coal pile. The data of the coal pile is sliced ​​in the vertical direction of the guide rail, and the area of ​​each slice is calculated. The volume of the slice is obtained by multiplying the slice area and thickness, and the total volume of the coal pile is obtained by accumulation.

[0278] Step 805 is as follows: Fig. 9 As shown, the specific process of data processing by the server is as follows:

[0279] Step 8051: Determine the position of the railcar at each time. With the track direction as the X-axis, one end of the track is set as the origin of the coordinate system (0,0,0), and the position of the railcar at time t is calculated as (Xt,0,0) based on the timestamp and inertial navigation unit data.

[0280] Step 8052: Determine the three-dimensional point cloud coordinates and remove invalid data. Based on the original point cloud data (Xi, Yi, Zi) of the laser radar, calculate the three-dimensional point cloud coordinates of the original contour scanned at time t as (Xt+Xi, Yi, Zi), remove the point cloud data points with Zi>0, that is, remove the invalid data above the track and the ceiling, and obtain the point cloud data of the coal pile mixed wall and pillars.

[0281] Step 8053: Search for point cloud data that does not belong to the coal pile in the three-dimensional contour. Search for the contour boundary of the coal pile, set the search step length to (△x and △y), the single-step search area is a square, the diagonal vertices are (0,0) and (△x and △y), find all the point cloud coordinates Zi values ​​that fall within this range are Z1, Z2, ... Zn, and calculate their average value (Z1+Z2+...

[0282] +Zn) / n, if the point cloud data with Zi greater than the average value exceeds the set threshold P, it is judged as a wall or a pillar. Search the entire XY plane, remove the point clouds of walls and pillars to obtain the outline point cloud data of the pure coal pile.

[0283] Step 8054: Filter the 3D contour. Further average filtering is performed on the coal pile contour point cloud. The single-step filtering area is the square of the diagonal vertices (0,0) and (△x and △y). All point cloud coordinates falling within this range are filtered.

[0284] The Zi values ​​are sorted as Z1, Z2, ... Zn, and 10% of the minimum values ​​and 10% of the maximum values ​​are removed to obtain the average value Zp. Only one point cloud data (Xi, Xi, Zp) is retained within this range, and the entire coal pile area is filtered to obtain the filtered coal pile point cloud data.

[0285] Step 8055: Compensate for missing point clouds in the 3D contour point cloud. Further process the coal pile point cloud data holes (missing point clouds) caused by the reflection of the coal pile, use the valid point cloud data adjacent to the hole for linear interpolation, and calculate the approximate point cloud data at the hole.

[0286] Step 8056: Slice the 3D contour points, calculate the volume slice by slice, and obtain the total volume. Slice the point cloud data along the vertical direction of the guide rail with a thickness of X0, obtain n slices, and grid the area of ​​each slice to obtain S(Yi, Zi). The volume of the coal pile is further calculated as shown in Expression (1).

[0287] Step 806: The server continues to send a start command to the industrial computer, and repeats the above steps 801 to 805, unless a stop command is sent on the server.

[0288] Step 807: The server draws a curve chart of the real-time dynamic coal pile volume according to the coal pile volume measured each time (such as Fig.10 As shown), a curve chart can be drawn by day and hour.

[0289] If there is a trolley indoors, the technical solution of this embodiment can save the layout of guide rails and track vehicles, and has high economy.

[0290] The calculation of the point cloud coordinates of the coal pile contour relies on the data of the inertial navigation unit. The aerial vehicle or rail vehicle is allowed to stop, pause and change speed during the movement. The guide rail is erected in a straight line, and the position of the rail vehicle is relatively stable. The acquired LiDAR data is more accurate, which is more advantageous than manual scanning or drone scanning and has higher accuracy.

[0291] The communication method can be selected from WIFI and 5G. For smaller spaces, WIFI signals can be used to improve economy, and for larger spaces, 5G signals can be used to improve stability.

[0292] The data processing of the coal pile contour point cloud coordinates includes the judgment of the ceiling, walls and pillars above the track, which eliminates a large amount of invalid data and avoids calculating the volume of the pillars into the coal pile.

[0293] The average value filtering of the coal pile contour point cloud eliminates invalid data caused by the influence of the lidar itself or the environment itself, and greatly reduces the amount of point cloud data processing.

[0294] The linear interpolation of the coal pile contour point cloud eliminates the point cloud data holes caused by the reflection of the coal pile surface.

[0295] The server is the brain of the entire system. After startup, it can control the operation of the system 24 hours a day, draw a volume curve of the coal pile, and realize unmanned operation.

