Coal inventory method and system based on laser scanner

Abstract

The invention relates to a coal stocktaking method, and discloses a coal stocktaking method based on a laser scanner. The coal stocktaking method comprises the following steps: generating a first three-dimensional model; generating a first projection of the first three-dimensional model; generating a second projection of the second three-dimensional model; generating a third projection of the second three-dimensional model; s200, judging whether the coincidence degree of the first projection and the second projection is greater than a first coincidence threshold value, if not, judging whether the coincidence degree of the second projection and the third projection is greater than a third coincidence threshold value, and if so, increasing the first unit time and skipping to S200; and if the overlapping threshold value is not greater than the third overlapping threshold value, skipping to S100 after the second unit time. According to the invention, all global coal piles are scanned through the fixed first laser scanner as a basis for checking whether the first three-dimensional model can be output or not, so that a correct coal inventory model can be further output, and the coal inventory accuracy of the laser scanner is improved.

Description

Technical Field

[0001] The present invention relates to a coal-coal ... Background Art

[0002] Traditional coal inventory measurement relies primarily on manual measurement with a tape measure, which is labor-intensive, poses significant safety risks, and exhibits significant measurement errors. While laser coal discing is gradually replacing manual labor with technological advancements, it still faces the following technical bottlenecks.

[0003] The traditional method of coal panning is often performed only through a relatively fixed laser scanner configured on the roof of the coal plant, which has a large blind area and low recognition accuracy.

[0004] Furthermore, while traditional fusion algorithms combine point clouds from both dynamic and static laser scanners, they lack the corresponding processing logic and methods for key blind spots. Consequently, blind and non-blind areas are fused using the same algorithm, resulting in unreliable accuracy.

[0005] Moreover, it is not able to self-learn, adapt to different situations and output a more reasonable coal pan model. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a coal panning method based on a laser scanner with higher precision and more reasonable integration.

[0007] In the first aspect, the present invention provides a coal panning method based on a laser scanner, comprising:

[0008] S100, scanning the coal pile using a first laser scanner to generate a first three-dimensional model, wherein the position of the first laser scanner remains unchanged;

[0009] S200, during the movement of the bucket wheel machine, generating a first projection of the first three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; generating a second three-dimensional model using a second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; after the bucket wheel machine has moved for a first unit time, generating a third projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile;

[0010] S300, determining whether the degree of overlap between the first projection and the second projection is greater than a first overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; if not, determining whether the degree of overlap between the first projection and the third projection is greater than a second overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model;

[0011] If it is not greater than the second overlap threshold, determine whether the overlap between the second projection and the third projection is greater than the third overlap threshold. If it is greater than the third overlap threshold, increase the first unit time and jump to S200, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if it is not greater than the third overlap threshold, jump to S100 after the second unit time, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model.

[0012] The present invention provides a coal sorting method based on a laser scanner, wherein if the overlap is not greater than a third overlap threshold, the process jumps to S100 after a second unit time, including:

[0013] outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area;

[0014] Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time.

[0015] If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

[0016] The present invention provides a coal panning method based on a laser scanner, wherein, if the time is not greater than the second unit time, it is determined whether any fourth projection of the second laser scanner on the coal pile at the first observation position matches a pre-stored blinding structure; if so, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal panning model; if not, after the second unit time, the process jumps to step S100, including:

[0017] If they do not match, after the second unit time, the area of ​​the first observation position is increased and the process jumps to S100.

[0018] The present invention provides a coal panning method based on a laser scanner, wherein the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time. If it is greater than the second unit time, the method judges whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage. If it is not greater than the first percentage, the blind area and the non-blind area are output as the coal panning model with the first three-dimensional model; if it is greater than the first percentage, the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile is consistent with the pre-stored blinding Structure matching: if it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if it does not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if it matches, then the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a coal pan model; if it does not match, then after a second unit time, jump to S100. If it does not match, then after a second unit time, jump to S100, including:

[0019] If there is no match, determine whether the first unit time reaches the time threshold. If so, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if not, jump to S100 after the second unit time.

[0020] The present invention provides a coal panning method based on a laser scanner, wherein the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time. If it is greater than the second unit time, the method judges whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage. If it is not greater than the first percentage, the blind area and the non-blind area are output as the coal panning model with the first three-dimensional model; if it is greater than the first percentage, the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile is consistent with the pre-stored blinding Structure matching: if it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if it does not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if it matches, then the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a coal pan model; if it does not match, then after a second unit time, jump to S100. If it does not match, then after a second unit time, jump to S100, including:

[0021] If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If not, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if less than, lower the first overlap threshold, and jump to S100 after the second unit time.

[0022] In a second aspect, the present invention provides a coal panning system based on a laser scanner, comprising a first laser scanner, a second laser scanner, and a processor, wherein the processor operates according to the following method:

[0023] S100, scanning the coal pile using a first laser scanner to generate a first three-dimensional model, wherein the position of the first laser scanner remains unchanged;

[0024] S200, during the movement of the bucket wheel machine, generating a first projection of the first three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; generating a second three-dimensional model using a second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; after the bucket wheel machine has moved for a first unit time, generating a third projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile;

[0025] S300, determining whether the degree of overlap between the first projection and the second projection is greater than a first overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; if not, determining whether the degree of overlap between the first projection and the third projection is greater than a second overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model;

[0026] If it is not greater than the second overlap threshold, determine whether the overlap between the second projection and the third projection is greater than the third overlap threshold. If it is greater than the third overlap threshold, increase the first unit time and jump to S200, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if it is not greater than the third overlap threshold, jump to S100 after the second unit time, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model.

