Method, system and device for calculating belt volume and storage medium

Abstract

The invention relates to a method, a system and equipment for calculating belt transportation volume and a storage medium. The method comprises the following steps: acquiring a belt speed at each moment in a specified time period and point cloud data generated by scanning a coal flow outer contour on a belt by a radar; according to the point cloud data, calculating the area of the cross section of the coal flow at each moment in the specified time period and the proportion of different components; and according to the belt speed, the area, the proportion of the components and the preset component density, calculating the belt conveying capacity in the specified time period. According to the technical scheme provided by the invention, the components and proportion of the coal flow are judged based on the point cloud data, and the accuracy of a coal quantity calculation result can be greatly improved.

Description

Technical Field

[0001] The invention relates to the field of coal quantity calculation, and in particular to a method, system, device and storage medium for calculating belt conveyance quantity. Background Art

[0002] At present, the main ways to obtain coal mine output include non-contact belt scale measurement, non-contact image recognition and radar scanning. Among them, belt scale measurement is a more traditional measurement method that can monitor the weight of coal on the belt in real time, but its accuracy is affected by factors such as belt tension and wear. Image recognition technology captures the image of coal on the belt through a camera and uses computer vision algorithms for analysis. Although it can improve the automation level of measurement to a certain extent, the accuracy and stability of image recognition still need to be improved under complex working conditions. Radar scanning technology, as an emerging measurement method, can measure the volume of coal on the belt non-contactly by emitting radar waves and receiving reflected signals. However, the existing radar scanning method for calculating the amount of coal on the belt has obvious limitations. Specifically, radar scanning usually assumes that the coal on the belt has a single component and a fixed density, which is often inconsistent with the actual situation. In fact, the composition and density of coal vary greatly between different mining areas and different mining faces, and even vary within the same mining face. Therefore, the method of calculating the amount of coal according to a single component and a fixed density has poor accuracy and is difficult to meet the needs of high-precision measurement.

[0003] In summary, the existing coal mine output measurement methods have many shortcomings in practical applications, and there is an urgent need to develop more accurate and reliable measurement technologies to ensure that the actual output of coal mining enterprises is effectively monitored and managed. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present invention provides a method, system, device and storage medium for calculating belt transport volume.

[0005] According to a first aspect of an embodiment of the present invention, there is provided a method for calculating belt transport volume, comprising:

[0006] Obtain the belt speed at each moment in a specified time period, and the point cloud data generated by the radar scanning the outer contour of the coal flow on the belt;

[0007] Calculating the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period according to the point cloud data;

[0008] The belt transport volume within the specified time period is calculated based on the belt speed, the area, the proportion of the components and the preset component density.

[0009] Furthermore, the belt speed at each moment in the specified time period is obtained, including:

[0010] Acquire images of coal flow on the belt;

[0011] Match the feature points in two consecutive frames of coal flow images through key point detection algorithm;

[0012] Calculating pixel velocity according to the displacement of characteristic points in the two consecutive frames of coal flow images;

[0013] The belt speed is calculated based on the pixel speed and a pre-calibrated speed ratio between the pixel speed and the belt speed.

[0014] Further, the proportion of different components of the coal flow cross section of each frame in the specified time period is calculated according to the point cloud data, specifically including:

[0015] Calculating the slope of the line between adjacent points on the outer contour of the coal flow according to the point cloud data;

[0016] The proportions of frothy coal, lump coal and gangue in the outer contour of the coal flow are calculated according to the changes in the slopes of a plurality of continuous connecting lines, as the proportions of different components in the cross section of the coal flow.

