Recognition method, device and equipment for liquid level of leachate in garbage storage and storage medium

Abstract

The invention discloses a garbage library leachate level identification method, device and equipment and a storage medium, and the method comprises the steps: obtaining the three-dimensional information of a garbage library, building a garbage library three-dimensional model based on the three-dimensional information, dividing the garbage library three-dimensional model into a plurality of grid blocks through the overlook plane, and obtaining the leachate level of the garbage library according to the garbage library three-dimensional model. And determining the mean height of each grid block, and determining the lowest mean height as the leachate level of the garbage library in the mean height of each grid block, so that the lowest height of the garbage grabbed by the garbage grab bucket is not lower than the leachate level. Therefore, by dividing the plurality of grid blocks, the lowest mean height of the grid blocks can be accurately found out from the complex environment of the garbage library as the leachate liquid level, so that the grab bucket is prevented from being lowered below the leachate liquid level, the grab bucket motor is prevented from being damaged due to the fact that the grab bucket motor is immersed in the leachate, and the safety, the stability and the high efficiency of garbage treatment work are improved.

Description

Technical Field

[0001] This application relates to the technical field of safety of garbage disposal equipment, and more specifically, to a method, device, equipment and storage medium for identifying the liquid level of leachate in a garbage storage. Background Art

[0002] In the process of urban domestic garbage disposal, the garbage storage is an important place for garbage temporary storage and fermentation. Since the components of domestic garbage itself are complex and generally contain a certain amount of moisture, after fermentation in the garbage storage, a large amount of moisture will seep out to form garbage leachate.

[0003] In the garbage pit, the leachate will gradually accumulate at the bottom of the garbage pit, and domestic garbage often floats on the surface of the leachate. However, it is difficult for the staff to accurately judge the depth of the leachate and the specific position and distribution of the floating garbage by the naked eye, and ordinary sensors are also difficult to play their normal functions in such a complex environment. In addition, due to the strong corrosiveness of the leachate, when the garbage grab bucket is operating and grabbing the garbage at the position of the floating garbage on the surface of the leachate, due to the lack of accurate measurement and perception means, the grab bucket is very easy to be accidentally immersed in the leachate. And the garbage leachate is rich in various pollutants and electrolytes. Once the grab bucket motor comes into contact with the leachate, a short-circuit fault may be triggered within a very short time, resulting in the motor being burned out.

[0004] Based on this, how to accurately measure the depth of garbage leachate in the complex environment of the garbage storage and avoid the damage of the grab bucket motor due to immersion in the leachate is an issue that needs attention for improving the safety, stability and efficiency of garbage disposal work. Summary of the Invention

[0005] In view of the above problems, this application provides a method, device, equipment and storage medium for identifying the liquid level of leachate in a garbage storage to accurately measure the depth of garbage leachate and avoid the damage of the grab bucket motor due to immersion in the leachate, so as to improve the safety, stability and efficiency of garbage disposal work.

[0006] To achieve the above object, the following specific solutions are proposed:

[0007] A method for identifying the liquid level of leachate in a garbage storage, which is applied to a three-dimensional modeling system of the garbage storage. The method includes:

[0008] Obtain the three-dimensional information of the garbage storage and establish a three-dimensional model of the garbage storage based on the three-dimensional information;

[0009] Divide the three-dimensional model of the garbage storage into multiple grid blocks with its top view plane;

[0010] Determine the average height of each grid block according to the three-dimensional model of the garbage storage;

[0011] Among the average heights of each grid block, determine the lowest average height as the leachate level of the waste storage library, so that the lowest height at which the waste grab grabs the waste is not lower than the leachate level.

[0012] Optionally, the three-dimensional modeling system of the waste storage library is equipped with a lidar scanner;

[0013] The obtaining of the three-dimensional information of the waste storage library includes:

[0014] Scan the waste storage library through the lidar scanner to obtain the three-dimensional information of the waste storage library.

[0015] Optionally, the three-dimensional modeling system of the waste storage library is equipped with a transverse X-ray monitor, a longitudinal X-ray monitor, and an axial X-ray monitor;

[0016] The obtaining of the three-dimensional information of the waste storage library includes:

[0017] Obtain the in-library transverse data of the waste storage library through the transverse X-ray monitor;

[0018] Obtain the in-library longitudinal data of the waste storage library through the longitudinal X-ray monitor;

[0019] Obtain the in-library axial data of the waste storage library through the axial X-ray monitor, and combine the in-library transverse data, the in-library longitudinal data, and the in-library axial data to obtain the three-dimensional information of the waste storage library.

