Laser coal checking system based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of coal pile detection, and particularly discloses an unmanned aerial vehicle-based laser coal checking system, and the system comprises a coal pile range determination module which is used for obtaining a fuzzy image containing image parameters of a coal pile according to a preset fixed camera, carrying out the analysis of the fuzzy image, and determining the range of the coal pile; the top view image acquisition module is used for determining a detection path based on the range of the coal pile and acquiring a top view image containing position and time of the coal pile according to the detection path; the inspection path determination module is used for identifying the top view image, determining coal pile distribution information and determining an inspection path of the unmanned aerial vehicle according to the coal pile distribution information; and the three-dimensional coal pile creation module is used for sending the inspection path to the unmanned aerial vehicle, receiving point cloud data fed back by the unmanned aerial vehicle and creating a three-dimensional coal pile according to the point cloud data. The coal stocktaking process is autonomously completed by the unmanned aerial vehicle, the unmanned aerial vehicle can perform coal stocktaking at a high position, and the precision, the flexibility and the intelligent degree are high.

Description

Technical Field

[0001] The invention relates to the technical field of coal pile detection, in particular to a laser coal detection system based on an unmanned aerial vehicle. Background Art

[0002] "Coal panning" refers to the process of scanning and measuring a coal pile by certain means (such as drones, etc.) to obtain information such as the shape, volume, and weight of the coal pile. This process is usually used in coal mines, coal yards, and other places to help better manage and optimize the storage, transportation, and use of coal by accurately measuring coal pile data. In the laser coal panning process based on drones, laser radar (LiDAR) technology is usually used in conjunction with drones for measurement. However, due to the high energy consumption of the LiDAR itself, when it is mounted on a drone, the drone's flight time will be significantly shortened, resulting in the range that can be covered in a single operation mission being limited, and it is impossible to efficiently complete large-area coal panning work. Therefore, how to increase the flight time of the drone is a technical problem that the technical solution of the present invention wants to solve. Summary of the invention

[0003] The purpose of the present invention is to provide a laser coal cleaning system based on an unmanned aerial vehicle to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A laser coal-discharging system based on an unmanned aerial vehicle, the system comprising:

[0006] A coal pile range determination module is used to obtain a fuzzy image containing image parameters of the coal pile according to a preset fixed camera, analyze the fuzzy image, and determine the range of the coal pile;

[0007] A bird's-eye view image acquisition module, used to determine a detection path based on the range of the coal pile, and acquire a bird's-eye view image of the coal pile containing position and time according to the detection path;

[0008] An inspection path determination module is used to identify the overhead image, determine the coal pile distribution information, and determine the inspection path of the drone according to the coal pile distribution information; wherein the height of the inspection path is less than the height of the detection path;

[0009] A three-dimensional coal pile creation module is used to send the inspection path to the drone, receive the point cloud data fed back by the drone, and create a three-dimensional coal pile based on the point cloud data;

[0010] The display module is used to display the created three-dimensional coal pile.

[0011] As a further solution of the present invention, the coal pile range determination module includes:

[0012] A command sending unit, used for querying a preset fixed camera and sending a shooting command to the fixed camera;

[0013] A blurred image receiving unit, used for receiving an image fed back by a fixed camera as a blurred image;

[0014] A parameter receiving unit, used to receive image parameters of a fixed camera when acquiring a blurred image, wherein the image parameters include an acquisition direction and an acquisition wide angle of the image;

[0015] The image analysis unit is used to analyze the fuzzy image and determine the range of the coal pile.

[0016] As a further solution of the present invention, the content of analyzing the fuzzy image and determining the range of the coal pile includes:

[0017] Locating the coal pile boundary line in the fuzzy image based on the coal pile color value;

[0018] Mapping the coal pile boundary line in the horizontal plane according to the image parameters to obtain a horizontal mapping line;

[0019] Count the horizontal mapping lines corresponding to all coal pile boundary lines to obtain the plane contour;

[0020] The plane outline is enlarged according to a preset ratio, and the enlarged plane outline is used as the coal pile range.