[0017] Further, the proportion of foamy coal, lump coal and gangue in the outer contour of the coal flow is calculated according to the change of the slope of the continuous plurality of connecting lines as the proportion of different components of the coal flow cross section, specifically including:

[0018] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section;

[0019] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section;

[0020] It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

[0021] According to a second aspect of an embodiment of the present invention, there is provided a system for calculating belt transport volume, comprising:

[0022] An acquisition module is used to obtain the belt speed at each moment in a specified time period and the point cloud data generated by the radar scanning the outer contour of the coal flow on the belt;

[0023] A first calculation module, used to calculate the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period according to the point cloud data;

[0024] The second calculation module is used to calculate the belt transportation volume within the specified time period according to the belt speed, the area, the proportion of the components and the preset component density.

[0025] Furthermore, the acquisition module is specifically used for:

[0026] Acquire images of coal flow on the belt;

[0027] Match the feature points in two consecutive frames of coal flow images through key point detection algorithm;

[0028] Calculating pixel velocity according to the displacement of characteristic points in the two consecutive frames of coal flow images;

[0029] The belt speed is calculated based on the pixel speed and a pre-calibrated speed ratio between the pixel speed and the belt speed.

[0030] Furthermore, the first calculation module specifically includes:

[0031] A first calculation unit, used for calculating the slope of a line between adjacent points on the outer contour of the coal flow according to the point cloud data;

[0032] The second calculation unit is used to calculate the proportion of foamy coal, lump coal and gangue in the outer contour of the coal flow according to the change of the slope of a plurality of continuous connecting lines, as the proportion of different components in the cross section of the coal flow.

[0033] Furthermore, the second computing unit is specifically configured to:

[0034] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section;

[0035] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section;

[0036] It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

[0037] According to a third aspect of an embodiment of the present invention, a terminal device is provided, including:

[0038] Processor; and

[0039] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0040] According to a fourth aspect of an embodiment of the present invention, there is provided a non-transitory machine-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method as described above.

[0041] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0042] The present invention determines the composition and proportion of coal flow based on point cloud data, which can greatly improve the accuracy of coal quantity calculation results.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0045] Figure 1 is a flow chart of a method for calculating belt transport volume according to an exemplary embodiment of the present invention;

[0046] Figure 2 It is a schematic diagram of the camera collecting coal flow images and identification frames;

[0047] Figure 3 It is a schematic diagram of feature point matching in two consecutive frames of images;

[0048] Figure 4 It is a schematic diagram of distance completion in polar coordinates;

[0049] Figure 5 It is a schematic diagram for calculating the cross-sectional area of ​​coal flow;

[0050] Figure 6 This is a schematic diagram of the point cloud scanning results of the bottom contour and outer contour of the belt;

[0051] Figure 7 is a structural block diagram of a system for calculating belt transport volume according to an exemplary embodiment of the present invention;

[0052] Figure 8 It is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0054] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0056] The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0057] Figure 1 The figure is a flow chart showing a method for calculating belt transport volume according to an exemplary embodiment of the present invention.

[0058] See also Figure 1 , the method comprising:

[0059] 110. Obtain the belt speed at each moment in a specified time period and the point cloud data generated by the radar scanning of the outer contour of the coal flow on the belt.

[0060] Specifically, the belt speed data can be obtained from various speed measuring devices installed on the belt. In a specific embodiment, the belt speed at each moment in a specified time period is obtained, specifically including:

[0061] 1101. Acquire a coal flow image on the belt;

[0062] 1102. Matching feature points in two consecutive frames of coal flow images by using a key point detection algorithm;

[0063] 1103. Calculate pixel velocity according to the displacement of feature points in the two consecutive frames of coal flow images;

[0064] 1104. Calculate the belt speed according to the pixel speed and a pre-calibrated speed ratio of the pixel speed to the belt speed.

[0065] Specifically, in one embodiment, the coal flow image on the belt can be captured by a camera above the belt, and an identification frame can be marked at the position to be analyzed on the video captured by the camera, such as Figure 2 shown.

[0066] Through the key point detection algorithm (ORB, SIFT, etc.), match the feature points in the recognition frame of two consecutive frames of images and calculate their displacement, such as Figure 3 As shown, the left and right sides are two consecutive frames of images.

