CN113313746A

CN113313746A - Method and system for stockpile warehouse

Info

Publication number: CN113313746A
Application number: CN202011399129.6A
Authority: CN
Inventors: 陈陆义; 邱立运
Original assignee: Hunan Changtian Automation Engineering Co ltd; Zhongye Changtian International Engineering Co Ltd
Current assignee: Hunan Changtian Automation Engineering Co ltd; Zhongye Changtian International Engineering Co Ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-08-27

Abstract

The application discloses a method and a system for a stock pile inventory.A control system acquires three-dimensional point cloud data generated when a laser scanner acquires each stock pile on a stock strip, converts the three-dimensional point cloud data into three-dimensional point cloud data under a world coordinate system based on external parameters so as to establish a height map corresponding to the stock strip, and performs stock pile segmentation processing on the height map to obtain a regional map of each stock pile; and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile, so as to realize a pile disc library. Therefore, the method and the system provided by the embodiment of the invention can establish the height map comprising each stock pile area according to the three-dimensional point cloud data, divide and identify the stock piles in the height map, and determine the type and the corresponding density of the materials stacked in each stock pile so as to more accurately determine the stock quantity of each stock pile and realize the high-precision stock pile disc library.

Description

Method and system for stockpile warehouse

Technical Field

The application relates to the technical field of mixture statistics, in particular to a method and a system for stockpiling and stockpiling.

Background

The raw material yard is a yard for receiving, storing, processing and mixing ferrous metallurgy raw materials and fuels. The storage yard (storage yard) of modern large-scale raw material yard includes ore yard, coal yard, auxiliary material yard and blending yard, and different kinds of materials are piled up into respective stockpile. In order to ensure production requirements, the stock of various stocks in the stock yard is in line with the production plan, and therefore, stockpiling is required for each stock pile. The inventory is used for checking the reserves of various raw materials, and the feeding plan of various raw materials is arranged according to the reserve information and the production plan.

In general, the reserves of various raw materials in a raw material yard are calculated by subtracting the output material from the input material, i.e. the difference between the input material and the output material is calculated to perform a stockpiling and stockpiling warehouse. However, the input amount and the output amount of raw materials cannot be accurately measured, and the loss of raw materials exists in the transportation and storage processes, so that the method for calculating the storage amount of the raw materials is inaccurate, the feeding plan of the raw materials cannot be accurately guided, and the utilization rate of a stock ground is low.

Disclosure of Invention

The application provides a method and a system for stockpile warehouse inventory, which aim to solve the problem that reserves obtained by the existing stockpile warehouse inventory method are inaccurate.

In a first aspect, the present application provides a method of stockpile disc stock, comprising the steps of:

acquiring external parameters and three-dimensional point cloud data generated when a laser scanner arranged on a stock yard ceiling collects each stock pile on a stock bar, wherein the external parameters are used for representing the relation between a scanner coordinate system and a world coordinate system, and the three-dimensional point cloud data refers to data under the scanner coordinate system;

converting the three-dimensional point cloud data into three-dimensional point cloud data under a world coordinate system based on the external parameters, and establishing a height map corresponding to the material bars according to the three-dimensional point cloud data under the world coordinate system, wherein the world coordinate system is a coordinate system established based on a stock ground;

performing stock pile segmentation processing on the height map to obtain an area map of each stock pile and a coordinate value corresponding to the area map of each stock pile in a world coordinate system;

acquiring the density of the stacked materials in each material pile;

and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile.

Further, the external parameters include rotation parameters and translation parameters; and, the obtaining the extrinsic parameters includes:

acquiring the installation position of each laser scanner in a world coordinate system and a configured scanner coordinate system;

determining rotation parameters around the X axis, rotation parameters around the Y axis and rotation parameters around the Z axis required for converting the scanner coordinate system into the world coordinate system based on the establishing directions of the X axis, the Y axis and the Z axis in the world coordinate system and the establishing directions of the X axis, the Y axis and the Z axis in the scanner coordinate system;

and determining an X-axis translation parameter, a Y-axis translation parameter and a Z-axis translation parameter of each laser scanner in the world coordinate system based on the installation position of each laser scanner and the established coordinates of the X-axis, the Y-axis and the Z-axis in the world coordinate system.

Further, the converting the three-dimensional point cloud data into three-dimensional point cloud data under a world coordinate system based on the external parameters includes:

based on the external parameter RT of the ith laser scanner in the world coordinate system_iAnd the three-dimensional point cloud data P collected by the ith laser scanner_iAccording to the formula P_W＝RT_i×P_iConverting the three-dimensional point cloud data into three-dimensional point cloud data P under a world coordinate system_W。

Further, the establishing of the height map corresponding to the material bar according to the three-dimensional point cloud data under the world coordinate system comprises:

and projecting each three-dimensional point cloud data under the world coordinate system corresponding to the material strip onto a two-dimensional plane formed by an X axis and a Y axis under the world coordinate system to obtain a height map corresponding to the material strip, wherein the height map is a two-dimensional image, and the pixel value of each pixel point on the two-dimensional image is a corresponding Z-axis coordinate value.

Further, the method further comprises:

traversing the pixel value of each pixel point in the height map;

if the pixel value of any pixel point is a null value, calculating the non-null pixel value mean value of the neighborhood pixel point of the pixel point where the null value is located, and replacing the pixel value of the pixel point where the null value is located with the non-null pixel value mean value;

if the pixel value of any pixel point is abnormal, calculating the non-empty pixel value mean value of the neighborhood pixel point of the pixel point where the pixel value is abnormal, and replacing the pixel value of the pixel point where the pixel value is abnormal with the non-empty pixel value mean value.

Further, the performing stack segmentation processing on the height map to obtain a region map of each stack includes:

acquiring a pixel value of each pixel point on the height map, wherein the pixel value is used for representing a coordinate value of the pixel point on a Z axis;

comparing the pixel value of each pixel point with a ground height threshold value, and segmenting a stockpile area and a ground area presented in the height map of the material strip based on a comparison result to extract a stockpile area map;

and calculating a plurality of dividing lines in the material pile area diagram, wherein the dividing lines are used for dividing the material piles presented in the material pile area diagram to obtain the area diagram of each material pile.