[0021] As a further solution of the present invention, the overhead image acquisition module includes:

[0022] A maximum height determination unit, used to query the image acquisition accuracy of the drone, and determine the maximum height according to the image acquisition accuracy and the detection range at different heights;

[0023] A path creation unit is used to create a detection path based on the maximum height; the sum of the image acquisition ranges of the UAV on the detection path is greater than the coal pile range;

[0024] The overhead view image receiving unit is used to send the detection path to the UAV and receive the overhead view image containing the position and time fed back by the UAV.

[0025] As a further solution of the present invention, the inspection path determination module includes:

[0026] A stitching unit is used to obtain the images at the latest moment at each position, stitch them according to the position relationship, and obtain the overall image;

[0027] A contour recognition unit, used to locate the boundary line of the coal pile in the fuzzy image based on the color value of the coal pile, so as to obtain the contour of the coal pile;

[0028] The contour application unit is used to determine the inspection path of the UAV according to the obtained coal pile contour.

[0029] As a further solution of the present invention, the content of determining the inspection path of the drone according to the obtained coal pile contour includes:

[0030] Query the detection height range of the laser device built into the drone;

[0031] Select a minimum height within the detection height range to obtain a single detection area of ​​the drone at the minimum height;

[0032] The coal pile contour is divided based on a single detection area in a preset direction to obtain a plurality of strip areas;

[0033] Select the center line of the strip area as the inspection path.

[0034] As a further solution of the present invention, the three-dimensional coal pile creation module includes:

[0035] A point cloud data receiving unit is used to send the inspection path to the drone and receive the point cloud data fed back by the drone;

[0036] A three-dimensional coal pile creation unit, used for creating a three-dimensional coal pile according to the point cloud data and the identified coal pile contour;

[0037] The point cloud data is obtained by a laser radar carried by a drone.

[0038] As a further solution of the present invention, the three-dimensional coal pile creation module further includes:

[0039] A point cloud data recording unit, used to record the point cloud data acquired by all drones at each location when the number of drones is not unique;

[0040] The difference calculation unit is used to compare the point cloud data obtained by all drones at the same position and calculate the difference;

[0041] A probability determination unit, used to determine the acquisition probability of each position according to the difference; the acquisition probability is proportional to the difference;

[0042] The determination unit is used to determine whether to obtain point cloud data for any UAV based on the acquisition probability when it moves to a certain position.

[0043] As a further solution of the present invention, the three-dimensional coal pile creation module further includes: the display module includes:

[0044] A statistical unit, used for acquiring and counting the three-dimensional coal pile at different times within a preset time period;

[0045] The duration determination unit is used to receive the display period set by the administrator, calculate the ratio of the time period to the display period, and determine the display duration of the three-dimensional coal pile at each moment;

[0046] The display execution unit is used for cyclically displaying the three-dimensional coal pile.

[0047] As a further solution of the present invention, the drone has a built-in obstacle avoidance module. When obstacle avoidance occurs, the obstacle avoidance position point is recorded and an information collection interruption signal is generated. After the obstacle avoidance is completed, the drone returns to the obstacle avoidance position point and the information collection interruption signal is terminated.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The technical solution of the present invention provides an image-based pre-discrimination process, which reduces the application time and frequency of laser radar, greatly reduces energy consumption, and improves the endurance of the UAV. In addition, the coal-coal ... BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0051] Figure 1 This is a schematic diagram of the structure of the UAV-based laser coal cleaning system. DETAILED DESCRIPTION

[0052] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] Figure 1 1 is a schematic diagram of the structure of a laser coal-crushing system based on a drone. In an embodiment of the present invention, a laser coal-crushing system based on a drone, the system 10 includes:

[0054] The coal pile range determination module 11 is used to obtain a fuzzy image containing image parameters of the coal pile according to a preset fixed camera, analyze the fuzzy image, and determine the range of the coal pile;

[0055] A bird's-eye view image acquisition module 12 is used to determine a detection path based on the range of the coal pile, and acquire a bird's-eye view image of the coal pile containing a position and time according to the detection path;

[0056] The inspection path determination module 13 is used to identify the overhead image, determine the coal pile distribution information, and determine the inspection path of the drone according to the coal pile distribution information; wherein the height of the inspection path is less than the height of the detection path;

[0057] A three-dimensional coal pile creation module 14 is used to send the inspection path to the drone, receive the point cloud data fed back by the drone, and create a three-dimensional coal pile according to the point cloud data;

[0058] The display module 15 is used to display the created three-dimensional coal pile.