[0027] The present invention provides a coal panning system based on a laser scanner, wherein if the overlap is not greater than a third overlap threshold, the process jumps to S100 after a second unit time, including:

[0028] outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area;

[0029] Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time.

[0030] If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

[0031] The present invention provides a coal panning system based on a laser scanner, wherein if the time is not greater than a second unit time, it is determined whether any fourth projection of the second laser scanner on the coal pile at the first observation position matches a pre-stored blinding structure; if so, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal panning model; if not, after the second unit time, the process jumps to step S100, including:

[0032] If they do not match, after the second unit time, the area of ​​the first observation position is increased and the process jumps to S100.

[0033] The present invention provides a coal panning system based on a laser scanner, wherein the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time. If it is greater than the second unit time, the method judges whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage. If it is not greater than the first percentage, the blind area and the non-blind area are output as a coal panning model with the first three-dimensional model; if it is greater than the first percentage, the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile is consistent with the pre-stored blinding Structure matching: if it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if it does not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if it matches, then the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a coal pan model; if it does not match, then after a second unit time, jump to S100. If it does not match, then after a second unit time, jump to S100, including:

[0034] If there is no match, determine whether the first unit time reaches the time threshold. If so, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if not, jump to S100 after the second unit time.

[0035] The present invention provides a coal panning system based on a laser scanner, wherein the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time. If it is greater than the second unit time, the method judges whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage. If it is not greater than the first percentage, the blind area and the non-blind area are output as a coal panning model with the first three-dimensional model; if it is greater than the first percentage, the method judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile is consistent with the pre-stored blinding Structure matching: if it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if it does not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if it matches, then the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a coal pan model; if it does not match, then after a second unit time, jump to S100. If it does not match, then after a second unit time, jump to S100, including:

[0036] If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If it is not less than, the second three-dimensional model corresponding to the second projection is output as a coal pan model, or the second three-dimensional model corresponding to the third projection is output as a coal pan model; if it is less than, lower the first overlap threshold, and jump to S100 after the second unit time.

[0037] The difference between the coal panning method based on a laser scanner of the present invention and the existing technology is that the coal panning method based on a laser scanner of the present invention uses the relatively fixed first laser scanner mentioned above to scan all coal piles in the world and generate a first three-dimensional model as a basic output model; and then uses the second three-dimensional model generated by the second laser scanner on the bucket wheel excavator as a basis for verifying whether the first three-dimensional model can be output, so that a more correct coal panning model can be further output, thereby improving the coal panning accuracy of the laser scanner.

[0038] The following is a further description of the coal panning method based on a laser scanner of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flow chart of the coal panning method based on laser scanner. DETAILED DESCRIPTION

[0040] like Figure 1 As shown, the present invention is a method for coal panning based on a laser scanner, which includes

[0041] S100, scanning the coal pile by a first laser scanner to generate a first three-dimensional model, wherein the first laser scanner is fixed in position;

[0042] S200, generating a first projection of the first three-dimensional model according to a current position of the bucket wheel machine and a position of the coal pile during movement of the bucket wheel machine; generating a second three-dimensional model by a second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model according to the current position of the bucket wheel machine and the position of the coal pile; generating a third projection of the second three-dimensional model according to the current position of the bucket wheel machine and the position of the coal pile after the bucket wheel machine moves for a first unit time;

[0043] S300, determining whether a coincidence degree of the first projection and the second projection is greater than a first coincidence threshold, if the coincidence degree is greater than the first coincidence threshold, outputting a coal discarding model of the coal pile according to the first three-dimensional model; if the coincidence degree is not greater than the first coincidence threshold, determining whether a coincidence degree of the first projection and the third projection is greater than a second coincidence threshold, if the coincidence degree is greater than the second coincidence threshold, outputting the coal discarding model according to the first three-dimensional model;

[0044] if the coincidence degree is not greater than the second coincidence threshold, determining whether a coincidence degree of the second projection and the third projection is greater than a third coincidence threshold, if the coincidence degree is greater than the third coincidence threshold, increasing the first unit time and jumping to S200, or outputting the coal discarding model according to the second three-dimensional model corresponding to the second projection, or outputting the coal discarding model according to the second three-dimensional model corresponding to the third projection; if the coincidence degree is not greater than the third coincidence threshold, jumping to S100 after a second unit time, or outputting the coal discarding model according to the second three-dimensional model corresponding to the second projection, or outputting the coal discarding model according to the second three-dimensional model corresponding to the third projection.

[0045] The first laser scanner is fixed to scan all the coal piles globally and generate the first three-dimensional model as a basic model for output; the second three-dimensional model generated by the second laser scanner on the bucket wheel machine is used as a basis to verify whether the first three-dimensional model can be output, so that a more correct coal discarding model can be further output, and the accuracy of the coal discarding model of the laser scanner is improved.

[0046] The first laser scanner is fixed to scan all the coal piles globally and generate the first three-dimensional model as a basic model for output; the second three-dimensional model generated by the second laser scanner on the bucket wheel machine is used as a basis to verify whether the first three-dimensional model can be output, so that a more correct coal discarding model can be further output, and the accuracy of the coal discarding model of the laser scanner is improved.

