Fire coal batch management method, device and equipment based on point cloud data

Abstract

The invention provides a fire coal batch management method, device and equipment based on point cloud data, and the method comprises the steps: scanning a coal yard through a laser coal checking instrument to obtain coal pile surface information data, converting the coal pile surface information data into spatial three-dimensional coordinate data, stripping various coal in the coal yard, and carrying out the structure presentation of the coal pile through a three-dimensional structure; acquiring coal piling and taking scheduling task information, coal piling and taking batch information and coal quality composition information of the fuel management system and the generation management system in the same time period, and determining an acting coal area in a scheduling task; comparing the acting coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determining that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and completing coal quality information matching and binding; based on matching and binding, real-time display of three-dimensional models of different batches of coal piling and coal taking in a coal yard is realized, so that management of fire coal is realized more accurately, and a good guiding effect on coal blending is also facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of coal management, and in particular to a coal batch management method, device and equipment based on point cloud data. Background Art

[0002] About 70% of the cost of thermal power plants comes from coal procurement. The continuous rise in coal prices will restrict the economic development of thermal power plants. Therefore, achieving refined management of coal is an important means for thermal power plants to improve quality and efficiency from their own perspective. At present, most power plants can only intuitively understand the overall situation of coal in the coal field through coal inventory.

[0003] However, the coal panning method cannot visually present the coal storage structure according to the coal quality, and the positioning of the entire process of coal entering the factory, stacking and entering the furnace is not accurate enough, and cannot play a good guiding role in fine blending. Summary of the invention

[0004] The present invention provides a coal batch management method, device and equipment based on point cloud data, which are used to solve the defects of coal management in the prior art that is not intuitive and accurate enough.

[0005] In a first aspect, the present invention provides a coal batch management method based on point cloud data, comprising:

[0006] The surface information data of the coal pile is obtained by scanning the coal yard with a laser coal meter, and the surface information data of the coal pile is converted into spatial three-dimensional coordinate data;

[0007] Based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure;

[0008] Obtain the dispatching task information of coal stacking and taking in the same time period of the fuel management system and the generation management system, the batch information of coal stacking and taking in coal from the coal yard train and car, and the coal quality composition information;

[0009] Based on the coal stacking dispatching task information, the coal stacking batch information of the coal yard train and car, and the coal quality composition information, determine the coal area that plays a role in the dispatching task;

[0010] Compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding;

[0011] Based on the matching and binding, the three-dimensional models of different batches of coal stacking and coal taking in the coal yard are displayed in real time through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data.

[0012] According to a coal batch management method based on point cloud data provided by the present invention, the three-dimensional spatial coordinate data is: (x, y, z);

[0013] Wherein, (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position.

[0014] According to a coal batch management method based on point cloud data provided by the present invention, various coal qualities in the coal yard are stripped based on the spatial three-dimensional coordinate data, including:

[0015] Initialize the coal pile structure and obtain the number of initialized coal piles;

[0016] Traversing each coal pile of a single coal quality in the initialized number of coal piles;

[0017] Traversing each grid point in each coal pile of the single coal quality;

[0018] Determine the coordinates of the current grid point, determine the coordinates of the upper surface of the coal pile and the coordinates of the lower surface of the coal pile, and determine the latest coordinates of the current grid point based on the scanning results of the coal pan instrument;

[0019] Based on the size relationship among the upper surface coordinates, the lower surface coordinates and the latest coordinates, various coal qualities in the coal yard are peeled off.

[0020] According to a coal batch management method based on point cloud data provided by the present invention, the upper surface coordinates are The lower surface coordinates are The latest coordinates are (x,y,z 1 );

[0021] The stripping of various coal qualities in the coal yard based on the size relationship among the upper surface coordinates, the lower surface coordinates and the latest coordinates includes:

[0022] when When the current grid point is determined to have coal deposited;

[0023] when , determining that the coal pile at the current grid point has not changed;

[0024] when When determining that a coal taking operation has occurred on the coal pile of the coal quality at the current grid point, the coal quality information corresponding to the current grid point and the corresponding upper surface coordinates are updated.

