Coal pile scanning method, device and equipment and storage medium

Abstract

The invention discloses a coal pile scanning method, device and equipment and a storage medium, and relates to the technical field of laser radar, and the disclosed coal pile scanning method comprises the steps: obtaining coal pile point cloud data and real-time coal pile point cloud data of a coal yard; acquiring attitude parameters of the bucket wheel machine, and converting the real-time coal pile point cloud data to a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data; when the real-time coal pile reference data is in a preset point cloud grid of a preset coal yard coordinate system, updating the coal pile point cloud data according to the real-time coal pile reference data to obtain coal pile real-time scanning data; according to the method, the coal pile point cloud data of the coal yard are determined through the fixed scanner, then the real-time point cloud data of the coal piles are collected according to the mobile scanner, coordinates of the real-time point cloud data and coordinates of the coal pile point cloud data are unified and updated in real time by combining attitude transformation of the bucket wheel machine, the number of the coal piles in the coal yard is fed back in time, and the accuracy of data checking of the coal piles in the coal yard is improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a coal pile scanning method, device, equipment and storage medium. Background Art

[0002] With the continuous acceleration of the industrialization process, bulk material stacking and reclaiming equipment is an efficient equipment for continuous loading and unloading of bulk bulk materials in modern industry. It is widely used in the stacking and reclaiming operations of bulk material (ore, coal, coke, sand and gravel) storage yards such as ports, docks, metallurgy, cement, steel mills, coking plants, coal storage plants, power plants, etc. At present, the bulk material yards in the industrial field adopt a manual management mode, and the stacking and reclaiming machines almost all adopt manual control and semi-automatic control methods, which require the driver to operate in the driver's cab. With the expansion of thermal power plant units and the increase in coal prices, coal panning has become an indispensable link for power generation companies. The traditional coal panning method is that the accuracy and efficiency of manual coal panning with a tape measure are low, and the coal pile data changes cannot be grasped in real time during the stacking and reclaiming operation, and the automatic stacking and reclaiming operation cannot be realized. The surface of the material yard is collected using a high-precision laser radar scanner. The contour data of the material pile is processed by computer, the 3D model of the material discharge yard is reconstructed, and the contour volume and other information of the material pile are calculated. Combined with the set density, the weight of the pile will be obtained, and real-time and accurate data will be provided for the material yard to realize automatic stacking and reclaiming operations.

[0003] At present, the commonly used method of scanning coal in a pan is to install scanners on both sides of the front end of the cantilever. When this method is used to scan the entire coal yard, the bucket wheel machine needs to move back and forth in the coal yard to ensure that the scanner on the cantilever can cover the entire coal yard, which will lead to waste of resources and time-consuming. The larger the coal yard, the longer it takes and the greater the loss of resources, which is not conducive to the realization of automated construction of the coal yard and energy saving and efficiency improvement.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a coal pile scanning method, device, equipment and storage medium, aiming to solve the technical problem that the current bucket wheel machine scanning requires a long time to move back and forth, resulting in low work efficiency.

[0006] To achieve the above-mentioned purpose, the present application proposes a coal pile scanning method, which is applied to a coal pile scanning system, and the coal pile scanning system includes a mobile scanner and at least one fixed scanner; The coal pile scanning method comprises: Acquire coal pile point cloud data and real-time coal pile point cloud data of the coal yard, wherein the coal pile point cloud data is obtained by the fixed coal pile point cloud data collected by the fixed scanner, and the real-time coal pile point cloud data is obtained by the mobile scanner; Acquire the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain the real-time coal pile reference data; When the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the coal pile point cloud data is updated according to the real-time coal pile reference data to obtain the coal pile real-time scanning data.

[0007] In one embodiment, the step of acquiring coal pile point cloud data and real-time coal pile point cloud data of a coal yard, wherein the coal pile point cloud data is obtained by the fixed coal pile point cloud data collected by the fixed scanner, and the real-time coal pile point cloud data is obtained by the mobile scanner, includes: Acquire fixed coal pile point cloud data collected by the fixed scanner and real-time coal pile point cloud data collected by the mobile scanner; Preprocessing the fixed coal pile point cloud data to obtain preprocessed data; The pre-processed data is transformed into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain coal pile point cloud data of the coal yard.

[0008] In one embodiment, the pre-processed data is transformed into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain the coal pile point cloud data of the coal yard, including: Based on the calibration matrix of the fixed scanner, the coal pile coordinates corresponding to the pre-processed data are converted into a preset coal yard coordinate system to obtain initial coal pile and coal yard coordinates; De-duplication of the initial coal pile and coal yard coordinates to obtain the lower layer coal pile coordinates; Curve fitting is performed based on the coordinates of the lower coal pile to obtain point cloud data of the coal pile in the coal yard.

[0009] In one embodiment, before the pre-processed data is transformed into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain the coal pile point cloud data of the coal yard, the method further includes: Obtain the fixed coordinate system of each fixed scanner and the preset coal yard coordinate system; According to the fixed coordinate system and the preset coal yard coordinate system, a fixed coordinate system translation amount and a fixed coordinate system rotation angle between each fixed coordinate system and the preset coal yard coordinate system are obtained; Obtaining a fixed coordinate transformation homogeneous matrix according to the fixed coordinate system translation amount and the fixed coordinate system rotation angle; The fixed coordinate translation variation is obtained according to the fixed coordinate transformation homogeneous matrix, and the calibration matrix of the fixed scanner is obtained according to the fixed coordinate translation variation.

