Coal pile management method, device, equipment and medium

Abstract

The invention discloses a coal pile management method, device and equipment and a medium, and relates to the technical field of coal pile management. The coal pile management method comprises the steps that first information of a target coal pile is acquired, the first information comprises an initial three-dimensional point cloud and actual temperature distribution, and the actual temperature distribution comprises a plurality of actual temperature values; mapping the plurality of actual temperature values to the initial three-dimensional point cloud to obtain a fused point cloud; generating a target three-dimensional coal pile model of the target coal pile according to the fusion point cloud; and managing the target coal pile according to the target three-dimensional coal pile model. According to the embodiment of the invention, the method can monitor the actual temperature value of the target coal pile in real time through the target three-dimensional coal pile model, can achieve the real-time management of the target coal pile according to the target three-dimensional coal pile model, and can effectively prevent the spontaneous combustion of the coal pile.

Description

Technical Field

[0001] The present application belongs to the technical field of coal pile management, and specifically relates to a coal pile management method, device, equipment and medium. Background Art

[0002] In thermal power plants, coal mines, coal storage warehouses and other places, accurate measurement and safe monitoring of coal piles are important aspects of fuel management.

[0003] In the related art, the spontaneous combustion of coal piles is usually monitored by manual temperature measurement. However, the manual temperature measurement method has low time efficiency and is difficult to prevent the occurrence of spontaneous combustion of coal piles. Summary of the Invention

[0004] The technical problem to be solved by the present application is to provide a coal pile management method, device, equipment and medium in response to the above-mentioned deficiencies in the prior art, which can monitor the actual temperature value of the target coal pile in real time through the target three-dimensional coal pile model, that is, it can improve the timeliness of the measurement of the actual temperature value of the target coal pile, and then realize real-time management of the target coal pile according to the target three-dimensional coal pile model, thereby effectively preventing the occurrence of coal pile spontaneous combustion.

[0005] In a first aspect, an embodiment of the present application provides a coal pile management method, comprising:

[0006] Acquiring first information of a target coal pile, the first information including an initial three-dimensional point cloud and an actual temperature distribution, the actual temperature distribution including a plurality of actual temperature values;

[0007] Mapping multiple actual temperature values ​​onto the initial three-dimensional point cloud to obtain a fused point cloud;

[0008] Generate a target three-dimensional coal pile model of the target coal pile based on the fused point cloud;

[0009] Manage the target coal pile according to the target three-dimensional coal pile model.

[0010] In some embodiments of the first aspect, before generating a target three-dimensional coal pile model of the target coal pile based on the fused point cloud, the method further includes:

[0011] Perform voxel grid filtering on the fused point cloud to remove invalid point clouds in the fused point cloud to obtain a first intermediate point cloud;

[0012] Combined with the moving least squares method, the first intermediate point cloud is subjected to radius filtering to remove noise points in the first intermediate point cloud to obtain the second intermediate point cloud;

[0013] Generate a target 3D coal pile model based on the fused point cloud, specifically including:

[0014] Generate a target three-dimensional coal pile model of the target coal pile according to the second intermediate point cloud.

[0015] In some embodiments of the first aspect, after generating a target three-dimensional coal pile model of the target coal pile according to the fused point cloud, the method further includes:

[0016] Process the second intermediate point cloud using the advancing front method to obtain a three-dimensional grid;

[0017] Repair the three-dimensional grid using the octree-convolutional neural network parallel hole repair method to obtain a repaired three-dimensional grid;

[0018] Divide the repaired three-dimensional grid into N sub-units using the hierarchical integration method; N is a positive integer;

[0019] Determine the actual volume of the target coal pile according to the N pieces of second information corresponding to the N sub-units one by one; the second information includes the horizontal projected area and the height.

[0020] In some embodiments of the first aspect, the process of obtaining the initial three-dimensional point cloud specifically includes:

[0021] Use a laser coal inventory instrument to scan along the characteristic lines of the target coal pile to obtain an initial three-dimensional point cloud; the characteristic lines include at least one of the top edge line, the slope angle line, and the saddle line.

[0022] In some embodiments of the first aspect, managing the target coal pile according to the target three-dimensional coal pile model specifically includes: <00000​​​​​​​​​​​​​Among them, the second target temperature value is the actual temperature value that meets the second preset condition; the second preset condition includes Tth1 ≤ T < Tth2 and ΔT ≥ ΔTth, or, Tth2 ≤ T < Tth3, where Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, Tth3 is the third temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate; the first prompt message is used to indicate to perform a preset operation on the target coal pile corresponding to the second target position; the preset operation includes at least one of burning, re-stacking and retrieving, compaction, and transportation.

[0028] In some embodiments of the first aspect, managing the target coal pile according to the target three-dimensional coal pile model specifically includes:

[0029] In the case where there is at least one third target temperature value, mark the third target position corresponding to the third target temperature value in the target three-dimensional coal pile model, and output a second prompt message;

[0030] Among them, the third target temperature value is the actual temperature value that meets the third preset condition; the third preset condition includes Tth3 ≤ T, where Tth3 is the third temperature threshold and T is the actual temperature value; the second prompt message is used to indicate to activate the fire protection facilities in联动 and push an emergency instruction.

[0031] Based on the same inventive concept, in a second aspect, an embodiment of the present application provides a coal pile management device, including:

[0032] A first acquisition module, configured to acquire first information of the target coal pile, where the first information includes an initial three-dimensional point cloud and an actual temperature distribution, and the actual temperature distribution includes multiple actual temperature values;

[0033] A mapping module, connected to the first acquisition module, configured to map multiple actual temperature values onto the initial three-dimensional point cloud to obtain a fused point cloud;

[0034] A generation module, connected to the mapping module, configured to generate a target three-dimensional coal pile model of the target coal pile according to the fused point cloud;

[0035] A management module, connected to the generation module, configured to manage the target coal pile according to the target three-dimensional coal pile model.