[0020] Optionally, the method further includes:

[0021] Perform an axial section on the three-dimensional model of the waste storage library to obtain the section information at each height of the three-dimensional model of the waste storage library;

[0022] Normalize the section information at each height of the three-dimensional model of the waste storage library to obtain the information ratio of the section information at each height;

[0023] With the height of the three-dimensional model of the waste storage library as the abscissa and the information ratio of the section information at the height of the three-dimensional model of the waste storage library as the ordinate, construct the variation relationship of the information ratio with the height;

[0024] In the variation relationship, determine the height of the target change point as the leachate level of the waste storage library, where the target change point is the first decreasing change point in the variation relationship.

[0025] Optionally, the method further includes:

[0026] Divide the three-dimensional model of the waste storage library into several regions with its top view plane;

[0027] Determine the average height of each area according to the three-dimensional model of the waste storage library;

[0028] If the difference between the highest value and the lowest value among the average heights of each area is greater than the preset drop threshold, drive the waste grab to grab the waste in the target area with the highest average height and put it into the area with the lowest average height until the difference between the highest value and the lowest value among the average heights of each area is not greater than the preset drop threshold. Among them, the lowest height at which the waste grab grabs the waste is not lower than the average height of the target area.

[0029] Optionally, the method further includes:

[0030] When the three-dimensional information is updated, update the three-dimensional model of the waste storage library based on the updated three-dimensional information to obtain an updated three-dimensional model of the waste storage library;

[0031] Among the average heights of each grid block of the updated three-dimensional model of the waste storage library, determine the lowest average height as the pending leachate level;

[0032] If the pending leachate level is lower than the leachate level, update the leachate level of the waste storage library to the pending leachate level.

[0033] Optionally, determining the average height of each grid block according to the three-dimensional model of the waste storage library includes:

[0034] Determine the height of each pixel point of the top view plane according to the three-dimensional model of the waste storage library;

[0035] For each grid block of the three-dimensional model of the waste storage library, take the average value of the heights of each pixel point in the grid block as the average height of the grid block.

[0036] An identification device for the leachate level of a waste storage library, which is applied to a three-dimensional modeling system of a waste storage library. The device includes:

[0037] A three-dimensional information acquisition unit for acquiring three-dimensional information of the waste storage library;

[0038] A three-dimensional model construction unit for establishing a three-dimensional model of the waste storage library based on the three-dimensional information;

[0039] A grid block division unit for dividing the three-dimensional model of the waste storage library into multiple grid blocks with its top view plane;

[0040] An average height determination unit for determining the average height of each grid block according to the three-dimensional model of the waste storage library;

[0041] A liquid level determination unit, which is used to determine the lowest average height among the average heights of each grid block as the leachate level of the waste storage library, so that the lowest height at which the waste grab grabs the waste is not lower than the leachate level.

[0042] Optionally, the waste storage library 3D modeling system is equipped with a lidar scanner;

[0043] The 3D information acquisition unit includes:

[0044] A lidar scanning unit, which is used to scan the waste storage library through the lidar scanner to obtain the 3D information of the waste storage library.

[0045] Optionally, the waste storage library 3D modeling system is equipped with a transverse X-ray monitor, a longitudinal X-ray monitor, and an axial X-ray monitor;

[0046] The 3D information acquisition unit includes:

[0047] A transverse data acquisition unit, which is used to obtain the in-library transverse data of the waste storage library through the transverse X-ray monitor;

[0048] A longitudinal data acquisition unit, which is used to obtain the in-library longitudinal data of the waste storage library through the longitudinal X-ray monitor;

[0049] An axial data acquisition unit, which is used to obtain the in-library axial data of the waste storage library through the axial X-ray monitor, and combine the in-library transverse data, the in-library longitudinal data, and the in-library axial data to obtain the 3D information of the waste storage library.