[0010] In one embodiment, the step of acquiring the attitude parameters of the bucket wheel machine and transforming the real-time coal pile point cloud data into the preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain the real-time coal pile reference data includes: Acquire the attitude parameters of the bucket wheel machine, and obtain the pitch angle and the rotation angle of the mobile scanner according to the attitude parameters of the bucket wheel machine; Obtaining a calibration matrix of the mobile scanner according to the pitch angle and the rotation angle; The real-time coal pile point cloud data is transformed into the preset coal yard coordinate system according to the calibration matrix of the mobile scanner to obtain real-time coal pile reference data.

[0011] In one embodiment, obtaining a calibration matrix of the mobile scanner according to the pitch angle and the rotation angle includes: Acquire the reference coordinates of the mobile scanner in the preset coal yard coordinate system; Obtaining a translation matrix according to the reference coordinates, the pitch angle, and the rotation angle; Obtaining a rotation matrix according to the pitch angle and the rotation angle; A calibration matrix of the mobile scanner is obtained according to the translation matrix and the rotation matrix.

[0012] In one embodiment, when the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system, the coal pile point cloud data is updated according to the real-time coal pile reference data to obtain the coal pile real-time scanning data, including: Based on the real-time coal pile reference data, the horizontal coordinate, the vertical coordinate and the vertical coordinate of each coal pile in a preset coal yard coordinate system are obtained; Determining whether the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system according to the horizontal coordinate and the vertical coordinate; When the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the ordinate in the coal pile point cloud data is updated according to the ordinate to obtain the real-time scanning data of the coal pile.

[0013] In addition, to achieve the above purpose, the present application also proposes a coal pile scanning device, the coal pile scanning device comprising: A fixed scanning module is used to obtain coal pile point cloud data and real-time coal pile point cloud data of a coal yard, wherein the coal pile point cloud data is obtained by collecting fixed coal pile point cloud data with a fixed scanner, and the real-time coal pile point cloud data is obtained by collecting mobile scanner; A mobile scanning module is used to obtain the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data; The coal pile scanning module is used to update the coal pile point cloud data according to the real-time coal pile reference data when the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system to obtain the real-time scanning data of the coal pile.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a coal pile scanning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the coal pile scanning method described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the coal pile scanning method described above are implemented.

[0016] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the coal pile scanning method described above are implemented.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: The fixed scanner is used to preliminarily determine the point cloud data of the coal pile in the coal yard, and then the mobile scanner installed on the bucket wheel machine obtains the real-time point cloud data of the coal pile based on the picking / unloading of the coal pile. In combination with the posture transformation of the bucket wheel machine, the real-time point cloud data and basic power supply data are unified and updated in real time. This can provide timely feedback on the number of coal piles in the coal yard, facilitate real-time monitoring of the status of the coal pile, improve the accuracy of the inventory of coal pile data in the coal yard, and achieve more efficient, accurate and automated coal management. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the coal pile scanning method of the present application; Figure 2 A schematic diagram of the installation of a fixed scanner provided in Example 1 of the coal pile scanning method of the present application; Figure 3 A schematic diagram of the installation of a mobile scanner provided in Embodiment 1 of the coal pile scanning method of the present application; Figure 4 A schematic diagram of a fixed coordinate system of a fixed scanner provided in Embodiment 1 of the coal pile scanning method of the present application; Figure 5 A schematic diagram of a flow chart provided for Embodiment 2 of the coal pile scanning method of the present application; Figure 6 A schematic diagram of the relationship between the mobile coordinate system and the preset coal yard coordinate system provided in Embodiment 2 of the coal pile scanning method of the present application; Figure 7 This is a schematic diagram of the module structure of the coal pile scanning device according to an embodiment of the present application; Figure 8 Schematic diagram of the equipment structure of the hardware operating environment involved in the coal pile scanning method in the embodiment of the present application. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solutions of the embodiments of the present application are: obtaining coal pile point cloud data and real-time coal pile point cloud data of the coal yard; obtaining bucket wheel machine attitude parameters, and transforming the real-time coal pile point cloud data to a preset coal yard coordinate system based on the bucket wheel machine attitude parameters to obtain real-time coal pile reference data; when the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system, updating the coal pile point cloud data according to the real-time coal pile reference data to obtain real-time scanning data of the coal pile.

[0024] In this embodiment, for ease of description, the following description is made by taking the coal pile identification scanning device as the execution subject.