[0025] A coal batch management method based on point cloud data provided by the present invention also includes:

[0026] when When , it is determined that the coal pile of the coal quality at the current grid point has been taken out;

[0027] when When the coal pile at the current grid point is completely taken out, it is determined that the coal pile at the next layer of coal quality adjacent to it has also undergone coal taking operation.

[0028] A coal batch management method based on point cloud data provided by the present invention also includes:

[0029] Determine the coal storage structure by displaying the three-dimensional model of different batches of coal stacking and coal extraction in real time;

[0030] Blending decisions are made based on the coal storage structure to facilitate coal batch management.

[0031] According to a coal batch management method based on point cloud data provided by the present invention, the three-dimensional model of different batches of coal stacking and coal extraction in a coal yard is displayed in real time, including:

[0032] Projecting the three-dimensional depth data of different batches of coal stacking and coal extraction in the coal yard onto a rectangular plane domain, and triangulating the sampling points in the rectangular plane domain according to the Delaunay optimization criterion;

[0033] The grid nodes are transformed onto the triangulated three-dimensional surface to display a three-dimensional image of the coal pile.

[0034] According to a coal batch management method based on point cloud data provided by the present invention, the conversion of the coal pile surface information data into spatial three-dimensional coordinate data includes:

[0035] Filtering, denoising and registering the surface information data of the coal pile to obtain pre-processed point cloud data;

[0036] Performing surface meshing on the preprocessed point cloud data to generate a three-dimensional model;

[0037] Use CloudCompare, MeshLab or Blender to export the coordinate data in the three-dimensional model.

[0038] In a second aspect, the present invention further provides a coal batch management device based on point cloud data, comprising:

[0039] An acquisition module is used to obtain coal pile surface information data by scanning the coal yard with a laser coal meter, and convert the coal pile surface information data into spatial three-dimensional coordinate data;

[0040] A stripping module, used for stripping various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and presenting the coal pile structure through a three-dimensional structure;

[0041] The acquisition module is used to obtain the dispatching task information of the fuel management system and the generation management system in the same time period, the batch information of the coal stacking and coal taking by the train and car in the coal yard, and the coal quality composition information;

[0042] A determination module, for determining the effective coal area in the scheduling task based on the stacking and taking coal scheduling task information, the coal yard train and car stacking and taking coal batch information and the coal quality composition information;

[0043] A binding module is used to compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, the coal area in the corresponding coal pile structure is determined to be the coal quality in the scheduling task, and the coal quality information matching and binding is completed;

[0044] The display module is used to realize the real-time display of three-dimensional models of different batches of coal stacking and coal extraction in the coal yard based on the matching binding through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data.

[0045] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements any of the above-mentioned coal batch management methods based on point cloud data.

[0046] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described coal batch management methods based on point cloud data.

[0047] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned coal batch management methods based on point cloud data.

[0048] The present invention provides a coal batch management method, device and equipment based on point cloud data, including using a laser coal meter to scan the coal yard to obtain coal pile surface information data, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure; the fuel management system and the generation management system obtain the pile coal dispatching task information, the coal yard train car pile coal batch information and the coal quality composition information in the same time period; based on the pile coal dispatching task information, the coal yard train car pile coal batch information and the coal quality composition information, the dispatching task in the dispatching task is determined Active coal area; compare the active coal area in the scheduling task with the coal areas in the coal pile structure. If the coal area information is the same, determine the coal area in the corresponding coal pile structure as the coal quality in the scheduling task, and complete the coal quality information matching and binding; based on the matching and binding, through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data, the three-dimensional model of different batches of coal stacking and coal taking in the coal yard is displayed in real time, and the coal pile structure is displayed in three dimensions through the three-dimensional structure. The relevant information of various coal qualities in the coal yard can be intuitively understood, so as to realize the management of coal combustion more accurately, and it is also convenient to play a good guiding role in coal blending. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 is a flow chart of a coal batch management method based on point cloud data provided in this embodiment;

[0051] Figure 2 is a schematic diagram of the structure of a coal batch management device based on point cloud data provided in this embodiment;

[0052] Figure 3 It is a schematic diagram of the structure of the electronic device provided in this embodiment. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Figure 1 It is a flow chart of the coal batch management method based on point cloud data provided in this embodiment.

