CN111340947A - Method, device, equipment and medium for establishing three-dimensional model of coal yard material - Google Patents
Method, device, equipment and medium for establishing three-dimensional model of coal yard material Download PDFInfo
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Abstract
The application discloses a method for establishing a three-dimensional model of a coal yard material, which comprises the following steps: collecting three-dimensional data of coal yard materials, and determining a layered convex hull according to the three-dimensional data; carrying out full-coverage triangulation according to the layered convex hulls of two adjacent layers; performing interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to an average value of three interpolation results; and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data. The method can give consideration to different surface shapes of the coal yard materials to perform interpolation processing, so that the determined three-dimensional model of the coal yard materials is more accurate, and the accuracy of the determined coal yard material position information is improved. The application also discloses a device and equipment for establishing the three-dimensional model of the coal yard material and a computer readable storage medium, which have the beneficial effects.
Description
Technical Field
The invention relates to the field of three-dimensional modeling, in particular to a method, a device and equipment for establishing a three-dimensional model of coal yard materials and a computer readable storage medium.
Background
With the rapid development of information technology, coal yard management of coal-fired power plants is advancing from the original extensive management to the fine management. For example, the digital management of coal yard materials is realized by three-dimensional modeling of the coal yard materials in a coal-fired power plant. In the prior art, generally, after three-dimensional data of coal yard materials are collected, a layered convex hull is determined according to the three-dimensional data of the coal yard materials; carrying out full-coverage triangulation according to the layered convex hulls of two adjacent layers; and then carrying out triangular surface interpolation on the triangulation to obtain a three-dimensional model of the coal yard material. However, because the surface of the material pile of the coal yard material is not a smooth curved surface, interpolation processing is performed in a triangular curved surface interpolation mode in the prior art, so that an interpolation result has deviation, and the established three-dimensional model of the coal yard material is not accurate enough.
Therefore, how to improve the accuracy of building the three-dimensional model of the coal yard material is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a method for establishing a three-dimensional model of a coal yard material, which can improve the accuracy of establishing the three-dimensional model of the coal yard material and improve the accuracy of determining the position information of the coal yard material; another object of the present invention is to provide an apparatus, a device and a computer-readable storage medium for building a three-dimensional model of coal yard material, all having the above advantages.
In order to solve the technical problem, the invention provides a method for establishing a three-dimensional model of a coal yard material, which comprises the following steps:
collecting three-dimensional data of coal yard materials, and determining a layered convex hull according to the three-dimensional data;
carrying out full-coverage triangulation according to the layered convex hulls of two adjacent layers;
carrying out interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to an average value of three interpolation results;
and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
Preferably, after the acquiring three-dimensional data of the coal yard materials, the method further comprises:
and carrying out data filtering operation on the three-dimensional data.
Preferably, after the triangulation is interpolated by using the convex surface triangulation, the concave surface triangulation, and the minimum interior angle maximization triangulation, respectively, and a target interpolation result is determined according to an average value of the three interpolation results, the method further includes:
and performing surface smoothing treatment on the target interpolation result.
Preferably, the process of acquiring three-dimensional data of the coal yard material and determining the layered convex hull according to the three-dimensional data specifically comprises the following steps:
acquiring the three-dimensional data of the coal yard material according to a preset time period, and determining the layered convex hull according to the three-dimensional data;
after the three-dimensional model of the coal yard material is determined according to the target interpolation result and the triangulation boundary data, the method further comprises the following steps:
and comparing the two adjacent three-dimensional models determined by the preset time period to determine the material change condition of the coal yard.
Preferably, after the three-dimensional models determined by two adjacent preset time periods are compared to determine a coal yard material change condition, the method further includes:
and sending out corresponding prompt information according to the coal yard material change condition.
Preferably, further comprising:
and recording and determining the time of each three-dimensional model and the parameter information of the corresponding three-dimensional model.