[0059] The technical solution of the present invention is applied to the scene of coal panning. "Coal panning" refers to the process of scanning and measuring the coal pile by some means (such as drones, etc.) to obtain information such as the shape, volume, and weight of the coal pile. This process is usually used in coal mines, coal yards, etc., and helps to better manage and optimize the storage, transportation, and use of coal by accurately measuring the coal pile data.

[0060] In the scene where coal is placed, multiple fixed cameras are generally set up to obtain the status of the coal in real time. Its accuracy is generally not high, and it is mainly used to monitor whether there are outsiders. The image of the coal pile is obtained according to the preset fixed camera. Due to its low accuracy, it is called a fuzzy image; by analyzing the fuzzy image, the approximate location of the coal pile can be determined, which is called the coal pile range; the coal pile range is a two-dimensional area.

[0061] The detection path is determined based on the range of the coal pile. Since the range of the coal pile is an approximate range, the detection path is also an approximate path. The UAV moves along the detection path to continuously obtain the overhead image of the coal pile. When obtaining the overhead image, the position and time are recorded. At this time, the overhead image has a higher accuracy than the blurred image.

[0062] By identifying the high-precision overhead image, the distribution of the coal pile can be obtained, which is called the coal pile distribution information. The final inspection path is determined based on the coal pile distribution information. At this time, the inspection path is highly consistent with the actual situation, and there is almost no invalid detection.

[0063] The inspection path is sent to the drone, and the point cloud data fed back by the drone is received. A three-dimensional coal pile is created based on the point cloud data. The advantage of the three-dimensional coal pile is its intuitiveness. Displaying the created three-dimensional coal pile allows managers to intuitively view the status of the coal pile.

[0064] Specifically, this application generally involves multiple drones, and a set of special data synthesis algorithms and technical processes are studied and developed for multi-drone flight operation scenarios. This technology can accurately align, fuse and optimize the point cloud data obtained by the laser radars carried by different drones, eliminate data deviations caused by factors such as differences in drone flight attitudes and different data collection times, and ultimately form a complete, high-precision three-dimensional point cloud data model of the coal yard, providing a reliable data foundation for accurate coal counting. This process belongs to the solution of drone point cloud data collection.

[0065] Regarding point cloud data, the drone is equipped with a lidar sensor, which flies above or around the coal pile and scans the surface of the coal pile through radar. The lidar accurately measures the position and distance of each point by emitting a laser beam and receiving the reflected signal. The lidar sensor continuously scans the surface of the coal pile during the flight and obtains a large amount of point cloud data (i.e., three-dimensional coordinate points obtained by laser ranging). These point cloud data can reflect the shape of the coal pile, surface concave and convexity and other characteristics.

[0066] As a preferred embodiment of the technical solution of the present invention, the coal pile range determination module 11 includes:

[0067] A command sending unit, used for querying a preset fixed camera and sending a shooting command to the fixed camera;

[0068] A blurred image receiving unit, used for receiving an image fed back by a fixed camera as a blurred image;

[0069] A parameter receiving unit, used to receive image parameters of a fixed camera when acquiring a blurred image, wherein the image parameters include an acquisition direction and an acquisition wide angle of the image;

[0070] The image analysis unit is used to analyze the fuzzy image and determine the range of the coal pile.

[0071] The above content describes the functions of the fixed camera, queries the position of the fixed camera, sends a shooting command to the fixed camera, and after the fixed camera captures the image, it is fed back to the main end. The accuracy of the image is not high, so it is called a blurred image; at the same time, the fixed camera also needs to obtain image parameters when acquiring the image, and the image parameters include the image acquisition direction and the acquisition wide angle; after the main end receives the blurred image, it analyzes the blurred image to determine the range of the coal pile.