[0055] like Figure 1 As shown, the coal batch management method based on point cloud data provided by the embodiment of the present invention mainly includes the following steps:

[0056] 101. Use a laser coal meter to scan the coal yard to obtain the surface information data of the coal pile, and convert the surface information data of the coal pile into spatial three-dimensional coordinate data.

[0057] In a specific implementation process, the coal yard includes many coal piles, each of which may be of the same quality, or may have different qualities of coal in different layers. Therefore, it is necessary to first use a laser coal meter to scan the entire coal yard to obtain the surface information data of all coal piles, and then transform the surface information data of the coal piles to obtain the three-dimensional coordinate data in space, namely: (x, y, z); where (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position point. Through the given coordinates, the position of a point in three-dimensional space can be accurately described and located. This representation method can be used for calculation and analysis of three-dimensional geometric shapes, simulation and visualization, and other applications. Therefore, when the coal pile changes (increases or decreases), it will be reflected in the change of the three-dimensional space coordinate value.

[0058] Among them, the coal pile surface information data is converted into spatial three-dimensional coordinate data, which can be specifically filtered, denoised and registered on the coal pile surface information data, smoothed by Gaussian filtering or median filtering, and identified and removed outliers or noise points by denoising. Finally, if the data comes from multiple perspectives or devices, it is necessary to align it to a unified coordinate system to achieve data registration, complete data preprocessing, and obtain preprocessed point cloud data.

[0059] The pre-processed point cloud data is meshed to generate a 3D model. For a stereo camera system, it is necessary to use a stereo matching algorithm to find the corresponding points in the left and right images and calculate their depth information to generate a point cloud, and then mesh the surface to generate a 3D model. Then use CloudCompare or MeshLab or Blender to export the coordinate data in the 3D model. Depending on the needs, you can also choose different file formats to store coordinate data, such as CSV, PLY, OBJ, etc.

[0060] In this way, data collection and conversion are completed efficiently, and the three-dimensional coordinates can intuitively reflect the changes in the coal pile.

[0061] 102. Based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure.

[0062] After obtaining the spatial three-dimensional coordinate data, it is assumed that there are n types of coal piles in the existing coal pile structure. After the coal pile structure is updated, there are n new There are coal piles of different coal qualities. Each coal pile of a single coal quality is denoted as C i , 1≤i≤n.

[0063] Initialize the coal pile structure and get the number of initialized coal piles. Before starting to update the coal pile structure, because the new coal pile has not been stripped out, first make n new = n. Then traverse each coal pile of a single coal quality in the number of coal piles initialized, and record the coal pile of a single coal quality currently analyzed and calculated as C p , where: 1≤p≤n.

[0064] Then traverse each coal pile C of a single coal quality p For each grid point in , determine the coordinates of the current grid point, recorded as (x, y), determine the coordinates of the upper surface of the coal pile and the lower surface of the coal pile, and determine the latest coordinates of the current grid point under the scanning results of the coal pan instrument; the upper surface coordinates are The lower surface coordinates are The latest coordinates are (x,y,z 1 ), it is obvious that

[0065] Then, based on the size relationship between the upper surface coordinates, the lower surface coordinates and the latest coordinates, the various coal qualities in the coal yard are stripped, that is, compared With z 1 The size relationship is as follows:

[0066] when When the current grid point is determined to have coal deposited, it is recorded as C new+1 , update the number of coal piles n new +=1;

[0067] when When determining that the coal pile at the current grid point has not changed, the binding information related to the current grid point is not updated;

[0068] when When the coal quality at the current grid point is determined, a coal removal operation has occurred on the coal pile, and C is updated. p The coal quality information and upper surface coordinates corresponding to the current grid point, and the lower surface coordinates remain unchanged;

[0069] when When the coal pile of the current grid point is taken out, it is determined that there is no coal C at this grid point. p ;

[0070] when When the coal pile C at the current grid point is determinedp When all the coal is taken out and the coal pile of the next layer of coal quality is also taken out, the above process is repeated to update the coal quality when the coal pile is traversed.

