A disc coal system and method
By using a pressure detection disc and an irregular triangular mesh model to segment the coal pile, the problem of large density estimation errors in existing technologies is solved, and more accurate coal pile reserve calculation is achieved.
Patent Information
- Application Number
- CN202610574376.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-28
- Publication Date
- 2026-08-25
AI Technical Summary
Existing coal inventory systems based on laser 3D modeling use preset coal density for reserve estimation, which fails to effectively account for the impact of coal particle irregularity and stacking height on density, resulting in large errors in reserve estimation.
The density of each layer of the coal pile is obtained by using a pressure detection plate. The coal pile is divided into several triangular prisms by three-dimensional modeling and irregular triangular mesh model. The density of each layer is calculated by combining the pressure detection data and the total reserves are obtained by summing them up, taking into account the density changes of each layer of the coal pile.
This improved the accuracy of coal inventory results, reduced reserve estimation errors, and enabled more accurate calculation of total coal stockpile reserves.
Smart Images
Figure CN122636076A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of coal yard management technology, and in particular to a coal inventory system and method. Background Technology
[0002] Coal inventory is a routine procedure in thermal power plants to check coal reserves, primarily used to calculate coal yard inventory levels. Traditional methods rely on manual labor to shape coal into regular geometric shapes before measuring and calculating, which is inefficient and prone to errors. With technological advancements, laser coal inventory systems are becoming increasingly common, capable of constructing three-dimensional models using laser scanning to calculate weight.
[0003] Existing coal inventory systems based on laser 3D modeling typically estimate reserves using pre-set densities after modeling is complete. However, coal particles are not regular, and as the stacking height increases, the density of lower layers of coal, due to compression, becomes greater than that of upper layers. Directly representing the density of the entire coal pile with a pre-set coal density can easily lead to large errors in reserve estimation. Summary of the Invention
[0004] The present invention mainly addresses the above-mentioned problems by providing a coal stockpile system and method that uses a pressure detection disc to obtain the density of each layer of the coal pile, thereby enabling a more accurate estimation of the total coal reserves.
[0005] The technical solution adopted by this invention to solve its technical problem is a coal inventory system, comprising: a scanning module distributed in the coal yard for acquiring point cloud data of coal piles in the coal yard; a three-dimensional modeling module for establishing a three-dimensional model of the coal pile using the point cloud data; a coal pile density calculation module, including several pressure detection plates distributed in the coal yard with known areas, for calculating the coal height above the pressure detection plates and the pressure data of the pressure detection plates based on the three-dimensional model to calculate the density of each layer of the coal pile; and a coal reserve calculation module for dividing the three-dimensional model of the coal pile into several columns, obtaining the coal reserves in each column by combining the density of each layer of the coal pile, and calculating the total reserves of the coal pile by accumulating them.
[0006] As a preferred embodiment of the above scheme, the coal pile modeling module uses the point cloud data to establish an irregular triangular mesh model of the coal pile, performs surface optimization through the Laplace smoothing algorithm, and uses a region growing algorithm to segment the coal pile.
[0007] As a preferred embodiment of the above scheme, the coal bulk density calculation module further includes several positioning rods, which are correspondingly set with the pressure detection disk. The position coordinates of the positioning rods are obtained by the scanning module. The coal bulk density calculation module obtains the position coordinates of the midpoint of the pressure detection disk in the three-dimensional model based on the position coordinates of the positioning rods.
[0008] As a preferred embodiment of the above scheme, the pressure detection discs are distributed in an array in the coal yard, with each pressure detection disc having the same area but different shapes.
[0009] As a preferred embodiment of the above scheme, the coal pile density calculation module obtains pressure data from pressure detection discs located at different positions at the bottom of the same coal pile and completely covered by coal, as well as the height of the three-dimensional model corresponding to the midpoint of each pressure detection disc, and calculates the density by layer height. The coal above each pressure monitoring plate is divided into several coal seams from bottom to top, and a system of equations is established to calculate the density of each coal seam: Where s is the area of the pressure detection disk, and g is the acceleration due to gravity. The pressure detected by the i-th pressure detection plate. Let i be the number of coal seams on the i-th pressure detection plate. Let be the height of the uppermost coal seam of the i-th pressure detection plate. The height of the coal seams excluding the uppermost coal seam, and the coal seam height on the i-th pressure detection plate. , The density of the uppermost coal seam is measured by the pressure testing plate. Let be the density of the j-th coal seam from top to bottom.