[0036] In some embodiments of the second aspect, the device further includes:

[0037] A first filtering module, configured to perform voxel grid filtering on the fused point cloud to remove invalid point clouds in the fused point cloud and obtain a first intermediate point cloud;

[0038] A second filtering module, connected to the first filtering module, configured to perform radius filtering on the first intermediate point cloud in combination with the moving least squares method to remove noise points in the first intermediate point cloud and obtain a second intermediate point cloud;

[0039] Generate modules, specifically for:

[0040] A target three-dimensional coal pile model of the target coal pile is generated according to the second intermediate point cloud.

[0041] In some embodiments of the second aspect, the device further comprises:

[0042] a processing module, configured to process the second intermediate point cloud using a advancing wavefront method to obtain a three-dimensional mesh;

[0043] The repair module is connected to the processing module and is used to repair the three-dimensional mesh by using the octree-convolutional neural network parallel hole repair method to obtain a repaired three-dimensional mesh;

[0044] The partitioning module is connected to the repairing module and is used to divide the repaired three-dimensional grid into N sub-units using a layered integration method; N is a positive integer;

[0045] The determination module is connected to the division module and is used to determine the actual volume of the target coal pile according to N second information corresponding to the N subunits; the second information includes the horizontal projection area and height.

[0046] Based on the same inventive concept, in a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor being configured to run the computer program to implement a coal pile management method as described in any one of the first aspects.

[0047] Based on the same inventive concept, in a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a coal pile management method as described in any one of the first aspects is implemented.

[0048] According to the coal pile management method, device, equipment and medium provided in the embodiment of the present application, the initial three-dimensional point cloud and multiple actual temperature values ​​of the target coal pile are first obtained, and then the multiple actual temperature values ​​are mapped to the initial three-dimensional point cloud to obtain a fused point cloud. Then, based on the fused point cloud, a target three-dimensional coal pile model of the target coal pile is generated, and then the target coal pile is managed according to the target three-dimensional coal pile model. That is, in the embodiment of the present application, by mapping multiple actual temperature values ​​to the initial three-dimensional point cloud, the volume and temperature field of the target coal pile are deeply fused to obtain a fused point cloud, and then the target three-dimensional coal pile model of the target coal pile generated according to the fused point cloud can reflect the actual temperature value of the target coal pile, that is, the actual temperature value of the target coal pile can be monitored in real time through the target three-dimensional coal pile model, that is, the timeliness of the measurement of the actual temperature value of the target coal pile can be improved, and then the target coal pile can be managed in real time according to the target three-dimensional coal pile model, thereby effectively preventing the occurrence of coal pile spontaneous combustion. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram showing a flow chart of a coal pile management method provided in an embodiment of the present application is shown;

[0050] Figure 2 A schematic diagram of a process for processing an initial three-dimensional point cloud provided by an embodiment of the present application is shown;

[0051] Figure 3 Another flow chart of the coal pile management method provided in an embodiment of the present application is shown;

[0052] Figure 4 A schematic structural diagram of a coal pile management device provided in an embodiment of the present application is shown;

[0053] Figure 5 A schematic structural diagram of a coal pile management system provided in an embodiment of the present application is shown;

[0054] Figure 6 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0056] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0057] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0058] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0059] Example 1

[0060] Embodiments of the present application provide a coal pile management method applicable to coal pile management in locations such as thermal power plants, coal mines, and coal storage warehouses. The method can be executed by a coal pile management device and electronic equipment. The following description uses the method executed by electronic equipment as an example.

[0061] like Figure 1 As shown, the coal pile management method provided in the embodiment of the present application may include steps S110 to S140.

[0062] S110 . Acquire first information of the target coal pile, where the first information includes an initial three-dimensional point cloud and actual temperature distribution, where the actual temperature distribution includes multiple actual temperature values.

[0063] S120 , mapping multiple actual temperature values ​​to the initial three-dimensional point cloud to obtain a fused point cloud.

[0064] S130 . Generate a target three-dimensional coal pile model of the target coal pile based on the fused point cloud.

[0065] S140. Manage the target coal pile according to the target three-dimensional coal pile model.

[0066] According to the coal pile management method provided in the embodiment of the present application, the initial three-dimensional point cloud and multiple actual temperature values ​​of the target coal pile are first obtained, and then the multiple actual temperature values ​​are mapped to the initial three-dimensional point cloud to obtain a fused point cloud. Then, based on the fused point cloud, a target three-dimensional coal pile model of the target coal pile is generated, and then the target coal pile is managed according to the target three-dimensional coal pile model. That is, in the embodiment of the present application, by mapping multiple actual temperature values ​​to the initial three-dimensional point cloud, the volume and temperature field of the target coal pile are deeply fused to obtain a fused point cloud, and then the target three-dimensional coal pile model of the target coal pile generated according to the fused point cloud can reflect the actual temperature value of the target coal pile, that is, the actual temperature value of the target coal pile can be monitored in real time through the target three-dimensional coal pile model, that is, the timeliness of the measurement of the actual temperature value of the target coal pile can be improved, and then the target coal pile can be managed in real time according to the target three-dimensional coal pile model, thereby effectively preventing the occurrence of coal pile spontaneous combustion.

[0067] The specific implementation methods of the above steps are introduced below.

[0068] In step S110 , the target coal pile may be any coal pile for which a three-dimensional coal pile model needs to be generated.

[0069] For example, the actual temperature distribution of the target coal pile can be collected by infrared thermal imaging. For example, the actual temperature distribution of the target coal pile can be collected once every 5 minutes by an infrared thermal imager.