[0072] Specifically, the contents of analyzing the fuzzy image and determining the range of the coal pile include:

[0073] Locating the coal pile boundary line in the fuzzy image based on the coal pile color value;

[0074] Mapping the coal pile boundary line in the horizontal plane according to the image parameters to obtain a horizontal mapping line;

[0075] Count the horizontal mapping lines corresponding to all coal pile boundary lines to obtain the plane contour;

[0076] The plane outline is enlarged according to a preset ratio, and the enlarged plane outline is used as the coal pile range.

[0077] The color value of the coal pile is known data, which is generally black or grayish black. The color value of the coal pile is a color value range. The boundary line of the coal pile is located in the blurred image (the contour is identified) based on the color value of the coal pile. Since the acquisition position and acquisition angle of each image are different, it is not necessarily an image from a bird's-eye view. Therefore, it is necessary to convert it. Based on the known acquisition position and acquisition direction, it is not complicated to map the image to the horizontal plane, and the mapping process belongs to the prior art. Specifically, the boundary line of the coal pile is located in the blurred image based on the color value of the coal pile, and the boundary line of the coal pile is mapped in the horizontal plane according to the image parameters to obtain a horizontal mapping line. The horizontal mapping lines corresponding to all the coal pile boundary lines are counted to obtain the plane contour.

[0078] In the technical solution of the present invention, the desired coal pile range is an approximate range, which should be as large as possible to include the actual coal body. Therefore, the above content also introduces an expansion scheme to expand the plane contour to obtain the final coal pile range.

[0079] As a preferred embodiment of the technical solution of the present invention, the overhead image acquisition module 12 includes:

[0080] A maximum height determination unit, used to query the image acquisition accuracy of the drone, and determine the maximum height according to the image acquisition accuracy and the detection range at different heights;

[0081] A path creation unit is used to create a detection path based on the maximum height; the sum of the image acquisition ranges of the UAV on the detection path is greater than the coal pile range;

[0082] The overhead view image receiving unit is used to send the detection path to the UAV and receive the overhead view image containing the position and time fed back by the UAV.

[0083] The above content explains the process of acquiring the overhead view image, and queries the image acquisition accuracy of the drone. The image acquisition accuracy is expressed in pixels. The maximum height is determined based on the image acquisition accuracy and the detection range at different heights. Regarding the influence of height, the greater the height, the larger the detection range (a subset of the coal pile range) corresponding to the overhead view image. The larger the actual range corresponding to a pixel point, the lower the accuracy. By querying the minimum accuracy entered by the administrator, a maximum height can be determined; a detection path is created at the maximum height, the detection path is sent to the drone, and the overhead view image containing the location and time fed back by the drone is received.

[0084] It should be noted that the range corresponding to the overhead view image collected by the UAV on the detection path is larger than the actual coal pile range.

[0085] As a preferred embodiment of the technical solution of the present invention, the inspection path determination module 13 includes:

[0086] A stitching unit is used to obtain the images at the latest moment at each position, stitch them according to the position relationship, and obtain the overall image;

[0087] A contour recognition unit, used to locate the boundary line of the coal pile in the fuzzy image based on the color value of the coal pile, so as to obtain the contour of the coal pile;

[0088] The contour application unit is used to determine the inspection path of the UAV according to the obtained coal pile contour.

[0089] In an example of the technical solution of the present invention, the image of the most recent moment at each position is obtained, and it is spliced ​​according to the positional relationship to obtain an image of the entire coal pile, which is called an overall image; then, the boundary line of the coal pile is located in the fuzzy image based on the color value of the coal pile to obtain the contour of the coal pile, which is also a contour recognition process. Since the overall image has higher accuracy than the fuzzy image, the recognized contour is also more accurate; finally, the inspection path of the UAV is determined based on the obtained coal pile contour. When the UAV moves on the inspection path, a laser radar is used to obtain actual point cloud data.

[0090] Specifically, the content of determining the inspection path of the drone according to the obtained coal pile contour includes:

[0091] Query the detection height range of the laser device built into the drone;

[0092] Select a minimum height within the detection height range to obtain a single detection area of ​​the drone at the minimum height;

[0093] The coal pile contour is divided based on a single detection area in a preset direction to obtain a plurality of strip areas;

[0094] Select the center line of the strip area as the inspection path.

