Integrated intelligent coal shed environment monitoring method and system and anti-explosion holder

Abstract

The invention is suitable for the technical field of coal shed environment monitoring, and provides an integrated intelligent coal shed environment monitoring method and system and an anti-explosion holder. The method comprises the following steps: receiving a laser scanning request, carrying out horizontal and / or vertical rotation adjustment, and obtaining three-dimensional point cloud data of the surface of a coal pile; receiving an infrared thermal imaging request, and performing horizontal and / or vertical rotation adjustment to obtain thermal imaging acquisition data; performing data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data; analyzing the three-dimensional point cloud data, and calculating the volume of the coal pile; and analyzing the fused point cloud data, and carrying out anomaly detection, visualization processing and / or anomaly alarm on the regional temperature. The coal shed management system can realize the functions of real-time monitoring, fire early warning and high-precision laser coal checking of the coal shed environment, has the characteristics of high intelligent degree, sufficient safety, strong real-time performance and high precision, and effectively improves the intelligent level and safety of coal shed management.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal shed environmental monitoring, and in particular relates to an integrated intelligent coal shed environmental monitoring method, system and explosion-proof pan / tilt platform. Background Art

[0002] At present, environmental monitoring and inventory of coal storage in standardized coal storage warehouses, coal-fired power plants and coal mines mainly rely on manual operations, which is not only time-consuming and labor-intensive, but also has low accuracy and large errors.

[0003] With the advancement of science and technology, lidar and thermal imaging technologies have been widely used in industrial monitoring and measurement. However, under the special needs of coal shed environments, there is no intelligent coal shed environmental monitoring system with high intelligence, strong real-time performance, high accuracy and sufficient security. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an integrated intelligent coal shed environment monitoring method, system and explosion-proof pan / tilt head, aiming to solve the technical problems existing in the prior art mentioned in the background technology.

[0005] The embodiment of the present invention is implemented as follows:

[0006] An integrated intelligent coal shed environment monitoring method, the method specifically comprises the following steps:

[0007] Receiving a laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and acquiring three-dimensional point cloud data of the coal pile surface;

[0008] Receive infrared thermal imaging requests, perform horizontal and / or vertical rotation adjustment of infrared thermal imaging, and obtain thermal imaging acquisition data;

[0009] Performing data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data;

[0010] Analyzing the three-dimensional point cloud data to calculate the volume of the coal pile;

[0011] The fused point cloud data is analyzed to perform abnormal detection, visualization and / or abnormal alarm of regional temperature.

[0012] As a further limitation of the technical solution of the embodiment of the present invention, the receiving of the laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and obtaining the three-dimensional point cloud data of the coal pile surface specifically includes the following steps:

[0013] Receive laser scanning requests and generate scanning control instructions;

[0014] According to the scanning control instruction, the horizontal and / or vertical rotation adjustment of the laser scanning is performed;

[0015] During the rotation adjustment process, the surface of the coal pile is laser scanned to obtain three-dimensional point cloud data, which includes the three-dimensional point cloud coordinates and intensity value of each point.

[0016] As a further limitation of the technical solution of the embodiment of the present invention, the receiving of the infrared thermal imaging request, performing horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and obtaining the thermal imaging acquisition data specifically include the following steps:

[0017] Receive infrared thermal imaging requests and generate thermal imaging control instructions;

[0018] According to the thermal imaging control instruction, perform horizontal and / or vertical rotation adjustment of the infrared thermal imaging;

[0019] During the rotation adjustment process, infrared thermal imaging is performed on the surface of the coal pile to obtain thermal imaging data.

[0020] As a further limitation of the technical solution of the embodiment of the present invention, the data preprocessing and data fusion of the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data specifically includes the following steps:

[0021] Performing point cloud filtering processing on the three-dimensional point cloud data to filter out noise points and abnormal point data to obtain filtered point cloud data;

[0022] Performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data;

[0023] Convert the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system;

[0024] The filtered point cloud data and thermal imaging enhanced data after unified coordinate system conversion are spatially aligned to generate fused point cloud data.