[0070] It should be noted that the specific number of actual temperature values ​​can be determined according to actual conditions and is not limited here.

[0071] In some embodiments, the process of obtaining an initial three-dimensional point cloud specifically includes:

[0072] A laser coal disc meter is used to scan along the characteristic lines of the target coal pile to obtain an initial three-dimensional point cloud; the characteristic lines include at least one of a top edge line, a slope angle line and a saddle line.

[0073] In this embodiment, the accuracy of obtaining the initial three-dimensional point cloud can be improved by scanning along the characteristic lines of the target coal pile using the laser coal meter, that is, scanning along the natural shape of the target coal pile using the laser coal meter.

[0074] For example, the top edge line may be a continuous line connecting the highest points on the surface of the coal pile, marking the “ridge” or “peak” of the coal pile.

[0075] Exemplarily, the slope angle line is the boundary line between the slope surface of the coal pile and the bottom plane (such as the ground or the coal yard platform), that is, the contour line of the slope foot of the coal pile.

[0076] For example, the saddle line is a characteristic line connecting low-lying areas between adjacent high points of coal piles, and is shaped like the concave part of a saddle.

[0077] As one example, the characteristic line includes a top edge line; as another example, the characteristic line includes a slope angle line and a saddle line; as yet another example, the characteristic line includes a top edge line, a slope angle line, and a saddle line.

[0078] In step S120 , after acquiring the first information of the target coal pile, the electronic device may further map multiple actual temperature values ​​onto the initial three-dimensional point cloud to obtain a fused point cloud.

[0079] Exemplarily, a plurality of actual temperature values ​​may be mapped onto an initial three-dimensional point cloud through a coordinate system to obtain a fused point cloud.

[0080] In an embodiment of the present application, multiple actual temperature values ​​are mapped to the initial three-dimensional point cloud, that is, multiple actual temperature values ​​are fused with the initial three-dimensional point cloud, which can improve the authenticity of the fused point cloud.

[0081] In some embodiments, before generating a target three-dimensional coal pile model of the target coal pile based on the fused point cloud, the method further includes:

[0082] Perform voxel grid filtering on the fused point cloud to remove invalid point clouds in the fused point cloud to obtain a first intermediate point cloud;

[0083] Combined with the moving least squares method, the first intermediate point cloud is subjected to radius filtering to remove noise points in the first intermediate point cloud to obtain the second intermediate point cloud;

[0084] Generate a target 3D coal pile model based on the fused point cloud, specifically including:

[0085] A target three-dimensional coal pile model of the target coal pile is generated according to the second intermediate point cloud.

[0086] In this embodiment, the fused point cloud is subjected to voxel grid filtering to remove invalid point clouds in the fused point cloud to obtain a first intermediate point cloud; then, the first intermediate point cloud is subjected to radius filtering in combination with the moving least squares method to remove noise points in the first intermediate point cloud to obtain a second intermediate point cloud, so that the obtained second intermediate point cloud is more accurate than the fused point cloud, thereby making the target three-dimensional coal pile model of the target coal pile generated based on the second intermediate point cloud more accurate.

[0087] In some embodiments, after generating a target three-dimensional coal pile model of the target coal pile based on the fused point cloud, the method further includes:

[0088] The second intermediate point cloud is processed using the advancing wavefront method to obtain a three-dimensional mesh;

[0089] The octree-convolutional neural network parallel hole repair method is used to repair the 3D mesh and obtain the repaired 3D mesh;

[0090] The repaired 3D grid is divided into N sub-units using the hierarchical integration method; N is a positive integer;

[0091] The actual volume of the target coal pile is determined based on the N second information corresponding to the N subunits; the second information includes the horizontal projection area and height.

[0092] In this embodiment, the second intermediate point cloud is processed by the advancing wavefront method, so that a high-quality three-dimensional grid can be generated, that is, the generated three-dimensional grid unit has a regular shape, avoids narrow and long units, and improves numerical stability; the three-dimensional grid is repaired by the octree-convolutional neural network (CNN) parallel hole repair method, which can optimize the continuity of the three-dimensional grid surface, improve the repair speed, and make the repaired three-dimensional grid more consistent with the original geometric features; the hierarchical integration method, that is, the principle of calculus, is used to divide the repaired three-dimensional grid into N sub-units, and the actual volume of the target coal pile is determined based on the N second information corresponding to the N sub-units, which can improve the accuracy of determining the actual volume of the coal pile.

[0093] For example, the actual volume of the target coal pile satisfies:

[0094]

[0095] Where v represents the actual volume of the target coal pile, N represents the total number of subunits; A i represents the horizontal projection area of ​​the i-th subunit; h i Indicates the height of the i-th subunit.

[0096] For example, after determining the actual volume of the target coal pile, the density of the target coal pile can also be obtained, and the product of the density of the target coal pile and the actual volume can be used as the mass of the target coal pile. 3 The container is weighed using an electronic scale to determine the mass of the coal sample to be tested. The density of the coal sample to be tested is calculated using the formula ρ = m / v1, and the density of the coal sample to be tested is used as the density of the target coal pile. Here, ρ represents the density of the coal sample to be tested, m represents the mass of the coal sample to be tested, and v1 represents the volume of the coal sample to be tested. For another example, the density of the target coal pile can be directly input.

[0097] For example, after determining the actual volume of the target coal pile, the measurement can be repeated multiple times on the standard coal pile to obtain multiple volume measurement values; the relative standard deviation (RSD) of the volume measurement values ​​is calculated, requiring RSD = standard deviation mean × 100% ≤ 1.0%; and the accuracy is verified according to formula (1). Formula (1) includes:

[0098]

[0099] Among them, v 测量 Represents volume measurement, v 标准 Indicates the standard value of volume.