Further, the comparing the pixel value of each pixel point with the ground height threshold includes:

creating a logo image having the same image size as the height map based on the height map;

comparing the pixel value of each pixel point in the height map with a ground height threshold value;

if the pixel value of any pixel point is larger than or equal to the ground height threshold value, identifying each pixel point as a first digital character on the mark image, and determining a region surrounded by all the first digital characters as a stockpile region;

if the pixel value of any pixel point is smaller than the ground height threshold value, identifying each pixel point as a second number character on the sign image, and determining the area surrounded by all the second number characters as a ground area.

Further, the calculating a plurality of dividing lines in the material pile region map comprises:

acquiring a numeric character identified on the logo image;

searching critical pixel points corresponding to the first numeric character and the second numeric character of the numeric character, and generating boundary lines of the critical pixel points, wherein the region surrounded by each boundary line is a stockpile region;

and determining a dividing line for dividing two adjacent stockpile areas between two adjacent boundary lines.

projecting the height map to the X-axis direction under an image coordinate system to generate a one-dimensional histogram, wherein the image coordinate system refers to a pixel coordinate system where the height map is located;

calculating the sum of pixel values of all Y-axis pixel points corresponding to each pixel point coordinate on the X axis in the one-dimensional histogram, and taking the pixel values and the X-axis pixel point coordinate smaller than the ground height threshold value as a stockpile segmentation point;

and determining an intermediate point of two adjacent stockpile dividing points, and generating a dividing line for dividing two adjacent stockpile areas based on the intermediate point.

Further, obtaining the density of the stacked material in each of the stacks includes:

acquiring material seed information stored when each material pile on the material strip stacks materials;

and determining the stacked material of each pile and the density of the material based on the material type information and each pile.

Further, the method further comprises:

acquiring three-dimensional point cloud data generated when a laser scanner collects each material pile and a retaining wall on a material strip;

generating a one-dimensional histogram comprising a plurality of stockpile areas and a retaining wall area based on the three-dimensional point cloud data;

calculating the sum of the height value corresponding to each pixel point coordinate in the one-dimensional histogram and the actual height value of the height error threshold;

and if the actual height value and the theoretical height value larger than the retaining wall region are obtained, determining that the position of the pixel point coordinate corresponding to the actual height value is the position of the retaining wall region.

Further, the calculating the weight of the stacked materials in each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile includes:

obtaining a height value f (i) of each stockpile in a one-dimensional histogram, wherein the actual length v X of each pixel point in the X-axis direction and the actual length v Y of each pixel point in the Y-axis direction in the height map;

calculating the position Ls of an initial dividing line and the position Le of an ending dividing line according to the position coordinates of the retaining wall area;

according to the formula

Calculating the volume V of each pile_k；

According to the density of the material stacked in each pile and the volume V of each pile_kAnd calculating the weight of the stacked materials in each pile.

In a second aspect, the present application further provides a system for a stockpile tray warehouse, which is applied to a stock yard, and is characterized by comprising: the device comprises a control system, a laser scanner, a track and material strips, wherein the material strips are positioned on two sides of the track, a plurality of material piles are arranged on the material strips, the laser scanner is arranged on a material yard ceiling, and the laser scanner is used for acquiring three-dimensional point cloud data of each material pile on the material strips; the control system is used for receiving three-dimensional point cloud data acquired by a laser scanner, and is configured to execute the steps of the method for stockpile material tray library of the first aspect:

acquiring the density of the stacked materials in each material pile;

According to the technical scheme, the control system obtains three-dimensional point cloud data generated when the laser scanner collects each stock pile on the stock strip, converts the three-dimensional point cloud data into three-dimensional point cloud data under a world coordinate system based on external parameters so as to establish a height map corresponding to the stock strip, and performs stock pile segmentation processing on the height map to obtain an area map of each stock pile; and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile, so as to realize a pile disc library. Therefore, the method and the system provided by the embodiment of the invention can establish the height map comprising each stock pile area according to the three-dimensional point cloud data, divide and identify the stock piles in the height map, and determine the type and the corresponding density of the materials stacked in each stock pile so as to more accurately determine the stock quantity of each stock pile and realize the high-precision stock pile disc library.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.

Fig. 1 is a structural diagram of a system of a stockpile stocker provided in an embodiment of the present invention;

fig. 2 is a partial top view of a stock yard according to an embodiment of the present invention;

fig. 3 is a flowchart of a method for stockpile material warehouse according to an embodiment of the present invention;

FIG. 4 is a flow chart of a method for pre-processing a height map according to an embodiment of the present invention;

FIG. 5 is a partial schematic view of a height map provided by an embodiment of the present invention;

fig. 6 is a flowchart of a method for performing a stockpile dividing process according to an embodiment of the present invention;

FIG. 7 is a partial schematic view of a logo image according to an embodiment of the present invention;

FIG. 8 is a partial schematic view of a one-dimensional histogram provided in accordance with an embodiment of the present invention;

FIG. 9 is a flowchart of a method for determining retaining wall position according to an embodiment of the present invention;

fig. 10 is a schematic view of a one-dimensional histogram including retaining walls according to an embodiment of the present invention.

Detailed Description

The stock ground is the stock ground promptly, stores the material that multiple deposit with the stockpile form in the stock ground, uses the stacker-reclaimer to realize the windrow and the material of getting of material usually. The stacker-reclaimer is a novel high-efficiency continuous loading and unloading machine, and comprises a conventional bucket-wheel stacker-reclaimer, a stacker, a double-bucket-wheel reclaimer, a semi-gate scraper reclaimer and the like.

In order to ensure the production requirement, the storage amount of various materials in the stock ground is required to meet the production plan, and each stock pile is required to be stocked, namely, the storage amount of various materials is stocked. In the stockpile stocker, a difference between an input amount of material and an output amount of material is calculated, and the difference is used as a weight of material piled in a corresponding stockpile. However, errors are easily caused by a manual calculation mode, and the utilization rate of a stock yard is low due to the errors, so that the feeding and discharging plans cannot be accurately guided.

In order to improve the accuracy of the stockpile stock, the embodiment of the invention provides a system for the stockpile stock, which realizes the segmentation, identification and stock management of materials through a plurality of laser scanners. In the inventory making process, inventory making can be carried out on the stockpile area as required, one-key inventory making is supported, and the accuracy of inventory making is relatively high. The data of the stock can guide the feeding and discharging plans, so that the utilization rate of a stock ground is improved; laying a foundation for unmanned subsequent stock yards; in addition, the equipment in the system is simple to install, low in maintenance cost, few in matched equipment, stable and reliable.

