Rapid three-dimensional reconstruction data acquisition device for coal storage yard

Abstract

The invention discloses a coal storage yard rapid three-dimensional reconstruction data acquisition device, which relates to the technical field of coal chemical industry and comprises a guide rail, a fixing mechanism, a moving mechanism, an image acquisition mechanism, a power supply mechanism, a cleaning mechanism and a central control room. The fixing mechanism is arranged below the guide rail, the moving mechanism is arranged on the fixing mechanism, the image collecting mechanism is arranged below the moving mechanism, and the cleaning mechanism is arranged at one end of the fixing mechanism. The moving mechanism, the image acquisition mechanism and the cleaning mechanism are all electrically connected with the power supply mechanism, and the moving mechanism, the image acquisition mechanism and the cleaning mechanism are all electrically connected with the central control room; according to the rapid three-dimensional reconstruction data acquisition device for the coal storage yard, the problems of limited data acquisition visual angle, expensive equipment and the like in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal chemical industry, and particularly relates to a data acquisition device for rapid three-dimensional reconstruction of a coal storage yard. Background Art

[0002] In industrial fields such as coal chemical industry and power generation, accurately mastering the inventory volume of coal materials in silos is crucial for production management and cost accounting. At present, the calculation of reserves mainly relies on methods such as manual estimation, measurement by fixed monitoring cameras, and high-precision laser scanning. However, manual estimation has large errors; due to limited viewing angles, fixed cameras are difficult to construct a complete three-dimensional model of the coal pile, resulting in inaccurate calculations; although laser scanning has high precision, the equipment is expensive, the deployment is complex, and it is not convenient for frequent and automated periodic inventory in harsh industrial environments. In addition, attempts to use unmanned aerial vehicle photogrammetry are often difficult to implement due to weak GPS signals in the silo, limited flight space, and safety risks. Summary of the Invention

[0003] The purpose of the present invention is to provide a data acquisition device for rapid three-dimensional reconstruction of a coal storage yard, which solves the problems of limited data acquisition viewing angles and expensive equipment existing in the prior art.

[0004] To achieve the above purpose, the present invention provides a data acquisition device for rapid three-dimensional reconstruction of a coal storage yard, including: a guide rail, a fixing mechanism, a moving mechanism, an image acquisition mechanism, a power supply mechanism, a cleaning mechanism, and a central control room; the fixing mechanism is arranged below the guide rail, the moving mechanism is arranged on the fixing mechanism, the image acquisition mechanism is arranged below the moving mechanism, and the cleaning mechanism is arranged at one end of the fixing mechanism; the moving mechanism, the image acquisition mechanism, and the cleaning mechanism are all electrically connected to the power supply mechanism, and the moving mechanism, the image acquisition mechanism, and the cleaning mechanism are all electrically connected to the central control room.

[0005] Preferably, the fixing mechanism includes a guide rail and a track group; the track group includes a first track, a second track, and a third track; the first track, the second track, and the third track are all arranged below the guide rail; the second track is arranged at the middle position below the guide rail, the first track is arranged on one side of the second track, and the third track is arranged on the other side of the second track.

[0006] Preferably, the first track, the second track, and the third track all include a connecting piece, a guiding piece, and a fixing piece; one end of the connecting piece is arranged on the guide rail, and the other end is provided with the fixing piece; the cross-section of the fixing piece is in the shape of a "冂" character; the guiding piece is arranged on the inner wall of the top of the fixing piece.

[0007] Preferably, the cross-section of the guide rail is set to be arc-shaped; the second track is arranged at the midpoint of the arc, and the first track and the third track are symmetrically arranged on both sides of the second track.

[0008] Preferably, the second track is vertically positioned at the midpoint of the guide rail, and the first and third tracks are inclinedly positioned on both sides of the first track. The lower ends of the first and third tracks are close to the second track, and the first and third tracks form an angle with the horizontal plane, which is 45° or 60°.

[0009] Preferably, image acquisition mechanisms are installed on the first, second, and third tracks via a moving mechanism; the image acquisition mechanism on the second track performs data acquisition vertically downwards, while the image acquisition mechanisms on the second and third tracks acquire data from the included angle view.

[0010] Preferably, the moving mechanism includes a motor, a transmission assembly, a moving platform, and a gimbal stabilizer; the motor is located at one end of the connector; the motor is connected to the moving platform through the transmission assembly; one end of the moving platform is located on the guide, and the other end is located on the gimbal stabilizer; the moving mechanism is installed on the first track, the second track, and the third track.

[0011] Preferably, the image acquisition mechanism is located below the image stabilization gimbal of the mobile mechanism; the image acquisition mechanism includes an industrial camera, a detection module and a wireless transmission module, the industrial camera acquires image data, the detection module detects the acquired image data, and the wireless transmission module interacts with the central control room.