[0025] As a further limitation of the technical solution of the embodiment of the present invention, the analyzing of the three-dimensional point cloud data and calculating the volume of the coal pile specifically includes the following steps:

[0026] Using a triangulated network algorithm, the three-dimensional point cloud data is segmented to obtain a plurality of grid units;

[0027] Calculating the horizontal projection areas of a plurality of the grid cells;

[0028] Obtaining grid heights of a plurality of the grid cells;

[0029] The volume of the coal pile is calculated based on the multiple horizontal projection areas and the multiple grid heights.

[0030] As a further limitation of the technical solution of the embodiment of the present invention, the calculation formula of the volume of the coal pile is:

[0031]

[0032] Where V is the volume of the coal pile, A i is the horizontal projection area of ​​the ith grid cell, h i is the grid height of the i-th grid unit, and N is the number of grid units.

[0033] As a further limitation of the technical solution of the embodiment of the present invention, the analysis of the fused point cloud data to perform abnormal detection, visualization processing and / or abnormal alarm of regional temperature specifically includes the following steps:

[0034] Performing temperature correction on the fused point cloud data to obtain temperature corrected data;

[0035] Comparing the temperature correction data with a preset temperature threshold, and recording a plurality of abnormal points exceeding the temperature threshold;

[0036] Clustering the multiple abnormal points to determine multiple abnormal areas;

[0037] Visually displaying the plurality of abnormal areas;

[0038] Generate abnormal alarm information and issue abnormal temperature alarm.

[0039] An integrated intelligent coal shed environment monitoring system for executing the integrated intelligent coal shed environment monitoring method as described above, the system comprises a laser scanning module, an infrared thermal imaging module, a data preprocessing and fusion module, a coal pile volume calculation module and a temperature anomaly detection module, wherein:

[0040] The laser scanning module is used to receive a laser scanning request, perform horizontal and / or vertical rotation adjustment of the laser scanning, and obtain three-dimensional point cloud data of the coal pile surface;

[0041] The infrared thermal imaging module is used to receive infrared thermal imaging requests, perform horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and obtain thermal imaging acquisition data;

[0042] A data preprocessing and fusion module is used to perform data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data;

[0043] A coal pile volume calculation module, used to analyze the three-dimensional point cloud data and calculate the volume of the coal pile;

[0044] The temperature anomaly detection module is used to analyze the fused point cloud data to perform anomaly detection, visualization and / or anomaly alarm of regional temperature.

[0045] As a further limitation of the technical solution of the embodiment of the present invention, the data preprocessing and fusion module specifically includes:

[0046] A cloud filtering processing unit, used to perform point cloud filtering on the three-dimensional point cloud data, filter out noise points and abnormal point data, and obtain filtered point cloud data;

[0047] A noise suppression unit, used for performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data;

[0048] A unified coordinate system conversion unit, used for converting the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system;

[0049] The spatial alignment and fusion unit is used to spatially align the filtered point cloud data and the thermal imaging enhanced data after the unified coordinate system conversion to generate fused point cloud data.

[0050] An explosion-proof pan / tilt platform for executing the above-mentioned integrated intelligent coal shed environment monitoring method, the explosion-proof pan / tilt platform comprises a horizontal rotation adjustment mechanism and a vertical rotation adjustment mechanism, wherein:

[0051] Horizontal rotation adjustment mechanism, used for horizontal rotation adjustment of laser scanning and infrared thermal imaging;

[0052] The vertical rotation adjustment mechanism is used for vertical rotation adjustment of laser scanning and infrared thermal imaging.

[0053] As a further limitation of the technical solution of the embodiment of the present invention, the captured image receiving module specifically includes:

[0054] A camera selection unit, used to perform a nearby shooting analysis on the fuzzy positioning area according to preset camera distribution data, and select multiple positioning cameras;

[0055] A position acquisition unit, used for acquiring the positioning shooting positions of the plurality of positioning shooting machines;

[0056] An angle determination unit, used to determine the shooting offset angles of the plurality of positioning shooting positions relative to the fuzzy positioning area;

[0057] A shooting adjustment unit, used for adjusting the positioning shooting of the plurality of positioning cameras according to the plurality of shooting offset angles;

[0058] The image acquisition unit is used to perform positioning shooting control on the multiple positioning cameras to acquire multiple positioning shooting images.