[0050] Optionally, the device further includes:

[0051] An axial section unit, which is used to perform an axial section on the 3D model of the waste storage library to obtain the section information at each height of the 3D model of the waste storage library;

[0052] A section information normalization unit, which is used to normalize the section information at each height of the 3D model of the waste storage library to obtain the information ratio of the section information at each height;

[0053] A change relationship construction unit, which is used to construct a change relationship of the information ratio with height, with the height of the 3D model of the waste storage library as the abscissa and the information ratio of the section information at the height of the 3D model of the waste storage library as the ordinate;

[0054] A change point determination unit, which is used to determine the height of the target change point as the leachate level of the waste storage library in the change relationship, where the target change point is the first decreasing change point in the change relationship.

[0055] Optionally, the device further includes:

[0056] An area division unit for dividing the three-dimensional model of the waste storage into several areas with its top view plane;

[0057] An area average height determination unit for determining the average height of each area according to the three-dimensional model of the waste storage;

[0058] A waste transfer unit for driving the waste grab to grab the waste in the target area with the highest average height and put it into the area with the lowest average height until the difference between the highest value and the lowest value among the average heights of each area is not greater than the preset drop threshold, wherein the lowest height at which the waste grab grabs the waste is not lower than the average height of the target area.

[0059] Optionally, the device further includes:

[0060] A three-dimensional model update unit for updating the three-dimensional model of the waste storage based on the updated three-dimensional information to obtain an updated three-dimensional model of the waste storage when the three-dimensional information is updated;

[0061] A to-be-determined leachate level determination unit for determining the lowest average height among the average heights of each grid block of the updated three-dimensional model of the waste storage as the to-be-determined leachate level;

[0062] A leachate level update unit for updating the leachate level of the waste storage to the to-be-determined leachate level if the to-be-determined leachate level is lower than the leachate level.

[0063] Optionally, the average height determination unit includes:

[0064] A pixel point height determination unit for determining the height of each pixel point of the top view plane according to the three-dimensional model of the waste storage;

[0065] An average height calculation unit for taking the average value of the heights of each pixel point in the grid block as the average height of the grid block for each grid block of the three-dimensional model of the waste storage.

[0066] An identification device for the leachate level of a waste storage, including a memory and a processor;

[0067] The memory for storing programs;

[0068] The processor for executing the program to implement each step of the identification method for the leachate level of the waste storage as described above.

[0069] A storage medium stores a computer program, and when the computer program is executed by a processor, it implements each step of the method for identifying the leachate level of a waste library as described above.

[0070] With the above technical solution, the present application obtains the three-dimensional information of the waste library, establishes a three-dimensional model of the waste library based on the three-dimensional information, divides the three-dimensional model of the waste library into multiple grid blocks according to its top view plane, determines the average height of each grid block according to the three-dimensional model of the waste library, and determines the lowest average height among the average heights of each grid block as the leachate level of the waste library, so that the lowest height at which the waste grab grabs the waste is not lower than the leachate level. Thus, by dividing into multiple grid blocks, it is possible to accurately find the lowest average height of the grid blocks as the leachate level in the complex environment of the waste library, thereby preventing the grab from dropping below the leachate level and avoiding damage to the grab motor due to immersion in the leachate, which improves the safety, stability, and efficiency of the waste treatment work. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0072] Figure 1 FIG. is a schematic flow chart for implementing the identification of the leachate level of a waste library provided by an embodiment of the present application;

[0073] Figure 2 FIG. is a schematic model diagram of a three-dimensional modeling of a waste library provided by an embodiment of the present application;

[0074] Figure 3 FIG. is a schematic diagram of grid division provided by an embodiment of the present application;

[0075] Figure 4 FIG. is a schematic structural diagram of a device for implementing the identification of the leachate level of a waste library provided by an embodiment of the present application;

[0076] Figure 5 FIG. is a schematic structural diagram of a device for implementing the identification of the leachate level of a waste library provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0077] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0078] The solution of the present application can be implemented based on a terminal with data processing capabilities. The terminal can be a three-dimensional modeling system for a garbage storage. The three-dimensional modeling system for a garbage storage can be equipped with multiple monitoring devices for obtaining information about the garbage storage. The monitoring devices can include lidar scanners.