[0067] Select the feature points with better matching, calculate the pixel movement distance of each feature point, take the average, and record it as the pixel movement distance of one frame. Take the pixel movement distance of every two consecutive frames within a period of time (such as 1s), record it as x i (i=1,2,3…n), x i Sort from small to large, remove the top 30% of the data and the bottom 30% of the data, and take the average of the remaining data, which is the average pixel movement distance per frame, recorded as Let the video frame rate be k (fps), then the pixel speed of the belt in the picture is

[0068] When the program starts, the belt speed is obtained as v0 (m / s), and the pixel speed corresponding to the belt speed v0 (m / s) is calculated through the above steps as k×s0 (px / s), so the speed ratio of the pixel speed to the belt speed is calculated as v0 / (k×s0). Subsequently, at regular intervals (such as every minute), the pixel speed of the belt is calculated as k×s i (px / s), the belt speed can be calculated as v0s i / s0.

[0069] The radar scans the surrounding environment at a fixed frequency. For example, the frequency of a certain radar model is 10Hz, that is, it scans 10 circles per second, with about 2,000 points per circle, or about one point at 0.18°. The point cloud data scanned by the radar has only valid data of angle and distance. With the center of the radar as the center of the circle and 0° of the radar scanning as the positive direction of the x-axis, a rectangular coordinate system is established to obtain the profile of the belt. Through analysis, it is easy to obtain that the belt point cloud has the following properties:

[0070] 1. The belt point cloud is continuous, and the span between n consecutive points is small (for example, the cumulative span of 5 consecutive points does not exceed 30cm).

[0071] 2. The belt outline is similar to a semicircle. The belt can be framed by a rectangle. The width of the rectangle is the belt span, and the height of the rectangle is the belt depth (the belt span and depth can be specified by the user).

[0072] 3. The belt point cloud angle is reasonable, and the belt point cloud angle can be estimated by the belt span and suspension height. (Generally between 60°-90°).

[0073] Through the above characteristics, the angle range of belt point cloud data can be screened out. For example, the angle of a coal mine belt data is between 323° and 37°. Subsequent analysis of the point cloud data of the outer contour of the coal flow only takes the data within this angle, that is, the data falling on the belt.

[0074] Since the data angle of each frame scanned by the radar is not completely consistent (the angle of each scanning result is not exactly the same), in order to simplify the data set and improve the calculation speed, optionally, in this embodiment, step 110 also includes: completing the point cloud data according to a fixed granularity.

[0075] Specifically, taking a fixed particle size of 0.01° as an example, Figure 4 As shown in the figure, l1 and l2 are the distances between two consecutive scans, and θ is the angle between the two scans, both of which are known. x is the distance to be completed, α is the angle from the distance to be completed to the previous scan, ranging from 0.01° to θ.

[0076]

[0077]

[0078] The completed data is a distance value of 0.01° from the starting angle of the belt to the ending angle of the belt.

[0079] 120. Calculate the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period based on the point cloud data.

[0080] Specifically, the coal flow cross-section is formed by the bottom of the belt and the outer contour of the coal flow. In this embodiment, the point cloud data of the bottom contour of the belt can be obtained in advance when the belt is unloaded, and combined with the point cloud data of the outer contour of the coal flow of the belt during actual detection, the area of ​​the coal flow cross-section can be calculated.

[0081] In a specific embodiment, since the coal mine is overhauled every day and there is no coal on the belt during the overhaul, the radar point cloud scanning data on the belt can be taken when the belt speed is 0 during a period of time before and after the coal mine overhaul, and the data of the bottom contour of the belt can be calculated. The calculation process of the point cloud data of the outer contour of the coal flow has been described in the above content and will not be repeated here.

[0082] The point cloud data of the outer contour of the belt coal flow scanned in each frame is aligned with the point cloud data of the bottom contour of the belt according to the angle, and then the area between each angle is calculated, and the sum can be used to obtain the cross-sectional area of ​​the coal flow.