[0059] A smart helmet for executing the above-mentioned personnel high-precision positioning method, the smart helmet comprises a command receiving module, a signal sending module and a plurality of target appearance identifiers, wherein:

[0060] An instruction receiving module, used for receiving personnel positioning instructions;

[0061] A signal sending module, used for sending a positioning feedback signal;

[0062] Multiple target appearance identification.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] The embodiment of the present invention receives a laser scanning request, performs horizontal and / or vertical rotation adjustment, and obtains three-dimensional point cloud data of the coal pile surface; receives an infrared thermal imaging request, performs horizontal and / or vertical rotation adjustment, and obtains thermal imaging acquisition data; performs data preprocessing and data fusion on the three-dimensional point cloud data and thermal imaging acquisition data to generate fused point cloud data; analyzes the three-dimensional point cloud data to calculate the volume of the coal pile; analyzes the fused point cloud data to perform abnormal detection, visualization processing, and / or abnormal alarm of regional temperature. It can realize real-time monitoring of the coal shed environment, fire warning, and high-precision laser coal disc function, and has the characteristics of high intelligence, sufficient safety, strong real-time performance, and high precision, which effectively improves the intelligence level and safety of coal shed management. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A flow chart of an integrated intelligent coal shed environment monitoring method provided by an embodiment of the present invention is shown;

[0066] Figure 2 The application architecture diagram of the integrated intelligent coal shed environment monitoring system provided by the embodiment of the present invention is shown;

[0067] Figure 3 A schematic diagram of an explosion-proof pan / tilt head provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] It is understandable that, at present, the environmental monitoring and inventory of coal storage in standardized coal storage warehouses, coal-fired power plants and coal mines mainly rely on manual operations, which is not only time-consuming and labor-intensive, but also has low precision and large errors. With the advancement of science and technology, LiDAR and thermal imaging technologies have been widely used in industrial monitoring and measurement, but under the special needs of coal shed environments, there is no intelligent coal shed environmental monitoring system with high intelligence, strong real-time performance, high precision and sufficient safety.

[0070] To solve the above problems, the embodiment of the present invention discloses an integrated intelligent coal shed environment monitoring method, system and explosion-proof pan / tilt platform, which receives laser scanning requests, performs horizontal and / or vertical rotation adjustment of laser scanning, and obtains three-dimensional point cloud data of the coal pile surface; receives infrared thermal imaging requests, performs horizontal and / or vertical rotation adjustment of infrared thermal imaging, and obtains thermal imaging acquisition data; performs data preprocessing and data fusion on three-dimensional point cloud data and thermal imaging acquisition data to generate fused point cloud data; analyzes three-dimensional point cloud data to calculate the volume of coal pile; analyzes fused point cloud data to perform abnormal detection, visualization processing and / or abnormal alarm of regional temperature. It can realize real-time monitoring of coal shed environment, fire warning and high-precision laser coal panning function, and has the characteristics of high intelligence, sufficient safety, strong real-time performance and high precision, which effectively improves the intelligence level and safety of coal shed management.

[0071] Specifically, Figure 1 A flow chart of an integrated intelligent coal shed environment monitoring method provided by an embodiment of the present invention is shown.

[0072] In a preferred embodiment of the present invention, an integrated intelligent coal shed environment monitoring method is provided, and the method specifically comprises the following steps:

[0073] Step S101: receiving a laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and acquiring three-dimensional point cloud data of the coal pile surface.

[0074] In an embodiment of the present invention, a laser scanning request is received to generate a scanning control instruction, and then the horizontal and / or vertical rotation adjustment of the laser scanning is performed according to the scanning control instruction. During the rotation adjustment process, the surface of the coal pile is laser scanned to obtain three-dimensional point cloud data, wherein the three-dimensional point cloud data includes the three-dimensional point cloud coordinates and intensity values ​​of each point.