[0095] In one example of the technical solution of the present invention, the detection height range of the laser equipment built into the UAV is queried, the minimum height is selected within the detection height range, and the single detection area of ​​the UAV at the minimum height is obtained. The coal pile contour is divided in a preset direction based on the single detection area to obtain a number of strip areas, and the center line of the strip area is selected as the inspection path. This process is actually somewhat similar to the process of obtaining the detection path (used to obtain the overhead view image), the difference being that the single detection area in the process of determining the detection path is a single detection area at the maximum height.

[0096] The reason for selecting the minimum height within the detection height range is that it is hoped to obtain more detailed point cloud data; of course, if the cost is limited, the maximum height can also be selected within the detection height range. At this time, the accuracy of the point cloud data is slightly reduced, the single detection area becomes larger, the number of strip areas becomes smaller, and the total length of the inspection path becomes smaller.

[0097] As a preferred embodiment of the technical solution of the present invention, the three-dimensional coal pile creation module 14 includes:

[0098] A point cloud data receiving unit is used to send the inspection path to the drone and receive the point cloud data fed back by the drone;

[0099] A three-dimensional coal pile creation unit, used for creating a three-dimensional coal pile according to the point cloud data and the identified coal pile contour;

[0100] The point cloud data is obtained by a laser radar carried by a drone.

[0101] In an example of the present technical solution, the specific acquisition and application process of point cloud data is explained, the inspection path is sent to a drone, the point cloud data fed back by the drone is received, and a three-dimensional coal pile is created based on the point cloud data and the identified coal pile contour; specifically, the coal pile contour is equivalent to a two-dimensional range, and the point cloud data represents the height of each point within the two-dimensional range. The height value is introduced at each coordinate within the two-dimensional range based on the point cloud data, so as to actually expand the dimension.

[0102] As a preferred embodiment of the technical solution of the present invention, the three-dimensional coal pile creation module 14 further includes:

[0103] A point cloud data recording unit, used to record the point cloud data acquired by all drones at each location when the number of drones is not unique;

[0104] The difference calculation unit is used to compare the point cloud data obtained by all drones at the same position and calculate the difference;

[0105] A probability determination unit, used to determine the acquisition probability of each position according to the difference; the acquisition probability is proportional to the difference;

[0106] The determination unit is used to determine whether to obtain point cloud data for any UAV based on the acquisition probability when it moves to a certain position.

[0107] The above content simplifies the application process of lidar. When the number of drones is not unique, the point cloud data obtained by all drones at each position is recorded, and the point cloud data obtained by all drones at the same position are compared to calculate the difference. The difference reflects the stability of the point cloud data at that position. The collection probability of each position is determined according to the difference. The smaller the difference, the higher the stability and the smaller the collection probability. For any drone, when it moves to a certain position, it is determined whether to obtain point cloud data based on the collection probability. For example, when the collection probability is 30%, each drone has only a 30% probability of collecting point cloud data at that position. If it does not collect, the original latest data can be used. This process actually reduces the detection frequency of the drone and improves its endurance.

[0108] As a preferred embodiment of the technical solution of the present invention, the three-dimensional coal pile creation module further includes: the display module includes:

[0109] A statistical unit, used for acquiring and counting the three-dimensional coal pile at different times within a preset time period;

[0110] The duration determination unit is used to receive the display period set by the administrator, calculate the ratio of the time period to the display period, and determine the display duration of the three-dimensional coal pile at each moment;

[0111] The display execution unit is used for cyclically displaying the three-dimensional coal pile.

[0112] In one example of the technical solution of the present invention, the three-dimensional display process is dynamically expanded, the time period is generally six hours, the display period is generally one minute, the three-dimensional coal pile at different times within the preset time period is obtained and counted, the display period set by the administrator is received, the ratio of the time period to the display period is calculated, and the display duration of the three-dimensional coal pile at each time is determined, that is, how many milliseconds the three-dimensional coal pile is displayed at each time, so that the three-dimensional coal pile is displayed in a loop.

[0113] In layman's terms, it is to display six hours of three-dimensional coal piles in one minute, which can be compared to the "fast forward" display function.