[0047] Assuming that only the first laser scanner is used to scan the coal pile to generate the first three-dimensional model as the coal pan model, it is impossible to achieve all the requirements of high response speed and high precision of modern coal panning.

[0048] The first laser scanner can be FARO Focus S 350, but the scanning rate is reduced to 140,000 points / second and the modeling time is 3 minutes.

[0049] The second laser scanner can be: RIEGL VZ-400i, which has a faster response speed and is only used to verify the first laser scanner. The modeling time of the second laser scanner can be ignored.

[0050] During the bucket wheel's movement, the first 3D model from the first scanner and the second 3D model from the second laser scanner are repeatedly calibrated to ensure that, when the coal pile remains stationary, the first 3D model is equal to or nearly equal to the second 3D model. This requires multiple calibrations based on the bucket wheel's movement path, position, and angle. This can be achieved by referring to existing technologies.

[0051] The first projection of the first 3D model is generated based on the current position of the bucket wheel excavator and the coal pile. This first projection is a two-dimensional image of a plane used to compare the second 3D model with the first 3D model to determine if there are any deviations. This is equivalent to a photograph viewed from the bucket wheel excavator toward the coal pile. This is an actual horizontally acquired image, while the first 3D model is a vertical, top-down model. Due to factors such as the type of coal, deformation of the coal pile over a short period of time, and acquisition errors caused by different angles, the first, second, and third projections may not align, meaning they may not represent the same coal pile.

[0052] Among them, the second three-dimensional model is generated by using the second laser scanner on the bucket wheel machine, which can be understood as: a second laser scanner is fixed on the bucket wheel machine, and the second laser scanner can collect the moving position coordinates, moving direction, moving speed, and orientation of the bucket wheel machine, so that a second three-dimensional model belonging to the bucket wheel machine's perspective can be generated according to the movement of the bucket wheel machine.

[0053] Because the second 3D model captures data from a short, horizontal distance, it boasts higher accuracy. However, these models often utilize high-response algorithms, which can compromise accuracy. The first 3D model captures data from a long, vertical, and global perspective. While its accuracy is also high, it can experience some deviation due to longitudinal laser or visual feedback. Repeated comparisons of the two and the resulting outputs will inevitably improve the accuracy of laser scanning acquisition, which can be achieved through various fusion algorithms.

[0054] The second projection of the second three-dimensional model is generated according to the current position of the bucket wheel machine and the coal pile position, and can be understood as follows: in order to compare with the first projection, before the bucket wheel machine moves for the first unit time, the planar projection generated by viewing the second three-dimensional model from the current position of the bucket wheel machine is the second projection, wherein the positions of the bucket wheel machine viewing the first projection and the second projection are both oriented in the same direction, and the only difference is that the observed three-dimensional model changes from the first three-dimensional model to the second three-dimensional model.

[0055] The third projection of the second three-dimensional model is generated according to the current position of the bucket wheel machine and the coal pile position after the bucket wheel machine moves for the first unit time, and can be understood as follows: in order to compare with the first projection, after the bucket wheel machine moves for the first unit time, the planar projection generated by viewing the second three-dimensional model from the position of the bucket wheel machine after moving for the first unit time is the third projection. It needs to be particularly emphasized that the first projection compared with the third projection at this time is not the projection before the bucket wheel machine moves for the first unit time, but the first projection compared with the third projection at this time is the projection after the bucket wheel machine moves for the first unit time. That is, the projection obtained by viewing the first three-dimensional model from the current position of the bucket wheel machine before and after the first unit time is the first projection. It needs to be particularly emphasized here.

[0056] The coincidence degree of the first projection and the second projection is greater than the first coincidence threshold, and the first three-dimensional model is output to generate a coal pile model, which can be understood as follows: if the first projection and the second projection are coincident and matched, it can be considered that the first three-dimensional model at this time is accurate, so the first three-dimensional model generated for a longer time and possibly greater is used as a reference to generate the coal pile model.

[0057] The coincidence degree of the first projection and the second projection is greater than the first coincidence threshold, and the first three-dimensional model is output to generate a coal pile model, which can be understood as follows: if the first projection and the second projection are coincident and matched, it can be considered that the first three-dimensional model at this time is accurate, so the first three-dimensional model generated for a longer time and possibly greater is used as a reference to generate the coal pile model.

[0058] Among them, if it is not greater than the first overlap threshold, it is judged whether the overlap between the first projection and the third projection is greater than the second overlap threshold. It can be understood as follows: if the first projection and the second projection are overlapped and mismatched, then we can collect the first projection of the first three-dimensional model and the second projection of the second three-dimensional model according to the position after the bucket wheel moves for the first unit time, and compare them to see if they match. This step provides a remedial measure after the first mismatch, that is, if the first projection and the second projection do not match, there will be no other solution opportunities. A mismatch signal may be generated briefly due to the delay problem in the generation of the first three-dimensional model or the difference between the longitudinal and transverse acquisition problems. This step gives the user an opportunity to match multiple times, so as to output a more accurate, more reasonable, more convenient and faster pan coal model for this coal pile.

[0059] Among them, if it is greater than the second overlap threshold, the coal pan model of the coal pile is output based on the first three-dimensional model. It can be understood that if the overlap can be achieved in another place, the coal pan model is still output based on the first three-dimensional model that takes longer to generate.

[0060] If the overlap is not greater than the second overlap threshold, it can be understood that if the overlap is not greater than the second overlap threshold, the second 3D image corresponding to the second projection or the 3D image corresponding to the third projection can be directly output as the coal pan image. This is equivalent to the following statement: "Alternatively, the second 3D model corresponding to the second projection is output as the coal pan model, or the second 3D model corresponding to the third projection is output as the coal pan model."

