Coal bunker temperature 3D imaging system and method

Abstract

The invention discloses a coal bunker temperature 3D imaging system and method, and relates to the technical field of 3D imaging, the coal bunker temperature 3D imaging system comprises a remote center server, a control box and a sensing unit arranged in a coal bunker; the sensing unit and the remote center server are respectively connected with the control box; the control box is used for controlling the sensing unit to collect infrared images of multiple angles and three-dimensional point cloud data of multiple angles of coal stored in the coal bunker; supplying power to the sensing unit; the remote central server is used for carrying out data splicing on the infrared images at the multiple angles to obtain a global infrared orthoimage of coal storage; performing data splicing on the three-dimensional point cloud data of the multiple angles to obtain global three-dimensional point cloud data of coal storage; and matching and fusing the global infrared orthoimage and the global three-dimensional point cloud data to obtain the global three-dimensional point cloud data with the temperature value of the stored coal. The spontaneous combustion risk of the coal bunker is reduced.

Description

Technical Field

[0001] The present application relates to the field of 3D imaging technology, and in particular to a coal bunker temperature 3D imaging system and method. Background Art

[0002] Coal bunkers are crucial structures in coal mine power plants for temporary storage and circulation. These are typically cylindrical, enclosed structures with ventilation from top to bottom, and multiple discharge points at the bottom. Coal accumulates within the bunkers. Due to storage time and inadequate ventilation, the coal can heat up and accumulate, leading to localized spontaneous combustion. Therefore, coal bunker monitoring is essential.

[0003] Coal bunker monitoring methods mainly include single-point radar monitoring and radar scanning monitoring. In single-point radar monitoring, a single radar can only measure the height information of a single location, which is inconvenient for measuring the height information of other locations if the coal bunker is too large. Radar scanning is achieved by using a single-point radar to perform horizontal and vertical measurement and scanning. This device can scan the three-dimensional contours of a larger area.

[0004] To prevent localized spontaneous combustion in coal bunkers, temperature monitoring at all locations is crucial. However, existing bunker monitoring methods only capture a three-dimensional profile, failing to simultaneously capture both the bunker's internal 3D profile and temperature information in real time. Consequently, they are unable to promptly identify locations where spontaneous combustion may occur. Summary of the Invention

[0005] The purpose of this application is to provide a coal bunker temperature 3D imaging system and method to achieve the determination of three-dimensional point cloud data with temperature values ​​of the coal bunker and reduce the risk of spontaneous combustion of the coal bunker.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a coal bunker temperature 3D imaging system, comprising: a remote central server, a control box, and a sensing unit disposed in the coal bunker; the sensing unit and the remote central server are respectively connected to the control box;

[0008] The control box is used for:

[0009] Controlling the sensing unit to collect infrared images of coal stored in the coal bunker at multiple angles and three-dimensional point cloud data at multiple angles, and sending the infrared images and three-dimensional point cloud data at multiple angles to the remote central server;

[0010] The remote central server is used to:

[0011] Data stitching of infrared images from multiple angles to obtain a global infrared orthophoto of the coal deposits;

[0012] The 3D point cloud data from multiple angles are stitched together to obtain the global 3D point cloud data of the coal storage;

[0013] The global infrared orthophoto image and the global three-dimensional point cloud data are matched and fused to obtain global three-dimensional point cloud data with temperature values ​​of the stored coal.

[0014] In one embodiment, the sensing unit includes: an infrared camera and a laser radar; the infrared camera and the laser radar are both connected to the control box;

[0015] The control box is also used to synchronously control the infrared camera to collect infrared images from multiple angles and control the laser radar to collect three-dimensional point cloud data from multiple angles.

[0016] In one embodiment, the coal bunker temperature 3D imaging system further includes: a fixed flange provided on a bunker roof of the coal bunker; and the sensing unit is provided in the coal bunker via the fixed flange.

[0017] In one embodiment, the coal bunker temperature 3D imaging system further includes: a rotating platform; the rotating platform is mounted on the fixed flange, and the sensing unit is disposed on the rotating platform.