[0079] Next, in combination with Figure 1 As described above, the method for identifying the leachate level of the garbage storage in the present application can include the following steps:

[0080] Step S110: Obtain the three-dimensional information of the garbage storage, and establish a three-dimensional model of the garbage storage based on the three-dimensional information.

[0081] Specifically, the three-dimensional information of the garbage storage can be obtained by scanning the garbage storage with a lidar scanner.

[0082] Among them, the established three-dimensional model of the garbage storage is as Figure 2 shown. Figure 2 In, since the garbage in the garbage pit is mixed with the leachate, the monitor only obtains the three-dimensional shape of the mixture in the garbage pit, and different heights of the mixture are represented by different colors.

[0083] Step S120: Divide the three-dimensional model of the garbage storage into multiple grid blocks with its top view plane.

[0084] Specifically, as Figure 3 shown, the top view plane can be divided into grid blocks of 0.5m * 0.5m. It can be defined that the position coordinates of each grid block are (m, n), and each grid block can be uniquely identified by a horizontal number and a vertical number.

[0085] Step S130: Determine the average height of each grid block according to the three-dimensional model of the garbage storage.

[0086] Specifically, according to the three-dimensional model of the garbage storage, the height of each pixel point on the top view plane can be determined. For each grid block of the three-dimensional model of the garbage storage, the average value of the heights of the pixel points in the grid block is used as the average height of the grid block.

[0087] It can be understood that each grid block may contain multiple pixel points (such as 10 pixel points), and the height of these pixel points can be obtained according to the data provided by the three-dimensional model of the garbage storage. Therefore, the height of each grid block can be represented by the average value of the heights of all pixel points.

[0088] Step S140: Among the average heights of each grid block, determine the lowest average height as the leachate level of the garbage storage, so that the lowest height for the garbage grab to grab garbage is not lower than the leachate level.

[0089] It can be understood that generally, below the leachate liquid level is the liquid part of the leachate. Above the leachate liquid level, there may or may not be floating garbage. Therefore, after detecting the average heights of all grid blocks, the lowest average height can be used as the position of the leachate liquid level, so as to determine the leachate level of the garbage storage.

[0090] Furthermore, the three-dimensional modeling system of the garbage storage can send the leachate level information to the garbage grab control system, so that the garbage grab control system can control the garbage grab not to be lower than the leachate level during the process of grabbing garbage, so as to avoid damage to the grab motor due to being immersed in the leachate.

[0091] The method for identifying the leachate level of the garbage storage provided in this embodiment obtains the three-dimensional information of the garbage storage, establishes a three-dimensional model of the garbage storage based on the three-dimensional information, divides the three-dimensional model of the garbage storage into multiple grid blocks in its top view plane, determines the average height of each grid block according to the three-dimensional model of the garbage storage, and determines the lowest average height among the average heights of each grid block as the leachate level of the garbage storage, so that the lowest height for the garbage grab to grab garbage is not lower than the leachate level. Thus, it can be seen that by dividing into multiple grid blocks, it is possible to accurately find the lowest average height of the grid block as the leachate level in the complex environment of the garbage storage, thereby preventing the grab from dropping below the leachate level and avoiding damage to the grab motor due to being immersed in the leachate, which improves the safety, stability, and efficiency of the garbage treatment work.

[0092] Considering that the garbage in the garbage storage may be completely covered at the same height, and the actual leachate liquid level is below this height, resulting in the possibility that the finally determined leachate level may be too high. Based on this, the three-dimensional modeling system of the garbage storage mentioned in the foregoing embodiment can also be equipped with a transverse X-ray monitor, a longitudinal X-ray monitor, and an axial X-ray monitor, so that the three-dimensional modeling system of the garbage storage can also obtain the three-dimensional information of the garbage storage through the equipped transverse X-ray monitor, longitudinal X-ray monitor, and axial X-ray monitor. Specifically:

[0093] The in-library lateral data of the waste storage is obtained through the lateral X-ray monitor, the in-library longitudinal data of the waste storage is obtained through the longitudinal X-ray monitor, and the in-library axial data of the waste storage is obtained through the axial X-ray monitor. The three-dimensional information of the waste storage is obtained by combining the in-library lateral data, the in-library longitudinal data, and the in-library axial data.

