A method, device and equipment for determining coal quality parameters and a storage medium

Abstract

The application discloses a coal quality parameter determination method, device, equipment and storage medium, comprising: constructing a three-dimensional grid coordinate system by spatial voxel modeling for a coal shed; obtaining first associated information of each voxel in the three-dimensional grid coordinate system before performing a coal feeding operation; obtaining second associated information of each voxel in the three-dimensional grid coordinate system after performing the coal feeding operation and coal quality parameters of the current batch of coal; determining a voxel state according to the first associated information and the second associated information for each voxel, and determining a current coal quality parameter of the voxel according to the voxel state and the coal quality parameters of the current batch of coal. The coal shed is divided into unit spaces by establishing a three-dimensional grid coordinate system, the voxel state is determined according to the associated information before and after the coal feeding for each voxel, and the current coal quality parameter is determined according to different types of the voxel state, so that the grid-based fine management of the coal quality parameter is realized, and the accuracy of the coal quality parameter determination is improved.

Description

Technical Field

[0001] This invention relates to the field of digital coal yard management technology, and in particular to a method, apparatus, equipment and storage medium for determining coal quality parameters. Background Technology

[0002] Coal is an important energy source for thermal power generation and industrial fuel. Its calorific value, sulfur content and other coal quality parameters directly affect the filtration and combustion efficiency, environmental emission indicators and the formulation of blending schemes. Therefore, the accurate acquisition of coal quality parameters plays a very important role in coal yard management.

[0003] However, existing coal shed management systems typically only allow for overall average calculations based on batches of coal entering the shed, making it impossible to obtain actual coal quality parameters at specific spatial locations. In most cases, it requires a high degree of reliance on manual experience or sampling inspections to meet the needs of refined coal shed management, thus significantly reducing the intelligent management of coal sheds. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and storage medium for determining coal quality parameters, so as to achieve accurate determination of coal quality parameters.

[0005] According to a first aspect of the present invention, a method for determining coal quality parameters is provided, comprising: constructing a three-dimensional mesh coordinate system by performing spatial voxel modeling of a coal shed, wherein the three-dimensional mesh coordinate system includes multiple voxels; Obtain the first association information of each voxel in the three-dimensional grid coordinate system before performing the coal feeding operation, wherein the first association information includes the original volume and the original coal quality parameters; After the coal feeding operation is performed, the second correlation information of each voxel in the three-dimensional grid coordinate system and the coal quality parameters of this batch of coal are obtained, wherein the second correlation parameters include the current volume; For each voxel, the voxel state is determined based on the first association information and the second association information, and the current coal quality parameters of the voxel are determined based on the voxel state and the coal quality parameters of the current batch of coal. The voxel state includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

[0006] According to another aspect of the present invention, a device for determining coal quality parameters is provided, comprising: a three-dimensional mesh coordinate system construction module for constructing a three-dimensional mesh coordinate system by performing spatial voxel modeling of a coal shed, wherein the three-dimensional mesh coordinate system includes multiple voxels; The pre-coal feeding information acquisition module is used to acquire the first association information of each voxel in the three-dimensional grid coordinate system before the coal feeding operation is performed, wherein the first association information includes the original volume and the original coal quality parameters; The coal feeding information acquisition module is used to acquire the second association information of each voxel in the three-dimensional grid coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal. The second association parameters include the current volume. The current coal quality parameter determination module is used to determine the voxel status for each voxel based on the first association information and the second association information, and to determine the current coal quality parameter of the voxel based on the voxel status and the coal quality parameters of the current batch of coal. The voxel status includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: one or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any embodiment of the present invention.

[0008] According to another aspect of the present invention, a storage medium for computer-executable instructions is provided, on which a computer program is stored, which, when executed by a processor, implements the method as described in any of the embodiments of the present invention.