[0018] In one embodiment, the rotating pan-tilt head includes: a fixed disk and a rotating disk; the fixed disk is fixedly mounted on the fixed flange, the rotating disk is arranged on the fixed disk, the sensing unit is fixedly arranged on the rotating disk, and the rotating disk drives the sensing unit to rotate 360° horizontally under the control of the control box.

[0019] In one embodiment, the perception unit further includes: a structural member and a semicircular packaging shell; the structural member is fixedly arranged on the rotating disk, the infrared camera and the laser radar are both obliquely installed on the structural member, and the semicircular packaging shell encapsulates the infrared camera and the laser radar.

[0020] In one embodiment, the rotating platform further comprises: a motor, wherein the motor is connected to the control box and the rotating disk respectively;

[0021] The control box is also used to control the motor to drive the rotating disk to perform 360° horizontal rotation.

[0022] In one embodiment, the sensing unit is connected to the control box via a signal line and a power line, and the remote central server is connected to the control box via an optical fiber network;

[0023] The control box is also used to supply power to the sensing unit.

[0024] In one embodiment, the infrared camera and the laser radar are both mounted on the structural member at an inclination angle of 30° to 45°, and the infrared camera and the laser radar both project a rectangular sensing surface outward, and the field of view angle of the rectangular sensing surface in the vertical direction is 90° to 120°, and the field of view angle in the horizontal direction is 30° to 60°.

[0025] In a second aspect, the present application provides a coal bunker temperature 3D imaging method, which is implemented based on the coal bunker temperature 3D imaging system. The coal bunker temperature 3D imaging method includes:

[0026] Collect infrared images and 3D point cloud data from multiple angles of coal stored in the coal bunker;

[0027] Data stitching of infrared images from multiple angles to obtain a global infrared orthophoto of the coal deposits;

[0028] The 3D point cloud data from multiple angles are stitched together to obtain the global 3D point cloud data of the coal storage;

[0029] The global infrared orthophoto image and the global three-dimensional point cloud data are matched and fused to obtain global three-dimensional point cloud data with temperature values ​​of the stored coal.

[0030] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0031] The present application discloses a 3D imaging system and method for coal bunker temperature. The system includes: a remote central server, a control box, and a sensing unit disposed in the coal bunker; the sensing unit and the remote central server are respectively connected to the control box; the control box is used to: control the sensing unit to collect infrared images and three-dimensional point cloud data of coal stored in the coal bunker from multiple angles, and send the infrared images and three-dimensional point cloud data from multiple angles to the remote central server; the remote central server is used to: perform data splicing on the infrared images from multiple angles to obtain a global infrared orthophoto of the stored coal; perform data splicing on the three-dimensional point cloud data from multiple angles to obtain global three-dimensional point cloud data of the stored coal; and perform matching and fusion on the global infrared orthophoto and the global three-dimensional point cloud data to obtain global three-dimensional point cloud data with temperature values ​​of the stored coal. The present application utilizes data fusion of infrared images from multiple angles and three-dimensional point cloud data from multiple angles to determine three-dimensional point cloud data with temperature values ​​of the coal stored in the coal bunker, thereby realizing the monitoring of temperature values ​​at various locations in the coal bunker and reducing the risk of spontaneous combustion in the coal bunker. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 This is a schematic diagram of the mechanical structure of a coal bunker temperature 3D imaging system in one embodiment of the present application;

[0034] Figure 2 This is a structural diagram of the signal transmission part of a coal bunker temperature 3D imaging system in one embodiment of the present application.

[0035] Reference numerals:

[0036] Remote center server—1, control box—2, infrared camera—3, lidar—4, fixing flange—5, fixing disk—6, rotating disk—7. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] The purpose of this application is to provide a coal bunker temperature 3D imaging system and method, aiming to determine the three-dimensional point cloud data with temperature values ​​of the coal bunker and reduce the risk of spontaneous combustion of the coal bunker.