[0296] Fig.11 : is a schematic diagram of the structure of the electronic device 9100 provided in the embodiment of the present disclosure. The electronic device 9100 may be a computer device, a terminal, a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above pile material measurement methods. The electronic device 9100 may be used to implement the pile material measurement method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

[0297] like Fig.11 As shown, the electronic device 9100 includes one or more processors 9101. The processor 9101 can be a general-purpose processor or a dedicated processor, for example, a central processing unit. The processor 9101 is used to call instructions so that the electronic device 9100 executes any of the above-mentioned pile material measurement methods. The specific execution steps of the pile material measurement method are as described in the above-mentioned embodiment, and will not be repeated here.

[0298] Those skilled in the art can understand that the name of the processor is not limited to the name described in the embodiments, and terms such as “processor”, “controller”, “central processing unit (CPU)”, “microcontroller unit (MCU)”, “sensor processor (Microcontroller Unit, MCU)”, “microprocessing unit (MCU)”, and “microprocessor (MCU)” can be used interchangeably.

[0299] The computing power of the processor 9101 can be configured based on the actual needs of the data volume in the pile material measurement method and the filtering steps. For example, a processor of X86 architecture (e.g., a dual-core CPU with a main frequency of 1.5G) can be used, or an ARM or MIPS architecture can be used, but it is not limited thereto.

[0300] In some embodiments, the electronic device 9100 further includes one or more memories 9102 for storing instructions. Optionally, all or part of the memory 9102 may also be outside the electronic device 9100.

[0301] In a possible implementation, the data stored in the memory 9102 also includes but is not limited to at least one of the following:

[0302] Data generated by the processor during execution of the stockpile measurement method;

[0303] Data generated by LiDAR.

[0304] The capacity of the memory 9102 may be determined based on the stored data and the duration of the stored data (such as the duration of storing the three-dimensional point cloud data of the stockpile). For example, the memory storage capacity may be greater than or equal to 500G bytes.

[0305] In some embodiments, the electronic device 9100 further includes one or more transceivers 9103. When the electronic device 9100 includes one or more transceivers 9103, the steps of sending, receiving and / or acquiring in the above method are performed by the transceiver 9103, and the other steps are performed by the processor 9101.

[0306] The transceiver 9103 can be used to transmit data directly between the control unit 151 and the processing unit 152 when the stockpile measurement method is executed, but is not limited thereto. The transceiver 9103 can include a wired transceiver and a wireless transceiver. The bandwidth of the transceiver 9103 can be greater than or equal to 100 Mbps.

[0307] For example, the wired transceiver may include an Ethernet transceiver, which may include a 100M Ethernet transceiver, a 1000M Ethernet transceiver, etc., but not limited thereto. The wireless transceiver may include a Wi-Fi transceiver, which may include a 2.5G Wi-Fi transceiver, a 5G Wi-Fi transceiver, etc., but not limited thereto.

[0308] In some embodiments, the steps of obtaining and the like in the above method may also be executed by the processor 9101 , for example, obtaining information from the memory 9102 and the like.

[0309] Optionally, the electronic device 9100 further includes one or more interface circuits 9104, which are connected to the memory 9102. The interface circuit 9104 can be used to receive signals from the memory 9102 or other devices, and can be used to send signals to the memory 9102 or other devices. For example, the interface circuit 9104 can read instructions stored in the memory 9102 and send the instructions to the processor 9101.

[0310] The electronic device 9100 described in the above embodiments may be a network device or a terminal, but the scope of the electronic device 9100 described in the present disclosure is not limited thereto, and the structure of the electronic device 9100 may not be limited thereto. Fig.11 The electronic device may be an independent device or may be part of a larger device. For example, the electronic device may be: (1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0311] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program commands, and the aforementioned program can be stored in a storage medium, and the storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0312] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several commands to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0313] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present invention and do not limit the scope of protection of the patent of the present invention.

Claims

1. A stockpile measurement system, characterized in that: The stockpile measurement system includes: a guide rail, a rail car, a laser radar, a motion measurement component, and a control processing device; The guide rail is parallel to the stacking surface of the stacked materials, is arranged above the stacked materials and extends linearly along a first direction of the stacked materials; the first direction is the guide rail direction, and the second direction is the height direction of the stacked materials; The rail vehicle is used to extend and move along the guide rail; The motion measurement component is arranged on the rail vehicle and is used to measure the motion information of the rail vehicle; The laser radar is arranged on the rail vehicle, and is used to scan the surface of the pile along a third direction when the rail vehicle moves, so as to obtain point cloud data; the first direction, the second direction and the third direction are perpendicular to each other; The control processing device is used to determine the volume of the pile according to the motion information and the point cloud data; The control processing device is specifically used for: Determining, according to the motion information, the position and posture information of the rail vehicle at each scanning moment during the scanning process; Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment; determining the volume of the pile according to the three-dimensional profile information; The three-dimensional contour information is used to indicate the coordinates of the point cloud constituting the three-dimensional contour of the stockpile; The control processing device is further used to: use a search plane parallel to the stacking surface as a search unit to search the point cloud of the three-dimensional contour of the stockpile, determine that a first statistical value of a first coordinate value of a point cloud associated with a current search plane in the second direction is greater than a first threshold, and remove the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface, the search plane is a square with a side length of a search step length, and the search plane searches the point cloud of the three-dimensional contour of the stockpile with the search step length; The control processing device is further used to filter the point cloud constituting the three-dimensional contour of the stockpile; The control processing device is specifically used for: Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material; The coordinate value of the point cloud associated with the current filtering plane in the second direction is determined by calculating the second coordinate value of the point cloud associated with the current filtering plane in the second direction; The calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane; The first point cloud includes: The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane, The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