[0009] The technical solution of this invention divides the coal shed into unit spaces by establishing a three-dimensional grid coordinate system, determines the voxel state for each voxel based on the correlation information before and after coal entry, and determines the current coal quality parameters according to the different types of voxel states, so as to realize grid-based fine management of coal quality parameters and improve the accuracy of coal quality parameter determination.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a method for determining coal quality parameters according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of another method for determining coal quality parameters according to Embodiment 2 of the present invention; Figure 3This is a schematic diagram of a device for determining coal quality parameters according to Embodiment 3 of the present invention; Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, apparatus, product, or terminal device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or terminal devices.

[0015] Example 1 Figure 1 This is a flowchart of a method for determining coal quality parameters according to Embodiment 1 of the present invention. This embodiment is applicable to situations requiring accurate determination of coal quality parameters. The method can be executed by a coal quality parameter determination device, which can be implemented in hardware and / or software, and can be integrated into an electronic device with data processing capabilities. Figure 1 As shown, the method includes: S101, spatial voxel modeling of the coal shed to construct a three-dimensional mesh coordinate system.

[0016] Optionally, a three-dimensional mesh coordinate system is constructed by performing spatial voxel modeling for the coal shed, including: establishing a global rectangular coordinate system with the corner of the coal yard as the origin; uniformly dividing the global rectangular coordinate system to obtain multiple identical spatial units in three-dimensional space, and using the spatial units as voxels; and constructing a three-dimensional mesh coordinate system based on the voxels.

[0017] Specifically, in order to achieve meter-level precision management, this implementation method discretizes the physical space of the coal shed and establishes a global rectangular coordinate system with the corner point of the coal shed as the origin. The global Cartesian coordinate system is uniformly divided to obtain multiple identical spatial units in three-dimensional space. ,For example Each spatial unit is treated as a voxel. This embodiment is merely illustrative and does not limit the specific spatial size of each voxel; users can configure it according to their desired management precision. By dividing the coal yard into a grid, voxels can be used as the analysis object in subsequent coal quality parameter analysis. This transforms the overall analysis of the coal yard into an analysis of individual units of space, ensuring the precision of subsequent coal quality analysis.

[0018] S102, Obtain the first association information of each voxel in the three-dimensional mesh coordinate system before performing the coal feeding operation.

[0019] Optionally, the first association information of each voxel in the three-dimensional mesh coordinate system before the coal feeding operation is performed is obtained, including: scanning the coal shed to obtain the first point cloud data of the coal pile surface before the coal feeding operation is performed, and mapping the first point cloud data to the voxel corresponding to the position using a spatial segmentation algorithm; determining the original volume of each voxel based on the mapping result of the first point cloud data; and obtaining the original coal quality parameters marked in each voxel, wherein the original coal quality parameters include coal type, calorific value and sulfur content.

[0020] Optionally, the original volume of each voxel is determined based on the mapping result of the first point cloud data, including: for voxels that are completely below the surface of the coal pile, the original volume is directly determined as the size of the space occupied by the voxel; for voxels that include the surface of the coal pile, the original volume is determined based on the fill rate of the first point cloud data within the voxel.

[0021] Specifically, this embodiment mainly targets the scenario of coal being fed into a coal shed by train. Therefore, the coal feeding operation and the coal discharging operation can be considered to be independent of each other. Before performing the coal feeding operation, a laser scanner or inspection robot installed on the top of the coal shed can be used to scan the coal pile inside the coal shed to obtain the first point cloud data of the coal pile surface. Since the coal shed has been divided into multiple voxels of the same volume located in different spatial positions, each point cloud in the first point cloud data has coordinate position attributes. Therefore, in this embodiment, a spatial segmentation algorithm can be used to map the first point cloud data to the voxel corresponding to the position. Since the point cloud data mainly targets the surface of the coal pile, for voxels completely located below the surface of the coal pile, it can be known that the coal filling ratio is 1. The original volume in this embodiment mainly refers to the coal volume in the voxel. Since the volume of the voxel itself is known, the volume of the voxel itself can be directly used as the original volume. Furthermore, for voxels containing the surface of the coal pile, the filling ratio may be less than 1, meaning the coal does not completely fill the space of the voxel itself. In this case, the filling rate of the first point cloud data mapped within the voxel can be determined. Since this embodiment pre-establishes the correspondence between the filling rate and volume of voxels, when the coal filling rate is known, the original volume corresponding to that filling rate can be determined based on the correspondence. For example, when the filling rate is 0.5, the original volume can be determined to be half of the total space volume occupied by the voxel. Of course, this embodiment is only an example and does not limit the size of the original volume of each voxel before coal feeding. Therefore, the set of voxel volumes of the coal shed before coal feeding can be obtained by scanning. Where N represents the total number of voxels contained in the three-dimensional mesh coordinate system, A label indicating a voxel.