[0039] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0040] In an exemplary embodiment, Figure 1 and Figure 2 As shown, a coal bunker temperature 3D imaging system is provided, comprising: a remote central server 1, a control box 2 and a sensing unit arranged in the coal bunker; the sensing unit and the remote central server 1 are respectively connected to the control box 2.

[0041] Control box 2, for:

[0042] The control sensing unit collects infrared images of coal stored in the coal bunker at multiple angles and three-dimensional point cloud data at multiple angles, and sends the infrared images of multiple angles and three-dimensional point cloud data at multiple angles to a remote central server.

[0043] Remote central server 1, used for:

[0044] The infrared images from multiple angles are stitched together to obtain a global infrared orthophoto of the coal deposits.

[0045] The three-dimensional point cloud data from multiple angles are spliced ​​to obtain the global three-dimensional point cloud data of the coal storage.

[0046] The global infrared orthophoto and global three-dimensional point cloud data are matched and fused to obtain the global three-dimensional point cloud data of the stored coal with temperature values.

[0047] As an optional implementation, the perception unit includes: an infrared camera 3 and a laser radar 4; the infrared camera 3 and the laser radar 4 are both connected to the control box 2.

[0048] The control box 2 is also used to synchronously control the infrared camera to collect infrared images from multiple angles and control the laser radar to collect three-dimensional point cloud data from multiple angles.

[0049] Specifically, the time information of the main control computer in the control box is used to control the laser radar and infrared camera to collect data synchronously.

[0050] As an optional embodiment, the coal bunker temperature 3D imaging system further includes: a fixed flange 5 provided on the bunker roof of the coal bunker; and a sensing unit is provided in the coal bunker via the fixed flange 5 .

[0051] Specifically, the fixed flange 5 is an adaptor tooling transition piece, which is customized according to the actual situation of the coal bunker. The upper part of the fixed flange is fixed to the beam on the top of the coal bunker or other reserved positions, and the lower part of the flange is fixedly installed with a fixed plate.

[0052] As an optional implementation, the coal bunker temperature 3D imaging system further includes: a rotating platform; the rotating platform is mounted on the fixed flange 5, and the sensing unit is arranged on the rotating platform.

[0053] As an optional embodiment, the rotating pan-tilt head includes: a fixed disk 6 and a rotating disk 7; the fixed disk 6 is fixedly mounted on the fixed flange 5, the rotating disk 7 is arranged on the fixed disk 6, and the sensing unit is fixedly arranged on the rotating disk 7. The rotating disk 7 drives the sensing unit to rotate 360° horizontally under the control of the control box 2.

[0054] Specifically, the fixed disk is fixed to a flange, which is docked with the coal bunker's top mounting station. The rotating disk is mounted on a fixed sensing unit, which enables a 360-degree horizontal scan of the coal bunker using a LiDAR and infrared camera. After being fixed to the bunker structure, the fixed disk remains stationary while the rotating disk rotates to scan and collect coal bunker data.

[0055] As an optional embodiment, the sensing unit further includes: a structural member and a semicircular packaging shell. The structural member is fixedly mounted on the rotating disk, and the infrared camera and the laser radar are both tiltedly mounted on the structural member. The semicircular packaging shell encapsulates the infrared camera and the laser radar.

[0056] Specifically, the LiDAR and infrared camera are enclosed and secured within a semicircular enclosure, providing dust and water resistance and ensuring their rigidity. The sensing unit's structural components secure the infrared camera and LiDAR, ensuring their rigidity. Within this rigid structure, laser and camera data can be fused to generate accurate global 3D point cloud data with temperature data.

[0057] As an optional implementation, the rotating pan-tilt platform further includes: a motor, which is connected to the control box and the rotating disk respectively.

[0058] The control box is also used to control the motor to drive the rotating disk to perform 360° horizontal rotation.

[0059] Specifically, the motor is a servo motor, equipped with a signal wire slip ring, which can connect the cable of the lidar infrared camera to the upper half of the rotating gimbal and finally connect to the control box.

[0060] The control box is controlled by the acquisition control software installed on the remote central server. The control software controls the motor to drive the rotating disk to perform 360° horizontal rotation and data acquisition of the laser radar and infrared camera.