[0071] Then analyze the next coal pile, p increases, p+=1, and then traverse the coal pile C step by step p At each grid point, compare With z 1 The size relationship is maintained until all coal piles are traversed. That is, when p>n, it means that all coal piles have been updated and the traversal is terminated.

[0072] At this point, various coal qualities have been separated from the coal yard and presented through a three-dimensional structure, so that the coal pile structure in the coal yard can be viewed intuitively.

[0073] 103. Obtain the coal stacking dispatching task information, coal stacking batch information of coal yard trains and cars, and coal quality composition information of the fuel management system and the generation management system in the same time period.

[0074] The acquisition method can be directly obtained through the control system, or by inputting time period information for query, ensuring that the stacking and coal dispatching task information, the coal yard train and car stacking and coal batch information and the coal quality composition information can be obtained.

[0075] 104. Based on the dispatching task information of coal stacking and unloading, the batch information of coal stacking and unloading by train and car in the coal yard, and the information of coal quality composition, determine the coal area that plays a role in the dispatching task.

[0076] By using the length information of each coal area in each period of the coal yard, the coal area to which each coal pile structure belongs is determined, that is, the effective coal area in the scheduling task is determined, and it is determined in which coal area the scheduling task should be carried out to take or pile coal.

[0077] 105. Compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding.

[0078] Through comparative analysis, the coal area in the corresponding coal pile structure is determined to be the coal quality in the scheduling task, and the coal quality information is matched and bound. Therefore, the scheduling task is started or stopped based on the bound information, ensuring the accurate scheduling work and the accuracy of coal quality and coal pile positioning, while better realizing batch management of coal.

[0079] 106. Based on matching and binding, the three-dimensional models of different batches of coal stacking and coal extraction in the coal yard are displayed in real time through the coal counting system, visualization system, Lixin system, belt scale system, servers and data of each system.

[0080] After matching and binding, the scheduling tasks can be executed more efficiently, and then the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data are integrated to promptly feed back the coal stacking and coal taking information to the platform system. The system processes relevant data to realize the real-time display of three-dimensional models of different batches of coal stacking and coal taking in the coal yard. Mainly, the three-dimensional depth data of different batches of coal stacking and coal taking in the coal yard are projected on the rectangular plane domain, and the sampling points in the rectangular plane domain are triangulated according to the Delaunay optimization criterion; the grid nodes are transformed onto the three-dimensional surface after triangulation to display the three-dimensional stereogram of the coal pile.

[0081] After the three-dimensional display, the coal storage structure can be determined through real-time display of the three-dimensional models of different batches of coal stacking and coal taking in the coal yard; blending decisions can be made based on the coal storage structure to facilitate coal batch management and provide guidance and reference for batch management.

[0082] The coal panning system, visualization system, Lixin system, belt scale system, servers and data of each system in this embodiment work together to realize the analysis of coal storage structure in the coal yard and intelligently manage coal batches. By separating the quality of each batch of stored coal from the coal yard, the current coal storage structure of the coal yard can be mastered in real time, and the data of coal entering the factory, stacking and entering the furnace can be linked. Combined with three-dimensional visualization technology, the coal yard information can be fully, intuitively and dynamically displayed, and the real-time coal storage structure can be obtained and blending decisions can be quickly made.

[0083] Based on the same general inventive concept, the present invention also protects a coal batch management device based on point cloud data. The coal batch management device based on point cloud data provided by the present invention is described below. The coal batch management device based on point cloud data described below and the coal batch management method based on point cloud data described above can be referenced to each other.

[0084] Figure 2 It is a structural schematic diagram of the coal batch management device based on point cloud data provided in this embodiment.