[0075] Specifically, in a preferred embodiment of the present invention, the receiving of a laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and obtaining three-dimensional point cloud data of the coal pile surface specifically include the following steps:

[0076] Receive laser scanning requests and generate scanning control instructions;

[0077] According to the scanning control instruction, the horizontal and / or vertical rotation adjustment of the laser scanning is performed;

[0078] During the rotation adjustment process, the surface of the coal pile is laser scanned to obtain three-dimensional point cloud data, which includes the three-dimensional point cloud coordinates and intensity value of each point.

[0079] Furthermore, the integrated intelligent coal shed environment monitoring method further comprises the following steps:

[0080] Step S102: receiving an infrared thermal imaging request, performing horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and acquiring thermal imaging acquisition data.

[0081] In an embodiment of the present invention, by receiving an infrared thermal imaging request, a thermal imaging control instruction is generated, and then the horizontal and / or vertical rotation adjustment of the infrared thermal imaging is performed according to the thermal imaging control instruction. During the rotation adjustment process, infrared thermal imaging of the temperature distribution on the surface of the coal pile is collected to obtain thermal imaging collection data containing a temperature matrix, so that each pixel point contains temperature information.

[0082] Specifically, in a preferred embodiment of the present invention, the receiving of the infrared thermal imaging request, performing horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and obtaining the thermal imaging acquisition data specifically include the following steps:

[0083] Receive infrared thermal imaging requests and generate thermal imaging control instructions;

[0084] According to the thermal imaging control instruction, perform horizontal and / or vertical rotation adjustment of the infrared thermal imaging;

[0085] During the rotation adjustment process, infrared thermal imaging is performed on the surface of the coal pile to obtain thermal imaging data.

[0086] Furthermore, the integrated intelligent coal shed environment monitoring method further comprises the following steps:

[0087] Step S103: performing data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data.

[0088] In an embodiment of the present invention, point cloud filtering is performed on three-dimensional point cloud data to filter noise and abnormal point data, including Gaussian filtering and multiple condition filtering, to obtain filtered point cloud data, and noise suppression and enhancement processing is performed on thermal imaging acquisition data to obtain thermal imaging enhanced data to ensure the accuracy of temperature data, and then the filtered point cloud data and the thermal imaging enhanced data are converted to a unified coordinate system, and the filtered point cloud data and the thermal imaging enhanced data after the unified coordinate system conversion are spatially aligned, and the point cloud data generated by pixel points and lidar are calibrated to obtain a conversion matrix, and then the ICP registration algorithm is applied for precise alignment to generate fused point cloud data containing geometric information and temperature information.

[0089] Specifically, in a preferred embodiment of the present invention, the data preprocessing and data fusion of the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data specifically includes the following steps:

[0090] Performing point cloud filtering processing on the three-dimensional point cloud data to filter out noise points and abnormal point data to obtain filtered point cloud data;

[0091] Performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data;

[0092] Convert the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system;

[0093] The filtered point cloud data and thermal imaging enhanced data after unified coordinate system conversion are spatially aligned to generate fused point cloud data.

[0094] Furthermore, the integrated intelligent coal shed environment monitoring method further comprises the following steps:

[0095] Step S104: Analyze the three-dimensional point cloud data to calculate the volume of the coal pile.

[0096] In the embodiment of the present invention, a triangulated network algorithm is used to divide the three-dimensional point cloud data into multiple grid units, and then the horizontal projection areas of the multiple grid units are calculated, and the grid heights of the multiple grid units are obtained. Then, according to the multiple horizontal projection areas and the corresponding grid heights, Calculate the volume of the coal pile, where V is the volume of the coal pile, A i is the horizontal projection area of ​​the ith grid cell, h i is the grid height of the i-th grid unit, and N is the number of grid units.

[0097] Specifically, in a preferred embodiment provided by the present invention, the analyzing of the three-dimensional point cloud data and calculating the volume of the coal pile specifically includes the following steps:

[0098] Using a triangulated network algorithm, the three-dimensional point cloud data is segmented to obtain a plurality of grid units;

[0099] Calculating the horizontal projection areas of a plurality of the grid cells;

[0100] Obtaining grid heights of a plurality of the grid cells;

[0101] The volume of the coal pile is calculated based on the multiple horizontal projection areas and the multiple grid heights.

