CN114565660A - Laser coal mining method - Google Patents
Laser coal mining method Download PDFInfo
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- CN114565660A CN114565660A CN202210067793.3A CN202210067793A CN114565660A CN 114565660 A CN114565660 A CN 114565660A CN 202210067793 A CN202210067793 A CN 202210067793A CN 114565660 A CN114565660 A CN 114565660A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
The present disclosure discloses a laser coal inventory method, comprising: s1, determining the origin of coordinates of the coal pile; s2, scanning the surface of the coal pile through a laser scanner, and respectively obtaining coordinate values of a plurality of characteristic points on the surface of the coal pile relative to the origin of coordinates; s3, point cloud data are generated based on the coordinate values, an irregular triangular network is built based on the point cloud data, and a three-dimensional model is built; s4, based on the three-dimensional model constructed by the triangular net, dividing the three-dimensional model into a plurality of triangular prisms; and S5, calculating the volume of each triangular prism and summing the volumes to obtain the estimated volume of the coal pile. The laser coal inventory method provided by the invention can firstly determine the origin of coordinates of the coal pile, and simultaneously scan the surface of the coal pile, thereby obtaining the coordinate values of the characteristic points of the surface of the coal pile relative to the origin of coordinates. The coordinate values can be used for generating point cloud data so as to generate a three-dimensional model, the three-dimensional model can be constructed based on a triangular network and can be divided into a plurality of triangular prisms for volume estimation during segmentation, and a more accurate coal inventory result is achieved.
Description
Technical Field
The invention relates to a measuring method, in particular to a laser coal inventory method.
Background
Coal inventory is the coal storage amount of a thermal power plant for checking, and is divided into manual coal inventory and laser coal inventory. With the expansion of the thermal power plant unit and the improvement of the coal price, coal inventory becomes an indispensable link for power generation enterprises more and more. The coal inventory mode also evolves from the original manual tape measure coal inventory to high-tech laser automatic coal inventory. The main principle of the laser automatic coal inventory instrument is as follows: and collecting the surface of the stock ground by using a high-precision laser scanner. And processing the material pile profile data through a computer, reconstructing a 3D graph of the stock ground, and calculating information such as the volume of the material pile. In combination with the set density, the weight of the pile will be obtained. However, the existing laser coal-checking method has defects in three-dimensional reconstruction and three-dimensional model segmentation algorithms, so that the measurement accuracy is low.
Disclosure of Invention
In view of the above problems in the prior art, an object of an aspect of the present invention is to provide a laser coal-drilling method with high coal-drilling accuracy.
In order to achieve the above object, the present invention provides a laser coal-mining method, comprising:
s1, determining the origin of coordinates of the coal pile;
s2, scanning the surface of the coal pile through a laser scanner, and respectively obtaining coordinate values of a plurality of characteristic points on the surface of the coal pile relative to the origin of coordinates;
s3, point cloud data are generated based on the coordinate values, an irregular triangular network is built based on the point cloud data, and a three-dimensional model is built;
s4, based on the three-dimensional model constructed by the triangular net, dividing the three-dimensional model into a plurality of triangular prisms;
and S5, calculating the volume of each triangular prism and summing the volumes to obtain the estimated volume of the coal pile.
Preferably, in the step S1, the determining the origin of coordinates of the coal pile includes:
s11, emitting a pulse laser beam through a sector surface of the laser range finder;
s12, determining the highest point position of the coal pile based on the feedback value of the distance meter;
and S13, recording the highest position of the coal pile as a coordinate origin.
Preferably, in step S3, a triangulation network is constructed, comprising:
s31, constructing a plurality of convex shells through point cloud data;
s32, taking the edge on the convex shell as a seed edge, searching the edges where the three characteristic points are located, and constructing a triangle by using the edges where the three characteristic points are located;
and S33, constructing the next triangle till the last convex shell, thereby constructing the triangular net.