[0022] In addition, this embodiment also obtains the original coal quality parameters labeled in each voxel. For example, the original coal quality parameters specifically include coal type. calorific value , sulfur content Of course, this embodiment only uses the first... The original coal quality parameters of individual voxels are used as an example for explanation. The methods for obtaining the original coal quality parameters of other voxels are roughly the same, and will not be repeated in this embodiment.

[0023] S103, obtain the second correlation information of each voxel in the three-dimensional mesh coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal.

[0024] Optionally, the second association information of each voxel in the three-dimensional mesh coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal, are obtained, including: scanning the coal shed after the coal feeding operation to obtain the second point cloud data of the coal pile surface, and using a spatial segmentation algorithm to map the second point cloud data to the voxels corresponding to the positions; determining the current volume of each voxel based on the mapping result of the second point cloud data; and obtaining the coal quality parameters of this batch of coal input after the coal feeding operation is performed.

[0025] Specifically, this embodiment mainly addresses scenarios where no coal consumption occurs during the coal feeding process. Therefore, after the coal feeding operation, the coal shed is scanned again to obtain the second point cloud data of the coal pile surface. Since the height and shape of the coal pile change significantly after the coal feeding operation, the second point cloud data obtained at this time differs considerably from the first point cloud data before the coal feeding operation. In this embodiment, the current volume of each voxel is obtained by mapping the second point cloud data obtained from the second scan with the voxel data. Since the process of determining the current volume based on the second scan result is roughly the same as the process of determining the original volume based on the first scan result, it will not be described in detail in this embodiment. Furthermore, the set of voxel volumes of the coal shed after the coal feeding operation can be obtained from the scan. .

[0026] In addition, this embodiment will also obtain the coal quality parameters of this batch of coal. For example, for the kth batch of coal, the coal quality parameters of this batch of coal specifically include the coal type. Of course, this embodiment is only an example and does not limit the specific content of the original coal quality parameters.

[0027] S104, determine the voxel status for each voxel based on the first and second association information, and determine the current coal quality parameters of the voxel based on the voxel status and the coal quality parameters of this batch of coal.

[0028] Optionally, for each voxel, the voxel state is determined based on the first and second association information, and the volume change before and after coal feeding is calculated based on the current volume and the original volume; when the volume change is zero, the voxel state is determined to be an unchanged voxel; when the volume change is greater than zero and the original volume is zero, the voxel state is determined to be a newly added coal voxel; when the volume change is greater than zero and the original volume is greater than zero, the voxel state is determined to be a mixed coal voxel.

[0029] Specifically, since this embodiment obtains the original and current volumes of each voxel by scanning the coal pile before and after coal feeding, it is possible to obtain the volume change of each voxel after performing the coal feeding operation. For example, for the first voxel... For individual elements, the specific volume change is as follows: Therefore, in this embodiment, the voxel state can be determined based on the volume change, whereby the voxel state includes unchanged voxels, newly added coal voxels, and mixed coal voxels. For example, when If this is the case, it can be determined that the voxel may have been filled before the coal was introduced, or the voxel may have been positioned too high and remained unoccupied after the coal was introduced. In this case, the voxel's state can be determined as an unchanged voxel. Additionally, when... In this case, the original volume needs to be considered, and the change in volume and the original volume should be taken into account. Two parameters are used together to determine the voxel state, for example, when If the voxel was not occupied before coal feeding, and the coal in the voxel mainly comes from the latest batch k after the coal feeding operation, then the voxel status can be determined as a newly added coal voxel; when If the condition is met, it indicates that the voxel already contained historical batches of coal before coal feeding. After the coal feeding operation is performed, the historical batches of coal and the latest batch k of coal coexist in the voxel. Therefore, the voxel state can be determined as a mixed coal voxel.