Fig. 1 is a structural diagram of a system of a stockpile stocker provided in an embodiment of the present invention; fig. 2 is a partial top view of a stock yard according to an embodiment of the present invention. Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a system for a stockpile tray warehouse, which is applied to a stock yard, and includes: control system 100, laser scanner 200, track 300, and bar 400.

The track 300 is arranged in the stock ground, the material strips 400 are located on two sides of the track 300, the material strips 400 are long strip spaces among the tracks 300, a plurality of material piles 500 are arranged on the material strips 400, and each material pile 500 corresponds to one material.

In view of the large space of the raw material yard, in order to improve the working efficiency, the track 300 may be provided with a plurality of stacker-reclaimers 600, the stacker-reclaimers include two operation modes of stacking and reclaiming, and the stacker-reclaimers 600 move along the track 300, so that efficient stacking and reclaiming are realized on the stockpile 500 at the position of the material strip 400 by the plurality of stacker-reclaimers.

The laser scanner 200 may be installed at the top of various stacker-reclaimers, or may be fixed to the ceiling of a yard at a certain distance. Taking the example that the laser scanner 200 is disposed on the ceiling of the stockyard, the lens of the laser scanner 200 faces the stockpile 400, and is used for collecting three-dimensional point cloud data of each stockpile 500 on the stockpile 400. Taking the two material strips 400 disposed on two sides of the track 300 as an example, the laser scanner may be installed above the two material strips 400 and distributed at a distance.

The laser scanner 200 can measure data of a plurality of cross sections simultaneously, such as 64 lines and 128 lines of laser, by emitting a plurality of groups of laser beams and rotating each laser beam at a certain interval, and can measure 64 and 128 cross sections simultaneously, which is equivalent to measuring profile data of one surface simultaneously.

In order to facilitate scanning of the profile data of the whole stockpile, a plurality of laser scanners 200 can be arranged in the stockpile, the laser scanners 200 are spaced at certain intervals, and each laser scanner 200 can acquire three-dimensional point cloud data of the stockpiles stored on the stockbars. Each laser scanner collects three-dimensional point cloud data in real time, sends the three-dimensional point cloud data to the control system 100 in real time, and the control system performs data analysis according to the three-dimensional point cloud data to calculate the weight of materials piled in each pile, so that a high-accuracy pile stock warehouse is realized.

Fig. 3 is a flowchart of a method for stockpile tray storage according to an embodiment of the present invention. Referring to fig. 3, a method for a stacker according to an embodiment of the present invention is executed by a control system 100 in a system of the stacker, and when the stacker is performed, the method includes the following steps:

and S1, acquiring external parameters and three-dimensional point cloud data generated when the laser scanner arranged on the stock yard ceiling collects each stock pile on the stock strip, wherein the external parameters are used for representing the relation between a scanner coordinate system and a world coordinate system, and the three-dimensional point cloud data refers to data under the scanner coordinate system.

And the laser scanner 200 on the material yard ceiling collects the outline of each material pile on the material strip in the effective shooting range in real time to obtain three-dimensional point cloud data. The data generated by the laser scanner 200 is a three-dimensional point cloud under a scanner coordinate system, and when a plurality of laser scanners work simultaneously, the position relationship of the plurality of laser scanners needs to be measured first, and the point cloud is converted into a unified world coordinate system.

The world coordinate system is a coordinate system established based on the stock yard, and referring to fig. 2 again, when the global world coordinate system is established, the strip direction is taken as the X-axis direction, the direction from one strip 400 to another strip 400 is taken as the Y-axis direction, the direction from the ground to the ceiling of the stock yard is taken as the Z-axis direction, that is, the X-axis is parallel to the strip direction, the Y-axis direction is perpendicular to the track 300, the Z-axis is perpendicular to the track 300, and the origin of coordinates is on the ground.

In order to realize accurate acquisition, each laser scanner 200 is configured with a scanner coordinate system required for respective acquisition, and external parameters including rotation parameters and translation parameters corresponding to three direction coordinate axes are required to be utilized in converting three-dimensional point cloud data acquired by the laser scanners 200 in the scanner coordinate system into a world coordinate system.

Specifically, the method for determining the extrinsic parameters is as follows:

and 11, acquiring the installation position of each laser scanner in the world coordinate system and the configured scanner coordinate system.

And step 12, determining rotation parameters around the X axis, rotation parameters around the Y axis and rotation parameters around the Z axis required for converting the scanner coordinate system into the world coordinate system based on the establishment directions of the X axis, the Y axis and the Z axis in the world coordinate system and the establishment directions of the X axis, the Y axis and the Z axis in the scanner coordinate system.

And step 13, determining X-axis translation parameters, Y-axis translation parameters and Z-axis translation parameters of each laser scanner in the world coordinate system based on the installation position of each laser scanner and the established coordinates of the X-axis, the Y-axis and the Z-axis in the world coordinate system.

When the laser scanner collects the pile data, the pile data are collected from top to bottom, namely, the pile data are collected at an overlooking angle, so that when the scanner coordinate system of the laser scanner is established, the Z-axis direction of the scanner coordinate system is a forward direction from top to bottom, which is opposite to the direction from bottom to top in the Z-axis direction in the world coordinate system. The X-axis direction and the Y-axis direction may be opposite or angular, that is, the X-axis forward direction of the scanner coordinate system is opposite or angled from the X-axis forward direction of the world coordinate system, and the Y-axis forward direction of the scanner coordinate system is opposite or angled from the Y-axis forward direction of the world coordinate system.

Therefore, the rotation parameter around the X axis, the rotation parameter around the Y axis and the rotation parameter around the Z axis which are required when the scanner coordinate system is adjusted to be the same as the world coordinate system can be determined according to the established direction deviation of the scanner coordinate system and the world coordinate system. For example, if the X-axis of the scanner coordinate system is in a left-to-right direction along the bar and the X-axis of the world coordinate system is in a right-to-left direction along the bar, it can be seen that the X-axis directions of the two coordinate systems are opposite and differ by 180 °. Therefore, after the scanner coordinate system needs to rotate 180 ° around the Y axis, the X axis of the scanner coordinate system needs to be converted to the X axis under the world coordinate system, and the 180 ° of the rotation is the rotation parameter around the Y axis.

If the positive direction of the Y axis of the scanner coordinate system is from one material strip to another material strip, and the positive direction of the Y axis of the world coordinate system is from another material strip to one material strip, it can be seen that the directions of the Y axes of the two coordinate systems are opposite and have a 180-degree difference. Therefore, after the scanner coordinate system is rotated by 180 ° around the Z axis, the Y axis of the scanner coordinate system is converted to the Y axis of the world coordinate system, and the 180 ° of the rotation is the rotation parameter around the Z axis.