Preferably, further comprising:
and determining the volume of the coal yard material according to the target interpolation result and the triangulation boundary data.
In order to solve the above technical problem, the present invention further provides an apparatus for establishing a three-dimensional model of a coal yard material, comprising:
the acquisition module is used for acquiring three-dimensional data of the coal yard material and determining a layered convex hull according to the three-dimensional data;
the setting module is used for carrying out full coverage triangulation according to the layered convex hulls of two adjacent layers;
the interpolation module is used for carrying out interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to the average value of the three interpolation results;
and the determining module is used for determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
In order to solve the above technical problem, the present invention further provides an apparatus for establishing a three-dimensional model of a coal yard material, comprising:
a memory for storing a computer program;
and the processor is used for realizing the steps of the method for establishing the three-dimensional model of any coal yard material when the computer program is executed.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps of the method for building a three-dimensional model of any one of the coal yard materials.
The invention provides a method for establishing a three-dimensional model of a coal yard material, which is characterized in that after full coverage triangulation is carried out according to two adjacent layers of layered convex hulls, interpolation processing is carried out on the triangulation by respectively utilizing a convex surface triangular interpolation mode, a concave surface triangular interpolation mode and a minimum interior angle maximization triangular interpolation mode, and a target interpolation result is determined according to the average value of three interpolation results; and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data. Therefore, the interpolation processing can be carried out by considering different surface shapes of the coal yard materials, the determined three-dimensional model of the coal yard materials is more accurate, and the accuracy of the determined coal yard material position information is improved.
In order to solve the technical problems, the invention also provides a device and equipment for establishing the three-dimensional model of the coal yard material and a computer readable storage medium, which have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for establishing a three-dimensional model of a coal yard material according to an embodiment of the present invention;
fig. 2 is a structural diagram of an apparatus for building a three-dimensional model of a coal yard material according to an embodiment of the present invention;
fig. 3 is a structural diagram of an apparatus for establishing a three-dimensional model of a coal yard material according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the embodiment of the invention is to provide a method for establishing a three-dimensional model of a coal yard material, which can improve the accuracy of establishing the three-dimensional model of the coal yard material and improve the accuracy of determining the position information of the coal yard material; the invention also provides a device and equipment for establishing the three-dimensional model of the coal yard material and a computer-readable storage medium, which have the beneficial effects.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of a method for establishing a three-dimensional model of a coal yard material according to an embodiment of the present invention. As shown in fig. 1, a method for building a three-dimensional model of a coal yard material includes:
s10: and collecting three-dimensional data of the coal yard materials, and determining the layered convex hull according to the three-dimensional data.
In the step, the surface of a stockpile of the coal yard material is scanned by utilizing a bucket wheel machine large arm and a scanning head or a laser coal coiling device arranged on the top of the tower, and corresponding three-dimensional data is obtained by combining a preset three-dimensional coordinate system; and then determining the corresponding layered convex hull according to the three-dimensional data.
Specifically, the minimum convex hull of the acquired three-dimensional data set is a minimum convex polygon, and the requirement that each data in the data set is on the edge of or in the minimum convex polygon is met; more specifically, the process of determining the hierarchical convex hull includes:
step 1: judging whether the number of data points of the three-dimensional data is more than 3; if yes, entering step 2; if not, ending the process;
step 2: forming a minimum convex hull by using as many data points as possible in the current data points, wherein the minimum convex hull surrounds all other data points;
and step 3: the data points in the outer convex hull that have been found are removed from the data points and a jump is made to step 1.
S20: carrying out full-coverage triangulation according to the layered convex hulls of two adjacent layers;
s30: performing interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to an average value of three interpolation results;
s40: and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
Specifically, after the layered convex hulls are determined, full-coverage triangulation is performed according to the principle that every three adjacent points on the inner and outer adjacent layers of convex hull lines form a triangle and no intersection exists between the triangles, non-intersection triangles between the adjacent layers of convex hulls are constructed in sequence, and the triangles can completely cover the whole surface without any gaps; so far, the sizes of the basic triangulation, the patch array and the line segment array are completely determined. The patch data refers to a set of triangular faces, and the line array refers to the edge of each hierarchical convex hull.