[0083] Specifically, in one embodiment, Figure 5 As shown, O is the radar origin, a i 、a i+1 are two consecutive points on the bottom contour of the belt, l i , l i+1 are the distances from O to these two points, and the angle is θ, b i 、b i+1 is the point scanned at the same angle when there is coal on the belt, q i ,q i+1 are the distances from O to these two points respectively. i It is the area of ​​coal that needs to be calculated under the current angle.

[0084]

[0085] By accumulation, it is easy to get that the cross-sectional area of ​​each frame of coal is S = ∑S i .

[0086] The applicant has found through research that the external contours of the three main components of coal, namely, froth coal, lump coal and gangue, when accumulated on the belt show certain characteristics. Specifically, the points on the large coal blocks rise and fall continuously and rapidly, and the contour lengths of the continuously rising and falling parts are relatively long. Therefore, by calculating the point cloud data of the external contour of the coal flow, the different components in the coal flow can be analyzed. Figure 6 As shown, the volume of lump coal and gangue is larger, so the slope of the line connecting each point in the contour is larger, while the contour of foamy coal is relatively flat, and accordingly, the slope of the line connecting each point in the contour is smaller. Furthermore, since the belt will pass through multiple crushers upstream, the coal is softer and easier to be crushed, while the gangue is harder and not easy to crush. Most of the lump coal has been crushed. Therefore, the larger the volume (manifested by the longer contour with a larger slope), the greater the possibility that it is gangue.

[0087] Based on the above research results, optionally, in this embodiment, the process of calculating the proportion of different components of the coal flow cross section at each moment in the specified time period according to the point cloud data in step 120 specifically includes:

[0088] 1201. Calculate the slope of the line between adjacent points on the outer contour of the coal flow based on the point cloud data.

[0089] 1202. Calculate the proportion of frothy coal, lump coal and gangue in the outer contour of the coal flow according to the change of the slope of the continuous plurality of connecting lines, as the proportion of different components in the cross section of the coal flow.

[0090] Optionally, step 1202 specifically includes:

[0091] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section;

[0092] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section;

[0093] It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

[0094] Specifically, in one embodiment, the process of calculating the length between each point of the outer contour of the coal flow is as follows:

[0095] 1. The angle range of the belt is known to be θ s to θ e , the coordinates of the i-th point on the belt in the polar coordinate system are (θ i , ρ i ), convert it into a rectangular coordinate system

[0096] 2. From left to right (i.e. from small to large x), find the value when x i -x j >0.1m,(i>j) satisfies y i <y j x i is the starting point of the belt profile. (the minimum point on the left);

[0097] 3. From right to left (i.e. from small to large), find the value when x k -x j >0.1m,(k>j) satisfies y k <y j x k is the end point of the belt profile. (the minimum point on the right);

[0098] 4. Calculate x separately i to x k The distance between every two points is added up to give the length of the belt profile.

[0099] 130. Calculate the belt transport volume within the specified time period according to the belt speed, the area, the proportion of the components and the preset component density.

[0100] Specifically, in one embodiment, the frame rate n of the radar, the belt speed v (m / s) and the cross-sectional area S (m 2 ), the proportion of large pieces is r, and the density of foam coal, lump coal and gangue are ρ0 (kg / m 3 )、ρ1(kg / m 3 ), ρ2(kg / m 3 ), the coal mass calculation formula can be obtained:

[0101]

[0102] Each parameter in the above calculation formula can be adjusted dynamically according to the mining situation. According to the coal volume in each radar scanning cycle, such as the radar scanning once every 100ms, the production every 0.1s can be calculated. By accumulating the production every 0.1s, the coal volume of each particle size can be obtained per minute, hour, day, month, year, etc.

[0103] The embodiment of the present invention provides a method for calculating the amount of coal transported by a belt based on point cloud data, which can significantly improve the accuracy of the coal amount calculation result. Specifically, by collecting the three-dimensional point cloud data of the coal flow on the belt and using advanced point cloud processing technology, the types and proportions of different components in the coal flow can be accurately determined. This method not only takes into account the physical form of the coal, but also identifies the subtle differences between different components, thereby more accurately calculating the amount of coal on the belt.