If the positive direction of the Z axis of the scanner coordinate system is from top to bottom and the positive direction of the Z axis of the world coordinate system is from bottom to top, it can be seen that the directions of the Z axes of the two coordinate systems are opposite and have a 180 ° difference. Therefore, after the scanner coordinate system needs to rotate 180 ° around the X axis, the Z axis of the scanner coordinate system needs to be converted to be below the Z axis of the world coordinate system, and the 180 ° of the rotation is the rotation parameter around the X axis.

Under the world coordinate system, each laser scanner can determine the respective installation position and express the installation position in coordinate values. The positions of different laser scanners in the world coordinate system are different, so that the coordinate origin of the scanner coordinate system of each laser scanner is located at different positions in the world coordinate system, and further, the coordinate origin of the scanner coordinate system has a certain distance from the coordinate origin of the world coordinate system.

Thus, to achieve the conversion of the scanner coordinate system to the world coordinate system, the root may beAnd determining X-axis translation parameters, Y-axis translation parameters and Z-axis translation parameters which are required when the scanner coordinate system is adjusted to be the same as the world coordinate system according to the established coordinates of the coordinate origin of the scanner coordinate system and the coordinate origin of the world coordinate system. For example, if the coordinates of a laser scanner in the world coordinate system are (x)₁0,0), the installation position of the laser scanner is determined to be x distance from the origin of coordinates under the world coordinate system₁Right position of (a). Therefore, the origin of coordinates of the scanner coordinate system needs to be shifted to the left by x₁After the distance is reached, the translation x is realized under the coordinate system of the scanner and the coordinate system of the world₁The distance is the X-axis translation parameter. The Y-axis translation parameter and the Z-axis translation parameter may also be determined according to this method, and will not be described herein again.

And S2, converting the three-dimensional point cloud data into three-dimensional point cloud data in a world coordinate system based on the external parameters, and establishing a height map corresponding to the material strip according to the three-dimensional point cloud data in the world coordinate system, wherein the world coordinate system is a coordinate system established based on the stock ground.

When the three-dimensional point cloud data collected by each laser scanner is converted into the three-dimensional point cloud data under the world coordinate system, the three-dimensional point cloud data collected by the ith laser scanner is P_iThe external parameter of the scanner in the world coordinate system is RT_iThen can be according to formula P_W＝RT_i×P_iConverting the three-dimensional point cloud data into three-dimensional point cloud data P of a world coordinate system_W。

After the conversion of the three-dimensional point cloud data of the world coordinate system is completed, the three-dimensional point cloud data of the world coordinate system can be utilized for data analysis, and after the three-dimensional point cloud data are subjected to graphic conversion, namely are sequentially converted into a two-dimensional height map and a one-dimensional histogram, the inventory of each stockpile is realized according to the data presented by the one-dimensional histogram.

Specifically, the process of establishing a height map corresponding to the material bar by the control system according to the three-dimensional point cloud data of the world coordinate system comprises the following steps: and projecting each three-dimensional point cloud data under a world coordinate system corresponding to the material strip onto a two-dimensional plane formed by an X axis and a Y axis under the world coordinate system to obtain a height map corresponding to the material strip, wherein the height map is a two-dimensional image comprising the stockpile, and the pixel value of each pixel point on the two-dimensional image is a corresponding Z-axis coordinate value.

The three-dimensional point cloud data of the world coordinate system comprises data in the X-axis direction, the Y-axis direction and the Z-axis direction, and the three-dimensional data can be converted into two-dimensional data for facilitating data analysis. The method adopted by the embodiment is to project the three-dimensional point cloud data collected by the laser scanner onto a two-dimensional plane including only an X axis and a Y axis to obtain a two-dimensional image, wherein the two-dimensional image includes data corresponding to the stockpile.

Each pixel point of the two-dimensional image represents a 10 cm-10 cm area, and the pixel value on the two-dimensional image is a real Z-axis coordinate value before projection, namely a height value, so that the two-dimensional image obtained after projection can be used as a height map, and point cloud data of each stockpile can be obtained from the height map.

From the height map, the height value corresponding to each pixel point can be directly read, that is, the pixel value corresponding to each pixel point is the height value. Since the pixel values are usually integer values, and the point clouds may be non-integer values, it may happen that a plurality of point cloud data are projected to the same image coordinate point. At this time, a height average value (pixel value average value) of a plurality of point cloud data projected to the same image coordinate point may be used as a pixel value of the image coordinate point.

For example, the point cloud may be 10.2 or 10.07, and rounded up, both of the points will be projected onto a coordinate point with 10 image coordinate values. Therefore, the height average of the 10.2 point cloud and the 10.07 point cloud can be calculated as the pixel value of the image coordinate point 10.

Because data loss or abnormal conditions may exist when the height map is generated, in order to ensure that the height map can more accurately represent the height value, the height map can be preprocessed, which mainly comprises filtering processing and hole filling processing. In order to accelerate the operation speed, the filtering processing and the hole filling processing are carried out simultaneously. In this embodiment, an 8-neighborhood mean algorithm is used for preprocessing.

Fig. 4 is a flowchart of a method for preprocessing a height map according to an embodiment of the present invention. Referring to fig. 4, in this embodiment, the control system further needs to perform preprocessing on the height map, and the method includes:

and S21, traversing the pixel value of each pixel point in the height map.

S22, if the pixel value of any pixel point is null, calculating the non-null pixel value mean value of the neighborhood pixel point of the pixel point where the null value is located, and replacing the pixel value of the pixel point where the null value is located with the non-null pixel value mean value.

S23, if the pixel value of any pixel point is abnormal, calculating the non-null pixel value mean value of the neighborhood pixel point of the pixel point where the pixel value is abnormal, and replacing the pixel value of the pixel point where the pixel value is abnormal with the non-null pixel value mean value.

In the height map, each X-axis coordinate point corresponds to a plurality of pixel points, and one pixel point corresponds to one pixel value, that is, there are a plurality of pixel values corresponding to a plurality of pixel points in the height map.

Searching the pixel value of each pixel point, if the pixel value of the current pixel point is a null value, acquiring neighborhood pixel points around the current pixel point, calculating the mean value of non-null pixel values according to the pixel value of each neighborhood pixel point, and using the mean value of the non-null pixel values as the pixel value of the pixel point where the null value is located to realize hole filling processing on the current pixel point.