In the embodiment, considering that some coal yard materials are dumped and piled up, and some coal yard materials are excavated to form the rest part, the surface of the coal yard materials may be convex or concave, in order to take different surface shapes into consideration, and obtain an accurate three-dimensional model of the coal yard materials, the embodiment performs interpolation processing on triangulation by adopting three different interpolation modes, namely convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and takes the average value of interpolation results obtained by the three interpolation modes as a target interpolation result.
It should be noted that convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation are triangular plane interpolation, and the principle of the triangular plane interpolation is as follows: and calculating to obtain a plane equation of the triangle by using the coordinates of the three vertexes of each triangle: ax + By + Cz + D ═ 0; wherein A, B, C, D is a constant and is obtained by three point coordinates of a triangle; and determining a projection equation of each triangle in an XOY plane: ax + by + c is 0; arranging equal-interval ground grids on an XOY plane; traversing each grid point of the ground grid, respectively calculating the projection of the triangular ground in which the coordinate of each grid point is positioned, and calculating the Z coordinate of the grid point by using a corresponding triangular equation to obtain an interpolation point, namely a corresponding interpolation result.
Specifically, the convex surface triangular interpolation is to optimize triangulation with the aim that the volume is as large as possible, perform triangular surface linear interpolation, and gradually calculate and determine boundary points and boundary lines according to smooth boundary setting; the triangular interpolation of the concave surface refers to optimizing triangulation with the aim of minimizing the volume, performing triangular surface linear interpolation, and gradually calculating and determining boundary points and boundary lines according to smooth setting of the boundary; the minimum internal angle maximization triangular interpolation refers to optimizing triangulation according to a minimum internal angle maximization principle, performing triangular surface linear interpolation, and gradually calculating and determining boundary points and boundary lines according to smooth boundary setting; and then, after interpolation is carried out by utilizing three interpolation modes and corresponding interpolation results are obtained, the arithmetic mean value of the interpolation results is calculated according to the cubic interpolation results and is used as the final target interpolation result. And finally, after a target interpolation result is obtained, determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
The embodiment of the invention provides a method for establishing a three-dimensional model of a coal yard material, which is characterized in that after full coverage triangulation is carried out according to two adjacent layers of layered convex hulls, interpolation processing is carried out on the triangulation by respectively utilizing a convex surface triangular interpolation mode, a concave surface triangular interpolation mode and a minimum interior angle maximization triangular interpolation mode, and a target interpolation result is determined according to the average value of three interpolation results; and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data. Therefore, the interpolation processing can be carried out by considering different surface shapes of the coal yard materials, the determined three-dimensional model of the coal yard materials is more accurate, and the accuracy of the determined coal yard material position information is improved.
On the basis of the above embodiment, the embodiment further describes and optimizes the technical solution, and specifically, after acquiring the three-dimensional data of the coal yard material, the embodiment further includes:
and carrying out data filtering operation on the three-dimensional data.
Specifically, in this embodiment, after the three-dimensional data of the coal yard material is collected, a data filtering operation is further performed on the collected three-dimensional data, and in this embodiment, a median filtering algorithm is preferably adopted to perform the data filtering operation on the collected three-dimensional data, so as to remove collected non-stockpile data points and abnormal data points, and prevent an interpolation calculation process from being abnormal due to singular points generated by the non-stockpile data points and the abnormal data points, thereby further ensuring the accuracy of a subsequent interpolation result, and improving the accuracy of the obtained three-dimensional model of the coal yard material.
On the basis of the foregoing embodiment, this embodiment further explains and optimizes the technical solution, and specifically, after performing interpolation processing on the triangulation by using convex surface triangulation, concave surface triangulation, and minimum interior angle maximization triangulation respectively, and determining a target interpolation result according to an average value of the three interpolation results, this embodiment further includes:
and performing surface smoothing treatment on the target interpolation result.