[0061] Among them, it is determined whether the overlap degree between the second projection and the third projection is greater than the third overlap threshold. If it is greater than the third overlap threshold, the first unit time is increased and the process jumps to S200. It is understood that if the second 3D model and the third 3D model overlap, it does not mean that the second 3D model is more reliable, but because the first unit time is too short, the moved third projection is invalid, or in other words, it does not have the meaning of multiple angle correction. Therefore, the third projection after the longer first unit time should be used as a reference. Among them, the longer first unit time can start from the time of the second projection of the first S200, or it can start from the time of the third projection of the first S200.

[0062] If it is not greater than the third overlap threshold, then after the second unit time, the process jumps to S100. Alternatively, the second three-dimensional model corresponding to the second projection is output as the coal panning model. This can be understood as follows: If it is determined that the second projection is different from the third projection, then it means that the first interval time has been met and the requirements are satisfied. In this case, if we still cannot match or overlap the first projection with any of the second and third projections, then the problem may be that the coal pile has deformed or shifted, or that part of the coal pile has been removed or added. The coal pile should first be allowed to stabilize for a certain period of time, that is, given the second unit time for stabilization. After stabilization, the process jumps back to S100 to perform another coal panning.

[0063] The second unit time is greater than the time it takes for the first laser scanner to output the first three-dimensional model once. For example, the second unit time is greater than 3 minutes.

[0064] The first unit time may be 1 second to 1 hour, preferably 1 minute, and each increase in the first unit time may increase by 20%.

[0065] It's important to emphasize that the zoom positions of the first, second, and third projections should ensure that the coal pile, from bottom to top, appears within the 0.618 height range of the viewfinder, as much as possible. That is, if the viewfinder has 1080 vertical pixels, then the pixels from bottom to top of the coal pile in the first, second, and third projections should be 667. Furthermore, the center of mass, center of gravity, or center of gravity of the coal pile in the first, second, and third projections should be located at the center of the viewfinder, as much as possible, to ensure accurate image recognition.

[0066] Among them, the first projection, the second projection, and the third projection should be subjected to noise reduction processing, that is, only coal piles can appear in our first projection, the second projection, and the third projection, and no other products can appear, and only the coal pile closest to the center of the viewfinder should appear.

[0067] In some embodiments, see Figure 1 If it is not greater than the third overlap threshold, then after the second unit time, the process jumps to S100, including:

[0068] outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area;

[0069] Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time.

[0070] If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

[0071] The present invention utilizes the characteristic of a laser scanner's single-sided feedback signal to construct a point cloud map and generate a three-dimensional model. Although a first laser scanner viewed from above can cover the output scenes of the coal pan model of most conical coal piles, for some coal piles at a distance or with more unusual shapes, a certain deviation in the volume of the coal pan model may occur due to occlusion when viewed from above, resulting in a reduction in the accuracy of the coal pan and hindering the accurate panning of more shaped coal piles. In other words, the second laser scanner may generate a second three-dimensional model that is different from the first three-dimensional model when in the first observation position. This is then used as the basis for correcting the first three-dimensional model, thereby improving the accuracy of the final output coal pan model.

[0072] Here, based on the position of the first laser scanner, the blind spot of the first laser scanner of the coal pile and the first observation position of the second laser scanner corresponding to the blind spot are output. This can be understood as follows: we first establish the coordinates of the coal stacking plant and the first laser scanner as an unchanging basis. Leveraging multiple historical data, user experiments, and even deep learning algorithms, a pre-stored blind spot is obtained for each coal pile. For example, if the first laser scanner represents the sun, the shadowed area where the sun cannot directly shine can be understood as the blind spot of each coal pile. That is, the shadowed area represents the blind spot of that coal pile. It should be noted that while most coal piles do not have blind spots, a small number of coal piles with unusual shapes and structures may have certain blind spots.

[0073] If, in addition to the sun looking down, there were also a sun looking straight ahead, the shadow cast by the coal pile would be significantly reduced. In other words, the first 3D model generated by the first laser scanner, which has a higher accuracy and looks down, is largely reliable data for the coal pan. However, we want to be able to compare and correct the data from the second laser scanner in the blind spot. The position of the second laser scanner that captures the blind spot is called the first observation position.

[0074] However, since the blind area needs to be obtained based on the approximate model shape of the first three-dimensional model, the position coordinates of the coal pile, and the position coordinates of the first laser scanner, the above-mentioned known data can be input first, and then a blind area of ​​the coal pile specifically belonging to the first three-dimensional model and a first observation position corresponding to the blind area can be output based on a pre-stored table in the database or an artificial intelligence large model algorithm or a convolutional neural network. The first observation position.

[0075] Determining whether the second laser scanner's continuous travel time at the first observation position is greater than the second unit time can be understood as follows: The first observation position is planned to be a range area. If the second laser scanner can continuously travel within this area for the second unit time, it indicates that it has the ability to capture the second and third projections in accordance with S200, which can serve as an important basis for determining whether a second 3D model with higher precision can be generated. If this second 3D model is a model that can be generated with higher precision, it can serve as a reliable data model for comparing specific data with the first 3D model.

[0076] As an example, the blind spot may be: taking the first laser scanner as the sun, the position of the coal pile that is not directly illuminated by the sun is the blind spot of the coal pile.