[0012] Preferably, a cleaning mechanism is provided at one end of the first track, the second track, and the third track in the fixing mechanism; the cleaning mechanism includes a connecting pipe, a duckbill nozzle, a steel brush, and a telescopic assembly; the connecting pipe is provided on the first track / second track / third track, and a duckbill nozzle is provided at one end of the connecting pipe; the steel brush is provided on the first track / second track / third track through the telescopic assembly, and the steel brush is rotatably connected to the telescopic assembly; a duckbill nozzle is provided on one side below the fixing member, and a steel brush is provided on the other side.

[0013] Preferably, it includes two operating modes: normal patrol mode and anomaly identification mode; In normal patrol mode, the image acquisition mechanisms set on the first, second, and third tracks synchronously perform routine shooting tasks along fixed paths according to a preset cycle, quickly detect the acquired image data to identify potential anomalies, and transmit the image data back to the central control room via a wireless transmission module; if an abnormal area is identified, the mode is switched to anomaly recognition mode. In anomaly detection mode, the image acquisition mechanism moves back to the location where the anomaly was detected to take a second picture and detect it, confirm the anomaly, and continuously track and record the changes in the anomaly. After the anomaly is handled, it switches back to normal inspection mode. By switching between normal inspection mode and anomaly detection mode, the coordinated operation of periodic inspection and anomaly detection is achieved.

[0014] Therefore, the present invention employs the above-mentioned rapid three-dimensional reconstruction data acquisition device for coal storage yards, which has the following beneficial effects: (1) High data acquisition quality: The three-track multi-view layout reduces occlusion, and the combination of anti-shake gimbal and high-resolution industrial camera ensures accurate acquisition of vertical and tilt view data, improving the geometric accuracy and detail restoration capability of 3D reconstruction. (2) Intelligent and efficient operation: The dual-mode switching of normal inspection and abnormal identification realizes periodic automatic inspection and accurate response to abnormalities, reduces labor costs and safety hazards of manual data collection, and improves work efficiency; (3) The equipment cost is low, and it can be used for a long time after a one-time investment. It has great flexibility in the selection of monitoring area and monitoring frequency. It can monitor the coal storage yard in real time according to the user's needs, and can extract the past storage information at any time to achieve historical traceability. It can implement hierarchical management according to the user's needs, thereby improving management efficiency, facilitating the formulation and implementation of strategies and resource allocation, and better realizing the monitoring of changes in coal storage in the coal storage yard.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to the present invention; Figure 2 This is a front view of a rapid three-dimensional reconstruction data acquisition device for coal storage yards according to the present invention; Figure 3 This is a schematic diagram of the structure of the second track in an embodiment of the present invention.

[0017] Figure Labels 1. Fixing mechanism; 11. First track; 12. Second track; 13. Third track; 14. Connector; 15. Guide; 16. Fixing component; 2. Moving mechanism; 21. Moving platform; 22. Anti-shake gimbal; 3. Image acquisition mechanism; 4. Guide rail; 5. Cleaning mechanism; 51. Connecting pipe; 52. Duckbill nozzle; 53. Steel brush; 54. Telescopic component. Detailed Implementation

[0018] The following detailed description of embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] Please see Figure 1-3, A rapid three-dimensional reconstruction data acquisition device for a coal storage yard, comprising: a guide rail 4, a fixing mechanism 1, a moving mechanism 2, an image acquisition mechanism 3, a power supply mechanism, a cleaning mechanism 5 and a central control room; the fixing mechanism 1 is arranged below the guide rail 4, the moving mechanism 2 is arranged on the fixing mechanism 1, the image acquisition mechanism 3 is arranged below the moving mechanism 2, and the cleaning mechanism is arranged at one end of the fixing mechanism 1; the moving mechanism 2, the image acquisition mechanism 3 and the cleaning mechanism 5 are all electrically connected to the power supply mechanism, and the moving mechanism 2, the image acquisition mechanism 3 and the cleaning mechanism 5 are all electrically connected to the central control room. The power supply mechanism includes a safety sliding contact line arranged along the fixing mechanism 1 and a high-capacity industrial battery pack, which provides power sources for each mechanism. The fixing mechanism 1, the moving mechanism 2, the image acquisition mechanism 3, the power supply mechanism and the cleaning mechanism 5 all have the capabilities of dust prevention, moisture protection and corrosion resistance, jointly ensuring stable, fully automatic and full-coverage data acquisition operations in the complex environment of the coal bunker.