[0102] Furthermore, the integrated intelligent coal shed environment monitoring method further comprises the following steps:

[0103] Step S105: Analyze the fused point cloud data to perform abnormal detection, visualization and / or abnormal alarm of regional temperature.

[0104] In an embodiment of the present invention, temperature correction is performed on the fused point cloud data to obtain temperature correction data, which is then compared with a preset temperature threshold, and multiple abnormal points exceeding the temperature threshold are recorded, and their positions and temperatures are recorded and synchronized to a unified coordinate system. The DBSCAN clustering algorithm can be used to cluster multiple abnormal points, determine multiple abnormal areas, and then visualize the multiple abnormal areas, generate abnormal alarm information, and perform temperature abnormality alarms according to the abnormal alarm information. Historical data can be combined to analyze whether the abnormality persists or has a tendency to spread, and the device can be informed of the specific coordinates for continuous monitoring.

[0105] Specifically, in the preferred embodiment provided by the present invention, the analysis of the fused point cloud data to perform abnormal detection, visualization processing and / or abnormal alarm of regional temperature specifically includes the following steps:

[0106] Performing temperature correction on the fused point cloud data to obtain temperature corrected data;

[0107] Comparing the temperature correction data with a preset temperature threshold, and recording a plurality of abnormal points exceeding the temperature threshold;

[0108] Clustering the multiple abnormal points to determine multiple abnormal areas;

[0109] Visually displaying the plurality of abnormal areas;

[0110] Generate abnormal alarm information and issue abnormal temperature alarm.

[0111] Furthermore, Figure 2 The application architecture diagram of the integrated intelligent coal shed environment monitoring system provided by an embodiment of the present invention is shown.

[0112] Among them, in another preferred embodiment provided by the present invention, an integrated intelligent coal shed environment monitoring system includes:

[0113] The laser scanning module 101 is used to receive a laser scanning request, perform horizontal and / or vertical rotation adjustment of the laser scanning, and obtain three-dimensional point cloud data of the coal pile surface.

[0114] In an embodiment of the present invention, the laser scanning module 101 generates a scanning control instruction by receiving a laser scanning request, and then performs horizontal and / or vertical rotation adjustment of the laser scanning according to the scanning control instruction. During the rotation adjustment process, the surface of the coal pile is laser scanned to obtain three-dimensional point cloud data, wherein the three-dimensional point cloud data includes the three-dimensional point cloud coordinates and intensity values ​​of each point.

[0115] The infrared thermal imaging module 102 is used to receive infrared thermal imaging requests, perform horizontal and / or vertical rotation adjustment of infrared thermal imaging, and obtain thermal imaging acquisition data.

[0116] In an embodiment of the present invention, the infrared thermal imaging module 102 generates a thermal imaging control instruction by receiving an infrared thermal imaging request, and then performs horizontal and / or vertical rotation adjustment of the infrared thermal imaging according to the thermal imaging control instruction. During the rotation adjustment process, infrared thermal imaging of the temperature distribution on the surface of the coal pile is collected to obtain thermal imaging collection data containing a temperature matrix, so that each pixel point contains temperature information.

[0117] The data preprocessing and fusion module 103 is used to perform data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data.

[0118] In an embodiment of the present invention, the data preprocessing and fusion module 103 performs point cloud filtering on the three-dimensional point cloud data to filter noise and abnormal point data, including Gaussian filtering and multiple condition filtering, to obtain filtered point cloud data, and performs noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data to ensure the accuracy of the temperature data, and then converts the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system, spatially aligns the filtered point cloud data and the thermal imaging enhanced data after the unified coordinate system conversion, uses pixel points and laser radar to calibrate the point cloud data generated by the laser radar to obtain the conversion matrix, and then applies the ICP registration algorithm for precise alignment to generate fused point cloud data containing geometric information and temperature information.

[0119] Specifically, in the preferred embodiment provided by the present invention, the data preprocessing and fusion module 103 specifically includes:

[0120] A cloud filtering processing unit, used to perform point cloud filtering on the three-dimensional point cloud data, filter out noise points and abnormal point data, and obtain filtered point cloud data;

[0121] A noise suppression unit, used for performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data;

[0122] A unified coordinate system conversion unit, used for converting the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system;

[0123] The spatial alignment and fusion unit is used to spatially align the filtered point cloud data and the thermal imaging enhanced data after the unified coordinate system conversion to generate fused point cloud data.