[0085] like Figure 2 As shown, this embodiment provides a coal batch management device based on point cloud data, including:

[0086] The acquisition module 201 is used to obtain the surface information data of the coal pile by scanning the coal yard with a laser coal meter, and convert the surface information data of the coal pile into spatial three-dimensional coordinate data;

[0087] The stripping module 202 is used to strip various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and present the coal pile structure through the three-dimensional structure;

[0088] The acquisition module 203 is used to acquire the dispatching task information of the fuel management system and the generation management system in the same time period, the batch information of the coal stacking and coal taking by the train and car in the coal yard, and the coal quality composition information;

[0089] Determination module 204, for determining the effective coal area in the scheduling task based on the scheduling task information of the coal stacking and taking, the batch information of the coal stacking and taking by the train and car in the coal yard, and the coal quality composition information;

[0090] The binding module 205 is used to compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, the coal area in the corresponding coal pile structure is determined to be the coal quality in the scheduling task, and the coal quality information matching and binding is completed;

[0091] The display module 206 is used to realize the real-time display of the three-dimensional models of different batches of coal stacking and coal extraction in the coal yard based on matching binding through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data.

[0092] Furthermore, the three-dimensional spatial coordinate data in this embodiment is: (x, y, z);

[0093] Wherein, (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position.

[0094] Furthermore, the stripping module 202 in this embodiment is specifically used for:

[0095] Initialize the coal pile structure and obtain the number of initialized coal piles;

[0096] Traversing each coal pile of a single coal quality in the initialized number of coal piles;

[0097] Traversing each grid point in each coal pile of the single coal quality;

[0098] Determine the coordinates of the current grid point, determine the coordinates of the upper surface of the coal pile and the coordinates of the lower surface of the coal pile, and determine the latest coordinates of the current grid point based on the scanning results of the coal pan instrument;

[0099] Based on the size relationship among the upper surface coordinates, the lower surface coordinates and the latest coordinates, various coal qualities in the coal yard are peeled off.

[0100] Furthermore, the upper surface coordinates in this embodiment are The lower surface coordinates are The latest coordinates are (x,y,z 1 );

[0101] The stripping module 202 is further specifically used for:

[0102] when When the current grid point is determined to have coal deposited;

[0103] when , determining that the coal pile at the current grid point has not changed;

[0104] when When determining that a coal taking operation has occurred on the coal pile of the coal quality at the current grid point, the coal quality information corresponding to the current grid point and the corresponding upper surface coordinates are updated.

[0105] The stripping module 202 is also specifically used for

[0106] when When , it is determined that the coal pile of the coal quality at the current grid point has been taken out;

[0107] when When the coal pile at the current grid point is completely taken out, it is determined that the coal pile at the next layer of coal quality adjacent to it has also undergone coal taking operation.

[0108] Furthermore, this embodiment also includes a guidance module, which is used to:

[0109] Determine the coal storage structure by displaying the three-dimensional model of different batches of coal stacking and coal extraction in real time;

[0110] Blending decisions are made based on the coal storage structure to facilitate coal batch management.

[0111] Furthermore, the display module 206 in this embodiment is specifically used for:

[0112] Projecting the three-dimensional depth data of different batches of coal stacking and coal extraction in the coal yard onto a rectangular plane domain, and triangulating the sampling points in the rectangular plane domain according to the Delaunay optimization criterion;

[0113] The grid nodes are transformed onto the triangulated three-dimensional surface to display a three-dimensional image of the coal pile.

[0114] Furthermore, the acquisition module 201 in this embodiment is specifically used for:

[0115] Filtering, denoising and registering the surface information data of the coal pile to obtain pre-processed point cloud data;

[0116] Performing surface meshing on the preprocessed point cloud data to generate a three-dimensional model;

[0117] Use CloudCompare, MeshLab or Blender to export the coordinate data in the three-dimensional model.

[0118] Figure 3It is a schematic diagram of the structure of the electronic device provided in this embodiment.