[0077] As an example, the first observation position corresponding to the blind spot can be: the position in the viewfinder of the second laser scanner where the blind spot of the coal pile is larger than the non-blind spot, and this position must be located in the aisle of the plant or park where the coal is stored.

[0078] If the time is greater than the second unit time, then a determination is made as to whether the percentage difference between the volume of the second three-dimensional model at the blind spot and the volume of the first three-dimensional model at the blind spot is greater than a first percentage. The first percentage can be between 0% and 50%, preferably 5%. For example, if the total volume of coal pile A in the first three-dimensional model is 20 cubic meters, the total volume of the first three-dimensional model at this blind spot is 6 cubic meters, and the volume of the first three-dimensional model at this non-blind spot is 14 cubic meters. The volume of the second three-dimensional model at the blind spot is 7 cubic meters. Therefore, the difference of (7-6) = 1 cubic meter accounts for 1 / 6 = 16.7% of the 6 cubic meters of the first three-dimensional model's blind spot. This percentage is greater than 5%, indicating that the difference is too large, or greater than the first percentage.

[0079] It should be noted that the reference object, i.e., the denominator, of the difference percentage in this article is the first three-dimensional model. Similarly, the reference object, i.e., the denominator, of the overlap degree in this article is also the first projection of the first three-dimensional model.

[0080] Among them, if it is not greater than the first percentage, the blind area and the non-blind area will be output as a coal pan model using the first three-dimensional model. It can be understood that: since the first three-dimensional model and the second three-dimensional model are completely consistent, the first three-dimensional model will be used as the object for outputting the coal pan model.

[0081] If the percentage is greater than the first percentage, then it is determined whether any fourth projection of the coal pile matches the pre-stored blinding structure for the duration of continuous travel of the second laser scanner at the first observation position exceeding the second unit time. This means that the first and second 3D models of the blind area are inconsistent and significantly different. First, we examine whether each fourth projection of the coal pile, captured in each frame during the continuous travel of the second scanner exceeding the second unit time, matches the pre-stored blinding structure in the database. A blinding structure can be understood as a hollow structure. For example, a large tree may have a horizontal blind hole. If this hole is located in the blind area, its volume cannot be accurately calculated. However, by identifying the hole through multi-angle counting, its volume can be calculated with greater accuracy, facilitating accurate laser coal counting. Blinding structures in coal piles vary greatly; some structures cannot be considered blinding structures, while others can. Pre-stored blinding structures in the database can be used for comparison. The determination of whether there is a match is the same or similar to the first coincidence threshold, the second coincidence threshold, and the third coincidence threshold mentioned above, or in other words, the principle of face recognition and fingerprint recognition.

[0082] If a match is found, the blind area of ​​the coal pile is output as the second 3D model, and the non-blind areas are output as the first 3D model as the coal panning model. If a match is found, the process jumps to S100 after a second time period. This means that a match indicates a similar pit shape in the blind area, affecting the coal panning volume data of the first 3D model. In this case, the second 3D model should be used as the reference for the blind area. If a match is found, it indicates that there is no similar pit shape, but the volume deviation of the blind area is too large, which may be due to the coal pile collapsing, the bucket wheel excavator loading or unloading coal, etc. Therefore, a new coal panning should be performed after the second time period.

[0083] If the difference is not greater than the second unit time, then the fourth projection of the coal pile from the second laser scanner at the first observation position is determined to match the pre-stored blinding structure. This difference indicates that the second 3D model may not be entirely accurate, especially in the blind spot. Therefore, there's no need to determine the output based on the percentage difference in volume between the first and second 3D models. Instead, the fourth projection of each frame from the first observation position is directly compared with a similar pit in the blinding structure.

[0084] Among them, it should be noted that even if it matches the blinding structure, the second three-dimensional model at this time is not completely output as a coal pan model. Instead, the second three-dimensional model of the blind area is only output to replace the first three-dimensional model. The reason is that the second three-dimensional model that is moving, has low motion accuracy, and has low positioning accuracy can be used as a positioning reference through the first three-dimensional model.

[0085] The second laser scanner can be: RIEGL VZ-400i, with a scanning rate of 220,000 points / second. It is only used to verify the first laser scanner, and the modeling time of the second laser scanner can be ignored.

[0086] The first laser scanner can be: FARO Focus S 350, but the scanning rate is reduced to 140,000 points / second, which is slow.

[0087] Alternatively, digital twin technology can be used to continuously simulate and optimize the placement of coal mines and the order in which bucket wheel excavators take coal, based on input orders and output orders for different types of coal, thereby optimizing the efficiency of bucket wheel excavators in outputting coal mines.

[0088] The first, second, and third projections should be noise-reduced. Specifically, only the coal pile should appear in the first, second, and third projections, not other products. Furthermore, only the coal pile closest to the center of the viewfinder should appear. A coal pile should be measured as a single, conical, or frustum-shaped pile, or as multiple clustered, conical or frustum-shaped piles.

[0089] If multiple conical or frustoconical coal piles are present, the situation can be that the jump to S100 occurs multiple times, and then we should output the first three-dimensional model as a coal disc model directly after the jump to S100 occurs more than 3 times.

[0090] In some embodiments, referring to Figure 1 If the second unit time is not exceeded, it is determined whether any fourth projection of the second laser scanner at the first observation position matches the pre-stored blind structure, and if so, the blind area of the coal pile is output as a second three-dimensional model and the non-blind area is output as a first three-dimensional model to a coal disc model.