Fig. 5 is a partial schematic view of a height map provided by an embodiment of the present invention. Referring to FIG. 5, for example, if the currently located pixel A is located₀If the pixel value of (1) is null, determining the pixel point A₀Surrounding 8 neighborhood pixels A₁、A₂、A₃、A₄、A₅、A₆、A₇、A₈And obtaining the pixel value P of the 8 neighborhood pixels₁、P₂、P₃、P₄、P₅、P₆、P₇、P₈. Based on each pixel value, calculating the mean value P ═ P (P) of the non-empty pixel values of 8 neighborhood pixels₁、P₂、P₃、P₄、P₅、P₆、P₇、P₈) And 8, taking the mean value P of the non-empty pixel values as a pixel point A₀The pixel value of (2).

And if all the neighborhood pixel points of the current pixel point with the null value are also null values, the current pixel point still has the null value. If the middle part of the neighborhood pixel point of the current pixel point which is the null value, calculating the non-null pixel value mean value of 8 neighborhood pixel points still according to the mode of calculating the pixel value mean value, and replacing the pixel value of the pixel point where the null value is located.

Searching the pixel value of each pixel point, if the pixel value of the current pixel point is abnormal, namely, the pixel value of the current pixel point has large obvious deviation with the pixel values of the surrounding neighborhood pixel points, acquiring the neighborhood pixel points surrounding the current pixel point, calculating the mean value of non-empty pixel values according to the pixel value of each neighborhood pixel point, taking the mean value of the non-empty pixel values as the pixel value of the pixel point where the pixel value is abnormal, and realizing filtering processing on the current pixel point.

For example, if the currently searched pixel point A₀If the pixel value is abnormal, the pixel point A is determined₀Surrounding 8 neighborhood pixels A₁、A₂、A₃、A₄、A₅、A₆、A₇、A₈And obtaining the pixel value P of the 8 neighborhood pixels₁、P₂、P₃、P₄、P₅、P₆、P₇、P₈. Based on each pixel value, calculating the mean value P ═ P (P) of the non-empty pixel values of 8 neighborhood pixels₁、P₂、P₃、P₄、P₅、P₆、P₇、P₈) And/8, taking the average value P of the non-empty pixel values as an abnormal point pixel point A₀The pixel value of (2).

And (4) preprocessing the height map (filtering and hole filling processing) according to the mode to obtain the height map with more accurate characteristic height value, and continuously calculating a subsequent stockpile stock by using the preprocessed height map.

And S3, performing stock pile segmentation processing on the height map to obtain an area map of each stock pile and coordinate values corresponding to the area map of each stock pile in a world coordinate system.

Because a plurality of stockpiles are arranged on the material strip, the height map generated by the three-dimensional point cloud data acquired by the laser scanner comprises images of the plurality of stockpiles. In order to accurately store each pile, a plurality of pile images on the height map need to be segmented to obtain a single area map of the pile.

Fig. 6 is a flowchart of a method for dividing a stockpile according to an embodiment of the present invention. Referring to fig. 6, in this embodiment, the control system performs stock pile division processing on the height map to obtain an area map of each stock pile, including:

and S31, obtaining a pixel value of each pixel point on the height map, wherein the pixel value is used for representing the coordinate value of the pixel point on the Z axis.

S32, comparing the pixel value of each pixel point with the ground height threshold value, segmenting the stockpile area presented in the height map of the material strip and the ground area based on the comparison result, and extracting the stockpile area map.

And S33, calculating a plurality of dividing lines in the material pile area diagram, wherein the dividing lines are used for dividing the material piles presented in the material pile area diagram to obtain the area diagram of each material pile.

Because the scanning direction of the laser scanner is from top to bottom, the collected three-dimensional point cloud data comprises data of the stockpile and the ground. Therefore, when the height map is divided into the stockpiles, the stockpile group and the ground are divided first, and then the single stockpile in the stockpile group is divided.

Since the ground is a zero plane in the height map established by the control system, and the height of the stockpile is generally higher than that of the ground, when the stockpile group is divided from the ground, a ground height threshold value can be set for the division of the ground and the stockpile. In this embodiment, the ground height threshold may be set to 20 centimeters, and in practical applications, the ground height threshold may also be set to other values, which is not specifically limited in this embodiment.

The pixel value presented on the height map is the real Z-axis coordinate value of the corresponding point before projection, namely the height value, so that the pixel value of each pixel point on the height map can be obtained. And comparing the pixel value of each pixel point with the ground height threshold, and if the pixel value is greater than or equal to the ground height threshold, indicating that the corresponding position of the pixel point before projection is not the ground but a material pile. And if the height is smaller than the ground height threshold value, the corresponding position of the pixel point before projection is the ground.

Specifically, in this embodiment, comparing the pixel value of each pixel point with the ground height threshold includes:

step 321, based on the height map, creates a logo image having the same image size as the height map.

And 322, comparing the pixel value of each pixel point in the height map with a ground height threshold value.

Step 323, if the pixel value of any pixel point is greater than or equal to the ground height threshold, identifying each pixel point as a first digital character on the sign image, and determining the region surrounded by all the first digital characters as the stockpile region.

And 324, if the pixel value of any pixel point is smaller than the ground height threshold value, identifying each pixel point as a second character on the sign image, and determining the area surrounded by all the second characters as a ground area.

To facilitate comparison of pixel values of the pixel points to a ground height threshold, a marker image may be created that is the same size as the image of the height map. The mark image is used for calibrating each pixel point so as to visually represent the pixel map of each pixel point in the height map.

Comparing the pixel value of each pixel point displayed in the logo image with the ground height threshold, and if the pixel value of a certain pixel point is greater than or equal to the ground height threshold, indicating that the corresponding position of the pixel point before projection is a stockpile, identifying the pixel point as a first digital character on the logo image, for example, the pixel point can be identified as a number 1. If the pixel value of a certain pixel point is smaller than the ground height threshold value, which indicates that the corresponding position of the pixel point before projection is the ground, the pixel point is identified as a second number character on the sign image, for example, the pixel point can be identified as a number 0.

Fig. 7 is a partial schematic view of a logo image according to an embodiment of the present invention. Referring to fig. 7, after the comparison between the pixel value of each pixel point in the mark image and the ground height threshold is completed, the mark image may be a binary image in which the first numeric character and the second numeric character are present, and the binary image can more clearly show the stockpile and the ground area present in the height image. And determining the region surrounded by all the first numerical characters as a stockpile region, and determining the region surrounded by all the second numerical characters as a ground region, namely determining the region surrounded by all the pixel points with the identifier of 1 as the stockpile region, and determining the region surrounded by all the pixel points with the identifier of 0 as the ground region.