[0010] As a preferred embodiment of the above scheme, the coal reserve calculation module divides the coal pile into several triangular prisms according to the triangular facets in the irregular triangular network model, and then divides them according to the layer height. Divide each triangular prism into k layers from bottom to top. The amount of coal in the i-th triangular prism is: in, Let be the volume of coal in the j-th layer from top to bottom in the i-th triangular prism. This is the density of the j-th coal seam from top to bottom, obtained from the coal pile density calculation module. Total coal reserves: in, This represents the total reserves of the coal pile. The number of triangular prisms.
[0011] Correspondingly, the present invention also provides a coal inventory method, which uses the above-mentioned coal inventory system and includes: scanning the coal yard to obtain point cloud data of the coal pile in the coal yard; using the point cloud data to establish a three-dimensional model of the coal pile in the coal yard; calculating the density of each coal seam; and calculating the total reserves of the coal pile.
[0012] As a preferred embodiment of the above scheme, the three-dimensional model of the coal pile in the coal yard is established using point cloud data: an irregular triangular mesh model of the coal pile is established using point cloud data, surface optimization is performed using the Laplace smoothing algorithm, and the coal pile is segmented using the region growing algorithm.
[0013] As a preferred embodiment of the above scheme, the calculation of the density of each coal seam includes: obtaining the pressure data of pressure detection plates at different positions at the bottom of the same coal pile and completely covered by coal, as well as the height of the three-dimensional model corresponding to the midpoint of each pressure detection plate, and dividing the coal above each pressure detection plate into several coal layers from bottom to top according to the set height, and calculating the density of each coal seam by establishing a set of equations related to the pressure data and the density of the coal seam.
[0014] As a preferred embodiment of the above scheme, the calculation of the total coal pile reserves includes: dividing the coal pile into several triangular prisms according to the triangular facets in the irregular triangular network model, and dividing each triangular prism into several layers from bottom to top according to a set layer height, calculating the amount of coal in each triangular prism using the calculated density of each coal layer, and obtaining the total coal pile reserves by summing them up.
[0015] The advantages of this invention are: it can obtain the density of each layer of the coal pile, and use the characteristics of the irregular triangular network model to divide the coal pile into several triangular prisms to calculate the amount of coal in each triangular prism. Finally, the total reserves of the coal pile are obtained by summing them up. It takes into account the density changes of each layer of the coal pile. Compared with the existing coal inventory method that uses a single density to represent the overall density of the coal pile, the coal inventory result is more accurate. Attached Figure Description
[0016] Figure 1 This is a schematic diagram showing the distribution of the pressure detection discs.
[0017] Figure 2 This is a flowchart illustrating the coal inventory method.
[0018] 1-Coal pile 2-Pressure detection panel. Detailed Implementation
[0019] The technical solution of the present invention will be further described below through embodiments and in conjunction with the accompanying drawings.
[0020] Example: This embodiment discloses a coal inventory system, comprising: a scanning module distributed throughout the coal yard for acquiring point cloud data of coal piles; a 3D modeling module for establishing a 3D model of the coal pile using the point cloud data; a coal pile density calculation module, including several pressure detection discs distributed throughout the coal yard with known areas, which calculates the coal height above the pressure detection discs and the pressure data of the pressure detection discs based on the 3D model to calculate the density of each layer of the coal pile; and a coal reserve calculation module that divides the 3D model of the coal pile into several columns, obtains the coal reserves in each column by combining the density of each layer of the coal pile, and calculates the total reserve of the coal pile by summing them. Figure 1 As shown, the pressure detection panel 2 is embedded in the coal yard floor and flush with the ground, and communication is achieved through buried cables. The coal pile 1 is piled on the coal yard floor. Due to the undulation of the coal pile, the coal height on each pressure detection panel 2 is different. Based on this, the density of each coal seam can be calculated.
[0021] The coal pile modeling module uses point cloud data to build an irregular triangular mesh model of the coal pile, and performs surface optimization using the Laplace smoothing algorithm for each vertex in the model. its new location Calculated using the following formula: in, As vertex The set of neighboring vertices, Represents vertices Neighborhood vertex set The j-th neighboring vertex in the array, A smoothing factor, ranging from 0.1 to 0.3, is then used. A region growing algorithm is employed for coal pile segmentation. This method starts from a seed point and determines whether neighboring points belong to the same coal pile based on the angle between the normal vectors and the distance. The angle between the normal vectors... Calculated using the dot product formula of the point cloud normal vectors. When When the distance between two points is less than or equal to 0.5m, point j is included in the current coal pile area and continues to grow recursively until all point clouds are traversed, thus completing automatic segmentation.