[0091] If not, the area of the first observation position is increased after the second unit time, and the jump to S100 is performed.

[0092] The present application can increase the area of the virtual first observation position, which can result in the second laser scanner covering the first observation position for a longer period of time, thereby changing the likelihood that the second unit time is exceeded, and thus making it easier to output a more accurate first coal disc model by comparing the volumes, and ignoring the matching of smaller blind structures, thereby also improving the reference strength of the coal disc model when outputting the coal disc volume result, and more in line with the purpose of the coal disc model.

[0093] Of course, as a variation of the present embodiment, referring to Figure 1, the judgment of whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, if it is greater than the second unit time, then judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage, if it is not greater than the first percentage, then outputting the blind area and the non-blind area as a coal disc model with the first three-dimensional model; if it is greater than the first percentage, then judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, if it matches, then The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes:

[0094] If there is no match, determine whether the first unit time reaches the time threshold. If so, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if not, jump to S100 after the second unit time.

[0095] The present invention can configure a time threshold in the above manner, thereby increasing an upper limit of the first unit time, thereby avoiding the problem of being unable to successfully collect the same coal pile due to the first unit time being too long.

[0096] The above “if not matching” includes “if not greater than the second unit time” and “if greater than the second unit time”.

[0097] The time threshold may be twice the first unit time.

[0098] The first unit time may be 1 second to 1 hour, preferably 1 minute, and each increase in the first unit time may increase by 20%.

[0099] Of course, as a variation of this embodiment, see Figure 1, the judgment of whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, if it is greater than the second unit time, then judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage, if it is not greater than the first percentage, then outputting the blind area and the non-blind area as a coal disc model with the first three-dimensional model; if it is greater than the first percentage, then judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, if it matches, then The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes:

[0100] If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If not, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if less than, lower the first overlap threshold, and jump to S100 after the second unit time.

[0101] The present invention can continuously adjust the first overlap threshold according to the number of times jumping back to S100, so as to adjust it to the lowest level that is the same as or similar to the third overlap threshold, so as to output a model that is more inclined to the first three-dimensional threshold as a coal plate model for different situations. However, if it is really necessary to jump to S100 too many times, the second three-dimensional model with better angle but poorer accuracy will also be used as the three-dimensional model of this coal pile.

[0102] The above “if not matching” includes “if not greater than the second unit time” and “if greater than the second unit time”.

[0103] The first overlap threshold, the second overlap threshold, and the third overlap threshold may all be the same, for example, 10 to 100%, preferably 90%.

[0104] Alternatively, the first overlap threshold is the highest and the third overlap threshold is the lowest. That is, it is most difficult for the second projection to overlap with the first projection, the easiest for the second projection to overlap with the third projection, and the difficulty of overlapping the first projection with the third projection is intermediate.

[0105] For example, the first coincidence threshold is 90%, the second coincidence threshold is 80%, and the third coincidence threshold is 70%.

[0106] As shown in Figure 1 , the coal discarding system based on a laser scanner comprises a first laser scanner, a second laser scanner, and a processor, and the processor operates according to the following method:

[0107] S100, scanning a coal pile by using the first laser scanner to generate a first three-dimensional model, wherein the position of the first laser scanner is unchanged;

[0108] S200, during the movement of the bucket wheel machine, generating a first projection of the first three-dimensional model according to the current position of the bucket wheel machine and the position of the coal pile; generating a second three-dimensional model by using the second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model according to the current position of the bucket wheel machine and the position of the coal pile; after the bucket wheel machine moves for a first unit of time, generating a third projection of the second three-dimensional model according to the current position of the bucket wheel machine and the position of the coal pile;

[0109] S300, determining whether the coincidence degree of the first projection and the second projection is greater than a first coincidence threshold, if yes, outputting a coal discarding model of the coal pile according to the first three-dimensional model; if no, determining whether the coincidence degree of the first projection and the third projection is greater than a second coincidence threshold, if yes, outputting the coal discarding model of the coal pile by using the first three-dimensional model;

[0110] if no, determining whether the coincidence degree of the second projection and the third projection is greater than a third coincidence threshold, if yes, increasing the first unit of time and jumping to S200, or outputting the second three-dimensional model corresponding to the second projection as the coal discarding model, or outputting the second three-dimensional model corresponding to the third projection as the coal discarding model; if no, after a second unit of time, jumping to S100, or outputting the second three-dimensional model corresponding to the second projection as the coal discarding model, or outputting the second three-dimensional model corresponding to the third projection as the coal discarding model.

[0111] The first laser scanner is used to scan all the coal piles globally and generate a first three-dimensional model as a basic model for output, and the second three-dimensional model generated by the second laser scanner on the bucket wheel machine is used to verify whether the first three-dimensional model can be output, so that a more correct coal discarding model can be further output, and the accuracy of the coal discarding of the laser scanner is improved.

[0112] In some embodiments, referring to Figure 1 if no, after a second unit of time, jumping to S100, comprising:

[0113] outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area;

[0114] Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time.

[0115] If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

[0116] The present invention utilizes the characteristic of a laser scanner's single-sided feedback signal to construct a point cloud map and generate a three-dimensional model. Although a first laser scanner viewed from above can cover the output scenes of the coal pan model of most conical coal piles, for some coal piles at a distance or with more unusual shapes, a certain deviation in the volume of the coal pan model may occur due to occlusion when viewed from above, resulting in a reduction in the accuracy of the coal pan and hindering the accurate panning of more shaped coal piles. In other words, the second laser scanner may generate a second three-dimensional model that is different from the first three-dimensional model when in the first observation position. This is then used as the basis for correcting the first three-dimensional model, thereby improving the accuracy of the final output coal pan model.