[0020] The fixing mechanism 1 includes a first track 11, a second track 12 and a third track 13; the first track 11, the second track 12 and the third track 13 are all arranged below the guide rail 4; the second track 12 is arranged at the middle position below the guide rail 4, the first track 11 is arranged on one side of the second track 12, and the third track 13 is arranged on the other side. The first track 11, the second track 12 and the third track 13 all include a connecting piece 14, a guiding piece 15 and a fixing piece 16; one end of the connecting piece 14 is arranged on the guide rail 4, and the other end is arranged with the fixing piece 16; the cross section of the fixing piece 16 is in the shape of a "冂"; a guiding piece 15 is arranged on the inner wall of the top of the fixing piece 16. The cross section of the guide rail 4 is set as an arc; the second track 12 is arranged at the midpoint of the arc, and the first track 11 and the third track 13 are symmetrically arranged on both sides of the second track 12. The second track 12 is vertically arranged at the midpoint of the guide rail 4, the first track 11 and the third track 13 are obliquely arranged on both sides of the first track 11, the lower ends of the first track 11 and the third track 13 are close to the second track 12, and the first track 11 and the third track 13 form an angle with the horizontal plane, and the angle is 45° or 60°.

[0021] The image acquisition mechanism 3 is arranged on the first track 11, the second track 12 and the third track 13 through the moving mechanism 2; the image acquisition mechanism 3 on the second track 12 performs data acquisition vertically downward, and the image acquisition mechanisms 3 on the second track 12 and the third track 13 acquire data at the included angle view. After these multi-view images are matched and fused, they can be used to extract more accurate spatial depth relationships and structural features, so as to achieve high-quality three-dimensional reconstruction and improve geometric accuracy and detail restoration ability.

[0022] The moving mechanism 2 includes a motor, a transmission assembly, a moving platform 21, and a gimbal 22; the motor is located at one end of the connector 14; the motor is connected to the moving platform 21 through the transmission assembly; one end of the moving platform 21 is located on the guide 15, and the other end is located on the gimbal 22; the moving mechanism 2 is installed on the first track 11, the second track 12, and the third track 13.

[0023] The image acquisition mechanism 3 is located below the image stabilization gimbal 22 of the moving mechanism 2; the image acquisition mechanism 3 includes an industrial camera, a detection module and a wireless transmission module. The industrial camera acquires image data, the detection module detects the acquired image data, and the wireless transmission module interacts with the central control room.

[0024] Cleaning mechanisms 5 are provided at one end of the first track 11, the second track 12, and the third track 13 in the fixing mechanism 1. The cleaning mechanism 5 includes a connecting pipe 51, a duckbill nozzle 52, a steel brush 53, and a telescopic component 54. The connecting pipe 51 is set on the first track 11 / second track 12 / third track 13, and the duckbill nozzle 52 is set at one end of the connecting pipe 51. The steel brush 53 is set on the first track 11 / second track 12 / third track 13 through the telescopic component 54, and the steel brush 53 is rotatably connected to the telescopic component 54. The duckbill nozzle 52 is set on one side below the fixing member 16, and the steel brush 53 is set on the other side.

[0025] The data acquisition device operates in two modes: normal inspection mode and anomaly detection mode. In normal inspection mode, the image acquisition mechanisms 3, mounted on the first track 11, second track 12, and third track 13, synchronously perform routine image capture tasks along a fixed path according to a preset cycle, detecting potential anomalies in the acquired image data and transmitting the data back to the central control room via a wireless transmission module. If an abnormal area is detected, the device switches to anomaly detection mode. In anomaly detection mode, the image acquisition mechanism 3 is displaced by the moving mechanism 2, returning to the location where the anomaly was detected for secondary image capture and detection to confirm the anomaly. It continuously tracks and records changes in the anomaly, and switches back to normal inspection mode after the anomaly has been resolved. This switching between normal inspection mode and anomaly detection mode enables coordinated operation of periodic inspections and anomaly detection.

[0026] When the image acquisition device moves to one end of the first track 11 / second track 12 / third track 13 and approaches the cleaning mechanism 5, the cleaning mechanism 5 starts to work. The duckbill nozzle 52 sprays a small amount of water at the lens of the image acquisition device. The steel brush 53 moves towards the lens under the drive of the telescopic component 54 until the bristles of the steel brush 53 completely cover the lens. The steel brush 53 rotates to wipe the water stains on the lens, thereby achieving the cleaning effect.

[0027] A real-time 3D model of the coal storage yard is constructed using photogrammetry, 3D reconstruction, and computer vision technologies. The algorithms used for modeling include Vggt and 3DGS algorithms. The data acquired by the image acquisition mechanism 3 is preprocessed, including visualization, downsampling, removal of discrete points, extraction of solids, and scale correction of the point cloud data. The point cloud is then encapsulated, and the coal storage volume is calculated.