Specifically, in this embodiment, after the target interpolation result is determined according to the average value of the three interpolation results, the surface smoothing process is performed on the target interpolation result, including but not limited to removing spikes, burrs, bumps, and data points of the three-dimensional data with obvious anomalies. It should be noted that, in the actual operation, how to specifically remove the spikes, burrs, bumps, and data points of the three-dimensional data with obvious anomalies is common knowledge of those skilled in the art, and therefore, details are not described here.
Therefore, the accuracy of the three-dimensional model of the coal yard material can be improved by further performing surface smoothing processing on the target interpolation result.
On the basis of the above embodiment, this embodiment further describes and optimizes the technical solution, and specifically, in this embodiment, the process of collecting three-dimensional data of coal yard materials and determining a layered convex hull according to the three-dimensional data specifically includes:
acquiring three-dimensional data of coal yard materials according to a preset time period, and determining a layered convex hull according to the three-dimensional data;
after determining the three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data, the method further comprises the following steps:
and comparing the three-dimensional models determined by two adjacent preset time periods to determine the material change condition of the coal yard.
Specifically, in this embodiment, three-dimensional data of the coal yard materials are collected according to a preset time period and three-dimensional modeling is performed respectively, then three-dimensional models determined by two adjacent preset time periods are compared, and a change situation of the coal yard materials is determined according to a difference situation of the three-dimensional models.
It can be understood that in the process of actual production operation, increase and decrease of the coal-fired material are generated, and the increase and decrease of the coal-fired material lead to the change of the three-dimensional model. In this embodiment, the three-dimensional models determined by two adjacent preset time periods are further compared, so as to obtain the change condition of the coal yard material. Specifically, the three-dimensional models determined by two adjacent preset time periods can be superposed, so that the change condition of the coal yard materials can be further determined more intuitively.
It is thus clear that this embodiment determines the coal yard material situation of change through further comparing two adjacent three-dimensional models that predetermine the time period and determine, consequently can be convenient for the user more directly perceivedly know the situation of change of coal yard material to further promote user's use and experience.
On the basis of the foregoing embodiment, the present embodiment further describes and optimizes the technical solution, and specifically, after comparing the three-dimensional models determined in two adjacent preset time periods and determining the coal yard material change condition, the present embodiment further includes:
and sending out corresponding prompt information according to the change condition of the coal yard materials.
Specifically, in this embodiment, after comparing the three-dimensional models determined by two adjacent preset time periods to determine the coal yard material change condition, if it is determined that the coal yard material changes, the corresponding prompt information is further sent according to the coal yard material change condition. Specifically, corresponding prompt messages can be sent out according to the increase or decrease of the coal yard materials. In addition, the form of a buzzer, an indicator light, a display and/or the like which emits a corresponding buzzer sound and/or a flashing light and/or a display text image and the like can be used as the prompt information, which is not limited in this embodiment.
It is thus clear that through further sending corresponding prompt information according to the coal yard material situation of change to the user in time knows the situation of change of current coal yard material.
On the basis of the above embodiments, the present embodiment further describes and optimizes the technical solution, and specifically, the present embodiment further includes:
and recording and determining the time of each three-dimensional model and the parameter information of the corresponding three-dimensional model.
Specifically, in the embodiment, in the process of obtaining the three-dimensional model of the coal yard material by using the three-dimensional data obtained in real time according to the preset time period, the determined time of each three-dimensional model and the parameter information of the corresponding three-dimensional model are recorded. It can be understood that the time when the three-dimensional model is determined and the parameter information of the corresponding three-dimensional model correspondingly represent the situation of the corresponding coal yard material at the moment. It should be noted that the specific recording manner may be recorded in a text or in a table form, which is not limited in this embodiment and is selected according to actual requirements.