[0025] As the existing technology continues to accelerate with the industrialization process, bulk material stacking and reclaiming equipment is an efficient equipment for continuous loading and unloading of bulk bulk materials in modern industry. It is widely used in bulk material (ore, coal, coke, sand and gravel) storage yards such as ports, docks, metallurgy, cement, steel mills, coking plants, coal storage plants, power plants, etc. The stacking and reclaiming operations. At present, the bulk material yards in the industrial field adopt a manual management mode, and the stacking and reclaiming machines almost all adopt manual control and semi-automatic control methods, which require the driver to operate in the driver's cab. With the expansion of thermal power plant units and the increase in coal prices, coal panning has become an indispensable link for power generation companies. The traditional coal panning method is that the accuracy and efficiency of manual tape measure coal panning are low, and the coal pile data changes cannot be grasped in real time during the stacking and reclaiming operation, and the automatic stacking and reclaiming operation cannot be realized. The surface of the material yard is collected using a high-precision laser radar scanner. The contour data of the material pile is processed by computer, the 3D model of the material yard is reconstructed, and the contour volume and other information of the material pile are calculated. Combined with the set density, the weight of the pile will be obtained, and real-time and accurate data will be provided for the automatic stacking and reclaiming operations in the material yard.

[0026] At present, the commonly used method of scanning coal in a pan is to install scanners on both sides of the front end of the cantilever. When this method is used to scan the entire coal yard, the bucket wheel machine needs to move back and forth in the coal yard to ensure that the scanner on the cantilever can cover the entire coal yard, which will lead to waste of resources and time-consuming. The larger the coal yard, the longer it takes and the greater the loss of resources, which is not conducive to the realization of automated construction of the coal yard and energy saving and efficiency improvement.

[0027] The present application provides a solution, which determines the point cloud data of the coal pile in the coal yard through a fixed scanner, and then collects the real-time point cloud data of the coal pile according to the mobile scanner, and combines the posture transformation of the bucket wheel machine to unify the coordinates of the real-time point cloud data and the coal pile point cloud data and update them in real time, so as to timely feedback the number of coal piles in the coal yard and improve the accuracy of the inventory of coal pile data in the coal yard.

[0028] It can be seen from the above embodiments that the present application discloses a coal pile scanning method, device, equipment and storage medium, which relates to the field of laser radar technology. The disclosed coal pile scanning method includes: obtaining coal pile point cloud data and real-time coal pile point cloud data of a coal yard; obtaining bucket wheel machine attitude parameters, and transforming the real-time coal pile point cloud data to a preset coal yard coordinate system based on the bucket wheel machine attitude parameters to obtain real-time coal pile reference data; when the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system, updating the coal pile point cloud data according to the real-time coal pile reference data to obtain real-time scanning data of the coal pile; the method determines the coal pile point cloud data of the coal yard through a fixed scanner, and then collects the real-time point cloud data of the coal pile according to the mobile scanner, and unifies the coordinates of the real-time point cloud data and the coal pile point cloud data in combination with the attitude transformation of the bucket wheel machine and updates them in real time, timely feedbacks the number of coal piles in the coal yard, and improves the accuracy of the inventory of coal pile data in the coal yard.

[0029] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a coal pile scanning device, etc. The following takes the coal pile scanning device as an example to illustrate this embodiment and the following embodiments.

[0030] Based on this, the embodiment of the present application provides a coal pile scanning method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the coal pile scanning method of the present application.

[0031] In this embodiment, the coal pile scanning method includes steps S10 to S30: Step S10, obtaining coal pile point cloud data and real-time coal pile point cloud data of the coal yard, wherein the coal pile point cloud data is obtained by the fixed coal pile point cloud data collected by the fixed scanner, and the real-time coal pile point cloud data is obtained by the mobile scanner.

[0032] It should be noted that the coal pile scanning method is applied to a coal pile scanning system, and the coal pile scanning system includes a mobile scanner and at least one fixed scanner.

[0033] It is understandable that the coal pile point cloud data can be the point cloud data obtained after a fixed scanner scans the coal pile in the coal yard and further processes it, wherein the update of the point cloud data of the coal pile in the coal yard is based on the point cloud data of the coal pile in the coal yard collected by the fixed scanner each time, and the point cloud data collected by the mobile scanner is updated in real time.

[0034] It should be noted that the real-time coal pile point cloud data is the real-time coal pile point cloud data collected by the mobile scanner, and the fixed scanner can scan the coal pile in the coal yard periodically, every hour, every day, every week, etc.

[0035] It should be noted that the installation of fixed scanners can refer to Figure 2 The installation of the fixed scanner in the figure is to fix the laser radar scanner with a pan / tilt on the horseway of the coal shed above the coal yard, and determine the installation distance between every two scanners according to the scanning range of the scanner.

[0036] It should be further explained that the installation of mobile scanners can refer to Figure 3 In the figure, the installation of the mobile scanner is to install the laser radar scanner without a pan / tilt on both sides of the front end of the cantilever close to the bucket wheel. When installed, the scanner cannot scan the cantilever and bucket wheel structure of the stacker / reclaimer while being able to scan the coal pile below.

[0037] In a feasible implementation, step S10 may include steps A11 to A13: Step A11, acquiring the fixed coal pile point cloud data collected by the fixed scanner and the real-time coal pile point cloud data collected by the mobile scanner.

[0038] It is understandable that the fixed coal pile point cloud data can be directly obtained after the fixed scanner scans the coal pile in the coal yard.

[0039] Step A12, preprocessing the fixed coal pile point cloud data to obtain preprocessed data.

[0040] Understandably, based on Figure 2 It can be clearly seen that when the coal yard is large enough, when scanning the coal pile in the coal yard with a fixed scanner, multiple fixed scanners are required to scan collaboratively to obtain the point cloud data of the entire coal yard.