[0028] Therefore, this invention employs the aforementioned rapid 3D reconstruction data acquisition device for coal storage yards. Its three-track, multi-view layout reduces obstruction, and the combination of a stabilized gimbal and a high-resolution industrial camera ensures accurate acquisition of vertical and tilted view data, improving the geometric accuracy and detail reproduction capability of the 3D reconstruction. The device features a dual-mode switching system for normal inspection and anomaly identification, enabling periodic automatic inspection and precise anomaly response, reducing labor costs and safety hazards associated with manual data collection, and improving operational efficiency. The equipment has a low cost, requiring only a one-time investment for long-term use. It offers significant flexibility in selecting monitoring areas and frequencies, allowing for real-time monitoring of coal storage yards according to user needs. Furthermore, it enables the retrieval of historical reserve information for traceability. Hierarchical management can be implemented based on user requirements, improving management efficiency, facilitating the formulation and execution of strategies and resource allocation, and better enabling the monitoring of changes in coal reserves in coal storage yards.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A rapid three-dimensional reconstruction data acquisition device for coal storage yards, characterized in that, Including: A guide rail, a fixing mechanism, a moving mechanism, an image acquisition mechanism, a power supply mechanism, a cleaning mechanism and a central control room; the fixing mechanism is arranged below the guide rail, the moving mechanism is arranged on the fixing mechanism, the image acquisition mechanism is arranged below the moving mechanism, and the cleaning mechanism is arranged at one end of the fixing mechanism; the moving mechanism, the image acquisition mechanism and the cleaning mechanism are all electrically connected to the power supply mechanism, and the moving mechanism, the image acquisition mechanism and the cleaning mechanism are all electrically connected to the central control room.

2. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 1, characterized in that: The fixing mechanism includes a first track, a second track and a third track; the first track, the second track and the third track are all arranged below the guide rail; the second track is arranged at the middle position below the guide rail, the first track is arranged on one side of the second track, and the third track is arranged on the other side.

3. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 2, characterized in that: The first track, the second track and the third track all include a connecting piece, a guiding piece and a fixing piece; one end of the connecting piece is arranged on the guide rail, and the other end is arranged with the fixing piece; the cross section of the fixing piece is in the shape of "冂"; the guiding piece is arranged on the inner wall of the top of the fixing piece.

4. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 3, characterized in that: The cross section of the guide rail is set as an arc; the second track is arranged at the midpoint of the arc, and the first track and the third track are symmetrically arranged on both sides of the second track.

5. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 4, characterized in that: The second track is vertically arranged at the midpoint of the guide rail, the first track and the third track are obliquely arranged on both sides of the first track, the lower ends of the first track and the third track are close to the second track, and the first track and the third track form an angle with the horizontal plane, and the angle is 45° or 60°.

6. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 5, characterized in that: The image acquisition mechanism is arranged on the first track, the second track and the third track through the moving mechanism; the image acquisition mechanism on the second track performs data acquisition vertically downward, and the image acquisition mechanisms on the second track and the third track acquire data at the included angle view.

7. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 6, characterized in that: The moving mechanism includes a motor, a transmission component, a moving platform and an anti-shake pan-tilt; the motor is arranged at one end of the connecting piece; the motor is connected to the moving platform through the transmission component; one end of the moving platform is arranged on the guiding piece, and the other end is arranged with the anti-shake pan-tilt; the moving mechanism is arranged on the first track, the second track and the third track.

8. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 7, characterized in that: The image acquisition mechanism is arranged below the anti-shake pan-tilt of the moving mechanism; the image acquisition mechanism includes an industrial camera, a detection module and a wireless transmission module, the industrial camera acquires image data, the detection module detects the acquired image data, and the wireless transmission module performs data interaction with the central control room.

9. The rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 8, characterized in that: The cleaning mechanism is arranged at one end of the first track, the second track and the third track in the fixing mechanism; the cleaning mechanism includes a connecting pipe, a duckbill nozzle, a steel brush and a telescopic component; the connecting pipe is arranged on the first track / the second track / the third track, and a duckbill nozzle is arranged at one end of the connecting pipe; the steel brush is arranged on the first track / the second track / the third track through the telescopic component, and the steel brush is rotatably connected with the telescopic component; the duckbill nozzle is arranged on one side below the fixing piece, and the steel brush is arranged on the other side.

10. A rapid three-dimensional reconstruction data acquisition device for a coal storage yard according to claim 9, characterized in that: There are two operation modes, including the normal inspection mode and the abnormal recognition mode; In the normal inspection mode, the image acquisition mechanisms arranged on the first track, the second track and the third track perform the conventional shooting tasks of the fixed path along the fixing mechanism synchronously according to the preset period, detect the acquired image data to find potential abnormalities, and at the same time transmit the image data back to the central control room through the wireless transmission module; If an abnormal area is detected, switch to abnormal detection mode; In anomaly detection mode, the image acquisition mechanism moves back to the location where the anomaly was detected to take a second picture and detect it, confirm the anomaly, and continuously track and record the changes in the anomaly. After the anomaly is handled, it switches back to normal patrol mode.

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