[0114] As a preferred embodiment of the technical solution of the present invention, the drone has a built-in obstacle avoidance module. When an obstacle avoidance behavior occurs, the obstacle avoidance position is recorded, an information collection interruption signal is generated, and after the obstacle avoidance is completed, the obstacle avoidance position is returned to terminate the information collection interruption signal. The collection interruption signal is used to terminate the information collection process, including the image collection process and the point cloud data collection process.

[0115] In one example of the technical solution of the present invention, a new type of UAV is used. The UAV has a strong autonomous flight capability and can automatically fly and operate in the coal yard area according to the preset flight path and mission instructions. At the same time, the UAV is equipped with an advanced multi-directional obstacle avoidance system, which uses a variety of sensors (such as ultrasonic sensors, visual sensors, etc.) to perceive the surrounding environment information in real time, and avoid various obstacles in time during the flight process, ensuring the flight safety and operation stability of the UAV in the field.

[0116] Regarding the technical solution of the present invention, the present invention aims to propose a new creative invention patent, which organically integrates multiple technologies such as drone technology, lidar technology and data synthesis technology to form an efficient, intelligent and accurate automatic laser coal counting system; it is committed to solving the high cost problem faced by conventional fixed coal counting instruments when covering multiple points, and reduces dependence on a large number of fixed equipment and reduces equipment purchase, installation and maintenance costs by adopting a flexible operation mode of drones equipped with lidars; it focuses on solving the problem of short battery life after drones are loaded with lidars, ensuring that drones can still have sufficient battery life when equipped with lidars to complete coal counting tasks in a larger coal yard, thereby improving operating efficiency and system practicality.

[0117] The functions that can be achieved by the drone-based laser coal scrubbing system are all completed by computer equipment. The computer equipment includes one or more processors and one or more memories. At least one program code is stored in the one or more memories. The program code is loaded and executed by the one or more processors to achieve the functions of the drone-based laser coal scrubbing system.

[0118] The processor takes out instructions from the memory one by one, analyzes the instructions, and then completes the corresponding operations according to the instruction requirements, generating a series of control commands, so that the various parts of the computer can automatically, continuously and coordinately move to become an organic whole, realize the input of programs, the input of data, and the calculation and output of results. The arithmetic operations or logical operations generated in this process are all completed by the operator; the memory includes a read-only memory (ROM), which is used to store computer programs, and a protection device is provided outside the memory.

[0119] Exemplarily, the computer program may be divided into one or more modules, one or more modules are stored in a memory and executed by a processor to implement the present invention. One or more modules may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in a terminal device.

[0120] Those skilled in the art will understand that the description of the above service equipment is merely an example and does not constitute a limitation on the terminal equipment. It may include more or fewer components than described above, or a combination of certain components, or different components, for example, it may include input and output devices, network access devices, buses, etc.

[0121] The processor may be a central processing unit (CPU), 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. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire user terminal.

[0122] The memory can be used to store computer programs and / or modules. The processor can realize various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as an information collection template display function, a product information release function, etc.); the data storage area can store data created according to the use of the berth status display system (such as product information collection templates corresponding to different product types, product information that different product providers need to release, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0123] If the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the modules / units in the above-mentioned embodiment system, and can also be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can realize the functions of the above-mentioned various system embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0124] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0125] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A laser coal cleaning system based on drone, characterized in that: The system comprises: A coal pile range determination module is used to obtain a fuzzy image containing image parameters of the coal pile according to a preset fixed camera, analyze the fuzzy image, and determine the range of the coal pile; A bird's-eye view image acquisition module, used to determine a detection path based on the range of the coal pile, and acquire a bird's-eye view image of the coal pile containing position and time according to the detection path; An inspection path determination module is used to identify the overhead image, determine the coal pile distribution information, and determine the inspection path of the drone according to the coal pile distribution information; wherein the height of the inspection path is less than the height of the detection path; A three-dimensional coal pile creation module is used to send the inspection path to the drone, receive the point cloud data fed back by the drone, and create a three-dimensional coal pile based on the point cloud data; The display module is used to display the created three-dimensional coal pile.