[0041] It should be understood that the point cloud data after multiple fixed scanners scan the coal yard needs to be further processed to obtain complete coal pile point cloud data.

[0042] It should be noted that the preprocessing may be to first perform filtering and denoising, data simplification, data interpolation and other processing on the point cloud data of multiple 3D laser scanners fixedly installed on the top of the coal shed (i.e., the fixed coal pile point cloud data).

[0043] Step A13: transform the preprocessed data into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain the coal pile point cloud data of the coal yard.

[0044] It is understandable that the preset coal yard coordinate system can be the coordinate system of the coal yard. The point cloud data collected by the fixed scanner is based on the fixed scanner's own coordinate system and needs to be converted to the coal yard coordinate system. Similarly, the real-time coal pile point cloud data collected by the mobile scanner is scanned based on the mobile scanner's sitting coordinate system. The coordinates of the real-time coal pile point cloud data need to be converted to the preset coal yard coordinate system. After unification, the coal pile point cloud data of the coal yard can be obtained based on the point cloud data of the fixed scanner and the point cloud data of the mobile scanner.

[0045] In the specific implementation, the point cloud data of fixed-mounted scanners are collected and integrated: each scanner scans the corresponding area periodically or manually to obtain the point cloud data of the coal pile in each area, and the point cloud data of each scanner is unified into the coordinate system of the coal yard, and spliced ​​to form the point cloud data of the entire coal yard.

[0046] It should be noted that the calibration matrix based on the fixed scanner transforms the preprocessed data into a preset coal yard coordinate system to obtain the coal pile point cloud data of the coal yard, including: converting the coal pile coordinates corresponding to the preprocessed data into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain the initial coal pile and coal yard coordinates; deduplicating the initial coal pile and coal yard coordinates to obtain the lower layer coal pile coordinates; and performing curve fitting based on the lower layer coal pile coordinates to obtain the coal pile point cloud data of the coal yard.

[0047] Among them, based on the calibration matrix of the fixed scanner, the coal pile coordinates corresponding to the pre-processed data are converted to the preset coal yard coordinate system to obtain the initial coal pile and coal yard coordinates. It can be understood that: the calibration matrix of the fixed scanner can be a conversion matrix between the fixed coordinate system with the fixed scanner as the origin and the preset coal yard coordinate system. Based on this conversion matrix, any point in the two fixed coordinate systems can be converted to the coordinates in the preset coal yard coordinate system.

[0048] It should be understood that the initial coal pile and coal yard coordinates are the coordinates corresponding to the point cloud data collected by the fixed scanner after the coordinates are converted into the preset coal yard coordinate system.

[0049] Among them, it should be noted that "de-duplicating the initial coal pile and coal yard coordinates to obtain the coordinates of the lower layer coal pile, and performing curve fitting based on the lower layer coal pile coordinates to obtain the coal pile point cloud data of the coal yard" can be firstly adopting the principle of the lower layer points according to the Z coordinate (that is, the overlapping points are de-duplicated based on the point with the smallest Z coordinate), and then smoothing the curve based on the surrounding points, so as to obtain the fused point cloud data of the entire yard (that is, the coal pile point cloud data of the coal yard).

[0050] It should be emphasized that before the calibration matrix based on the fixed scanner transforms the pre-processed data into the preset coal yard coordinate system to obtain the coal pile point cloud data of the coal yard, it also includes: acquiring the fixed coordinate system of each fixed scanner and the preset coal yard coordinate system; obtaining the fixed coordinate system translation and the fixed coordinate system rotation angle between each fixed coordinate system and the preset coal yard coordinate system according to the fixed coordinate system and the preset coal yard coordinate system; obtaining a fixed coordinate transformation homogeneous matrix according to the fixed coordinate system translation and the fixed coordinate system rotation angle; obtaining a fixed coordinate translation change according to the fixed coordinate transformation homogeneous matrix, and obtaining the calibration matrix of the fixed scanner according to the fixed coordinate translation change.

[0051] It is understandable that the fixed coordinate system can be a three-dimensional coordinate system constructed by each fixed scanner with itself as the origin. Since the installation positions of multiple scanners are different, each fixed coordinate system can refer to Figure 4, the coordinate origin of the scanner in the figure belongs to a virtual position. Due to the different installation positions, there will be different translations X, Y, Z and rotation angles RX, RY, RZ between each scanner's own coordinate system and the base coordinate system (the final same coal yard coordinate system) (that is, the fixed coordinate system translation and fixed coordinate system rotation angle between each fixed coordinate system and the preset coal yard coordinate system are obtained according to the fixed coordinate system and the preset coal yard coordinate system).