[0100] For example, the mass m of a standard coal pile is 标准 =500 tons.

[0101] It should be noted that system equipment maintenance can be set according to actual conditions and is not limited here.

[0102] In step S130 , after mapping the multiple actual temperature values ​​onto the initial three-dimensional point cloud to obtain a fused point cloud, the electronic device may also generate a target three-dimensional coal pile model of the target coal pile based on the fused point cloud.

[0103] Exemplarily, the target three-dimensional coal pile model may be a virtual model corresponding to the target coal pile, and the target three-dimensional coal pile model may map the actual temperature value to different colors, for example, red represents high temperature and blue represents low temperature, low temperature may be a temperature below 40 degrees Celsius, and high temperature may be a temperature above 60 degrees Celsius.

[0104] Exemplarily, the target three-dimensional coal pile model is visually displayed so as to more intuitively monitor the actual temperature value in the target coal pile.

[0105] In step S140 , after generating a target three-dimensional coal pile model of the target coal pile based on the fused point cloud, the electronic device may also manage the target coal pile based on the target three-dimensional coal pile model.

[0106] For example, the embodiment of the present application can detect and control the spontaneous combustion of the target coal pile in the early stage by setting a graded temperature anomaly alarm. Different management measures are taken according to the actual temperature value and the rate of change of the actual temperature value within a preset time period, or the actual temperature value, so as to ensure the safety of the coal yard where the target coal pile is located in a timely, efficient and reliable manner.

[0107] In some embodiments, managing the target coal pile according to the target three-dimensional coal pile model specifically includes:

[0108] In the case where there is at least one first target temperature value, marking a first target position corresponding to the first target temperature value in the target three-dimensional coal pile model, and increasing the temperature measurement frequency of the target coal pile corresponding to the first target position;

[0109] Among them, the first target temperature value is the actual temperature value that meets the first preset condition; the first preset condition includes Tth1 ≤ T < Tth2 and ΔT < ΔTth, where Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate.

[0110] In this embodiment, by comprehensively considering the actual temperature value and the change rate of the actual temperature value within a preset time period, when the first target temperature value meets the first preset condition, the first target position corresponding to the first target temperature value in the target three-dimensional coal pile model is marked, so that the staff can more easily discover the first target position, and then process it in a timely and efficient manner, so as to ensure the safety of the coal yard in a timely, efficient and reliable manner; by increasing the temperature measurement frequency of the target coal pile corresponding to the first target position, the abnormal actual temperature value of the target coal pile can be discovered in time, and then processed in a timely and efficient manner, so as to ensure the safety of the coal yard in a timely, efficient and reliable manner.

[0111] Exemplarily, in the case of at least one first target temperature value, an audible and visual alarm can also be triggered.

[0112] It should be noted that the first temperature threshold, the second temperature threshold, the preset time period and the preset change rate can all be set according to the actual situation and are not limited here. For example, the first temperature threshold is 40 degrees Celsius (°C), the second temperature threshold is 60 degrees Celsius, the preset time period is 10 minutes, 25 minutes, 30 minutes, 1 hour, etc., and the preset change rate is 2 degrees Celsius per minute (°C / min).

[0113] In some other embodiments, according to the target three-dimensional coal pile model, the target coal pile is managed, which specifically includes:

[0114] In the case of at least one second target temperature value, the second target position corresponding to the second target temperature value in the target three-dimensional coal pile model is marked, and a first prompt message is output;

[0115] Among them, the second target temperature value is the actual temperature value that meets the second preset condition; the second preset condition includes Tth1 ≤ T < Tth2 and ΔT ≥ ΔTth, or Tth2 ≤ T < Tth3, where Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, Tth3 is the third temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate; the first prompt message is used to indicate to perform a preset operation on the target coal pile corresponding to the second target position; the preset operation includes at least one of burning, re-stacking and fetching, compaction and transportation.

[0116] In this embodiment, by comprehensively considering the actual temperature value and the rate of change of the actual temperature value within a preset time period, when the second target temperature value meets the second preset condition, the second target position corresponding to the second target temperature value in the target three-dimensional coal pile model is marked, so that the staff can more easily find the second target position, and then deal with it in a timely and efficient manner, so as to ensure the safety of the coal yard in a timely, efficient and reliable manner; by outputting the first prompt information, the staff is reminded to perform preset operations on the target coal pile corresponding to the second target position, so as to deal with the target coal pile with the risk of spontaneous combustion in a timely manner, so as to ensure the safety of the coal yard in a timely, efficient and reliable manner.

[0117] Exemplarily, when there is at least one second target temperature value, an audible and visual alarm may also be triggered.

[0118] It should be noted that the third temperature threshold can be set according to actual conditions and is not limited here. For example, the third temperature threshold can be 70 degrees Celsius.

[0119] In yet other embodiments, managing the target coal pile according to the target three-dimensional coal pile model specifically includes:

[0120] In the case where there is at least one third target temperature value, marking a third target position corresponding to the third target temperature value in the target three-dimensional coal pile model, and outputting second prompt information;

[0121] Among them, the third target temperature value is the actual temperature value that meets the third preset condition; the third preset condition includes Tth3≤T, Tth3 is the third temperature threshold, and T is the actual temperature value; the second prompt information is used to instruct the linkage of fire-fighting facilities and push emergency instructions.

[0122] In this embodiment, when the third target temperature value meets the third preset condition, a second prompt message is output to remind the staff to link the fire-fighting facilities and push emergency instructions, so as to promptly deal with the target coal pile with a high risk of spontaneous combustion, and ensure the safety of the coal yard in a timely, efficient and reliable manner.

[0123] Exemplarily, when there is at least one third target temperature value, an audible and visual alarm may also be triggered.