[0104] Compared with the traditional measurement method, the present invention has the following significant advantages:

[0105] 1. High precision: Through point cloud data, the geometric characteristics and component distribution of coal flow can be captured more precisely, thereby greatly improving the accuracy of coal quantity calculation. Traditional radar scanning and image recognition methods often assume that coal flow has a single component and fixed density, which will lead to large errors in practical applications. The present invention can more realistically reflect the actual situation of coal flow through point cloud data.

[0106] 2. Anti-tampering: This method can effectively prevent human modification of data. The collection and processing of point cloud data is highly automated, reducing the possibility of human intervention and ensuring the authenticity and reliability of the data. This is of great significance for preventing coal mining companies from concealing or underreporting production.

[0107] 3. Real-time monitoring: The present invention can monitor the belt conveyance in real time, detect abnormal situations in time and make adjustments, thus improving production efficiency and management level. Through real-time data feedback, enterprises can better grasp production dynamics, optimize resource allocation, and improve overall operational efficiency.

[0108] 4. Improve enterprise management level: Accurate coal quantity data helps enterprises obtain real production and provide reliable decision-making basis for enterprise management. With accurate production data, enterprises can better formulate production plans, control costs, and optimize supply chain management, thereby improving overall management level.

[0109] In summary, the present invention provides an efficient, accurate and reliable method for calculating belt transport volume, which not only solves the problems existing in traditional methods, but also brings significant economic and management benefits to enterprises.

[0110] Figure 7 is a structural block diagram of a system for calculating belt transport volume according to an exemplary embodiment of the present invention.

[0111] See also Figure 7 The system comprises:

[0112] An acquisition module is used to obtain the belt speed at each moment in a specified time period and the point cloud data generated by the radar scanning the outer contour of the coal flow on the belt;

[0113] A first calculation module, used to calculate the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period according to the point cloud data;

[0114] The second calculation module is used to calculate the belt transportation volume within the specified time period according to the belt speed, the area, the proportion of the components and the preset component density.

[0115] Optionally, in this embodiment, the acquisition module is specifically used to:

[0116] Acquire images of coal flow on the belt;

[0117] Match the feature points in two consecutive frames of coal flow images through key point detection algorithm;

[0118] Calculating pixel velocity according to the displacement of characteristic points in the two consecutive frames of coal flow images;

[0119] The belt speed is calculated based on the pixel speed and a pre-calibrated speed ratio between the pixel speed and the belt speed.

[0120] Optionally, in this embodiment, the first calculation module specifically includes:

[0121] A first calculation unit, used for calculating the slope of a line between adjacent points on the outer contour of the coal flow according to the point cloud data;

[0122] The second calculation unit is used to calculate the proportion of foamy coal, lump coal and gangue in the outer contour of the coal flow according to the change of the slope of a plurality of continuous connecting lines, as the proportion of different components in the cross section of the coal flow.

[0123] Optionally, in this embodiment, the second computing unit is specifically configured to:

[0124] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section;

[0125] If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section;

[0126] It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

[0127] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0128] Figure 8 It is a schematic diagram showing the structure of a computing device according to an exemplary embodiment of the present invention.

[0129] See also Figure 8 , the computing device 800 includes a memory 810 and a processor 820 .

[0130] The processor 820 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0131] The memory 810 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor 820 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 810 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 810 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0132] The memory 810 stores executable codes, and when the executable codes are processed by the processor 820 , the processor 820 can execute part or all of the methods described above.

[0133] In addition, the method according to the present invention may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present invention.

[0134] Alternatively, the present invention may also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or computing device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present invention.

[0135] The scheme of the present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required by the present invention. In addition, it can be understood that the steps in the method of the embodiment of the present invention can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present invention can be merged, divided and deleted according to actual needs.