Based on the comparison result of the pixel value of each pixel point and the ground height threshold, the segmentation of the ground and the stockpile group can be realized, and then a stockpile area graph, namely an image corresponding to the stockpile group, can be extracted from the height graph.

The material pile area graph comprises images corresponding to a plurality of material piles, so that a dividing line is established between two adjacent material pile areas in the material pile area graph by processing the height graph, the two adjacent material pile areas are divided, and the area graph of the single material pile is obtained.

In one possible embodiment, the process of calculating the plurality of dividing lines in the material pile area map by the control system includes:

step 3311, obtain the numeric characters identified on the logo image.

Step 3312, finding out critical pixel points corresponding to the first digit character and the second digit character, and generating boundary lines for the critical pixel points, wherein an area surrounded by each boundary line is a stockpile area.

And step 3313, determining a dividing line for dividing two adjacent stockpile areas between two adjacent boundary lines.

The comparison result of the pixel value of each pixel point and the ground height threshold is a digital character presented on the sign image, if a certain region is a stockpile region, the corresponding same digital characters are converged together, namely the first digital characters are converged together; if a certain area is a ground area, the corresponding same numeric characters are gathered together, namely the second numeric characters are gathered together.

That is to say, the contour line of the same material pile is a closed curve, the contour lines of different material piles are different curves, and the contour lines of two adjacent material piles have intervals. Therefore, based on the compared mark image as a binary image, a contour search algorithm is adopted to search a corresponding critical pixel point between the first numeric character and the second numeric character in the same region and a corresponding critical pixel point between the first numeric character and the first numeric character in different regions, boundary lines are generated based on the critical pixel points, namely closed contour lines, and the region surrounded by each boundary line is a stockpile region.

And determining a dividing line between the corresponding boundary lines of the two adjacent material pile areas so as to divide the two adjacent material pile areas. The height map is a two-dimensional image, the region coordinates of each boundary line can be determined by establishing a coordinate system, and the middle value coordinates of the region coordinates of the two boundary lines are used as the coordinates of the dividing line.

In another possible embodiment, the process of calculating a plurality of dividing lines in the stockpile area map by the control system includes:

and step 3321, projecting the height map to the X-axis direction under an image coordinate system to generate a one-dimensional histogram, wherein the image coordinate system is a pixel coordinate system where the height map is located.

Step 3322, calculating the sum of pixel values of all Y-axis pixel points corresponding to each pixel point coordinate on the X axis in the one-dimensional histogram, and taking the sum of the pixel values and the X-axis pixel point coordinate smaller than the ground height threshold value as a stockpile segmentation point.

And step 3323, determining a middle point of the two adjacent stockpile dividing points, and generating a dividing line for dividing the two adjacent stockpile areas based on the middle point.

Fig. 8 is a partial schematic view of a one-dimensional histogram according to an embodiment of the present invention. In this embodiment, the dividing line is determined by projecting the height map again. Referring to fig. 8, the height map is a two-dimensional image having an image coordinate system with an origin at the upper left corner of the image, a lateral direction being the X-axis, and a longitudinal direction being the Y-axis. And projecting the height map to the X-axis direction under the image coordinate system to generate a one-dimensional histogram. That is, the pixel values of all the pixel points in the column of the height map are added, that is, the sum of the pixel values of all the Y-axis pixel points corresponding to each pixel point coordinate on the X-axis coordinate is calculated, and becomes a transverse one-dimensional array.

In this example, the following formula

And calculating the sum of the pixel values of all the Y-axis pixel points corresponding to each pixel point. In the formula, f (i) is a Y-axis pixel sum and represents a pixel sum corresponding to the ith X-axis pixel point coordinate; j is a height map vertical coordinate and represents each Y-axis pixel point under the same X-axis pixel point coordinate; i is the abscissa of the height map, which represents the coordinates of pixel points of the X axis; p is a radical of_i,jThe coordinate value of the coordinate (i, j) on the height map represents the pixel value of the jth Y-axis pixel point under the ith X-axis pixel point coordinate; n is the longitudinal length of the height map, representing the height of the height map.

For example, the sum of all Y-axis pixels corresponding to the first X-axis pixel coordinate is

The sum of all the pixels of the Y-axis pixel point corresponding to the second X-axis pixel point coordinate is

And the like.

Comparing the pixel value corresponding to each X-axis pixel point coordinate with a ground height threshold value, taking the pixel value and the X-axis pixel point coordinate smaller than the ground height threshold value as a stockpile division point, and expressing the stockpile division point by 0.

In the one-dimensional histogram, a point with a value of 0 is a stockpile dividing point, and the actual position corresponding to the value is the ground. The material pile dividing points corresponding to two adjacent material pile areas with a certain spacing distance are spaced at a certain distance, and the material pile dividing points corresponding to the two adjacent material pile areas are the same dividing point.

In this embodiment, when two pile regions are adjacent but spaced apart from each other, an intermediate point between two pile dividing points may be taken as a dividing point, and a dividing line for dividing the two adjacent pile regions is generated based on the intermediate point. When two pile areas are adjacent and next to each other, a dividing line may be generated at a common dividing point. The dividing line is positioned between the two material pair areas, so that two adjacent material pile areas share one dividing line.

Referring to fig. 8 again, in this embodiment, the division lines are calculated in the two manners, taking five stockpiles arranged on the strip as an example, and five separate stockpile areas are divided based on the height map, namely, the stockpile 1, the stockpile 2, the stockpile 3, the stockpile 4, and the stockpile 5. If the dividing line is calculated in any of the two manners, the dividing line L1 is generated between the pile 1 and the pile 2, the dividing line L2 is generated between the pile 2 and the pile 3, the dividing line L3 is generated between the pile 3 and the pile 4, and the dividing line L4 is generated between the pile 4 and the pile 5.

It can be seen that, in the five material piles, two sides of the middle material pile areas (the material piles 2, 3 and 4) correspond to a dividing line, and the material pile areas (the material piles 1 and 5) at the head end and the tail end correspond to only one dividing line. In order to accurately limit the material pile areas at the head end and the tail end, corresponding dividing lines L0 and L5 can be generated according to the coordinates of the starting point and the ending point of the material strips, so that the dividing lines on the left side and the right side of the material pile 1 are respectively L0 and L1, and the dividing lines on the left side and the right side of the material pile 5 are respectively L4 and L5.