[0124] In some further embodiments, when all actual temperature values ​​are less than the first temperature threshold, no alarm is triggered.

[0125] In order to better illustrate the coal pile management method provided in the embodiment of the present application, a specific implementation method is described below.

[0126] Take 3 portions of coal samples to be tested and pour them into 1m 3Container, use electronic scale to weigh and calculate bulk density according to formula ρ = m / v; if the coal type is fixed or the coal density is known, directly enter the preset density value into the system database.

[0127] The laser coal analyzer scans along the characteristic lines of the coal pile (top edge line, slope angle line) at 0.5m intervals to generate an initial point cloud (i.e., initial 3D point cloud);

[0128] like Figure 2 As shown, the generated initial point cloud data (i.e., initial 3D point cloud) needs to be processed through the following process:

[0129] (1) Voxel grid filtering: remove invalid point clouds such as conveyor belts and brackets;

[0130] (2) Radius filtering: combining the moving least squares method to eliminate noise points;

[0131] (3) Based on the advancing wavefront method, grid cells are generated gradually from the boundary inward, with the boundary being processed first to generate high-quality three-dimensional grids;

[0132] (4) Octree-CNN parallel hole repair method: Based on deep learning method, it combines the octree hierarchical structure and CNN extraction features to optimize surface continuity.

[0133] (5) Volume calculation: Using the principles of calculus, the grid is divided into N sub-units, and the total volume v is calculated according to the formula. Finally, the mass m is output in combination with the density ρ.

[0134] Temperature monitoring and alarm:

[0135] The infrared thermal imager collects temperature data every 5 minutes and maps it to a 3D point cloud through a coordinate system;

[0136] Temperature anomaly detection:

[0137] Intelligent temperature recognition: Identify dense areas with temperatures ≥60°C;

[0138] Gradient analysis: If there are 5 consecutive frames of data Prioritize triggering the secondary alarm;

[0139] Graded Response:

[0140] And alarm (≥40℃): mark the fever location, increase the temperature measurement frequency, if satisfied It is determined to be a rapid temperature rise event and the secondary alarm is triggered first;

[0141] Second level alarm (≥60℃): triggers sound and light alarm and marks the location. The hot coal pile must be burned first, or re-stacking, compacting or unloading must be carried out.

[0142] Level 3 alarm (≥70℃): Trigger audible and visual alarms and mark the location, link fire-fighting facilities and push emergency instructions.

[0143] That is to say, if Figure 3 As shown, the infrared thermal imager collects temperature data (i.e., actual temperature distribution) every 5 minutes and judges whether the temperature (i.e., actual temperature value) is ≥40°C. If the first judgment result is no, no alarm is triggered and data output fusion is performed, that is, the actual temperature value is output; if the first judgment result is yes, the temperature is judged to be ≥60°C. If the second judgment result is no, the temperature is judged to be If the third judgment result is no, the first-level alarm is triggered, that is, the heating position is marked, and the temperature measurement frequency is increased; if the third judgment result is yes, the second-level alarm is triggered, that is, the sound and light alarm is triggered and the position is marked, and the heating coal pile must be burned first, or it must be restacked, compacted or transported; if the second judgment result is yes, it is determined whether the temperature is ≥70℃. If the fourth judgment result is yes, the third-level alarm is triggered, that is, the sound and light alarm is triggered and the position is marked, the fire-fighting facilities are linked and emergency instructions are pushed; if the fourth judgment result is no, the second-level alarm is triggered, the sound and light alarm is triggered and the position is marked, and the heating coal pile must be burned first, or it must be restacked, compacted or transported.

[0144] An integrated intelligent coal quantity monitoring method for a coal yard (i.e., a coal pile management method) includes the following steps:

[0145] Step T1: Weigh the standard coal sample using an electronic scale and calculate the bulk density ρ, or directly input the preset density value;

[0146] Step T2: The fully automatic laser coal scanning instrument scans the coal pile along the track to generate 3D point cloud data, which is then filtered, simplified, and triangulated to output the volume v;

[0147] Step T3: Combining density ρ and volume v, calculate the mass of the coal pile according to the formula m = ρ·v;

[0148] Step T4: Synchronously start the integrated infrared thermal imager to collect temperature data and spatially align it with the initial unprocessed point cloud scanned in step T2 to identify over-temperature areas;

[0149] Step T5: triggering a graded response based on the temperature threshold, and uploading the coal quantity data and alarm information to the management system.

[0150] For example, in step T2, an adaptive scanning strategy is adopted: the scanning angle of the universal rotating platform 220 is automatically adjusted when scanning regular coal piles (trapezoidal / conical) or irregular coal piles, and the laser scanning angle and frequency are adjusted based on the real-time point cloud density.

[0151] For example, in step T4, the temperature anomaly detection adopts the sliding window analysis method to calculate the gradient change of 5 consecutive frames of temperature data. If the temperature anomaly is satisfied, It is determined to be a rapid temperature rise event and the second-level alarm is triggered first.

[0152] The coal pile management method provided in the embodiment of the present application has at least the following beneficial effects:

[0153] 1. Unaffected by human operation, weather, material yard stacking shape and satellite signals, it can monitor coal quantity and temperature around the clock;

[0154] 2. Multi-source data fusion: Through dynamic calibration of the coordinate system, infrared temperature data is accurately mapped to the 3D model to achieve "geometry-temperature" joint analysis;

[0155] 3. Intelligent safety response: Establish a spatiotemporal evolution model of the temperature field to predict spontaneous combustion risks in advance and trigger early warning responses in a graded emergency manner;

[0156] 4. Self-calibration mechanism: Built-in standard coal pile test module to ensure the long-term measurement stability of the laser coal meter.