[0124] Furthermore, the integrated intelligent coal shed environmental monitoring system also includes:

[0125] The coal pile volume calculation module 104 is used to analyze the three-dimensional point cloud data and calculate the volume of the coal pile.

[0126] In the embodiment of the present invention, the coal pile volume calculation module 104 adopts a triangulated network algorithm to divide the three-dimensional point cloud data into multiple grid units, and then calculates the horizontal projection areas of the multiple grid units and obtains the grid heights of the multiple grid units. Then, according to the multiple horizontal projection areas and the corresponding grid heights, Calculate the volume of the coal pile, where V is the volume of the coal pile, A i is the horizontal projection area of ​​the ith grid cell, h i is the grid height of the i-th grid unit, and N is the number of grid units.

[0127] The temperature anomaly detection module 105 is used to analyze the fused point cloud data to perform anomaly detection, visualization processing and / or anomaly alarm of regional temperature.

[0128] In an embodiment of the present invention, the temperature anomaly detection module 105 performs temperature correction on the fused point cloud data to obtain temperature correction data, compares the temperature correction data with a preset temperature threshold, and records multiple abnormal points that exceed the temperature threshold, and records their positions and temperatures, and synchronizes them to a unified coordinate system. The DBSCAN clustering algorithm can be used to cluster multiple abnormal points, determine multiple abnormal areas, and then visualize the multiple abnormal areas, and generate abnormal alarm information. According to the abnormal alarm information, a temperature abnormality alarm is issued, and historical data can be combined to analyze whether the anomaly persists or has a tendency to spread, and the device can be informed of the specific coordinates for continuous monitoring.

[0129] Furthermore, Figure 3 A schematic diagram of an explosion-proof pan / tilt head provided in an embodiment of the present invention is shown.

[0130] Among them, in another preferred embodiment provided by the present invention, an explosion-proof pan / tilt head comprises:

[0131] Horizontal rotation adjustment mechanism, used for horizontal rotation adjustment of laser scanning and infrared thermal imaging;

[0132] The vertical rotation adjustment mechanism is used for vertical rotation adjustment of laser scanning and infrared thermal imaging.

[0133] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0134] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0135] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An integrated intelligent coal shed environment monitoring method, characterized in that: The method specifically comprises the following steps: Receiving a laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and acquiring three-dimensional point cloud data of the coal pile surface; Receive infrared thermal imaging requests, perform horizontal and / or vertical rotation adjustment of infrared thermal imaging, and obtain thermal imaging acquisition data; Performing data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data; Analyzing the three-dimensional point cloud data to calculate the volume of the coal pile; The fused point cloud data is analyzed to perform abnormal detection, visualization and / or abnormal alarm of regional temperature.

2. The integrated intelligent coal shed environment monitoring method according to claim 1 is characterized in that: The receiving of the laser scanning request, performing horizontal and / or vertical rotation adjustment of the laser scanning, and obtaining the three-dimensional point cloud data of the coal pile surface specifically includes the following steps: Receive laser scanning requests and generate scanning control instructions; According to the scanning control instruction, the horizontal and / or vertical rotation adjustment of the laser scanning is performed; During the rotation adjustment process, the surface of the coal pile is laser scanned to obtain three-dimensional point cloud data, which includes the three-dimensional point cloud coordinates and intensity value of each point.

3. The integrated intelligent coal shed environment monitoring method according to claim 1 is characterized in that: The receiving of the infrared thermal imaging request, performing horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and obtaining the thermal imaging acquisition data specifically include the following steps: Receive infrared thermal imaging requests and generate thermal imaging control instructions; According to the thermal imaging control instruction, perform horizontal and / or vertical rotation adjustment of the infrared thermal imaging; During the rotation adjustment process, infrared thermal imaging is performed on the surface of the coal pile to obtain thermal imaging data.