[0030] Optionally, the current coal quality parameters of the voxel are determined based on the voxel state and the coal quality parameters of this batch of coal, including: for unchanged voxels, the original coal quality parameters are directly used as the current coal quality parameters; for newly added coal voxels, the coal quality parameters of this batch of coal are used as the current coal quality parameters; for mixed coal voxels, the current coal quality parameters are determined based on the first association information, the second association information and the coal quality parameters of this batch of coal.

[0031] Optionally, the current coal quality parameters are determined based on the first associated information, the second associated information, and the coal quality parameters of this batch of coal, including: calculating the proportion of newly added coal volume based on the current volume and the original volume, and calculating the latest calorific value and the latest sulfur content based on the proportion of newly added coal volume, the original coal quality parameters, and the coal quality parameters of this batch of coal; obtaining the volume proportion threshold, and determining the latest coal type based on the latest coal volume proportion and the proportion threshold; and determining the current coal quality parameters based on the latest calorific value, the latest sulfur content, and the latest coal type.

[0032] Specifically, for unchanged voxels, the original coal quality parameters are directly used as the current coal quality parameters. For example, if the voxel is already full before coal feeding at the bottom of the coal pile, the coal quality parameters remain unchanged and are still the original parameters. If the voxel is located at a relatively high position, and after the coal feeding operation, there is still a certain distance between the top of the coal pile and the voxel, then the voxel is never occupied by coal, and therefore the current coal quality parameters are still zero. For newly added coal voxels, since the coal in the voxel mainly comes from the latest batch k, and was empty before the coal feeding operation, the coal quality parameters of this batch of coal, i.e., the kth batch, are used as the current coal quality parameters.

[0033] For mixed coal elements, determining the current coal quality parameters is more complex because these elements contain both original coal and the most recent batches. For example, regarding the first... In terms of individual elements, the original volume is The current volume is The change in volume is This allows us to determine the proportion of newly added coal volume. Therefore, the latest fuel value can be calculated using the following formula (1): in, Indicates voxel identification, Indicates the first The latest calorific value of individual factors, Indicates the percentage of newly added coal volume. Indicates the original flammability value. The calorific value of the latest batch of coal (k) is expressed by the following formula (2), which is used to calculate the latest sulfur content: in, Indicates voxel identification, Indicates the first The latest sulfur content of individual elements, Indicates the percentage of newly added coal volume. Indicates the original sulfur content. This indicates the sulfur content of the latest batch of coal, k.

[0034] In addition, regarding coal type, the calculation is mainly based on the proportion of newly added coal volume. To determine, when At that time, the latest coal type for voxels is based on new coal. If the latest coal type is based on the original coal, that is, based on volume, the one with the largest volume is used.

[0035] The technical solution of this invention divides the coal shed into unit spaces by establishing a three-dimensional grid coordinate system, determines the voxel state for each voxel based on the correlation information before and after coal entry, and determines the current coal quality parameters according to the different types of voxel states, so as to realize grid-based fine management of coal quality parameters and improve the accuracy of coal quality parameter determination.

[0036] Example 2 Figure 2 This is a flowchart of another method for determining coal quality parameters provided by an embodiment of the present invention. Based on the above embodiment, after determining the current coal quality parameters of a voxel according to its state and the coal quality parameters of the current batch of coal, the method further includes detecting the current coal quality parameters. When the detection pass time is determined, the current coal quality parameters are marked on the corresponding voxel. Figure 2 As shown, the method includes: S201, spatial voxel modeling of the coal shed to construct a three-dimensional mesh coordinate system.

[0037] Optionally, a three-dimensional mesh coordinate system is constructed by performing spatial voxel modeling for the coal shed, including: establishing a global rectangular coordinate system with the corner of the coal yard as the origin; uniformly dividing the global rectangular coordinate system to obtain multiple identical spatial units in three-dimensional space, and using the spatial units as voxels; and constructing a three-dimensional mesh coordinate system based on the voxels.