[0157] In the embodiment of the present application, the point cloud processing algorithm is deeply combined with thermal imaging technology, and the point cloud data and the temperature field are integrated before processing. After the integration, they are processed synchronously to improve the authenticity of the data and solve the problem of synchronous monitoring of coal quantity and temperature in various closed or open-air environments in coal yards; engineering practicality: modular design supports rapid deployment, strong environmental adaptability, and low maintenance costs; high reliability: all-weather unmanned monitoring is achieved, labor costs are reduced, human errors and environmental interference are avoided, temperature changes are effectively monitored in advance, coal piles are prevented from spontaneous combustion, and the safety management level of coal yards is improved. By setting an alarm for abnormal temperature detection, the safety of coal yard management can be improved, especially by setting a graded abnormal temperature alarm, spontaneous combustion of coal piles can be discovered and controlled in the early stage. Different measures are taken for different alarm temperatures, and the safety of coal yards can be guaranteed in a timely, efficient and reliable manner.

[0158] In this embodiment, a density measurement device is used to obtain the coal pile's bulk density, or a preset value is directly input. A fully automatic laser coal disc meter, which moves along a track atop the coal shed, performs multi-frequency 3D scanning of the coal pile. This generates high-precision point cloud data and calculates its volume. By fusing density and volume data, precise coal quantity measurement is achieved. Simultaneously, a thermal infrared thermometer monitors the surface temperature distribution of the coal pile in real time. An improved hole-patching algorithm is used to perform topological optimization of the point cloud data, automatically identifying areas of abnormal temperature and triggering graded alarms.

[0159] Example 2

[0160] like Figure 4As shown, an embodiment of the present application further provides a three-dimensional coal pile model generation device, which includes a first acquisition module 310, a mapping module 320, a generation module 330 and a management module 340.

[0161] A first acquisition module 310 is configured to acquire first information of a target coal pile, the first information including an initial three-dimensional point cloud and an actual temperature distribution, the actual temperature distribution including a plurality of actual temperature values;

[0162] A mapping module 320 , connected to the first acquisition module 310 , configured to map the multiple actual temperature values ​​onto the initial three-dimensional point cloud to obtain a fused point cloud;

[0163] The generating module 330 is connected to the mapping module 320 and is used to generate a target three-dimensional coal pile model of the target coal pile based on the fused point cloud;

[0164] The management module 340 is connected to the generation module 330 and is used to manage the target coal pile according to the target three-dimensional coal pile model.

[0165] According to the coal pile management device provided in the embodiment of the present application, the initial three-dimensional point cloud and multiple actual temperature values ​​of the target coal pile are first obtained, and then the multiple actual temperature values ​​are mapped to the initial three-dimensional point cloud to obtain a fused point cloud. Then, based on the fused point cloud, a target three-dimensional coal pile model of the target coal pile is generated, and then the target coal pile is managed according to the target three-dimensional coal pile model. That is, in the embodiment of the present application, by mapping multiple actual temperature values ​​to the initial three-dimensional point cloud, the volume and temperature field of the target coal pile are deeply fused to obtain a fused point cloud, and then the target three-dimensional coal pile model of the target coal pile generated according to the fused point cloud can reflect the actual temperature value of the target coal pile, that is, the actual temperature value of the target coal pile can be monitored in real time through the target three-dimensional coal pile model, that is, the timeliness of the measurement of the actual temperature value of the target coal pile can be improved, and then the target coal pile can be managed in real time according to the target three-dimensional coal pile model, thereby effectively preventing the occurrence of coal pile spontaneous combustion and providing a reference.

[0166] In some embodiments, the device further comprises:

[0167] a first filtering module, configured to perform voxel grid filtering on the initial three-dimensional point cloud to remove invalid point clouds in the initial three-dimensional point cloud and obtain a first intermediate point cloud;

[0168] a second filtering module, connected to the first filtering module, configured to perform radius filtering on the first intermediate point cloud in combination with a moving least squares method to remove noise points in the first intermediate point cloud, thereby obtaining a second intermediate point cloud;

[0169] The generation module 330 is specifically configured to:

[0170] Generate a target 3D coal pile model for the target coal pile according to the second intermediate point cloud.

[0171] In some embodiments, the device further includes:

[0172] A processing module, configured to process the second intermediate point cloud by using the advancing wavefront method to obtain a 3D mesh;

[0173] A repair module, connected to the processing module, configured to repair the 3D mesh by using an octree-convolutional neural network parallel hole repair method to obtain a repaired 3D mesh;

[0174] A partitioning module, connected to the repair module, configured to partition the repaired 3D mesh into N sub-units by using the hierarchical integration method; N is a positive integer;

[0175] A determination module, connected to the partitioning module, configured to determine the actual volume of the target coal pile according to N second pieces of information corresponding to the N sub-units one by one; the second piece of information includes a horizontal projection area and a height.

[0176] In some embodiments, the first acquisition module 310 is specifically configured to:

[0177] Scan along the feature line of the target coal pile by using a laser coal measuring instrument to obtain an initial 3D point cloud; the feature line includes at least one of a top edge line, a slope angle line, and a saddle line.

[0178] In some embodiments, the management module 340 is specifically configured to:

[0179] In the case where there is at least one first target temperature value, mark the first target position corresponding to the first target temperature value in the target 3D coal pile model, and increase the temperature measurement frequency of the target coal pile corresponding to the first target position;

[0180] Wherein, the first target temperature value is an actual temperature value that satisfies the first preset condition; the first preset condition includes Tth1≤T<Tth2, and ΔT<ΔTth, Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate.