[0052] Furthermore, based on the translation amounts X, Y, Z, and the rotation angles RX, RY, RZ, according to the matrix transformation of translation and rotation under homogeneous coordinates, the changes in translation and rotation can be finally converted into a 4*4 homogeneous matrix (that is, the fixed coordinate transformation homogeneous matrix is ​​obtained according to the fixed coordinate system translation amount and the fixed coordinate system rotation angle), as follows:

[0053] Where R is a 3*3 rotation transformation matrix, which can be obtained through three rotation transformation matrices with different angles in homogeneous coordinates, and T is a 3*1 translation transformation vector, as follows:

[0054] Furthermore, given two corresponding point sets in d-dimensional space and , in order to calculate R and t, it can be modeled as follows reference formula 1:

[0055] To calculate the rotation matrix R, first take the derivative of reference formula 1 to obtain reference formula 2:

[0056] Introduce the center point of the point set P and the center point of the set Q , please refer to the following reference formula 3 for details:

[0057] Based on the derivation of reference formula 2, reference formula 4 is obtained:

[0058] Decentralize the set points p and q to obtain new sets X and Y. It can be expressed as and ,use and Represent the points in the new data set respectively, then and The expression of can refer to the following reference formula 5:

[0059] Based on reference formula 5, reference formula 1 is analyzed to obtain reference formula 6:

[0060] The rotation matrix R obtained by the angle rotation transformation is an orthogonal matrix, so we have , is the unit matrix, so the reference formula 6 is expanded to obtain the reference formula 7:

[0061] Refer to formula 7 , is a d*1 dimensional vector, and R is a d*d dimensional matrix, so is a scalar. For scalar a, we have: . And in reference formula 7, we have:

[0062] Therefore, analyzing the reference formula 6, we can obtain:

[0063] because and Independent of the rotation matrix R, then:

[0064]

[0065] The trace of the matrix satisfies , so there is .right The SVD (singular value decomposition) decomposition has the following formula:

[0066] Because U, R, V are orthogonal matrices, It is also an orthogonal matrix, that is, the vector of each column in the matrix M So we have:

[0067] To maximize , then:

[0068] The translation change t can be obtained according to reference formula 4, thereby further obtaining the calibration matrix of the fixed scanner (i.e., the fixed coordinate translation change is obtained according to the fixed coordinate transformation homogeneous matrix, and the calibration matrix of the fixed scanner is obtained according to the fixed coordinate translation change).

[0069] In this embodiment, by pre-converting the fixed coordinate system of each fixed scanner and the preset coal yard coordinate system, a conversion matrix between each fixed coordinate system and the preset coal yard coordinate system is obtained, so that the point cloud data in each fixed coordinate system collected by the scanner can be conveniently unified into the preset coal yard coordinate system, which is convenient for the unification and fusion of the point cloud data of the coal pile in the coal yard.

[0070] The above are only feasible implementations of step S10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S10.

[0071] Step S20, obtaining the attitude parameters of the bucket wheel machine, and transforming the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data.

[0072] It is understandable that the attitude parameters of the bucket wheel machine may include the pitch angle and the rotation angle of the bucket wheel machine. The bucket wheel machine is equipped with an angle tilt measuring instrument, and the pitch angle and the rotation angle of the bucket wheel machine can be directly obtained through the instrument.

[0073] It should be noted that the mobile mounted scanner collects and integrates point cloud data: when the bucket wheel machine starts to operate, the scanner collects point cloud data of changes in the coal pile near the bucket wheel due to operation in real time, that is, real-time coal pile reference data.

[0074] It is understandable that the coordinates of the real-time coal pile point cloud data are all coordinates in the mobile coordinate system constructed with the mobile scanner as the origin. If the point cloud data of the coal pile in the coal yard is to be updated in real time based on the real-time coal pile point cloud data, it is necessary to uniformly convert it to the preset coal yard coordinate system for updating.

[0075] Step S30, when the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the coal pile point cloud data is updated according to the real-time coal pile reference data to obtain the coal pile real-time scanning data.

[0076] It can be understood that the reference data and point cloud data in this embodiment can also be understood as coordinate data. The preset point cloud grid can be obtained by gridding each point cloud data in the preset coal yard coordinate system according to the preset grid unit (the grid unit can be 1 cm, 5 cm, etc.) to obtain multiple preset point cloud grids.

[0077] In a feasible implementation, step S30 may include steps A31 to A33: Step A31, based on the real-time coal pile reference data, obtain the horizontal coordinate, vertical coordinate and vertical coordinate of each coal pile in the preset coal yard coordinate system.

[0078] It is understandable that the real-time coal pile reference data may be point cloud data scanned by a mobile scanner converted into data in a preset coal yard coordinate system, that is, three-dimensional coordinates.

[0079] Step A32: judging whether the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system according to the horizontal coordinate and the vertical coordinate.

[0080] It is understandable that, based on the horizontal coordinate and the vertical coordinate, it is possible to determine in a practical sense which part of the coal pile in the coal pile point cloud data scanned by the fixed scanner the coal pile corresponding to this point cloud data belongs to, and which preset point cloud grid it belongs to.

[0081] It should be understood that the preset point cloud grid may be pre-calibrated manually, or may be determined when coal pile point cloud data appears after scanning by a fixed scanner.

[0082] It should be noted that the preset point cloud grid determined in advance can determine whether there are incorrectly stacked coal piles, whether there are excessive coal piles, and whether there are no coal piles at a certain preset location, which is convenient for timely inventory of coal piles in the coal yard.

[0083] Step A33, when the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the ordinate in the coal pile point cloud data is updated according to the ordinate to obtain the real-time scanning data of the coal pile.