In this embodiment, the time of each three-dimensional model and the parameter information of the corresponding three-dimensional model are determined by further recording, so that a user can conveniently check the change condition of the coal yard material.
On the basis of the above embodiments, the present embodiment further describes and optimizes the technical solution, and specifically, the present embodiment further includes:
and determining the volume of the coal yard material according to the target interpolation result and the triangulation boundary data.
Specifically, in this embodiment, the ground elevation is further calculated according to the obtained boundary point data, that is, the target interpolation result and the triangulation boundary data, and the volume of the coal yard material at the ground elevation is calculated.
Specifically, the process of calculating the volume of the coal yard material comprises the following steps: firstly, determining the bottom area of coal yard materials; then, according to the equal-spacing ground grids and the Z coordinates corresponding to the grids arranged on the XOY plane in the interpolation process, calculating the sum of the heights of the Z coordinates corresponding to all the grids, namely the sum of the heights of the small columns corresponding to all the grids; multiplying the sum of the heights by the boring floor area of the coal yard to obtain the volume of the coal yard material;
that is to say that the first and second electrodes,
wherein h isiThe height of each small column is shown, and S represents the bottom area of the coal yard material.
It can be seen that, in the embodiment, the volume of the coal yard material is determined according to the target interpolation result and the triangulation boundary data, so that a user can conveniently obtain more information of the coal yard material, and the calculated target interpolation result is more accurate than that in the prior art, so that the calculated volume of the coal yard material is more accurate.
The above embodiment of the method for building a three-dimensional model of a coal yard material according to the present invention is described in detail, and the present invention also provides a device, an apparatus, and a computer-readable storage medium for building a three-dimensional model of a coal yard material corresponding to the method.
Fig. 2 is a structural diagram of an apparatus for building a three-dimensional model of a coal yard material according to an embodiment of the present invention, and as shown in fig. 2, the apparatus for building a three-dimensional model of a coal yard material includes:
the acquisition module 21 is used for acquiring three-dimensional data of the coal yard material and determining a layered convex hull according to the three-dimensional data;
the setting module 22 is used for carrying out full coverage triangulation according to the layered convex hulls of two adjacent layers;
the interpolation module 23 is configured to perform interpolation processing on the triangulation by using convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation respectively, and determine a target interpolation result according to an average value of the three interpolation results;
and the determining module 24 is used for determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
The device for establishing the three-dimensional model of the coal yard material, provided by the embodiment of the invention, has the beneficial effect of the method for establishing the three-dimensional model of the coal yard material.
As a preferred embodiment, the device for establishing a three-dimensional model of a coal yard material further comprises:
and the filtering value module is used for carrying out data filtering operation on the three-dimensional data.
As a preferred embodiment, the device for establishing a three-dimensional model of a coal yard material further comprises:
and the processing module is used for performing surface smoothing processing on the target interpolation result.
As a preferred embodiment, the acquisition module specifically is:
the period acquisition submodule is used for acquiring three-dimensional data of the coal yard materials according to a preset time period and determining a layered convex hull according to the three-dimensional data;
correspondingly, the method further comprises the following steps:
and the comparison module is used for comparing the three-dimensional models determined by the two adjacent preset time periods to determine the material change condition of the coal yard.
As a preferred embodiment, the device for establishing a three-dimensional model of a coal yard material further comprises:
and the prompt module is used for sending out corresponding prompt information according to the change condition of the coal yard material.
As a preferred embodiment, the device for establishing a three-dimensional model of a coal yard material further comprises:
and the recording module is used for recording and determining the time of each three-dimensional model and the parameter information of the corresponding three-dimensional model.
As a preferred embodiment, the device for establishing a three-dimensional model of a coal yard material further comprises:
and the volume calculation module is used for determining the volume of the coal yard material according to the target interpolation result and the triangulation boundary data.