Preferably, when a plurality of convex shells are configured, the method includes:
in the point cloud data, obtaining the maximum value and the minimum value of the abscissa, obtaining the maximum value and the minimum value of the ordinate, and connecting points corresponding to the maximum value of the abscissa and the maximum value of the ordinate to form a line segment;
sequentially judging whether the characteristic points are positioned on the line segments, if so, keeping the coordinates of the characteristic points, and otherwise, judging again;
constructing convex shell boundary points according to the reserved characteristic points;
and forming the convex hull according to the convex hull boundary points.
Preferably, in step S4, the dividing the three-dimensional model into a plurality of triangular prisms includes performing the dividing on the three-dimensional model based on a triangulation algorithm.
Preferably, in step S5, the method includes:
acquiring elevation data of three vertexes of each triangular prism, and performing mean processing on the elevation data of the three vertexes;
calculating the area of the triangle corresponding to each triangular prism;
calculating the equivalent volume of each triangular prism;
and adding the volumes of all the triangular prisms to obtain the volume estimation value of the coal pile.
Preferably, when calculating the area of the triangle corresponding to each triangular prism, the calculation is performed based on the projected area of the triangle on the XY plane.
According to the laser coal inventory method, the origin of coordinates of the coal pile can be determined through the laser range finder, the surface of the coal pile is scanned through the laser scanner, and then the coordinate value of the characteristic point of the surface of the coal pile relative to the origin of coordinates is obtained. The coordinate values can be used for generating point cloud data so as to generate a three-dimensional model, the three-dimensional model can be constructed based on a triangular network and can be divided into a plurality of triangular prisms for volume estimation during segmentation, and relatively speaking, a more accurate coal inventory result is obtained.
Drawings
FIG. 1 is a flow chart of a laser coal inventory method of the present invention.
Fig. 2 is a flowchart of the step S1 of another embodiment of the laser coal inventory method of the present invention.
Fig. 3 is a flowchart of step S3 of still another embodiment of the laser coal inventory method of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Various aspects and features of the present invention are described herein with reference to the drawings.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It should also be understood that, although the invention has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present invention will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
As shown in fig. 1 to 3, a laser coal mining method according to an embodiment of the present invention includes:
s1, determining the origin of coordinates of the coal pile;
s2, scanning the surface of the coal pile through a laser scanner, and respectively obtaining coordinate values of a plurality of characteristic points on the surface of the coal pile relative to the origin of coordinates;
s3, point cloud data are generated based on the coordinate values, an irregular triangular network is built based on the point cloud data, and a three-dimensional model is built;
s4, based on the three-dimensional model constructed by the triangular net, dividing the three-dimensional model into a plurality of triangular prisms;
and S5, calculating the volume of each triangular prism and summing the volumes to obtain the estimated volume of the coal pile.
In some modifications, as shown in fig. 2, in the step S1, when determining the origin of coordinates of the coal pile, the method includes:
s11, emitting a pulse laser beam through a sector of the laser range finder;
s12, determining the highest point position of the coal pile based on the feedback value of the distance meter;
and S13, recording the highest position of the coal pile as a coordinate origin.
Further, in other embodiments, it is preferable that in the step S3, a triangulation network is constructed, including:
s31, constructing a plurality of convex shells through point cloud data;
s32, taking the edge on the convex shell as a seed edge, searching the edges where the three characteristic points are located, and constructing a triangle by using the edges where the three characteristic points are located;
and S33, constructing the triangular net by constructing the next triangle till the last convex shell.
Specifically, in the above preferred embodiment, when a plurality of convex hulls are constructed, it includes:
in the point cloud data, obtaining the maximum value and the minimum value of the abscissa, obtaining the maximum value and the minimum value of the ordinate, and connecting points corresponding to the maximum value of the abscissa and the maximum value of the ordinate to form a line segment; sequentially judging whether the characteristic points are positioned on the line segments, if so, keeping the coordinates of the characteristic points, and otherwise, judging again; constructing convex shell boundary points according to the reserved characteristic points; and forming the convex hull according to the convex hull boundary points.