[0061] As an optional implementation, the sensing unit is connected to the control box via a signal line and a power supply line, and the remote central server is connected to the control box via an optical fiber network.

[0062] The control box is also used to supply power to the sensing unit.

[0063] As an optional embodiment, the infrared camera and the lidar are both installed on the structure at an inclination angle of 30° to 45°. The infrared camera and the lidar both project a rectangular sensing surface outward. The field of view angle of the rectangular sensing surface in the vertical direction is 90° to 120°, and the field of view angle in the horizontal direction is 30° to 60°.

[0064] Specifically, infrared images and 3D point cloud data from multiple angles are generated by rotating the rotating disk horizontally. After the rotating disk rotates at least 180 degrees, infrared images and 3D point cloud data from multiple angles are obtained. The 3D point cloud data is in the LiDAR coordinate system, which is a polar coordinate system that includes angle measurement in the X and Y directions and depth measurement in the Z direction.

[0065] Data stitching of infrared images from multiple angles is performed to obtain a global infrared orthophoto of the coal deposits, including:

[0066] By using the installation angle parameters of the infrared camera and the angle of the pan-tilt platform when acquiring infrared images at different angles, the infrared images at each angle are corrected to obtain corrected infrared images at multiple angles.

[0067] The corrected infrared images at each angle are respectively ortho-projected to obtain corrected horizontal ortho-images at multiple angles.

[0068] The corrected horizontal orthophotos at all angles are stitched together to obtain a global infrared orthophoto of the coal deposits.

[0069] The 3D point cloud data from multiple angles is stitched together to obtain the global 3D point cloud data of the coal storage, including:

[0070] The angles and three-dimensional coordinates corresponding to the three-dimensional point cloud data at each angle are solved respectively to obtain the global three-dimensional point cloud data of the stored coal.

[0071] The global infrared orthophoto and global 3D point cloud data are matched and fused to obtain the global 3D point cloud data with temperature values ​​of the coal storage, including:

[0072] The laser radar and infrared camera are fixedly installed in the same rigid structure, and together with the structure form a perception unit. The relative position relationship is calibrated through spatial position. There is a mapping relationship between the point cloud data of one frame of the laser radar and the photo data of the camera. Through the inverse calculation of the formula, the pixel coordinates and temperature values ​​of the global infrared orthophoto are assigned to the corresponding global three-dimensional point cloud data, and finally the global three-dimensional point cloud data with temperature values ​​of the stored coal are output.

[0073] Specifically, the global three-dimensional point cloud data and infrared images of a single cycle can be transmitted to the server as scanning results for display.

[0074] On the server side, you can set parameters for the coal bunker temperature 3D imaging system, set the scanning speed, set the scanning cycle, set the coal bunker monitoring capacity alarm, set the bunker temperature alarm, etc.

[0075] The laser radar of this application obtains more dense location information points than traditional radars, and the shape features shown are more obvious; the infrared camera screen is limited, and compared with traditional manual observation, this application automatically takes pictures and can splice them into global images, which is more convenient; the data fusion of global infrared orthophotos and global three-dimensional point cloud data can obtain global three-dimensional point cloud data with temperature values, which is more intuitive.

[0076] In an exemplary embodiment, a coal bunker temperature 3D imaging method is provided, which is implemented based on a coal bunker temperature 3D imaging system. The coal bunker temperature 3D imaging method includes:

[0077] Collect infrared images and three-dimensional point cloud data from multiple angles of coal stored in the coal bunker.

[0078] The infrared images from multiple angles are stitched together to obtain a global infrared orthophoto of the coal deposits.

[0079] The three-dimensional point cloud data from multiple angles are spliced ​​to obtain the global three-dimensional point cloud data of the coal storage.

[0080] The global infrared orthophoto and global three-dimensional point cloud data are matched and fused to obtain the global three-dimensional point cloud data of the stored coal with temperature values.