[0094] On this basis, the method for identifying the leachate liquid level of the waste storage provided in this application can also exclude the situation where the waste is completely covered at the same height by means of an axial section. The specific method for identifying the leachate liquid level can include:

[0095] S1. Perform an axial section on the three-dimensional model of the waste storage to obtain the section information at each height of the three-dimensional model of the waste storage.

[0096] Specifically, the section information can represent the information volume of the mixture of waste and leachate.

[0097] S2. Normalize the section information at each height of the three-dimensional model of the waste storage to obtain the information ratio of the section information at each height.

[0098] Specifically, the way to normalize all section information can be: based on the section information with the maximum information volume of the mixture of waste and leachate as the basic information volume, divide the information volume of the section information at each height by the basic information volume to obtain the information ratio of the section information at that height.

[0099] It can be understood that at the lowest height of the three-dimensional model of the waste storage, since the leachate fully penetrates at this height, the section information at this height is the largest, that is, the information ratio of the section information at this height is 1. Gradually rising from the lowest height, the information ratio of the section information at each height ≤ 1.

[0100] S3. Take the height of the three-dimensional model of the waste storage as the abscissa and the information ratio of the section information at the height of the three-dimensional model of the waste storage as the ordinate to construct the variation relationship of the information ratio with the height.

[0101] S4. In the variation relationship, determine the height of the target change point as the leachate liquid level of the waste storage.

[0102] Among them, the target change point is the first decreasing change point in the variation relationship.

[0103] It can be understood that as the lowest height of the three-dimensional model of the waste storage increases, since the waste height at this location is still fully permeated with leachate, in the variation relationship, the information ratio remains unchanged as the height increases until the height leaves / rises above the leachate liquid level. After that, the amount of information of the cross-sectional information at this height will decrease, making this height the first decreasing change point in the variation relationship. Therefore, the height value corresponding to the first decreasing change point in the variation relationship can represent the height just above the leachate liquid level, and then the height of the target change point can be determined as the leachate liquid level of the waste storage.

[0104] The method for identifying the leachate liquid level of the waste storage provided in this embodiment obtains the cross-sectional information at each height of the three-dimensional model of the waste storage by performing an axial cross-section on the three-dimensional model of the waste storage, normalizes the cross-sectional information at each height of the three-dimensional model of the waste storage to obtain the information ratio of the cross-sectional information at each height, constructs the variation relationship of the information ratio with the height with the height of the three-dimensional model of the waste storage as the abscissa and the information ratio of the cross-sectional information at the height of the three-dimensional model of the waste storage as the ordinate, and determines the height of the first decreasing change point in the variation relationship as the leachate liquid level of the waste storage. Thus, through the relationship between the change in the amount of axial cross-sectional information and the height, the leachate liquid level can be determined more accurately, avoiding the situation where the identified leachate liquid level is too high due to the full coverage of the waste in the storage at the same height.

[0105] Considering that during the operation of the waste grab, the original state of the waste in the pit will be changed. For example, in some areas, the waste is piled up like a mountain. When the waste grab grabs in the waste pile, it may cause the waste pile to collapse and the waste to scatter around. At this time, some waste falls into the leachate, resulting in an increase in the leachate liquid level. After the increase, it may be higher than the lowest height at which the waste grab grabs the waste, and there is a risk of damage to the grab motor due to contact with the leachate. Based on this, the method for identifying the leachate liquid level of the waste storage provided in this application can also balance the situation of large waste height differences in advance. The specific process can include:

[0106] S1. Divide the three-dimensional model of the waste storage into several regions with its top view plane.

[0107] Specifically, the regional division can be carried out according to the clustering situation of the waste in the waste storage.

[0108] S2. Determine the average height of each region according to the three-dimensional model of the waste storage.

[0109] Specifically, each region can include multiple pixels, and the height of the pixels can be obtained through the three-dimensional model of the waste storage. Then, the average height of each region can be the average value of the heights of all pixels.

[0110] S3. If the difference between the highest value and the lowest value among the average heights of all regions is greater than a preset drop threshold, drive the garbage grabber to grab the garbage in the target region with the highest average height and drop it into the region with the lowest average height until the difference between the highest value and the lowest value among the average heights of all regions is not greater than the preset drop threshold.

[0111] Among them, the lowest height at which the garbage grabber grabs garbage is not lower than the average height of the target region.