[0038] S202, obtain the first association information of each voxel in the three-dimensional mesh coordinate system before performing the coal feeding operation.

[0039] Optionally, the first association information of each voxel in the three-dimensional mesh coordinate system before the coal feeding operation is performed is obtained, including: scanning the coal shed to obtain the first point cloud data of the coal pile surface before the coal feeding operation is performed, and mapping the first point cloud data to the voxel corresponding to the position using a spatial segmentation algorithm; determining the original volume of each voxel based on the mapping result of the first point cloud data; and obtaining the original coal quality parameters marked in each voxel, wherein the original coal quality parameters include coal type, calorific value and sulfur content.

[0040] Optionally, the original volume of each voxel is determined based on the mapping result of the first point cloud data, including: for voxels that are completely below the surface of the coal pile, the original volume is directly determined as the size of the space occupied by the voxel; for voxels that include the surface of the coal pile, the original volume is determined based on the fill rate of the first point cloud data within the voxel.

[0041] S203, obtain the second correlation information of each voxel in the three-dimensional mesh coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal.

[0042] Optionally, the second association information of each voxel in the three-dimensional mesh coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal, are obtained, including: scanning the coal shed after the coal feeding operation to obtain the second point cloud data of the coal pile surface, and using a spatial segmentation algorithm to map the second point cloud data to the voxels corresponding to the positions; determining the current volume of each voxel based on the mapping result of the second point cloud data; and obtaining the coal quality parameters of this batch of coal input after the coal feeding operation is performed.

[0043] S204, determine the voxel status for each voxel based on the first and second association information, and determine the current coal quality parameters of the voxel based on the voxel status and the coal quality parameters of this batch of coal.

[0044] Optionally, for each voxel, the voxel state is determined based on the first and second association information, and the volume change before and after coal feeding is calculated based on the current volume and the original volume; when the volume change is zero, the voxel state is determined to be an unchanged voxel; when the volume change is greater than zero and the original volume is zero, the voxel state is determined to be a newly added coal voxel; when the volume change is greater than zero and the original volume is greater than zero, the voxel state is determined to be a mixed coal voxel.

[0045] Optionally, the current coal quality parameters of the voxel are determined based on the voxel state and the coal quality parameters of this batch of coal, including: for unchanged voxels, the original coal quality parameters are directly used as the current coal quality parameters; for newly added coal voxels, the coal quality parameters of this batch of coal are used as the current coal quality parameters; for mixed coal voxels, the current coal quality parameters are determined based on the first association information, the second association information and the coal quality parameters of this batch of coal.

[0046] Optionally, the current coal quality parameters are determined based on the first associated information, the second associated information, and the coal quality parameters of this batch of coal, including: calculating the proportion of newly added coal volume based on the current volume and the original volume, and calculating the latest calorific value and the latest sulfur content based on the proportion of newly added coal volume, the original coal quality parameters, and the coal quality parameters of this batch of coal; obtaining the volume proportion threshold, and determining the latest coal type based on the latest coal volume proportion and the proportion threshold; and determining the current coal quality parameters based on the latest calorific value, the latest sulfur content, and the latest coal type.

[0047] S205, the current coal quality parameters are detected, and when the detection pass time is determined, the current coal quality parameters are marked on the corresponding voxels.

[0048] Specifically, after determining the current coal quality parameters for each voxel, the parameters are checked to ensure they are correct and reasonable. For example, if garbled characters are found in the parameters, they are considered incorrect. If the format is correct but the parameters clearly exceed the normal range, they are deemed unreasonable. Only when the parameters are determined to be correct and reasonable will the latest determined parameters be annotated on the corresponding voxel. Furthermore, the annotated information can be rendered for visualization, enabling systematic management of the coal yard. During visualization, a digital coal yard model can be generated to visually display the spatial distribution gradient of calorific value and sulfur content, providing navigation support for subsequent bucket wheel excavator coal extraction.