[0117] In some embodiments, see Figure 1 If it is not greater than the second unit time, it is determined whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as the second three-dimensional model and the non-blind area is output as the first three-dimensional model as a coal disc model; if it does not match, after the second unit time, the process jumps to step S100, including:

[0118] If not, the area of the first observation position is increased after a second unit time, and the process jumps to S100.

[0119] The present application can increase the possibility of the second laser scanner covering the first observation position for more continuous time, thereby changing the possibility of being greater than the second unit time, so as to output a first coal pile model which is more accurate in the form of volume, to ignore the matching of small blind structures, thereby improving the reference degree of the coal pile model in outputting the coal pile volume result from another aspect, and being more in line with the purpose of the coal pile model.

[0120] Of course, as a variation of the present embodiment, referring to Figure 1 , the present application judges whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, if greater than the second unit time, judges whether the percentage of the difference between the volume of the second three-dimensional model of the blind area position and the volume of the first three-dimensional model of the blind area position is greater than the first percentage, if not greater than the first percentage, outputs the blind area and the non-blind area as the coal pile model in the form of the first three-dimensional model; if greater than the first percentage, judges whether the continuous travel time of the second laser scanner at the first observation position greater than the second unit time matches any fourth projection of the coal pile with the pre-stored blind structure, if matches, outputs the blind area of the coal pile as the coal pile model in the form of the second three-dimensional model and the non-blind area in the form of the first three-dimensional model; if not matches, jumps to S100 after the second unit time; if not greater than the second unit time, judges whether the continuous travel time of the second laser scanner at the first observation position matches any fourth projection of the coal pile with the pre-stored blind structure, if matches, outputs the blind area of the coal pile as the coal pile model in the form of the second three-dimensional model and the non-blind area in the form of the first three-dimensional model; if not matches, jumps to S100 after the second unit time, and the "if not matches" in this step includes:

[0121] If not matches, judges whether the first unit time reaches a time threshold, if reaches, outputs the second three-dimensional model corresponding to the second projection as the coal pile model, or, outputs the second three-dimensional model corresponding to the third projection as the coal pile model; if not reaches, jumps to S100 after the second unit time.

[0122] The present application can configure a time threshold in the above-mentioned manner, thereby increasing the upper limit of the first unit time, avoiding the problem of being unable to successfully collect the same coal pile due to the first unit time being too long.

[0123] The above-mentioned "if not matches" includes "if not greater than the second unit time" and "if greater than the second unit time".

[0124] The time threshold may be twice the first unit time.

[0125] The first unit time may be 1 second to 1 hour, preferably 1 minute, and each increase in the first unit time may increase by 20%.

[0126] Of course, as a variation of this embodiment, see Figure 1 , the judgment of whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, if it is greater than the second unit time, then judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind area position and the volume of the first three-dimensional model at the blind area position is greater than the first percentage, if it is not greater than the first percentage, then outputting the blind area and the non-blind area as a coal disc model with the first three-dimensional model; if it is greater than the first percentage, then judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, if it matches, then The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes:

[0127] If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If not, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if less than, lower the first overlap threshold, and jump to S100 after the second unit time.

[0128] The present invention can continuously adjust the first overlap threshold according to the number of times jumping back to S100, so as to adjust it to the lowest level that is the same as or similar to the third overlap threshold, so as to output a model that is more inclined to the first three-dimensional threshold as a coal plate model for different situations. However, if it is really necessary to jump to S100 too many times, the second three-dimensional model with better angle but poorer accuracy will also be used as the three-dimensional model of this coal pile.

[0129] The above “if not matching” includes “if not greater than the second unit time” and “if greater than the second unit time”.

[0130] The first overlap threshold, the second overlap threshold, and the third overlap threshold may all be the same, for example, 10 to 100%, preferably 90%.

[0131] Alternatively, the first overlap threshold is the highest and the third overlap threshold is the lowest. That is, it is most difficult for the second projection to overlap with the first projection, the easiest for the second projection to overlap with the third projection, and the difficulty of overlapping the first projection with the third projection is intermediate.

[0132] For example, the first overlap threshold is 90%, the second overlap threshold is 80%, and the third overlap threshold is 70%.

[0133] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A coal panning method based on a laser scanner, characterized in that: include S100, scanning the coal pile using a first laser scanner to generate a first three-dimensional model, wherein the position of the first laser scanner remains unchanged; S200, during the movement of the bucket wheel machine, generating a first projection of the first three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; generating a second three-dimensional model using a second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; after the bucket wheel machine has moved for a first unit time, generating a third projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; S300, determining whether the degree of overlap between the first projection and the second projection is greater than a first overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; if not, determining whether the degree of overlap between the first projection and the third projection is greater than a second overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; If it is not greater than the second overlap threshold, determine whether the overlap between the second projection and the third projection is greater than the third overlap threshold. If it is greater than the third overlap threshold, increase the first unit time and jump to S200, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if it is not greater than the third overlap threshold, jump to S100 after the second unit time, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model.