[0084] It is understandable that after determining the grids corresponding to the real-time coal pile data and the coal pile point cloud data scanned by the fixed scanner, it is possible to determine whether the height of the coal pile has changed based on the vertical coordinate, and the change in the quantity of the coal pile can be determined based on the change in height.

[0085] In the specific implementation, based on the X and Y coordinates of the point, it is determined whether the point falls within the pre-set grid of the point cloud gridding processing of the entire coal yard, and the Z coordinate of the corresponding grid point is updated in real time to achieve accurate point cloud data update of real-time changes in the coal pile contour when the stacker-reclaimer is operating.

[0086] In this implementation, the corresponding point cloud grid in the coal pile point cloud data is determined by the horizontal and vertical coordinates of the real-time point cloud data, and the vertical coordinate of the point cloud data is adjusted according to the vertical coordinate in the real-time point cloud data under the point cloud grid, thereby realizing real-time update of the coal pile point cloud data of the coal yard.

[0087] The above are only feasible implementations of step S30 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S30.

[0088] This embodiment provides a coal pile scanning method, which preliminarily determines the coal pile point cloud data of the coal yard through a fixed scanner, and then obtains the real-time point cloud data of the coal pile based on the picking / unloading of the coal pile according to the mobile scanner installed on the bucket wheel machine, and unifies the coordinates of the real-time point cloud data and basic power supply data in combination with the posture transformation of the bucket wheel machine and updates them in real time. It can timely feedback the number of coal piles in the coal yard, facilitate real-time monitoring of the status of the coal pile, improve the accuracy of the inventory of coal pile data in the coal yard, and realize more efficient, accurate and automated coal management.

[0089] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 5 , step S20, the coal pile scanning method further includes steps S21 to S23: Step S21, obtaining the attitude parameters of the bucket wheel machine, and obtaining the pitch angle and the rotation angle of the mobile scanner according to the attitude parameters of the bucket wheel machine.

[0090] It is understandable that the bucket wheel machine attitude parameters can be acquired in real time each time the bucket wheel machine moves.

[0091] It should be noted that according to the mechanical drawings of the stacker and reclaimer, the pitch and swivel angles are adjusted to 0 degrees, the distances from the swivel center and the pitch center to the scanners on both sides of the front end of the cantilever are calibrated, and the installation height and installation angles of the scanner at the front end of the cantilever are calibrated. Since the radar and the stacker and reclaimer are rigidly connected, the pitch and swivel angles of the stacker and reclaimer are the rotation angles of the radar.

[0092] Step S22: obtaining a calibration matrix of the mobile scanner according to the pitch angle and the rotation angle.

[0093] It is understandable that the calibration matrix of the mobile scanner may be a conversion matrix between a mobile coordinate system constructed with the scanner as the origin and a preset coal yard coordinate system.

[0094] It should be noted that the mobile coordinate system based on the transformation of the bucket wheel machine is also changing in real time. Similarly, each time the position of the mobile scanner changes, the calibration matrix of the mobile scanner is also changing accordingly.

[0095] In a feasible implementation, step S22 may include steps A221 to A224: Step A221, obtaining the reference coordinates of the mobile scanner in the preset coal yard coordinate system.

[0096] It can be understood that the mobile scanner is fixedly mounted on both sides of the bucket wheel machine boom and changes position with the movement of the bucket wheel machine boom.

[0097] It should be understood that the position of the bucket wheel machine in the preset coal yard coordinate system is known. Based on known parameters such as the length and suspension height of the bucket wheel machine cantilever, the coordinates of the mobile scanner in the preset coal yard coordinate system, i.e., the reference coordinates, can be determined in real time.

[0098] Step A222, obtaining a translation matrix according to the reference coordinates, the pitch angle, and the rotation angle.

[0099] It should be noted that when there is only pitch and roll, the translation matrix of the origin of the radar coordinate system can be obtained according to the pitch angle and roll angle as shown in the figure below:

[0100] It should be noted that after the mobile scanner changes its position based on the bucket wheel machine, the relationship between the mobile coordinate system and the preset coal yard coordinate system can be referred to Figure 6 The coordinate system with dotted lines on the left side of the figure can be understood as a moving coordinate system, and the coordinate system with pure solid lines can be understood as a preset coal yard coordinate system.

[0101] Step A223, obtaining a rotation matrix according to the pitch angle and the rotation angle.

[0102] It should be noted that the rotation matrix between the mobile coordinate system and the preset coal yard coordinate system can be expressed as:

[0103] Among them, H is the rotation matrix, P represents the coordinates of the preset coal yard coordinate system, and P' represents the coordinates of the mobile coordinate system.

[0104] in:

[0105]

[0106] Among them, T is the translation matrix of the coordinates of the mobile coordinate system in the preset coordinate system, and R is obtained by rotating 180 degrees around the Z axis and then rotating 90 degrees clockwise around the X axis.

[0107] Step A224, obtaining a calibration matrix of the mobile scanner according to the translation matrix and the rotation matrix.

[0108] It can be understood that the calibration matrix of the mobile scanner is obtained by combining the translation matrix and the rotation matrix.