[0112] It can be understood that when the height difference between region A with the highest average height and region B with the lowest average height is greater than the preset drop threshold, it can indicate that the garbage heap in region A is prone to collapse when the garbage grabber grabs garbage in region A, resulting in an increase in the leachate liquid level. Then, before identifying the leachate liquid level in the garbage storage, it is necessary to grab the garbage from region A and distribute it to region B to balance the average heights of all regions, reduce the accidental increase in the leachate liquid level during the operation of the garbage grabber, and on this basis, the identified leachate liquid level data can be more effective, more scientific, and more persistent, and enhance the safety of the garbage grabber when grabbing garbage.

[0113] Considering that during the operation of the garbage grabber, the garbage in the pit will be removed and the leachate liquid level may decrease, and the leachate liquid level needs to be updated. In some embodiments of the present application, the update process of the above-mentioned identification of the leachate liquid level in the garbage storage is introduced, and this update process may include:

[0114] S1. When the three-dimensional information is updated, update the three-dimensional model of the garbage storage based on the updated three-dimensional information to obtain an updated three-dimensional model of the garbage storage.

[0115] S2. Among the average heights of each grid block in the updated three-dimensional model of the garbage storage, determine the lowest average height as the pending leachate liquid level.

[0116] S3. If the pending leachate liquid level is lower than the leachate liquid level, update the leachate liquid level of the garbage storage to the pending leachate liquid level.

[0117] It can be understood that since the garbage grabber removes the garbage in the pit, which is equivalent to removing the garbage below the leachate liquid level and causing the leachate liquid level to drop, the newly identified pending leachate liquid level is lower than the original leachate liquid level, and at this time, the leachate liquid level can be updated.

[0118] Next, the device for realizing the identification of the leachate liquid level in the garbage storage provided by the embodiments of the present application is described. The device for realizing the identification of the leachate liquid level in the garbage storage described below can be correspondingly referred to the method for realizing the identification of the leachate liquid level in the garbage storage described above.

[0119] See Figure 4 , Figure 4 which is a schematic structural diagram of a device for realizing the identification of the leachate level in a garbage storage.

[0120] As Figure 4 shown, the device may include:

[0121] A three-dimensional information acquisition unit 11 for acquiring the three-dimensional information of the garbage storage;

[0122] A three-dimensional model construction unit 12 for establishing a three-dimensional model of the garbage storage based on the three-dimensional information;

[0123] A grid block division unit 13 for dividing the three-dimensional model of the garbage storage into a plurality of grid blocks with its top view plane;

[0124] An average height determination unit 14 for determining the average height of each grid block according to the three-dimensional model of the garbage storage;

[0125] A liquid level determination unit 15 for determining the lowest average height among the average heights of each grid block as the leachate level of the garbage storage, so that the lowest height at which the garbage grab grabs the garbage is not lower than the leachate level.

[0126] Optionally, the three-dimensional modeling system of the garbage storage is equipped with a lidar scanner;

[0127] The three-dimensional information acquisition unit includes:

[0128] A lidar scanning unit for scanning the garbage storage through the lidar scanner to acquire the three-dimensional information of the garbage storage.

[0129] Optionally, the three-dimensional modeling system of the garbage storage is equipped with a lateral X-ray monitor, a longitudinal X-ray monitor and an axial X-ray monitor;

[0130] The three-dimensional information acquisition unit includes:

[0131] A lateral data acquisition unit for acquiring the in-library lateral data of the garbage storage through the lateral X-ray monitor;

[0132] A longitudinal data acquisition unit for acquiring the in-library longitudinal data of the garbage storage through the longitudinal X-ray monitor;

[0133] An axial data acquisition unit for acquiring the in-library axial data of the garbage storage through the axial X-ray monitor and combining the in-library lateral data, the in-library longitudinal data and the in-library axial data to obtain the three-dimensional information of the garbage storage.

[0134] Optionally, the device further includes:

[0135] Axial section unit, configured to perform axial sectioning on the three-dimensional model of the waste storage library to obtain section information at each height of the three-dimensional model of the waste storage library;

[0136] Section information normalization unit, configured to normalize the section information at each height of the three-dimensional model of the waste storage library to obtain an information ratio of the section information at each height;

[0137] Variation relationship construction unit, configured to construct a variation relationship of the information ratio with height, with the height of the three-dimensional model of the waste storage library as the abscissa and the information ratio of the section information at the height of the three-dimensional model of the waste storage library as the ordinate;

[0138] Change point determination unit, configured to determine, in the variation relationship, the height of the target change point as the leachate level of the waste storage library, where the target change point is the first decreasing change point in the variation relationship.