[0049] In addition, if the coal quality parameter test fails, this embodiment will generate an alarm message and play the alarm message in a specified manner, such as in the form of an image or voice, so that the user can obtain it in time and perform timely maintenance on the hardware or software, thereby ensuring the accuracy and efficiency of coal quality parameter determination.

[0050] It is worth mentioning that in this embodiment, the proportion of new coal is calculated by comparing the volume increment of voxels between two scans, and the calorific value, sulfur content and other parameters are weighted accordingly, thereby ensuring the rationality and accuracy of the coal quality parameters. By segmenting the voxels with a precision of 1 meter, the original coal pile management is refined to every cubic meter, and precise positioning in three-dimensional space is achieved. By using the volume difference before and after coal entry as the calculation weight, the theoretical coal quality parameters of the mixing area can be calculated without complex physical sampling. Combined with the batch characteristics of coal entry by train, the data is automatically updated by laser scanning, reducing the error of manually entering location information.

[0051] The technical solution of this invention divides the coal shed into unit spaces by establishing a three-dimensional grid coordinate system, determines the voxel state for each voxel based on the correlation information before and after coal entry, and determines the current coal quality parameters according to the different types of voxel states, so as to realize grid-based fine management of coal quality parameters and improve the accuracy of coal quality parameter determination.

[0052] Example 3 Figure 3 This is a schematic diagram of a device for determining coal quality parameters provided in an embodiment of the present invention. Figure 3 As shown, the device includes: a three-dimensional grid coordinate system construction module 310, a pre-coal-feeding information acquisition module 320, a post-coal-feeding information acquisition module 330, and a current coal quality parameter determination module 340.

[0053] Among them, the three-dimensional mesh coordinate system construction module 310 is used to construct a three-dimensional mesh coordinate system for spatial voxel modeling of the coal shed, wherein the three-dimensional mesh coordinate system includes multiple voxels; The coal feeding information acquisition module 320 is used to acquire the first association information of each voxel in the three-dimensional mesh coordinate system before the coal feeding operation is performed. The first association information includes the original volume and the original coal quality parameters. The coal feeding information acquisition module 330 is used to acquire the second association information of each voxel in the three-dimensional grid coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal. The second association parameters include the current volume. The current coal quality parameter determination module 340 is used to determine the voxel status for each voxel based on the first association information and the second association information, and to determine the current coal quality parameters of the voxel based on the voxel status and the coal quality parameters of this batch of coal. The voxel status includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

[0054] Optional, a 3D mesh coordinate system construction module is used to establish a global rectangular coordinate system with the corner point of the coal yard as the origin; The global Cartesian coordinate system is uniformly divided to obtain multiple identical spatial units in the three-dimensional space, and the spatial units are used as voxels; A three-dimensional mesh coordinate system is constructed based on voxels.

[0055] Optionally, a pre-coal feeding information acquisition module is used to scan the coal shed before performing the coal feeding operation to obtain the first point cloud data on the surface of the coal pile, and to use a spatial segmentation algorithm to map the first point cloud data to the voxel corresponding to the location. The original volume of each voxel is determined based on the mapping results of the first point cloud data; Obtain the original coal quality parameters marked in each voxel, including coal type, calorific value, and sulfur content.

[0056] Optionally, the pre-coal feeding information acquisition module is also used to directly determine the original volume of voxels located completely below the surface of the coal pile as the size of the space occupied by the voxels. For voxels containing the surface of the coal pile, the original volume is determined based on the fill rate of the first point cloud data within the voxel.

[0057] Optionally, a coal feeding information acquisition module is used to scan the coal shed after the coal feeding operation to obtain the second point cloud data on the surface of the coal pile, and to use a spatial segmentation algorithm to map the second point cloud data to the voxel corresponding to the location. The current volume of each voxel is determined based on the mapping results of the second point cloud data; Obtain the coal quality parameters of this batch of coal after the coal feeding operation is performed.

[0058] Optionally, the current coal quality parameter determination module includes a voxel state determination unit, which is used to calculate the volume change before and after coal feeding based on the current volume and the original volume; When the volume change is zero, the voxel state is determined to be an unchanged voxel. When the volume change is greater than zero and the original volume is zero, the voxel state is determined to be a newly added coal voxel. When the volume change is greater than zero and the original volume is greater than zero, the voxel state is determined to be mixed coal voxel.