2. The method for coal cleaning based on a laser scanner according to claim 1, characterized in that: If it is not greater than the third overlap threshold, then after the second unit time, the process jumps to S100, including: outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area; Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time. If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

3. The method for coal sorting based on a laser scanner according to claim 2, characterized in that: If it is not greater than the second unit time, determining whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if so, outputting the blind area of ​​the coal pile as the second three-dimensional model and the non-blind area as the first three-dimensional model as a coal pan model; if not, after the second unit time, jumping to step S100, including: If they do not match, after the second unit time, the area of ​​the first observation position is increased and the process jumps to S100.

4. The method for coal distribution based on a laser scanner according to claim 2, characterized in that: The method of judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, and if so, judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than the first percentage, and if so, outputting the blind spot and the non-blind spot as a coal disc model with the first three-dimensional model; and if so, judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, and if so, The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes: If there is no match, determine whether the first unit time reaches the time threshold. If so, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if not, jump to S100 after the second unit time.

5. The method for coal distribution based on laser scanner according to claim 2, characterized in that: The method of judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, and if so, judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than the first percentage, and if so, outputting the blind spot and the non-blind spot as a coal disc model with the first three-dimensional model; and if so, judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, and if so, The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes: If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If not, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if less than, lower the first overlap threshold, and jump to S100 after the second unit time.

6. A coal panning system based on a laser scanner, characterized by: The system comprises a first laser scanner, a second laser scanner, and a processor, wherein the processor operates according to the following method: S100, scanning the coal pile using a first laser scanner to generate a first three-dimensional model, wherein the position of the first laser scanner remains unchanged; S200, during the movement of the bucket wheel machine, generating a first projection of the first three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; generating a second three-dimensional model using a second laser scanner on the bucket wheel machine, and generating a second projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; after the bucket wheel machine has moved for a first unit time, generating a third projection of the second three-dimensional model based on the current position of the bucket wheel machine and the position of the coal pile; S300, determining whether the degree of overlap between the first projection and the second projection is greater than a first overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; if not, determining whether the degree of overlap between the first projection and the third projection is greater than a second overlap threshold; if so, outputting a coiled coal model of the coal pile based on the first three-dimensional model; If it is not greater than the second overlap threshold, determine whether the overlap between the second projection and the third projection is greater than the third overlap threshold. If it is greater than the third overlap threshold, increase the first unit time and jump to S200, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if it is not greater than the third overlap threshold, jump to S100 after the second unit time, or output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model.

7. The coal panning system based on a laser scanner according to claim 6, characterized in that: If it is not greater than the third overlap threshold, then after the second unit time, the process jumps to S100, including: outputting, according to the position of the first laser scanner, a blind area of ​​the coal pile by the first laser scanner and a first observation position of the second laser scanner corresponding to the blind area; Determine whether the continuous travel time of the second laser scanner at the first observation position is greater than a second unit time. If so, determine whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than a first percentage. If not, output the blind spot and the non-blind spot as a coal pan model using the first three-dimensional model. If so, determine whether any fourth projection of the coal pile for which the second laser scanner continuously travels at the first observation position for greater than the second unit time matches a pre-stored blinding structure. If so, output the blind spot of the coal pile as the second three-dimensional model and the non-blind spot as the first three-dimensional model as a coal pan model. If not, jump to S100 after the second unit time. If it is not greater than the second unit time, determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure. If it matches, the blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal disc model; if it does not match, jump to S100 after the second unit time.

8. The coal panning system based on a laser scanner according to claim 7, characterized in that: If it is not greater than the second unit time, determining whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if so, outputting the blind area of ​​the coal pile as the second three-dimensional model and the non-blind area as the first three-dimensional model as a coal pan model; if not, after the second unit time, jumping to step S100, including: If they do not match, after the second unit time, the area of ​​the first observation position is increased and the process jumps to S100.

9. The coal panning system based on a laser scanner according to claim 7, characterized in that: The method of judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, and if so, judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than the first percentage, and if so, outputting the blind spot and the non-blind spot as a coal disc model with the first three-dimensional model; and if so, judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, and if so, The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes: If there is no match, determine whether the first unit time reaches the time threshold. If so, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if not, jump to S100 after the second unit time.

10. The coal panning system based on laser scanner according to claim 7, characterized in that: The method of judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time, and if so, judging whether the percentage of the difference between the volume of the second three-dimensional model at the blind spot position and the volume of the first three-dimensional model at the blind spot position is greater than the first percentage, and if so, outputting the blind spot and the non-blind spot as a coal disc model with the first three-dimensional model; and if so, judging whether the continuous travel time of the second laser scanner at the first observation position is greater than the second unit time for any fourth projection of the coal pile matches the pre-stored blinding structure, and if so, The blind area of ​​the coal pile is output as a second three-dimensional model, and the non-blind area is output as a first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100; if it is not greater than the second unit time, then determine whether any fourth projection of the coal pile by the second laser scanner at the first observation position matches the pre-stored blinding structure; if they do match, then output the blind area of ​​the coal pile as a second three-dimensional model, and the non-blind area as the first three-dimensional model as a coal pan model; if they do not match, then after a second unit time, jump to S100, if not match, then after a second unit time, this step of jumping to S100 includes: If there is no match, determine whether the first overlap threshold is less than the third overlap threshold. If not, output the second three-dimensional model corresponding to the second projection as a coal pan model, or output the second three-dimensional model corresponding to the third projection as a coal pan model; if less than, lower the first overlap threshold, and jump to S100 after the second unit time.

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