[0181] In some embodiments, the management module 340 is specifically configured to:

[0182] In the case where there is at least one second target temperature value, mark the second target position corresponding to the second target temperature value in the target 3D coal pile model, and output a first prompt message;

[0183] Among them, the second target temperature value is the actual temperature value that meets the second preset condition; the second preset condition includes Tth1 ≤ T < Tth2 and ΔT ≥ ΔTth, or Tth2 ≤ T < Tth3, where Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, Tth3 is the third temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate; the first prompt message is used to indicate to perform a preset operation on the target coal pile corresponding to the second target position; the preset operation includes at least one of burning, re-stacking, compaction, and transfer.

[0184] In some embodiments, the management module 340 is specifically configured to:

[0185] In the case where there is at least one third target temperature value, mark the third target position corresponding to the third target temperature value in the target three-dimensional coal pile model, and output a second prompt message;

[0186] Among them, the third target temperature value is the actual temperature value that meets the third preset condition; the third preset condition includes Tth3 ≤ T, where Tth3 is the third temperature threshold and T is the actual temperature value; the second prompt message is used to indicate to link the fire-fighting facilities and push an emergency instruction.

[0187] Embodiment 3

[0188] Exemplarily, as Figure 5 shown, the embodiment of the present application further provides a coal pile management system, which may include a track 210, a full-automatic laser coal volume measuring instrument 200, a density measurement module (not shown in the figure), an electronic scale 110, a density calculation unit 120, an infrared thermal imager 230, and a data processing center 300.

[0189] The track 210 is installed on the top of the coal shed and fixed.

[0190] The full-automatic laser coal volume measuring instrument 200 is installed on the track 210, and is used to ensure that the universal rotating cloud platform 220 can rotate 360°, the scanning range covers the whole field, and is used for three-dimensional point cloud scanning and volume calculation of the coal pile, and supports polar coordinate method scanning (interval 0.5 m) and temperature synchronous acquisition.

[0191] The density measurement module (not shown in the figure) is deployed at the entrance of the coal yard.

[0192] The electronic scale 110 has an accuracy of ±0.1 kg.

[0193] The density calculation unit 120 is used to calculate the real-time coal pile bulk density through coal sample weighing and container volume calculation.

[0194] The infrared thermal imager 230 is used to collect temperature data every 5 minutes.

[0195] The data processing hub 300 is connected to the industrial server and is equipped with point cloud processing algorithms (voxel grid filtering, radius filtering, advancing wavefront method, etc.) and temperature analysis programs. It has a built-in temperature anomaly detection unit (not shown), point cloud filtering algorithm and hole repair algorithm, and supports multi-source data fusion.

[0196] It should be noted that the data processing hub 300 can be used to execute the coal pile management method provided in the embodiment of the present application.

[0197] Exemplarily, the infrared thermal imager 230 works synchronously with the laser scanner to map the temperature data (i.e., actual temperature distribution) to a three-dimensional point cloud (i.e., initial three-dimensional point cloud) through a coordinate system, generating an enhanced fused point cloud (i.e., fused point cloud) that integrates temperature and geometric attributes. The temperature anomaly detection unit intelligently identifies over-temperature areas and sets three levels of alarm thresholds:

[0198] Level 1 alarm (≥40℃): Mark the fever location and increase the temperature measurement frequency. If It is determined to be a rapid temperature rise event and the secondary alarm is triggered first;

[0199] Second level alarm (≥60℃): triggers sound and light alarm and marks the location. The hot coal pile must be burned first, or re-stacking, compacting or unloading must be carried out.

[0200] Level 3 alarm (≥70℃): Trigger audible and visual alarms and mark the location, link fire-fighting facilities and push emergency instructions.

[0201] For example, the track 210 can be installed in a closed coal yard or in a dry coal shed or open coal yard. It is not limited to a track-mounted coal meter, but multiple coal meters can be fixedly installed to scan and cover the entire coal yard.

[0202] For example, clean the laser coal meter lens and infrared sensor weekly to prevent coal dust accumulation from affecting accuracy;

[0203] For example, the lubrication status of the track 210 is checked monthly to ensure smooth movement of the universal rotating platform 220;

[0204] For example, the electronic scale 110 and the infrared thermal imager 230 are calibrated every quarter to ensure data reliability.

[0205] It should be noted that the system integrates laser scanning, infrared thermal imaging and intelligent algorithms to achieve all-weather unmanned monitoring, reduce labor costs, avoid human errors and environmental interference, effectively prevent spontaneous combustion of coal piles, and improve the safety management level of coal yards.

[0206] The three-dimensional coal pile model generation device provided in the embodiment of the present application has the beneficial effects and implementation methods of the three-dimensional coal pile model generation method provided in Example 1 of the present application. For details, please refer to the specific description of the three-dimensional coal pile model generation method in the above Example 1, and this embodiment will not be repeated here.

[0207] Example 4

[0208] like Figure 6 As shown, an embodiment of the present application provides an electronic device, including a memory 41 and a processor 42, wherein the memory 41 stores a computer program, and the processor 42 is configured to run the computer program to execute the coal pile management method in Example 1.

[0209] The memory 41 is connected to the processor 42 . The memory 41 may be a flash memory, a read-only memory, or other memory. The processor 42 may be a central processing unit or a single-chip microcomputer.

[0210] Example 5

[0211] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the coal pile management method in the above-mentioned embodiment 1 is implemented.

[0212] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0213] Example 6

[0214] An embodiment of the present application further provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the coal pile management method of Example 1.

[0215] It is understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present application, and the present application is not limited thereto. Those skilled in the art may make various modifications and improvements without departing from the spirit and substance of the present application, and such modifications and improvements are also considered to be within the scope of protection of the present application.