In the one-dimensional histogram, a stockpile area is divided by two dividing lines, so that a plurality of stockpile groups arranged on the whole strip are divided into independent areas, and the accuracy in subsequent inventory making can be ensured.

And S4, acquiring the density of the stacked materials in each pile.

In the embodiment, when the stockpile warehouse is used, the weight of the stacked materials in each stockpile is calculated based on the density of the stacked materials in each stockpile and the volume of the stacked materials, so that the stockpile warehouse is realized. Therefore, after each material pile area is separately divided, the density of the stacked materials in each material pile can be obtained.

In this embodiment, the process of acquiring the density of the stacked material in each pile by the control system includes:

and 41, acquiring the material type information stored in each material pile on the material strip when the materials are stacked.

And step 42, determining the stacked materials of each pile and the density of the materials based on the material type information and each pile.

When materials are stacked on the material strips to form material piles, the control system records the material type information corresponding to each material pile, namely the material seeds A stacked on the material pile 1, the material seeds B stacked on the material pile 2, the material seeds C stacked on the material pile 3, the material seeds D stacked on the material pile 4 and the material seeds E stacked on the material pile 5. The densities of different types of materials are different, and the densities of the materials stacked in the corresponding material pile can be determined based on the material type information.

When a certain material seed is stacked on the material strip, the approximate position L of the material seed A_A50 m, position L of seed B_BBecause 100 meters, the approximate position L of each material type when the height map and the one-dimensional histogram are generated_KAll located within a certain interval of coordinates in the figure. The start-stop position of each pile region is determined by the coordinate positions of the two corresponding dividing lines, for example, the start-stop position of the pile 1 is [ L0, L1 ]]The start and stop positions of the material pile 2 are [ L1, L2 ]]。

Determine the position L of a certain material_KThe range corresponding to the starting position and the stopping position can determine the material type of the material pile, so that the purpose of identifying the material type stacked in the material pile is achieved. For example, the position L of the seed B_BIs located at [ L1, L2 ]]In this way, it can be determined that the material seed B corresponds to the material pile 2, i.e. the material stacked in the material pile 2 is the material seed B.

And S5, calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile.

After the density of the stacked materials of each material pile is determined, the volume of the stacked materials of the material pile can be calculated according to the coordinate value of the corresponding material pile area, and then the weight of the stacked materials of each material pile is calculated according to a density volume mass formula.

The coordinate value of each pile area can be determined based on the height map, namely the coordinate value corresponding to the area map of each pile. And establishing a coordinate system in the height map, wherein each divided stock pile area corresponds to a corresponding start-stop coordinate value [ Ls, Le ]. And determining the start-stop coordinate value of each pile region according to the one-dimensional histogram, namely the coordinate values of the left and right dividing lines of each pile region, wherein the start-stop coordinate value is the same as the start-stop coordinate value determined based on the height map.

When the volume of the stacked materials of each pile is calculated, the height value f (i) of each pile in the one-dimensional histogram is obtained, the actual length ^ X of each pixel point in the X-axis direction and the actual length ^ Y of the Y-axis direction in the height map are obtained, and f (i) is the pixel sum of all Y-axis pixel points corresponding to the ith X-axis pixel point coordinate. According to the formula

Calculating the volume V of each pile_k(ii) a In the formula, V_kAnd representing the K-th material pile, wherein Ls is the position of the initial dividing line, and Le is the position of the ending dividing line.

If the density of the material stacked in the Kth material pile is rho_KThen according to formula M_K＝ρ_K×V_KCalculating the weight M of the material stacked in each pile_K。

Because in practical application, when stacking a plurality of materials on the material strip, for preventing that the material that stacks of adjacent material pile mixes together because of the landing, lead to the purity of material to be reduced. Therefore, in a common closed stock ground, a retaining wall can be arranged on the material strips, and adjacent stock piles are isolated by the retaining wall. The retaining wall is usually very high and above the limit height of the stockpile, usually set at 15 meters. Thus, in the one-dimensional histogram, the wall has a distinct characteristic, i.e., the local value is large.

In order to avoid the influence of the retaining wall in the stock pile warehouse, the position of the retaining wall needs to be removed when the stock pile warehouse is used, namely, the thickness of the retaining wall needs to be determined after each stock pile area corresponds to the corresponding start-stop coordinate value [ Ls, Le ].

Fig. 9 is a flowchart of a method for determining a retaining wall position according to an embodiment of the present invention. Referring to fig. 9, the method provided in the embodiment of the present invention may further determine the position of the retaining wall based on the three-dimensional point cloud data acquired by the laser scanner, based on the foregoing method, and the method further includes:

and S61, acquiring three-dimensional point cloud data generated when the laser scanner collects each material pile and the retaining wall on the material strip.

And S62, generating a one-dimensional histogram comprising a plurality of stockpile areas and retaining wall areas based on the three-dimensional point cloud data.

And S63, calculating the sum of the height value corresponding to each pixel point coordinate in the one-dimensional histogram and the actual height value of the height error threshold.

And S64, if the actual height value is larger than the theoretical height value of the retaining wall area, determining the position of the pixel point coordinate corresponding to the actual height value as the position of the retaining wall area.

If the material strip is provided with the retaining wall, the data on the material strip collected by the laser scanner simultaneously comprises three-dimensional point cloud data of the material pile and the retaining wall, so that the one-dimensional histogram generated based on the three-dimensional point cloud data in the converted world coordinate system simultaneously comprises a material pile area and a retaining wall area. The implementation process of converting the three-dimensional point cloud data into the world coordinate system and the implementation process of generating the one-dimensional histogram may refer to the corresponding contents of the foregoing embodiments, and details are not repeated here.

Fig. 10 is a schematic view of a one-dimensional histogram including retaining walls according to an embodiment of the present invention. Referring to fig. 10, a retaining wall D1 exists between pile 1 and pile 2, a retaining wall D2 exists between pile 2 and pile 3, a retaining wall D3 exists between pile 3 and pile 4, and a retaining wall D4 exists between pile 4 and pile 5. And the height of each retaining wall is higher than that of the adjacent material pile area.

Therefore, in order to determine the position of the retaining wall, whether the position can reach the theoretical height value of the retaining wall can be judged according to the height value sum corresponding to each X-axis pixel point coordinate in the one-dimensional histogram, and if the height value sum corresponding to a certain X-axis pixel point coordinate is larger than the theoretical height value of the retaining wall, the position can be determined as the retaining wall.