Fig. 3 is a structural diagram of an apparatus for building a three-dimensional model of a coal yard material according to an embodiment of the present invention, and as shown in fig. 3, the apparatus for building a three-dimensional model of a coal yard material includes:
a memory 31 for storing a computer program;
a processor 32 for implementing the steps of the method for building a three-dimensional model of a coal yard material as described above when executing a computer program.
The equipment for establishing the three-dimensional model of the coal yard material provided by the embodiment of the invention has the beneficial effect of the method for establishing the three-dimensional model of the coal yard material.
In order to solve the technical problem, the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for building a three-dimensional model of a coal yard material are implemented.
The computer-readable storage medium provided by the embodiment of the invention has the beneficial effect of the method for establishing the three-dimensional model of the coal yard material.
The method, the device, the equipment and the computer-readable storage medium for establishing the three-dimensional model of the coal yard material provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Claims (10)
1. A method for establishing a three-dimensional model of coal yard materials is characterized by comprising the following steps:
collecting three-dimensional data of coal yard materials, and determining a layered convex hull according to the three-dimensional data;
carrying out full-coverage triangulation according to the layered convex hulls of two adjacent layers;
carrying out interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to an average value of three interpolation results;
and determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
2. The method of claim 1, after the collecting three-dimensional data of the coal yard material, further comprising:
and carrying out data filtering operation on the three-dimensional data.
3. The method of claim 1, wherein after interpolating the triangulation using convex surface triangulation, concave surface triangulation, and minimum interior angle maximization triangulation, respectively, and determining a target interpolation result based on an average of the three interpolation results, further comprising:
and performing surface smoothing treatment on the target interpolation result.
4. The method according to claim 1, wherein the process of collecting three-dimensional data of the coal yard material and determining the layered convex hull according to the three-dimensional data specifically comprises:
acquiring the three-dimensional data of the coal yard material according to a preset time period, and determining the layered convex hull according to the three-dimensional data;
after the three-dimensional model of the coal yard material is determined according to the target interpolation result and the triangulation boundary data, the method further comprises the following steps:
and comparing the two adjacent three-dimensional models determined by the preset time period to determine the material change condition of the coal yard.
5. The method according to claim 4, wherein after comparing the three-dimensional models determined in two adjacent preset time periods to determine a coal yard material change condition, the method further comprises:
and sending out corresponding prompt information according to the coal yard material change condition.
6. The method of claim 4, further comprising:
and recording and determining the time of each three-dimensional model and the parameter information of the corresponding three-dimensional model.
7. The method of any one of claims 1 to 6, further comprising:
and determining the volume of the coal yard material according to the target interpolation result and the triangulation boundary data.
8. An apparatus for building a three-dimensional model of a coal yard material, comprising:
the acquisition module is used for acquiring three-dimensional data of the coal yard material and determining a layered convex hull according to the three-dimensional data;
the setting module is used for carrying out full coverage triangulation according to the layered convex hulls of two adjacent layers;
the interpolation module is used for carrying out interpolation processing on the triangulation by respectively utilizing convex surface triangular interpolation, concave surface triangular interpolation and minimum interior angle maximization triangular interpolation, and determining a target interpolation result according to the average value of the three interpolation results;
and the determining module is used for determining a three-dimensional model of the coal yard material according to the target interpolation result and the triangulation boundary data.
9. An apparatus for building a three-dimensional model of a coal yard material, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of building a three-dimensional model of a coal yard material as claimed in any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method for building a three-dimensional model of a coal yard material according to any one of claims 1 to 7.
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| CN202010176065.7A CN111340947A (en) | 2020-03-13 | 2020-03-13 | Method, device, equipment and medium for establishing three-dimensional model of coal yard material |
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| CN111861874A (en) * | 2020-07-22 | 2020-10-30 | 苏州大学 | Method for densifying monocular SLAM feature point map |
| CN116835268A (en) * | 2023-09-01 | 2023-10-03 | 测控人(天津)科技有限公司 | Remote control method and system for round stacker-reclaimer |
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