[0022] The coal pile density calculation module also includes several positioning rods, which are correspondingly set with pressure detection discs. The position coordinates of the positioning rods are obtained by the scanning module. Based on the position coordinates of the positioning rods, the coal pile density calculation module obtains the position coordinates of the center point of the pressure detection disc in the 3D model. When scanning the coal pile point cloud data, the scanning module also scans the point cloud data of the positioning rods to ensure that the point cloud data of the positioning rods and the coal pile are synchronized, thus ensuring the accuracy of the position coordinates of the pressure detection disc. The pressure detection discs are distributed in an array in the coal yard, with each pressure detection disc having the same area but different shapes. The density of each coal seam is calculated based on the coal column in the projection area of the pressure detection disc. By using pressure detection discs of different shapes but the same area, the influence of different coal column shapes on the density of each coal layer is avoided.
[0023] The coal pile density calculation module obtains pressure data from pressure detection discs located at different positions on the bottom surface of the same coal pile and completely covered by coal, as well as the height of the 3D model corresponding to the midpoint of each pressure detection disc, and calculates the density by layer height. The coal above each pressure monitoring plate is divided into several coal seams from bottom to top, and a system of equations is established to calculate the density of each coal seam: Where s is the area of the pressure detection disk, and g is the acceleration due to gravity. The pressure detected by the i-th pressure detection plate. Let i be the number of coal seams on the i-th pressure detection plate. Let be the height of the uppermost coal seam of the i-th pressure detection plate. The height of the coal seams excluding the uppermost coal seam, and the coal seam height on the i-th pressure detection plate. , The density of the uppermost coal seam is measured by the pressure testing plate. Let be the density of the j-th coal seam from top to bottom. In this embodiment, the density of coal seams within the same seam is considered to be the same. This can be obtained by solving the above system of linear equations. and The value is used to calculate the total reserves of the coal pile.
[0024] The coal reserve calculation module divides the coal pile into several triangular prisms according to the triangular facets in the irregular triangular network model, and then divides them according to the layer height. Divide each triangular prism into k layers from bottom to top. The amount of coal in the i-th triangular prism is: in, Let be the volume of coal in the j-th layer from top to bottom in the i-th triangular prism. This is the density of the j-th coal seam from top to bottom, obtained from the coal pile density calculation module. Total coal reserves: in, This represents the total reserves of the coal pile. The number of triangular prisms.
[0025] Correspondingly, this embodiment also provides a coal inventory method, employing the aforementioned coal inventory system, such as... Figure 1 As shown, it includes: Scan the coal yard to obtain point cloud data of the coal piles in the coal yard.
[0026] A 3D model of a coal pile in a coal yard is constructed using point cloud data. An irregular triangular mesh model of the coal pile is built using point cloud data, surface optimization is performed using the Laplace smoothing algorithm, and the coal pile is segmented using a region growing algorithm.
[0027] Calculate the density of each coal seam. Obtain pressure data from pressure monitoring discs located at different positions on the bottom of the same coal pile and completely covered by coal, as well as the height of the 3D model corresponding to the midpoint of each pressure monitoring disc. Divide the coal above each pressure monitoring disc into several coal seams from bottom to top according to the set height. Calculate the density of each coal seam by establishing a set of equations related to the pressure data and the coal seam density.
[0028] Calculate the total coal reserves. Divide the coal pile into several triangular prisms according to the triangular facets in the irregular triangular mesh model, and divide each triangular prism into several layers from bottom to top according to the set layer height. Calculate the amount of coal in each triangular prism using the calculated density of each coal layer, and obtain the total coal reserves by summing them up.
[0029] The coal inventory system and method in this embodiment can obtain the density of each layer of the coal pile, and use the characteristics of the irregular triangular mesh model to divide the coal pile into several triangular prisms to calculate the amount of coal in each triangular prism. Finally, the total storage of the coal pile is obtained by summing. It takes into account the density changes of each layer of the coal pile. Compared with the existing coal inventory method that uses a single density to represent the overall density of the coal pile, the coal inventory result is more accurate.
[0030] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.