4. The integrated intelligent coal shed environment monitoring method according to claim 1 is characterized in that: The data preprocessing and data fusion of the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data specifically includes the following steps: Performing point cloud filtering processing on the three-dimensional point cloud data to filter out noise points and abnormal point data to obtain filtered point cloud data; Performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data; Convert the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system; The filtered point cloud data and thermal imaging enhanced data after unified coordinate system conversion are spatially aligned to generate fused point cloud data.

5. The integrated intelligent coal shed environment monitoring method according to claim 1 is characterized in that: The analyzing of the three-dimensional point cloud data to calculate the volume of the coal pile specifically comprises the following steps: Using a triangulated network algorithm, the three-dimensional point cloud data is segmented to obtain a plurality of grid units; Calculating the horizontal projection areas of a plurality of the grid cells; Obtaining grid heights of a plurality of the grid cells; The volume of the coal pile is calculated based on the multiple horizontal projection areas and the multiple grid heights.

6. The integrated intelligent coal shed environment monitoring method according to claim 5 is characterized in that: The calculation formula of the coal pile volume is: Where V is the volume of the coal pile, A i is the horizontal projection area of ​​the ith grid cell, h i is the grid height of the i-th grid unit, and N is the number of grid units.

7. The integrated intelligent coal shed environment monitoring method according to claim 1 is characterized in that: The analyzing of the fused point cloud data to perform abnormal detection, visualization and / or abnormal alarm of regional temperature specifically includes the following steps: Performing temperature correction on the fused point cloud data to obtain temperature corrected data; Comparing the temperature correction data with a preset temperature threshold, and recording a plurality of abnormal points exceeding the temperature threshold; Clustering the multiple abnormal points to determine multiple abnormal areas; Visually displaying the plurality of abnormal areas; Generate abnormal alarm information and issue abnormal temperature alarm.

8. An integrated intelligent coal shed environment monitoring system for executing the integrated intelligent coal shed environment monitoring method as claimed in any one of claims 1 to 7, characterized in that: The system includes a laser scanning module, an infrared thermal imaging module, a data preprocessing and fusion module, a coal pile volume calculation module and a temperature anomaly detection module, wherein: The laser scanning module is used to receive a laser scanning request, perform horizontal and / or vertical rotation adjustment of the laser scanning, and obtain three-dimensional point cloud data of the coal pile surface; The infrared thermal imaging module is used to receive infrared thermal imaging requests, perform horizontal and / or vertical rotation adjustment of the infrared thermal imaging, and obtain thermal imaging acquisition data; A data preprocessing and fusion module is used to perform data preprocessing and data fusion on the three-dimensional point cloud data and the thermal imaging acquisition data to generate fused point cloud data; A coal pile volume calculation module, used to analyze the three-dimensional point cloud data and calculate the volume of the coal pile; The temperature anomaly detection module is used to analyze the fused point cloud data to perform anomaly detection, visualization and / or anomaly alarm of regional temperature.

9. The integrated intelligent coal shed environment monitoring system according to claim 8 is characterized in that: The data preprocessing and fusion module specifically includes: A cloud filtering processing unit, used to perform point cloud filtering on the three-dimensional point cloud data, filter out noise points and abnormal point data, and obtain filtered point cloud data; A noise suppression unit, used for performing noise suppression and enhancement processing on the thermal imaging acquisition data to obtain thermal imaging enhanced data; A unified coordinate system conversion unit, used for converting the filtered point cloud data and the thermal imaging enhanced data into a unified coordinate system; The spatial alignment and fusion unit is used to spatially align the filtered point cloud data and the thermal imaging enhanced data after the unified coordinate system conversion to generate fused point cloud data.

10. An explosion-proof pan / tilt head for executing the integrated intelligent coal shed environment monitoring method as claimed in any one of claims 1 to 7, characterized in that: The explosion-proof pan / tilt head comprises a horizontal rotation adjustment mechanism and a vertical rotation adjustment mechanism, wherein: Horizontal rotation adjustment mechanism, used for horizontal rotation adjustment of laser scanning and infrared thermal imaging; The vertical rotation adjustment mechanism is used for vertical rotation adjustment of laser scanning and infrared thermal imaging.

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