[0059] Optionally, the current coal quality parameter determination module includes a current coal quality parameter determination unit, which is used to directly use the original coal quality parameters as the current coal quality parameters for unchanged voxels. For newly added coal body elements, the coal quality parameters of this batch of coal will be used as the current coal quality parameters; For mixed coal elements, the current coal quality parameters are determined based on the first correlation information, the second correlation information, and the coal quality parameters of this batch of coal.

[0060] Optionally, the current coal quality parameter determination unit is also used to calculate the proportion of newly added coal volume based on the current volume and the original volume, and to calculate the latest calorific value and the latest sulfur content based on the proportion of newly added coal volume, the original coal quality parameters and the coal quality parameters of this batch of coal. Obtain the volume percentage threshold, and determine the latest coal type based on the latest coal volume percentage and the percentage threshold; The current coal quality parameters are determined based on the latest calorific value, latest sulfur content, and latest coal type.

[0061] The coal quality parameter determination device provided in this embodiment of the invention can execute the coal quality parameter determination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0062] Example 4 Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0063] The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0064] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0065] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other electronic devices through computer networks such as the Internet and / or various telecommunications networks.

[0066] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for determining coal quality parameters.

[0067] That is, a three-dimensional mesh coordinate system is constructed by spatial voxel modeling of the coal shed, which includes multiple voxels; Obtain the first association information of each voxel in the three-dimensional mesh coordinate system before performing the coal feeding operation. The first association information includes the original volume and the original coal quality parameters. After the coal feeding operation is performed, obtain the second correlation information of each voxel in the three-dimensional mesh coordinate system and the coal quality parameters of this batch of coal. The second correlation parameters include the current volume. The voxel status is determined for each voxel based on the first and second association information, and the current coal quality parameters of the voxel are determined based on the voxel status and the coal quality parameters of this batch of coal. The voxel status includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

[0068] In some embodiments, the method for determining coal quality parameters may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining coal quality parameters described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the method for determining coal quality parameters by any other suitable means (e.g., by means of firmware).

[0069] Various embodiments of the apparatuses and techniques described above herein can be implemented in digital electronic circuit devices, integrated circuit devices, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), device-on-a-chip (SoC) devices, complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable device including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage device, at least one input device, and at least one output device, and transmitting data and instructions to the storage device, the at least one input device, and the at least one output device.

[0070] Computer programs used to implement the method for determining coal quality parameters of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other non-stop data migration device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0071] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution apparatus, device, or electronic device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage electronics, magnetic storage electronics, or any suitable combination thereof.

[0072] To provide interaction with a user, the devices and techniques described herein can be implemented on an electronic device having: a display device (e.g., a touchscreen) for displaying information to the user; and buttons through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0073] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0074] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining coal quality parameters, characterized in that, The method includes: A three-dimensional mesh coordinate system is constructed by spatial voxel modeling of the coal shed, wherein the three-dimensional mesh coordinate system includes multiple voxels; Obtain the first association information of each voxel in the three-dimensional grid coordinate system before performing the coal feeding operation, wherein the first association information includes the original volume and the original coal quality parameters; After the coal feeding operation is performed, the second correlation information of each voxel in the three-dimensional grid coordinate system and the coal quality parameters of this batch of coal are obtained, wherein the second correlation parameters include the current volume; For each voxel, the voxel state is determined based on the first association information and the second association information, and the current coal quality parameters of the voxel are determined based on the voxel state and the coal quality parameters of the current batch of coal. The voxel state includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

2. The method according to claim 1, characterized in that, The process of constructing a three-dimensional mesh coordinate system for spatial voxel modeling of the coal shed includes: Establish a global rectangular coordinate system with the corner point of the coal yard as the origin; The global Cartesian coordinate system is uniformly divided to obtain multiple identical spatial units in a three-dimensional space, and these spatial units are used as the voxels. The three-dimensional mesh coordinate system is constructed based on the voxels.