Claims

1. A coal pile management method, characterized in that: Including: Obtain the first information of the target coal pile, where the first information includes an initial three-dimensional point cloud and an actual temperature distribution, and the actual temperature distribution includes multiple actual temperature values; Map the multiple actual temperature values onto the initial three-dimensional point cloud to obtain a fused point cloud; Generate a target three-dimensional coal pile model of the target coal pile according to the fused point cloud; Manage the target coal pile according to the target three-dimensional coal pile model.

2. The method according to claim 1, characterized in that Before generating the target three-dimensional coal pile model of the target coal pile according to the fused point cloud, the method further includes: Perform voxel grid filtering on the fused point cloud to remove invalid point clouds in the fused three-dimensional point cloud, obtaining a first intermediate point cloud; Combine the moving least squares method to perform radius filtering on the first intermediate point cloud to remove noise points in the first intermediate point cloud, obtaining a second intermediate point cloud; The step of generating the target three-dimensional coal pile model of the target coal pile according to the fused point cloud specifically includes: Generate the target three-dimensional coal pile model of the target coal pile according to the second intermediate point cloud.

3. The method according to claim 2, characterized in that After generating the target three-dimensional coal pile model of the target coal pile according to the second intermediate point cloud, the method further includes: Process the second intermediate point cloud using the advancing front method to obtain a three-dimensional grid; Repair the three-dimensional grid using the octree-convolutional neural network parallel hole repair method to obtain a repaired three-dimensional grid; Use the hierarchical integration method to divide the repaired three-dimensional grid into N sub-units; N is a positive integer; Determine the actual volume of the target coal pile according to the N second information corresponding to the N sub-units one by one; the second information includes the horizontal projected area and the height.

4. The method according to claim 1, wherein The process of obtaining the initial three-dimensional point cloud specifically includes: Use a laser coal inventory instrument to scan along the feature lines of the target coal pile to obtain an initial three-dimensional point cloud; the feature lines include at least one of the top edge line, the slope angle line, and the saddle line.

5. The method according to any one of claims 1 to 4, characterized in that The step of managing the target coal pile according to the target three-dimensional coal pile model specifically includes: When there is at least one first target temperature value, mark the first target position corresponding to the first target temperature value in the target three-dimensional coal pile model, and increase the temperature measurement frequency of the target coal pile corresponding to the first target position; Wherein, the first target temperature value is an actual temperature value that meets the first preset condition; the first preset condition includes Tth1≤T<Tth2, and ΔT<ΔTth, Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate.

6. The method according to any one of claims 1 to 4, characterized in that The step of managing the target coal pile according to the target three-dimensional coal pile model specifically includes: When there is at least one second target temperature value, mark the second target position corresponding to the second target temperature value in the target three-dimensional coal pile model, and output a first prompt message; Wherein, the second target temperature value is the actual temperature value that meets the second preset condition; the second preset condition includes Tth1 ≤ T < Tth2 and ΔT ≥ ΔTth, or, Tth2 ≤ T < Tth3, where Tth1 is the first temperature threshold, T is the actual temperature value, Tth2 is the second temperature threshold, Tth3 is the third temperature threshold, ΔT is the change rate of the actual temperature value within a preset time period, and ΔTth is the preset change rate; the first prompt information is used to indicate to perform a preset operation on the target coal pile corresponding to the second target position; the preset operation includes at least one of burning, re-stacking and fetching, compaction, and transportation.

7. The method according to any one of claims 1 to 4, characterized in that Managing the target coal pile according to the target three-dimensional coal pile model specifically includes: In the case of at least one third target temperature value, marking the third target position corresponding to the third target temperature value in the target three-dimensional coal pile model, and outputting a second prompt information; Wherein, the third target temperature value is the actual temperature value that meets the third preset condition; the third preset condition includes Tth3 ≤ T, where Tth3 is the third temperature threshold and T is the actual temperature value; the second prompt information is used to indicate to link fire-fighting facilities and push emergency instructions.

8. A coal pile management device, characterized in that: It includes: A first acquisition module, configured to acquire first information of a target coal pile, where the first information includes an initial three-dimensional point cloud and an actual temperature distribution, and the actual temperature distribution includes multiple actual temperature values; A mapping module, connected to the first acquisition module, configured to map the multiple actual temperature values onto the initial three-dimensional point cloud to obtain a fused point cloud; A generation module, connected to the mapping module, configured to generate a target three-dimensional coal pile model of the target coal pile according to the fused point cloud; A management module, connected to the generation module, configured to manage the target coal pile according to the target three-dimensional coal pile model.

9. The device according to claim 8, characterized in that The device further includes: A first filtering module, configured to perform voxel grid filtering on the fused point cloud to remove invalid point clouds in the fused point cloud and obtain a first intermediate point cloud; A second filtering module, connected to the first filtering module, configured to perform radius filtering on the first intermediate point cloud in combination with the moving least squares method to remove noise points in the first intermediate point cloud and obtain a second intermediate point cloud; The generation module is specifically configured to: Generate a target three-dimensional coal pile model of the target coal pile according to the second intermediate point cloud.

10. The device according to claim 9, characterized in that The device further includes: A processing module, configured to process the second intermediate point cloud by using the advancing front method to obtain a three-dimensional grid; A repair module, connected to the processing module, configured to repair the three-dimensional grid by using the octree-convolutional neural network parallel hole repair method to obtain a repaired three-dimensional grid; A partitioning module, connected to the repair module, configured to partition the repaired three-dimensional grid into N sub-units by using the hierarchical integration method; N is a positive integer; A determination module, connected to the partitioning module, configured to determine the actual volume of the target coal pile according to N second information corresponding to the N sub-units one by one; the second information includes a horizontal projection area and a height.

11. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to implement the coal pile management method according to any one of claims 1 to 7.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the coal pile management method according to any one of claims 1 to 7 is implemented.

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