[0081] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the system, method, and core concept of this application. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of this application. In summary, the contents of this specification should not be construed as limiting this application.

Claims

1. A coal bunker temperature 3D imaging system, characterized in that: The coal bunker temperature 3D imaging system includes: a remote central server, a control box, and a sensing unit arranged in the coal bunker; the sensing unit and the remote central server are respectively connected to the control box; The control box is used for: Controlling the sensing unit to collect infrared images of coal stored in the coal bunker at multiple angles and three-dimensional point cloud data at multiple angles, and sending the infrared images and three-dimensional point cloud data at multiple angles to the remote central server; The remote central server is used to: Data stitching of infrared images from multiple angles to obtain a global infrared orthophoto of the coal deposits; The 3D point cloud data from multiple angles are stitched together to obtain the global 3D point cloud data of the coal storage; The global infrared orthophoto image and the global three-dimensional point cloud data are matched and fused to obtain global three-dimensional point cloud data with temperature values ​​of the stored coal.

2. The coal bunker temperature 3D imaging system according to claim 1, characterized in that: The sensing unit includes: an infrared camera and a laser radar; the infrared camera and the laser radar are both connected to the control box; The control box is also used to synchronously control the infrared camera to collect infrared images from multiple angles and control the laser radar to collect three-dimensional point cloud data from multiple angles.

3. The coal bunker temperature 3D imaging system according to claim 2, characterized in that: The coal bunker temperature 3D imaging system further includes: a fixed flange arranged on the bunker roof; and the sensing unit is arranged in the coal bunker through the fixed flange.

4. The coal bunker temperature 3D imaging system according to claim 3, characterized in that: The coal bunker temperature 3D imaging system further includes: a rotating platform; the rotating platform is mounted on the fixed flange, and the sensing unit is disposed on the rotating platform.

5. The coal bunker temperature 3D imaging system according to claim 4, characterized in that: The rotating pan-tilt head includes: a fixed disk and a rotating disk; the fixed disk is fixedly mounted on the fixed flange, the rotating disk is arranged on the fixed disk, the sensing unit is fixedly arranged on the rotating disk, and the rotating disk drives the sensing unit to rotate 360° horizontally under the control of the control box.

6. The coal bunker temperature 3D imaging system according to claim 5, characterized in that: The perception unit also includes: a structural member and a semicircular packaging shell; the structural member is fixedly arranged on the rotating disk, the infrared camera and the laser radar are both obliquely installed on the structural member, and the semicircular packaging shell encapsulates the infrared camera and the laser radar.

7. The coal bunker temperature 3D imaging system according to claim 6, characterized in that: The rotating platform further comprises: a motor, wherein the motor is connected to the control box and the rotating disk respectively; The control box is also used to control the motor to drive the rotating disk to perform 360° horizontal rotation.

8. The coal bunker temperature 3D imaging system according to claim 1, characterized in that: The sensing unit is connected to the control box via a signal line and a power supply line, and the remote central server is connected to the control box via an optical fiber network; The control box is also used to supply power to the sensing unit.

9. The coal bunker temperature 3D imaging system according to claim 6, characterized in that: The infrared camera and the laser radar are both installed on the structural member at an inclination angle of 30° to 45°. The infrared camera and the laser radar both project a rectangular sensing surface outward. The field of view angle of the rectangular sensing surface in the vertical direction is 90° to 120°, and the field of view angle in the horizontal direction is 30° to 60°.

10. A method for 3D imaging of coal bunker temperature, implemented based on the 3D imaging system for coal bunker temperature according to any one of claims 1 to 9, characterized in that: The coal bunker temperature 3D imaging method comprises: Collect infrared images and 3D point cloud data from multiple angles of coal stored in the coal bunker; Data stitching of infrared images from multiple angles to obtain a global infrared orthophoto of the coal deposits; The 3D point cloud data from multiple angles are stitched together to obtain the global 3D point cloud data of the coal storage; The global infrared orthophoto image and the global three-dimensional point cloud data are matched and fused to obtain global three-dimensional point cloud data with temperature values ​​of the stored coal.

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