In addition, in step S4, the three-dimensional model is divided into a plurality of triangular prisms, including division for the three-dimensional model based on a triangulation algorithm. And in the step S5, the method includes:
acquiring elevation data of three vertexes of each triangular prism, and performing mean processing on the elevation data of the three vertexes; calculating the area of the triangle corresponding to each triangular prism; calculating the equivalent volume of each triangular prism; and adding the volumes of all the triangular prisms to obtain the estimated volume value of the coal pile.
Further, when calculating the area of the triangle corresponding to each triangular prism, the calculation is performed based on the projected area of the triangle on the XY plane.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. A laser coal inventory method, comprising:
s1, determining the origin of coordinates of the coal pile;
s2, scanning the surface of the coal pile through a laser scanner, and respectively obtaining coordinate values of a plurality of characteristic points on the surface of the coal pile relative to the origin of coordinates;
s3, point cloud data are generated based on the coordinate values, an irregular triangular network is built based on the point cloud data, and a three-dimensional model is built;
s4, based on the three-dimensional model constructed by the triangular net, dividing the three-dimensional model into a plurality of triangular prisms;
and S5, calculating the volume of each triangular prism and summing the volumes to obtain the estimated volume of the coal pile.
2. The laser coal inventory method of claim 1, in the step S1, when determining the origin of coordinates of the coal pile, comprising:
s11, emitting a pulse laser beam through a sector surface of the laser range finder;
s12, determining the highest point position of the coal pile based on the feedback value of the distance meter;
and S13, recording the highest position of the coal pile as a coordinate origin.
3. The laser coal mining method of claim 1, wherein in the S3 step, a triangular mesh is constructed, comprising:
s31, constructing a plurality of convex shells through point cloud data;
s32, taking the edge on the convex shell as a seed edge, searching the edges where the three characteristic points are located, and constructing a triangle by using the edges where the three characteristic points are located;
and S33, constructing the triangular net by constructing the next triangle till the last convex shell.
4. The laser coal mining method of claim 3, when constructing the plurality of convex hulls, comprising:
in the point cloud data, obtaining the maximum value and the minimum value of the abscissa, obtaining the maximum value and the minimum value of the ordinate, and connecting points corresponding to the maximum value of the abscissa and the maximum value of the ordinate to form a line segment;
sequentially judging whether the characteristic points are positioned on the line segments, if so, keeping the coordinates of the characteristic points, and otherwise, judging again;
constructing convex shell boundary points according to the reserved characteristic points;
and forming the convex hull according to the convex hull boundary points.
5. The laser coal mining method of claim 1, wherein the three-dimensional model is segmented into a plurality of triangular prisms in step S4, including segmenting the three-dimensional model based on a triangulation algorithm.
6. The laser coal mining method of claim 5, comprising, in the step of S5:
acquiring elevation data of three vertexes of each triangular prism, and performing mean processing on the elevation data of the three vertexes;
calculating the area of the triangle corresponding to each triangular prism;
calculating the equivalent volume of each triangular prism;
and adding the volumes of all the triangular prisms to obtain the estimated volume value of the coal pile.
7. The laser coal mining method according to claim 6, wherein in calculating the area of the triangle corresponding to each triangular prism, the calculation is performed based on the projected area of the triangle in the XY plane.
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| CN202210067793.3A CN114565660A (en) | 2022-01-20 | 2022-01-20 | Laser coal mining method |
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| CN202210067793.3A CN114565660A (en) | 2022-01-20 | 2022-01-20 | Laser coal mining method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115512345A (en) * | 2022-09-21 | 2022-12-23 | 浙江安吉天子湖热电有限公司 | Traveling crane fixed coal inventory system and coal inventory method |
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2022
- 2022-01-20 CN CN202210067793.3A patent/CN114565660A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115512345A (en) * | 2022-09-21 | 2022-12-23 | 浙江安吉天子湖热电有限公司 | Traveling crane fixed coal inventory system and coal inventory method |
| CN115512345B (en) * | 2022-09-21 | 2023-07-25 | 浙江安吉天子湖热电有限公司 | Driving fixed coal-coiling system and coal-coiling method |
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