2. The system according to claim 1, characterized in that The control processing device is specifically used for: Determine the cross-sectional areas corresponding to N cross-sections of the three-dimensional profile of the stockpile, wherein the N cross-sections are spaced apart by a predetermined interval along the first direction, and N is an integer greater than or equal to 1; The volume of the stockpile is determined based on the cross-sectional areas respectively corresponding to the N cross-sections and the predetermined spacing distance.

3. The system according to claim 1, characterized in that The three-dimensional contour information is used to indicate the coordinates of the point cloud constituting the three-dimensional contour of the stockpile; The control processing device is further used for at least one of the following: Removing point clouds outside a predetermined coordinate range in the three-dimensional contour information; The coordinates of the void point cloud are determined according to the linear interpolation results of the coordinates of a plurality of point clouds within a predetermined range of the void point cloud in the three-dimensional outline of the stockpile.

4. The system according to any one of claims 1 to 3, characterized in that: The control processing device includes a control unit disposed on the rail vehicle and a processing unit disposed on the ground; The control unit is used for at least one of the following: controlling the movement of the rail vehicle based on control information from the processing unit; The acquired motion information and the point cloud data are sent to the processing unit through a communication connection between the control unit and the processing unit; The control unit is used to determine the volume of the stockpile based on the motion information and the point cloud data.

5. A method for measuring stockpiles, characterized in that: The method comprises Acquire motion information and point cloud data, wherein the point cloud data is obtained by a laser radar disposed on a rail vehicle, scanning the surface of the stockpile along a third direction as the rail vehicle moves along a guide rail; the guide rail is parallel to a stacking surface on which the stockpile is stacked, and is disposed above the stockpile and extends in a straight line along a first direction of stacking of the stockpile; the motion information is obtained by a motion measurement component disposed on the rail vehicle, measuring the motion of the rail vehicle; the first direction is the guide rail direction, and the second direction is the height direction of the stockpile; the first direction, the second direction and the third direction are perpendicular to each other; Determining the volume of the pile according to the motion information and the point cloud data; The determining the volume of the pile according to the motion information and the point cloud data includes: Determining, according to the motion information, the position and posture information of the rail vehicle at each scanning moment during the scanning process; Determining three-dimensional contour information indicating the three-dimensional contour of the pile according to the posture information at each scanning moment and the point cloud data at each scanning moment; determining the volume of the pile according to the three-dimensional profile information; The three-dimensional contour information is used to indicate the coordinates of the point cloud constituting the three-dimensional contour of the stockpile; The method further includes: using a search plane parallel to the stacking surface as a search unit to search for a point cloud of the three-dimensional contour of the stockpile, determining that a first statistical value of a first coordinate value of a point cloud associated with the current search plane in the second direction is greater than a first threshold, and removing the point cloud associated with the current search plane in the three-dimensional contour information, wherein the second direction is perpendicular to the stacking surface, the search plane is a square with a side length of a search step length, and the search plane searches for the point cloud of the three-dimensional contour of the stockpile with the search step length; The method further comprises filtering a cloud of points constituting the three-dimensional profile of the stockpile; The filtering of the point cloud constituting the three-dimensional contour of the pile includes: Using a filtering plane parallel to the stacking surface as a filtering unit to search for a point cloud of the three-dimensional contour of the stacking material; The coordinate value of the point cloud associated with the current filtering plane in the second direction is determined by calculating the second coordinate value of the point cloud associated with the current filtering plane in the second direction; The calculation result includes: a second statistical value of a second coordinate value of a second point cloud remaining after removing the first point cloud from all point clouds associated with the current filtering plane, The first point cloud includes: The point cloud with the largest second coordinate value in the first proportion among all point clouds associated with the current filtering plane, The point clouds with smaller second coordinate values ​​that account for the second proportion among all point clouds associated with the current filtering plane.

6. An electronic device, wherein: The electronic device comprises: one or more processors; Wherein, the processor is used to call instructions so that the electronic device executes the stockpile measurement method described in claim 5.

7. A storage medium, wherein: The storage medium stores instructions, and when the instructions are executed on the communication device, the communication device executes the stockpile measurement method according to claim 5 .

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