[0139] Optionally, the device further includes:

[0140] Region division unit, configured to divide the three-dimensional model of the waste storage library into several regions in its top view plane;

[0141] Region mean height determination unit, configured to determine the mean height of each region according to the three-dimensional model of the waste storage library;

[0142] Waste transfer unit, configured to, if the difference between the highest value and the lowest value among the mean heights of each region is greater than a preset drop threshold, drive the waste grab to grab the waste in the target region with the highest mean height and drop it into the region with the lowest mean height until the difference between the highest value and the lowest value among the mean heights of each region is not greater than the preset drop threshold, where the lowest height at which the waste grab grabs the waste is not lower than the mean height of the target region.

[0143] Optionally, the device further includes:

[0144] Three-dimensional model update unit, configured to, when the three-dimensional information is updated, update the three-dimensional model of the waste storage library based on the updated three-dimensional information to obtain an updated three-dimensional model of the waste storage library;

[0145] Pending leachate level determination unit, configured to determine, among the mean heights of each grid block of the updated three-dimensional model of the waste storage library, the lowest mean height as the pending leachate level;

[0146] Leachate level update unit, configured to, if the pending leachate level is lower than the leachate level, update the leachate level of the waste storage library to the pending leachate level.

[0147] Optionally, the mean height determination unit includes:

[0148] A pixel point height determination unit, configured to determine the height of each pixel point on the top view plane according to the three-dimensional model of the waste storage library;

[0149] A mean height calculation unit, configured to, for each grid block of the three-dimensional model of the waste storage library, use the average value of the heights of the pixel points in the grid block as the mean height of the grid block.

[0150] The device for identifying the leachate liquid level of the waste storage library provided by the embodiments of the present application can be applied to devices for identifying the leachate liquid level of the waste storage library, such as a three-dimensional modeling system for the waste storage library. Optionally, Figure 5 The hardware structure block diagram of the device for identifying the leachate liquid level of the waste storage library is shown. Referring to Figure 5 , the hardware structure of the device for identifying the leachate liquid level of the waste storage library may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4;

[0151] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0152] The processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0153] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory;

[0154] Among them, the memory stores a program, and the processor can call the program stored in the memory. The program is used for:

[0155] Obtain the three-dimensional information of the waste storage library, and establish a three-dimensional model of the waste storage library based on the three-dimensional information;

[0156] Divide the three-dimensional model of the waste storage library into multiple grid blocks with its top view plane;

[0157] Determine the mean height of each grid block according to the three-dimensional model of the waste storage library;

[0158] Among the mean heights of the grid blocks, determine the lowest mean height as the leachate liquid level of the waste storage library, so that the lowest height at which the waste grab grabs the waste is not lower than the leachate liquid level.

[0159] Optionally, the refinement function and the extension function of the program can be referred to the above description.

[0160] The embodiment of the present application further provides a storage medium, which can store a program suitable for a processor to execute. The program is used for:

[0161] Obtain the three-dimensional information of the garbage storage, and establish a three-dimensional model of the garbage storage based on the three-dimensional information;

[0162] Divide the three-dimensional model of the garbage storage into multiple grid blocks with its top view plane;

[0163] Determine the average height of each grid block according to the three-dimensional model of the garbage storage;

[0164] Among the average heights of each grid block, determine the lowest average height as the leachate level of the garbage storage, so that the lowest height for the garbage grab to grab the garbage is not lower than the leachate level.

[0165] Optionally, the refinement function and the extension function of the program can be referred to the above description.

[0166] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0167] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0168] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for identifying the liquid level of landfill leachate, characterized in that, Applied to a three-dimensional modeling system for a waste storage library, the method includes: Obtain three-dimensional information of the waste storage library and establish a three-dimensional model of the waste storage library based on the three-dimensional information; Divide the three-dimensional model of the waste storage library into multiple grid blocks by its top view plane; Determine the average height of each grid block according to the three-dimensional model of the waste storage library; Among the average heights of each grid block, determine the lowest average height as the leachate level of the waste storage library, so that the lowest height for the waste grab to grab waste is not lower than the leachate level.