[0119] like Figure 3 As shown, the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 can call the logic instructions in the memory 330 to execute the coal batch management method based on point cloud data, which includes: using a laser coal scanning instrument to scan the coal yard to obtain coal pile surface information data, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure; the fuel management system and the generation management system obtain the stacking and taking coal scheduling task information, the coal yard train car stacking and taking coal batch information and coal quality composition information in the same time period; based on the stacking and taking coal scheduling task information, the coal yard train car stacking and taking coal batch information and coal quality composition information, determine the effective coal area in the scheduling task; compare the effective coal area in the scheduling task with each coal area in the coal pile structure, if the coal area information is the same, determine the corresponding coal area in the coal pile structure as the coal quality in the scheduling task, and complete the coal quality information matching and binding; based on the matching and binding, through the coal scanning instrument system, the visualization system, the Lixin system, the belt scale system, each system server and data, realize the real-time display of the three-dimensional model of different batches of coal stacking and coal taking in the coal yard.

[0120] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0121] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal batch management method based on point cloud data provided by the above methods, the method comprising: using a laser coal meter to scan the coal yard to obtain coal pile surface information data, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are peeled off, and the coal pile structure is presented through a three-dimensional structure; obtaining a fuel management system and generating a management system at the same time The information of the dispatching task of piling and unloading coal in the interval section, the information of the batch of piling and unloading coal by the train and car in the coal yard, and the information of the coal quality composition; based on the information of the dispatching task of piling and unloading coal, the information of the batch of piling and unloading coal by the train and car in the coal yard, and the information of the coal quality composition, determine the effective coal area in the dispatching task; compare the effective coal area in the dispatching task with each coal area in the coal pile structure, if the coal area information is the same, determine the coal area in the corresponding coal pile structure as the coal quality in the dispatching task, and complete the matching and binding of the coal quality information; based on the matching and binding, through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data, the three-dimensional model of different batches of piling and unloading coal in the coal yard is displayed in real time.

[0122] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the coal batch management method based on point cloud data provided by the above methods, the method comprising: using a laser coal meter to scan the coal yard to obtain coal pile surface information data, and converting the coal pile surface information data into spatial three-dimensional coordinate data; based on the spatial three-dimensional coordinate data, peeling off various coal qualities in the coal yard, and presenting the coal pile structure through a three-dimensional structure; obtaining the coal pile dispatching task information and coal generation information of the fuel management system and the generation management system in the same time period The coal yard train car pile coal batch information and coal quality composition information; based on the coal pile dispatching task information, the coal pile train car pile coal batch information and coal quality composition information, determine the effective coal area in the dispatching task; compare the effective coal area in the dispatching task with the various coal areas in the coal pile structure, if the coal area information is the same, determine the coal area in the corresponding coal pile structure as the coal quality in the dispatching task, and complete the coal quality information matching and binding; based on the matching and binding, through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data, realize the real-time display of three-dimensional models of different batches of coal stacking and coal taking in the coal yard.

[0123] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0124] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal batch management method based on point cloud data, characterized in that: include: The surface information data of the coal pile is obtained by scanning the coal yard with a laser coal meter, and the surface information data of the coal pile is converted into spatial three-dimensional coordinate data; Based on the spatial three-dimensional coordinate data, various coal qualities in the coal yard are stripped, and the coal pile structure is presented through a three-dimensional structure; Obtain the dispatching task information of coal stacking and taking in the same time period of the fuel management system and the generation management system, the batch information of coal stacking and taking in coal from the coal yard train and car, and the coal quality composition information; Based on the coal stacking dispatching task information, the coal stacking batch information of the coal yard train and car, and the coal quality composition information, determine the coal area that plays a role in the dispatching task; Compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, determine that the coal area in the corresponding coal pile structure is the coal quality in the scheduling task, and complete the coal quality information matching and binding; Based on the matching and binding, the three-dimensional models of different batches of coal stacking and coal taking in the coal yard are displayed in real time through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data.

2. The coal batch management method based on point cloud data according to claim 1 is characterized in that: The spatial three-dimensional coordinate data is: (x, y, z); Wherein, (x, y) represents the ground position of the coal yard, and z represents the height of the coal pile at the ground position.