Claims
1. A coal inventory system, characterized in that it comprises: The scanning modules, distributed throughout the coal yard, are used to acquire point cloud data of the coal piles in the coal yard; The 3D modeling module uses the point cloud data to create a 3D model of the coal pile; The coal pile density calculation module includes several pressure detection plates distributed in the coal yard with known areas. Based on the three-dimensional model, the module calculates the coal height above the pressure detection plates and the pressure data of the pressure detection plates to calculate the density of each layer of the coal pile. The coal reserve calculation module divides the three-dimensional model of the coal pile into several columns, and obtains the coal reserves in each column by combining the density of each layer of the coal pile. The total reserves of the coal pile are then calculated by summing them up.
2. The coal inventory system according to claim 1, characterized in that: The coal pile modeling module uses the point cloud data to establish an irregular triangular mesh model of the coal pile, performs surface optimization through the Laplace smoothing algorithm, and uses a region growing algorithm to segment the coal pile.
3. The coal inventory system according to claim 1, characterized in that: The coal bulk density calculation module also includes several positioning rods, which are correspondingly set with the pressure detection disk. The position coordinates of the positioning rods are obtained by the scanning module. The coal bulk density calculation module obtains the position coordinates of the midpoint of the pressure detection disk in the three-dimensional model based on the position coordinates of the positioning rods.
4. The coal storage system according to claim 1 or 3, characterized in that: The pressure detection discs are arranged in an array in the coal yard, with each disc having the same area but a different shape.
5. The coal inventory system according to claim 4, characterized in that: The coal pile density calculation module obtains pressure data from pressure detection discs located at different positions on the bottom surface of the same coal pile and completely covered by coal, as well as the height of the three-dimensional model corresponding to the midpoint of each pressure detection disc, and calculates the data according to layer height. The coal above each pressure monitoring plate is divided into several coal seams from bottom to top, and a system of equations is established to calculate the density of each coal seam: Where s is the area of the pressure detection disk, and g is the acceleration due to gravity. The pressure detected by the i-th pressure detection plate. Let i be the number of coal seams on the i-th pressure detection plate. Let be the height of the uppermost coal seam of the i-th pressure detection plate. The height of the coal seams excluding the uppermost coal seam, and the coal seam height on the i-th pressure detection plate. , The density of the uppermost coal seam is measured by the pressure testing plate. Let be the density of the j-th coal seam from top to bottom.
6. The coal inventory system according to claim 2, characterized in that: The coal reserve calculation module divides the coal pile into several triangular prisms according to the triangular facets in the irregular triangular network model, and then divides them according to the layer height. Divide each triangular prism into k layers from bottom to top. The amount of coal in the i-th triangular prism is: in, Let be the volume of coal in the j-th layer from top to bottom in the i-th triangular prism. This is the density of the j-th coal seam from top to bottom, obtained from the coal pile density calculation module. Total coal reserves: in, This represents the total reserves of the coal pile. The number of triangular prisms.
7. A coal inventory method, employing the coal inventory system according to any one of claims 1-6, characterized in that: include: Scan the coal yard to obtain point cloud data of the coal piles in the coal yard; A three-dimensional model of coal piles in a coal yard is established using point cloud data; Calculate the density of each coal seam; Calculate the total coal reserves.
8. The coal inventory method according to claim 7, characterized in that: The method of establishing a three-dimensional model of coal piles in a coal yard using point cloud data involves: establishing an irregular triangular mesh model of the coal pile using point cloud data, optimizing the surface using the Laplace smoothing algorithm, and segmenting the coal pile using a region growing algorithm.
9. The coal inventory method according to claim 7, characterized in that: The calculation of the density of each coal seam includes: obtaining the pressure data of pressure detection plates at different positions on the bottom surface of the same coal pile that are completely covered by coal and the height of the three-dimensional model corresponding to the midpoint of each pressure detection plate; dividing the coal above each pressure detection plate into several coal seams from bottom to top according to the set height; and calculating the density of each coal seam by establishing a set of equations related to the pressure data and the coal seam density.
10. The coal inventory method according to claim 7, characterized in that: The calculation of the total coal pile reserves includes: dividing the coal pile into several triangular prisms according to the triangular facets in the irregular triangular network model, and dividing each triangular prism into several layers from bottom to top according to a set layer height, calculating the amount of coal in each triangular prism using the calculated density of each coal layer, and obtaining the total coal pile reserves by summing them up.