3. The method according to claim 1, characterized in that, The acquisition of the first association information of each voxel in the three-dimensional mesh coordinate system before the coal feeding operation includes: Before performing the coal feeding operation, the coal shed is scanned to obtain the first point cloud data of the coal pile surface, and the first point cloud data is mapped to the voxel corresponding to the location using a spatial segmentation algorithm. The original volume of each voxel is determined based on the mapping result of the first point cloud data; Obtain the original coal quality parameters labeled in each voxel, wherein the original coal quality parameters include coal type, calorific value and sulfur content.

4. The method according to claim 3, characterized in that, Determining the original volume of each voxel based on the mapping result of the first point cloud data includes: For voxels that are completely below the surface of the coal pile, the original volume is directly determined as the size of the space occupied by the voxel; For a voxel containing the surface of a coal pile, the original volume is determined based on the fill rate of the first point cloud data within the voxel.

5. The method according to claim 1, characterized in that, The acquisition of the second correlation information of each voxel in the three-dimensional mesh coordinate system after the coal feeding operation and the coal quality parameters of this batch of coal includes: After performing the coal feeding operation, the coal shed is scanned to obtain the second point cloud data of the coal pile surface, and the second point cloud data is mapped to the voxel corresponding to the location using a spatial segmentation algorithm; The current volume of each voxel is determined based on the mapping result of the second point cloud data; Obtain the coal quality parameters of this batch of coal input after the coal feeding operation is performed.

6. The method according to claim 1, characterized in that, The voxel state is determined for each voxel based on the first association information and the second association information. Calculate the volume change before and after coal feeding based on the current volume and the original volume; When the volume change is zero, the voxel state is determined to be an unchanged voxel. When the volume change is greater than zero and the original volume is zero, the voxel state is determined to be the newly added coal voxel. When the volume change is greater than zero and the original volume is greater than zero, the voxel state is determined to be the mixed coal voxel.

7. The method according to claim 1, characterized in that, The step of determining the current coal quality parameters of the voxel based on the voxel state and the coal quality parameters of this batch of coal includes: For the unchanged voxels, the original coal quality parameters are directly used as the current coal quality parameters; For the newly added coal body element, the coal quality parameters of this batch of coal are used as the current coal quality parameters; For the mixed coal body elements, the current coal quality parameters are determined based on the first association information, the second association information, and the coal quality parameters of the current batch of coal.

8. The method according to claim 7, characterized in that, The step of determining the current coal quality parameters based on the first association information, the second association information, and the coal quality parameters of this batch of coal includes: The percentage of newly added coal volume is calculated based on the current volume and the original volume, and the latest calorific value and latest sulfur content are calculated based on the percentage of newly added coal volume, the original coal quality parameters, and the coal quality parameters of this batch of coal. Obtain the volume percentage threshold, and determine the latest coal type based on the latest coal volume percentage and the percentage threshold; The current coal quality parameters are determined based on the latest calorific value, latest sulfur content, and latest coal type.

9. A device for determining coal quality parameters, characterized in that, The device includes: A three-dimensional mesh coordinate system construction module is used to construct a three-dimensional mesh coordinate system for spatial voxel modeling of a coal shed, wherein the three-dimensional mesh coordinate system includes multiple voxels; The pre-coal feeding information acquisition module is used to acquire the first association information of each voxel in the three-dimensional grid coordinate system before the coal feeding operation is performed, wherein the first association information includes the original volume and the original coal quality parameters; The coal feeding information acquisition module is used to acquire the second association information of each voxel in the three-dimensional grid coordinate system after the coal feeding operation is performed, as well as the coal quality parameters of this batch of coal. The second association parameters include the current volume. The current coal quality parameter determination module is used to determine the voxel status for each voxel based on the first association information and the second association information, and to determine the current coal quality parameter of the voxel based on the voxel status and the coal quality parameters of the current batch of coal. The voxel status includes unchanged voxels, newly added coal voxels, and mixed coal voxels.

10. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-8.

11. A storage medium for computer-executable instructions, wherein a computer program is stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-8.

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