2. The method according to claim 1, wherein The three-dimensional modeling system for the waste storage library is equipped with a lidar scanner; The obtaining of the three-dimensional information of the waste storage library includes: Scan the waste storage library through the lidar scanner to obtain the three-dimensional information of the waste storage library.

3. The method according to claim 1, wherein The three-dimensional modeling system for the waste storage library is equipped with a transverse X-ray monitor, a longitudinal X-ray monitor, and an axial X-ray monitor; The obtaining of the three-dimensional information of the waste storage library includes: Obtain the in-library transverse data of the waste storage library through the transverse X-ray monitor; Obtain the in-library longitudinal data of the waste storage library through the longitudinal X-ray monitor; Obtain the in-library axial data of the waste storage library through the axial X-ray monitor, and combine the in-library transverse data, the in-library longitudinal data, and the in-library axial data to obtain the three-dimensional information of the waste storage library.

4. The method according to claim 3, characterized in that, It further includes: Perform an axial section on the three-dimensional model of the waste storage library to obtain section information at each height of the three-dimensional model of the waste storage library; Normalize the section information at each height of the three-dimensional model of the waste storage library to obtain the information ratio of the section information at each height; Take the height of the three-dimensional model of the waste storage library as the abscissa and the information ratio of the section information at the height of the three-dimensional model of the waste storage library as the ordinate to construct the variation relationship of the information ratio with height; In the variation relationship, determine the height of the target change point as the leachate level of the waste storage library, where the target change point is the first decreasing change point in the variation relationship.

5. The method according to claim 1, characterized in that, It further includes: Divide the three-dimensional model of the waste storage library into several regions by its top view plane; Determine the average height of each region according to the three-dimensional model of the waste storage library; If the difference between the highest value and the lowest value among the average heights of each region is greater than the preset drop threshold, drive the waste grab to grab the waste in the target region with the highest average height and put it into the region with the lowest average height until the difference between the highest value and the lowest value among the average heights of each region is not greater than the preset drop threshold, where the lowest height for the waste grab to grab waste is not lower than the average height of the target region.

6. The method according to claim 1, characterized in that, It further includes: When the three-dimensional information is updated, update the three-dimensional model of the waste storage library based on the updated three-dimensional information to obtain an updated three-dimensional model of the waste storage library; Among the average heights of each grid block of the updated three-dimensional model of the waste storage library, determine the lowest average height as the pending leachate level; If the pending leachate level is lower than the leachate level, update the leachate level of the waste storage library to the pending leachate level.

7. The method according to claim 1, wherein Determine the average height of each grid block according to the three-dimensional model of the waste storage library, including: Determine the height of each pixel point on the top-down plane according to the three-dimensional model of the waste storage library; For each grid block of the three-dimensional model of the waste storage library, take the average value of the heights of the pixel points in the grid block as the average height of the grid block.

8. An identification device for the liquid level of landfill leachate, characterized in that, Applied to a waste storage library three-dimensional modeling system, the device includes: A three-dimensional information acquisition unit for acquiring three-dimensional information of the waste storage library; A three-dimensional model construction unit for establishing a three-dimensional model of the waste storage library based on the three-dimensional information; A grid block division unit for dividing the three-dimensional model of the waste storage library into a plurality of grid blocks with its top-down plane; An average height determination unit for determining the average height of each grid block according to the three-dimensional model of the waste storage library; A liquid level determination unit for determining the lowest average height among the average heights of the respective grid blocks as the leachate liquid level of the waste storage library, so that the lowest height at which the waste grab grabs the waste is not lower than the leachate liquid level.

9. An identification device for the liquid level of landfill leachate, characterized in that, Comprising a memory and a processor; The memory is used for storing programs; The processor is used for executing the program to implement each step of the method for identifying the leachate liquid level of the waste storage library as described in any one of claims 1-7.

10. A storage medium, on which a computer program is stored, characterized in that When the computer program is executed by the processor, each step of the method for identifying the leachate liquid level of the waste storage library as described in any one of claims 1-7 is implemented.

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