[0136] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or a combination of both.

[0137] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or 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 continuous square boxes 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 the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for calculating belt transport volume, characterized in that: include: Obtain the belt speed at each moment in a specified time period, and the point cloud data generated by the radar scanning the outer contour of the coal flow on the belt; Calculating the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period according to the point cloud data; The belt transport volume within the specified time period is calculated based on the belt speed, the area, the proportion of the components and the preset component density.

2. The method according to claim 1, characterized in that Get the belt speed at each moment in the specified time period, including: Acquire images of coal flow on the belt; Match the feature points in two consecutive frames of coal flow images through key point detection algorithm; Calculating pixel velocity according to the displacement of characteristic points in the two consecutive frames of coal flow images; The belt speed is calculated based on the pixel speed and a pre-calibrated speed ratio between the pixel speed and the belt speed.

3. The method according to claim 1, characterized in that Calculating the proportion of different components of the coal flow cross section of each frame within the specified time period according to the point cloud data specifically includes: Calculating the slope of the line between adjacent points on the outer contour of the coal flow according to the point cloud data; The proportions of frothy coal, lump coal and gangue in the outer contour of the coal flow are calculated according to the changes in the slopes of a plurality of continuous connecting lines, as the proportions of different components in the cross section of the coal flow.

4. The method according to claim 3, characterized in that: The proportion of frothy coal, lump coal and gangue in the outer contour of the coal flow is calculated according to the change of the slope of the continuous plurality of connecting lines as the proportion of different components in the cross section of the coal flow, specifically including: If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section; If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section; It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

5. A system for calculating belt transport volume, characterized in that: include: An acquisition module is used to obtain the belt speed at each moment in a specified time period and the point cloud data generated by the radar scanning the outer contour of the coal flow on the belt; A first calculation module, used to calculate the area of ​​the coal flow cross section and the proportion of different components at each moment in the specified time period according to the point cloud data; The second calculation module is used to calculate the belt transportation volume within the specified time period according to the belt speed, the area, the proportion of the components and the preset component density.

6. The system according to claim 5, characterized in that The acquisition module is specifically used for: Acquire images of coal flow on the belt; Match the feature points in two consecutive frames of coal flow images through key point detection algorithm; Calculating pixel velocity according to the displacement of characteristic points in the two consecutive frames of coal flow images; The belt speed is calculated based on the pixel speed and a pre-calibrated speed ratio between the pixel speed and the belt speed.

7. The device according to claim 5, characterized in that The first calculation module specifically includes: A first calculation unit, used for calculating the slope of a line between adjacent points on the outer contour of the coal flow according to the point cloud data; The second calculation unit is used to calculate the proportion of foamy coal, lump coal and gangue in the outer contour of the coal flow according to the change of the slope of a plurality of continuous connecting lines, as the proportion of different components in the cross section of the coal flow.

8. The device according to claim 7, characterized in that The second computing unit is specifically configured to: If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the first ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is greater than the threshold value, then it is determined that the component of the part of the coal flow cross section below the continuous connecting line is gangue, and the first ratio is used as the proportion of gangue in the coal flow cross section; If the continuous connecting lines in the outer contour of the coal flow meet the following conditions: the length and / or number of the connecting lines with a slope greater than a threshold value exceeds the threshold value, the length and / or number of the connecting lines with a slope less than the threshold value exceeds the threshold value, and the second ratio of the length of the continuous connecting line to the length of the outer contour of the coal flow is less than the threshold value, then it is determined that the composition of the portion of the coal flow cross section below the continuous connecting line is lump coal, and the second ratio is used as the proportion of lump coal in the coal flow cross section; It is determined that the remaining portion of the coal flow cross section except for gangue and lump coal is foam coal, and a third ratio of the length of the remaining portion to the length of the coal flow outer contour is used as the proportion of foam coal in the coal flow cross section.

9. A terminal device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 4.

10. A non-transitory machine-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 4.

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