3. The coal batch management method based on point cloud data according to claim 2 is characterized in that: The stripping of various coal qualities in the coal yard based on the spatial three-dimensional coordinate data includes: Initialize the coal pile structure and obtain the number of initialized coal piles; Traversing each coal pile of a single coal quality in the initialized number of coal piles; Traversing each grid point in each coal pile of the single coal quality; Determine the coordinates of the current grid point, determine the coordinates of the upper surface of the coal pile and the coordinates of the lower surface of the coal pile, and determine the latest coordinates of the current grid point based on the scanning results of the coal pan instrument; Based on the size relationship among the upper surface coordinates, the lower surface coordinates and the latest coordinates, various coal qualities in the coal yard are peeled off.

4. The coal batch management method based on point cloud data according to claim 3 is characterized in that: The upper surface coordinates are The coordinates of the lower surface are The latest coordinates are (x, y, z1); The stripping of various coal qualities in the coal yard based on the size relationship among the upper surface coordinates, the lower surface coordinates and the latest coordinates includes: when When the current grid point is determined to have coal deposited; when , determining that the coal pile at the current grid point has not changed; when When determining that a coal taking operation has occurred on the coal pile of the coal quality at the current grid point, the coal quality information corresponding to the current grid point and the corresponding upper surface coordinates are updated.

5. The coal batch management method based on point cloud data according to claim 4 is characterized in that: Also includes: when When , it is determined that the coal pile of the coal quality at the current grid point has been taken out; when When the coal pile at the current grid point is completely taken out, it is determined that the coal pile at the next layer of coal quality adjacent to it has also undergone coal taking operation.

6. The coal batch management method based on point cloud data according to claim 1, characterized in that: Also includes: Determine the coal storage structure by displaying the three-dimensional model of different batches of coal stacking and coal extraction in real time; Blending decisions are made based on the coal storage structure to facilitate coal batch management.

7. The coal batch management method based on point cloud data according to any one of claims 1 to 6, characterized in that: The method of realizing real-time display of three-dimensional models of different batches of coal stacking and coal extraction in a coal yard includes: Projecting the three-dimensional depth data of different batches of coal stacking and coal extraction in the coal yard onto a rectangular plane domain, and triangulating the sampling points in the rectangular plane domain according to the Delaunay optimization criterion; The grid nodes are transformed onto the triangulated three-dimensional surface to display a three-dimensional image of the coal pile.

8. The coal batch management method based on point cloud data according to any one of claims 1 to 6, characterized in that: The step of converting the coal pile surface information data into spatial three-dimensional coordinate data includes: Filtering, denoising and registering the surface information data of the coal pile to obtain pre-processed point cloud data; Performing surface meshing on the preprocessed point cloud data to generate a three-dimensional model; Use CloudCompare, MeshLab or Blender to export the coordinate data in the three-dimensional model.

9. A coal batch management device based on point cloud data, characterized in that: include: An acquisition module is used to obtain coal pile surface information data by scanning the coal yard with a laser coal meter, and convert the coal pile surface information data into spatial three-dimensional coordinate data; A stripping module, used for stripping various coal qualities in the coal yard based on the spatial three-dimensional coordinate data, and presenting the coal pile structure through a three-dimensional structure; The acquisition module is used to obtain the dispatching task information of the fuel management system and the generation management system in the same time period, the batch information of the coal stacking and coal taking by the coal yard train and the coal quality composition information; A determination module, for determining the effective coal area in the scheduling task based on the stacking and taking coal scheduling task information, the coal yard train and car stacking and taking coal batch information and the coal quality composition information; A binding module is used to compare the effective coal area in the scheduling task with each coal area in the coal pile structure. If the coal area information is the same, the coal area in the corresponding coal pile structure is determined to be the coal quality in the scheduling task, and the coal quality information matching and binding is completed; The display module is used to realize the real-time display of three-dimensional models of different batches of coal stacking and coal taking in the coal yard based on the matching binding through the coal panning system, visualization system, Lixin system, belt scale system, various system servers and data.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the coal batch management method based on point cloud data as described in any one of claims 1 to 8 is implemented.

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