According to the actual shape of the retaining wall, the theoretical height value L of the theoretical retaining wall in the one-dimensional histogram can be set_d. In addition, when the three-dimensional point cloud data is generated into the height map, errors may exist, so that the height value and the height value of each retaining wall area are combinedThere is a certain difference in the actual height values, and therefore an error threshold can be set, which can be set to 30 mm. For example, if 100Y-axis pixels are associated with a certain X-axis pixel coordinate, the maximum error of 30 × 100 — 3000mm may be generated in the height value f (i) associated with the X-axis pixel coordinate in the one-dimensional histogram.

Therefore, when determining whether a certain position is a retaining wall, the sum of the height value f (i) corresponding to each pixel point coordinate in the one-dimensional histogram and the actual height value of the height error threshold can be calculated. And comparing the actual height value with the theoretical height value of the retaining wall region, and if the actual height value is greater than the theoretical height value of the retaining wall region, determining the position of the pixel point coordinate corresponding to the actual height value as the position of the retaining wall region.

Because the retaining wall has a certain thickness, the start-stop coordinates of each pile region can be influenced, and therefore, when the weight of the stacked materials in each pile is calculated, the influence of the thickness of the retaining wall needs to be eliminated. In this embodiment, the calculating, by the control system, the weight of the stacked material in each pile based on the density of the stacked material in each pile and the coordinate value corresponding to the area map of each pile includes:

step 501, obtaining a height value f (i) of each pile in a one-dimensional histogram, wherein the actual length ^ X of each pixel point in the X-axis direction and the actual length ^ Y of each pixel point in the Y-axis direction in the height map;

502, calculating a position Ls of an initial segmentation line and a position Le of an ending segmentation line according to the position coordinates of the retaining wall area;

step 503, according to the formula

Calculating the volume V of each pile_k；

504, according to the density of the stacked materials in each pile and the volume V of each pile_kAnd calculating the weight of the stacked materials in each pile.

Since the retaining wall has a certain thickness, the position Ls of the start dividing line and the position Le of the end dividing line need to be determined again according to the position coordinates of the retaining wall area. Usually, the thickness of the retaining wall is set to 20 cm, according to the position coordinates of the two dividing lines corresponding to each pile region, taking the pile region 2 as an example, and the position coordinates of the two dividing lines corresponding thereto are L1 and L2, respectively, the position coordinates of the two dividing lines are retracted 10cm toward the center of the pile region, respectively, so as to determine the corresponding start and stop coordinate value [ Ls, Le ], i.e., Ls is L1+10, and Le is L2-10, so as to correct the start and stop coordinates of the pile region required for making the disc library based on the position of the retaining wall.

Therefore, according to the method provided by the embodiment of the invention, the segmentation, identification and inventory management of the materials are realized through a plurality of laser scanners, the inventory of the stockpile area can be managed as required in the inventory managing process, one-key inventory can be supported, and the accuracy of the inventory is relatively high; the data of the stock can guide the feeding and discharging plans, so that the utilization rate of a stock ground is improved; laying a foundation for unmanned subsequent stock yards; the equipment is simple to install, low in maintenance cost, few in matched equipment, stable and reliable.

According to the technical scheme, the control system obtains three-dimensional point cloud data generated when the laser scanner collects each stock pile on the stock bars, the three-dimensional point cloud data are converted into three-dimensional point cloud data of a world coordinate system based on external parameters to establish a height map corresponding to the stock bars, and the stock piles are segmented on the height map to obtain an area map of each stock pile; and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile and the coordinate value corresponding to the area map of each pile, so as to realize a pile disc library. Therefore, the method and the system provided by the embodiment of the invention can establish the height map comprising each stock pile area according to the three-dimensional point cloud data, divide and identify the stock piles in the height map, and determine the type and the corresponding density of the materials stacked in each stock pile so as to more accurately determine the stock quantity of each stock pile and realize the high-precision stock pile disc library.

In specific implementation, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments of the method for a stockpile material tray library provided in the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).

Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, as for the embodiment of the square system of the stockpile warehouse, since it is basically similar to the embodiment of the method, the description is simple, and the relevant points can be referred to the description in the embodiment of the method.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.

Claims

1. A method of stockpile disc stockpiling, comprising the steps of:

acquiring the density of the stacked materials in each material pile;

2. The method of claim 1, wherein the external parameters include a rotation parameter and a translation parameter; and, the obtaining the extrinsic parameters includes:

3. The method of claim 1, wherein the converting the three-dimensional point cloud data into three-dimensional point cloud data in a world coordinate system based on the extrinsic parameters comprises:

4. The method of claim 1, wherein the establishing of the height map corresponding to the material strip according to the three-dimensional point cloud data under the world coordinate system comprises:

5. The method of claim 1 or 4, further comprising:

traversing the pixel value of each pixel point in the height map;

6. The method according to claim 1, wherein the step of performing the pile segmentation on the height map to obtain a region map of each pile comprises:

7. The method of claim 6, wherein comparing the pixel value of each pixel point to a ground height threshold comprises:

8. The method of claim 7, wherein calculating the plurality of dividing lines in the stockpile area map comprises:

acquiring a numeric character identified on the logo image;

9. The method of claim 7, wherein calculating the plurality of dividing lines in the stockpile area map comprises:

10. The method of claim 1, wherein obtaining the density of the stacked material in each of the stacks comprises:

11. The method of claim 1, further comprising:

12. The method according to claim 1 or 11, wherein the calculating the weight of the stacked material of each pile based on the density of the stacked material in each pile and the coordinate value corresponding to the area map of each pile comprises:

obtaining the height value f (i) of each stockpile in a one-dimensional histogram, wherein the actual length of each pixel point in the X-axis direction in the height chart

And the actual length in the Y-axis direction

according to the formula

Calculating the volume V of each pile_k；

13. A system of a stockpile disc storehouse is applied to a stock ground and is characterized by comprising: the device comprises a control system, a laser scanner, a track and material strips, wherein the material strips are positioned on two sides of the track, a plurality of material piles are arranged on the material strips, the laser scanner is arranged on a material yard ceiling, and the laser scanner is used for acquiring three-dimensional point cloud data of each material pile on the material strips; the control system for receiving three-dimensional point cloud data acquired by a laser scanner, the control system being configured to perform the steps of the method of stockpile tray library of claim 1:

acquiring the density of the stacked materials in each material pile;