2. The laser coal mining system based on drone according to claim 1 is characterized in that: The coal pile range determination module includes: A command sending unit, used for querying a preset fixed camera and sending a shooting command to the fixed camera; A blurred image receiving unit, used for receiving an image fed back by a fixed camera as a blurred image; A parameter receiving unit, used to receive image parameters of a fixed camera when acquiring a blurred image, wherein the image parameters include an acquisition direction and an acquisition wide angle of the image; The image analysis unit is used to analyze the fuzzy image and determine the range of the coal pile.

3. The laser coal mining system based on drone according to claim 2 is characterized in that: The contents of analyzing the fuzzy image and determining the range of the coal pile include: Locating the coal pile boundary line in the fuzzy image based on the coal pile color value; Mapping the coal pile boundary line in the horizontal plane according to the image parameters to obtain a horizontal mapping line; Count the horizontal mapping lines corresponding to all coal pile boundary lines to obtain the plane contour; The plane outline is enlarged according to a preset ratio, and the enlarged plane outline is used as the coal pile range.

4. The laser coal mining system based on drone according to claim 1 is characterized in that: The overhead image acquisition module comprises: A maximum height determination unit, used to query the image acquisition accuracy of the drone, and determine the maximum height according to the image acquisition accuracy and the detection range at different heights; A path creation unit is used to create a detection path based on the maximum height; the sum of the image acquisition ranges of the UAV on the detection path is greater than the coal pile range; The overhead view image receiving unit is used to send the detection path to the UAV and receive the overhead view image containing the position and time fed back by the UAV.

5. The laser coal mining system based on drone according to claim 1 is characterized in that: The inspection path determination module comprises: A stitching unit is used to obtain the images at the latest moment at each position, stitch them according to the position relationship, and obtain the overall image; A contour recognition unit, used for locating the boundary line of the coal pile in the fuzzy image based on the color value of the coal pile to obtain the contour of the coal pile; The contour application unit is used to determine the inspection path of the UAV according to the obtained coal pile contour.

6. The laser coal mining system based on drone according to claim 5 is characterized in that: The content of determining the inspection path of the UAV according to the obtained coal pile contour includes: Query the detection height range of the laser device built into the drone; Select a minimum height within the detection height range to obtain a single detection area of ​​the drone at the minimum height; The coal pile contour is divided based on a single detection area in a preset direction to obtain a plurality of strip areas; Select the center line of the strip area as the inspection path.

7. The laser coal mining system based on drone according to claim 1 is characterized in that: The three-dimensional coal pile creation module includes: A point cloud data receiving unit is used to send the inspection path to the drone and receive the point cloud data fed back by the drone; A three-dimensional coal pile creation unit, used for creating a three-dimensional coal pile according to the point cloud data and the identified coal pile contour; The point cloud data is obtained by a laser radar carried by a drone.

8. The laser coal mining system based on drone according to claim 7 is characterized in that: The three-dimensional coal pile creation module also includes: A point cloud data recording unit, used to record the point cloud data acquired by all drones at each location when the number of drones is not unique; The difference calculation unit is used to compare the point cloud data obtained by all drones at the same position and calculate the difference; A probability determination unit, used to determine the acquisition probability of each position according to the difference; the acquisition probability is proportional to the difference; The determination unit is used to determine whether to obtain point cloud data for any UAV based on the acquisition probability when it moves to a certain position.

9. The laser coal mining system based on drone according to claim 1 is characterized in that: The three-dimensional coal pile creation module also includes: the display module includes: A statistical unit, used for acquiring and counting the three-dimensional coal pile at different times within a preset time period; The duration determination unit is used to receive the display period set by the administrator, calculate the ratio of the time period to the display period, and determine the display duration of the three-dimensional coal pile at each moment; The display execution unit is used for cyclically displaying the three-dimensional coal pile.

10. The laser coal mining system based on drone according to claim 1 is characterized in that: The drone has a built-in obstacle avoidance module. When an obstacle avoidance behavior occurs, the obstacle avoidance position point is recorded and an information collection interruption signal is generated. After the obstacle avoidance is completed, the drone returns to the obstacle avoidance position point and the information collection interruption signal is terminated.

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