[0109] In this embodiment, the conversion matrix between the preset coal yard coordinate system and the mobile coordinate system is obtained by using the coordinate points of the mobile scanner in the preset coal yard coordinate system, thereby converting the mobile point cloud data scanned by the mobile scanner to the preset coal yard coordinate system, thereby realizing the update of the point cloud data scanned by the fixed scanner in the preset coal yard coordinate system.

[0110] The above are only feasible implementations of step S22 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S22.

[0111] Step S23, transforming the real-time coal pile point cloud data into the preset coal yard coordinate system according to the calibration matrix of the mobile scanner to obtain real-time coal pile reference data.

[0112] In the specific implementation, the pitch angle and rotation angle of the bucket wheel machine can be obtained corresponding to the radar coordinate system, which is the rotation around the Y axis. , pitch is the rotation around the Z axis Assume that the radar endpoint coordinates are , transform the radar coordinate system to coincide with the reference radar coordinate system. The conversion formula is as follows:

[0113] The present embodiment provides a coal pile scanning method. Through the rigid connection between the bucket wheel machine and the mobile scanner, the transformation angle of the mobile scanner can be obtained according to the posture parameters of the bucket wheel machine, and the coordinates of the mobile scanner in the preset coal yard coordinate system are obtained based on the coordinates of the bucket wheel machine in the preset coal yard coordinate system. Thus, the conversion matrix between the mobile coordinate system and the preset coal yard coordinate system is obtained according to the coordinates of the mobile scanner in the preset coal yard coordinate system and the transformation angle of the mobile scanner. The point cloud data collected in real time by the mobile scanner is converted to the preset coal yard coordinate system, thereby realizing real-time scanning of the coal pile in the coal yard and counting of the coal pile in the coal yard.

[0114] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the coal pile scanning method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0115] This application also provides a coal pile scanning device, please refer to Figure 7 , the coal pile scanning device comprises: The fixed scanning module 10 is used to obtain coal pile point cloud data and real-time coal pile point cloud data of the coal yard, wherein the coal pile point cloud data is obtained by the fixed coal pile point cloud data collected by the fixed scanner, and the real-time coal pile point cloud data is obtained by the mobile scanner; A mobile scanning module 20 is used to obtain the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data; The coal pile scanning module 30 is used to update the coal pile point cloud data according to the real-time coal pile reference data when the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system to obtain the coal pile real-time scanning data.

[0116] The coal pile scanning device provided by the present application adopts the coal pile scanning method in the above embodiment, which can solve the technical problem that the current bucket wheel machine scanning needs to move back and forth for a long time, resulting in low work efficiency. Compared with the prior art, the beneficial effects of the coal pile scanning device provided by the present application are the same as the beneficial effects of the coal pile scanning method provided by the above embodiment, and the other technical features of the coal pile scanning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0117] The present application provides a coal pile scanning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the coal pile scanning method in the above-mentioned embodiment one.

[0118] Reference below Figure 8 , which shows a schematic diagram of the structure of a coal pile scanning device suitable for implementing the embodiment of the present application. The coal pile scanning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The coal pile scanning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] like Figure 8As shown, the coal pile scanning device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the coal pile scanning device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the coal pile scanning device to communicate with other devices wirelessly or by wire to exchange data. Although the coal pile scanning device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0120] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0121] The coal pile scanning device provided by the present application adopts the coal pile scanning method in the above embodiment, which can solve the technical problem that the current bucket wheel machine scanning needs to move back and forth for a long time, resulting in low work efficiency. Compared with the prior art, the beneficial effects of the coal pile scanning device provided by the present application are the same as the beneficial effects of the coal pile scanning method provided by the above embodiment, and the other technical features of the coal pile scanning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0122] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0123] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0124] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the coal pile scanning method in the above-mentioned embodiment.

[0125] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0126] The computer-readable storage medium may be included in the coal pile scanning device; or may exist independently without being assembled into the coal pile scanning device.

[0127] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the coal pile scanning device, the coal pile scanning device is enabled to: obtain the coal pile point cloud data and real-time coal pile point cloud data of the coal yard; obtain the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data to a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data; when the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system, update the coal pile point cloud data according to the real-time coal pile reference data to obtain real-time scanning data of the coal pile.

[0128] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0129] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0130] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0131] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned coal pile scanning method, and can solve the technical problem that the current bucket wheel machine scanning needs to move back and forth for a long time, resulting in low work efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the coal pile scanning method provided in the above-mentioned embodiment, and will not be repeated here.

[0132] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned coal pile scanning method when executed by a processor.

[0133] The computer program product provided by the present application can solve the technical problem that the current bucket wheel machine scanning needs to move back and forth for a long time, resulting in low work efficiency. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the coal pile scanning method provided by the above embodiment, which will not be repeated here.

[0134] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A coal pile scanning method, It is characterized in that The coal pile scanning method is applied to a coal pile scanning system, the coal pile scanning system comprising a mobile scanner and at least one fixed scanner; The coal pile scanning method comprises: Acquire coal pile point cloud data and real-time coal pile point cloud data of the coal yard, wherein the coal pile point cloud data is obtained by the fixed coal pile point cloud data collected by the fixed scanner, and the real-time coal pile point cloud data is obtained by the mobile scanner; Acquire the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain the real-time coal pile reference data; When the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the coal pile point cloud data is updated according to the real-time coal pile reference data to obtain the coal pile real-time scanning data.

2. The coal pile scanning method according to claim 1, It is characterized in that The step of acquiring coal pile point cloud data and real-time coal pile point cloud data of a coal yard, wherein the coal pile point cloud data is obtained by collecting fixed coal pile point cloud data by the fixed scanner, and the real-time coal pile point cloud data is obtained by collecting the mobile scanner, comprises: Acquire fixed coal pile point cloud data collected by the fixed scanner and real-time coal pile point cloud data collected by the mobile scanner; Preprocessing the fixed coal pile point cloud data to obtain preprocessed data; The pre-processed data is transformed into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain coal pile point cloud data of the coal yard.

3. The coal pile scanning method according to claim 2, It is characterized in that The calibration matrix based on the fixed scanner transforms the pre-processed data into a preset coal yard coordinate system to obtain coal pile point cloud data of the coal yard, including: Based on the calibration matrix of the fixed scanner, the coal pile coordinates corresponding to the pre-processed data are converted into a preset coal yard coordinate system to obtain initial coal pile and coal yard coordinates; De-duplication of the initial coal pile and coal yard coordinates to obtain the lower layer coal pile coordinates; Curve fitting is performed based on the coordinates of the lower coal pile to obtain point cloud data of the coal pile in the coal yard.

4. The coal pile scanning method according to claim 3, It is characterized in that Before the pre-processed data is transformed into a preset coal yard coordinate system based on the calibration matrix of the fixed scanner to obtain the coal pile point cloud data of the coal yard, the method further includes: Obtain the fixed coordinate system of each fixed scanner and the preset coal yard coordinate system; According to the fixed coordinate system and the preset coal yard coordinate system, a fixed coordinate system translation amount and a fixed coordinate system rotation angle between each fixed coordinate system and the preset coal yard coordinate system are obtained; Obtaining a fixed coordinate transformation homogeneous matrix according to the fixed coordinate system translation amount and the fixed coordinate system rotation angle; The fixed coordinate translation variation is obtained according to the fixed coordinate transformation homogeneous matrix, and the calibration matrix of the fixed scanner is obtained according to the fixed coordinate translation variation.

5. The coal pile scanning method according to claim 1, It is characterized in that The step of acquiring the attitude parameters of the bucket wheel machine and transforming the real-time coal pile point cloud data into the preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain the real-time coal pile reference data includes: Acquire the attitude parameters of the bucket wheel machine, and obtain the pitch angle and the rotation angle of the mobile scanner according to the attitude parameters of the bucket wheel machine; Obtaining a calibration matrix of the mobile scanner according to the pitch angle and the rotation angle; The real-time coal pile point cloud data is transformed into the preset coal yard coordinate system according to the calibration matrix of the mobile scanner to obtain real-time coal pile reference data.

6. The coal pile scanning method according to claim 5, It is characterized in that The step of obtaining a calibration matrix of the mobile scanner according to the pitch angle and the rotation angle includes: Acquire the reference coordinates of the mobile scanner in the preset coal yard coordinate system; Obtaining a translation matrix according to the reference coordinates, the pitch angle, and the rotation angle; Obtaining a rotation matrix according to the pitch angle and the rotation angle; A calibration matrix of the mobile scanner is obtained according to the translation matrix and the rotation matrix.

7. The coal pile scanning method according to claim 1, It is characterized in that When the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the coal pile point cloud data is updated according to the real-time coal pile reference data to obtain the coal pile real-time scanning data, including: Based on the real-time coal pile reference data, the horizontal coordinate, the vertical coordinate and the vertical coordinate of each coal pile in a preset coal yard coordinate system are obtained; Determining whether the real-time coal pile reference data is in a preset point cloud grid of the preset coal yard coordinate system according to the horizontal coordinate and the vertical coordinate; When the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system, the ordinate in the coal pile point cloud data is updated according to the ordinate to obtain the real-time scanning data of the coal pile.

8. A coal pile scanning device, It is characterized in that The coal pile scanning device comprises: A fixed scanning module is used to obtain coal pile point cloud data and real-time coal pile point cloud data of a coal yard, wherein the coal pile point cloud data is obtained by collecting fixed coal pile point cloud data with a fixed scanner, and the real-time coal pile point cloud data is obtained by collecting mobile scanner; A mobile scanning module is used to obtain the attitude parameters of the bucket wheel machine, and transform the real-time coal pile point cloud data into a preset coal yard coordinate system based on the attitude parameters of the bucket wheel machine to obtain real-time coal pile reference data; The coal pile scanning module is used to update the coal pile point cloud data according to the real-time coal pile reference data when the real-time coal pile reference data is in the preset point cloud grid of the preset coal yard coordinate system to obtain the real-time scanning data of the coal pile.

9. A coal pile scanning device, It is characterized in that The device comprises: a memory, a processor, and a coal pile scanning program stored in the memory and executable on the processor, wherein the coal pile scanning program is configured to implement the coal pile scanning method according to any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium stores a coal pile scanning program, and when the coal pile scanning program is executed by the processor, the coal pile scanning method according to any one of claims 1 to 7 is implemented.

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