CN112950702A - Coal pile volume calculation method based on three-dimensional point cloud - Google Patents
Coal pile volume calculation method based on three-dimensional point cloud Download PDFInfo
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Abstract
The invention discloses a coal pile volume calculation method based on three-dimensional point cloud, which has the technical scheme that: the method comprises the following steps: calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data; establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system; the method has the advantages of achieving the effects of high accuracy of survey data, excellent volume stability obtained by measurement and capability of guaranteeing high-reliability survey volume through multiple on-site survey data.
Description
Technical Field
The invention belongs to the field of measurement, and particularly relates to a coal pile volume calculation method based on three-dimensional point cloud.
Background
The coal is a non-renewable resource, and is converted into peat or sapropel by peat or sapropel action of plant remains accumulated in stagnant water at the ground surface normal temperature and normal pressure; after the peat or the sapropel is buried, the peat or the sapropel sinks to the underground deep part due to the descending of the basin foundation and is converted into lignite through diagenetic action; when the temperature and pressure are gradually increased, the bituminous coal is transformed into anthracite through metamorphism. Peat formation refers to the process of stacking higher plant remains in the marsh and converting the remains into peat through biochemical changes. The sapropelation refers to the process of converting lower biological remains into sapropel through biochemical changes in the marsh. Sapropel is a sludge-like material rich in water and asphaltenes. Glacier processes may contribute to the collection and preservation of coalbed plant remains.
In the actual working process, a large amount of stacked raw coal is generated in the coal mine production process, so that the volume of a coal pile needs to be measured, the specific numerical value of the coal storage is mastered, and the coal production unit can conveniently arrange future production, sales and transportation affairs.
Reference can be made to a chinese patent with publication number CN107133434A, which discloses a calculation method of critical volume concentration of debris flow, which determines the debris flow solid volume weight γ S, the water volume weight γ W, the debris flow channel gradient α, the debris flow channel longitudinal gradient J, the debris flow channel roughness coefficient n, the internal friction angle θ of debris flow channel accumulation, the debris flow depth H, and the debris flow viscosity coefficient η through a field investigation means of the debris flow channel in the earthquake area; the obtained parameters are substituted into a calculation formula, the critical volume concentration of the debris flow in the debris flow starting process can be obtained, and the method is suitable for predicting the volume concentration of the debris flow in the seismic region.
Above-mentioned patent has and deduces based on tight theory, and the change condition that obtains earthquake area mud-rock flow volume concentration that can be more accurate provides the basis for the design of earthquake area mud-rock flow prevention and cure engineering, and its application is simple, high-efficient, can satisfy the advantage that geological disasters prevention needs, but it also has the defect, if: the measurement accuracy is low, the stability is poor, and the measurement reliability cannot be guaranteed.
Disclosure of Invention
The invention aims to provide a coal pile volume calculation method based on three-dimensional point cloud so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a coal pile volume calculation method based on three-dimensional point cloud comprises the following steps:
calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data;
establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system;
step three, constructing a three-dimensional model: displaying the three-dimensional point cloud data surveyed in the step one to the three-dimensional coordinate system established in the step two to construct a three-dimensional model of the coal pile to be detected, and finally calculating the survey volume of the coal pile through the three-dimensional model;
step four, checking repeated data: and repeating the step for a plurality of times to respectively obtain a plurality of groups of three-dimensional point cloud data of the measured coal piles, establishing a plurality of groups of three-dimensional models sequentially through a plurality of groups of three-dimensional point cloud data values to obtain a plurality of groups of coal pile surveying volumes, and finally, adding all the calculated coal pile surveying volumes and dividing the sum by the on-site surveying times to obtain the final coal pile surveying volume.
Preferably, the function equation used in the fourth step includes:
wherein X represents a volume value of a coal pile survey, n represents a number of field surveys,
representing the resulting volume of the coal pile survey.
Preferably, the measuring device comprises a laser scanner and an intelligent mobile vehicle for carrying the laser scanner.
Preferably, in the first step, if the distance measurement of any measurement point of the measurement device is S and the scan angle is θ, the coordinates of the measurement point in the three-dimensional coordinate system are:
where Rn is a placement angle transformation matrix,
and the coordinate value of the eccentricity of the center of the measuring equipment relative to the center of the three-dimensional coordinate system is obtained.
Preferably, the formula of the seating angle conversion matrix Rn includes:
preferably, the three-dimensional point cloud data obtained by calculation in the first step includes longitude and latitude coordinate data of the measured coal pile.
Preferably, the calculating the volume according to the three-dimensional model in the third step includes:
firstly, projecting all coal pile surface points in the three-dimensional point cloud data of the coal pile to be detected onto a plane where an X axis and a Y axis are located in the three-dimensional coordinate system;
triangulating the projection points of the coal pile surface points in a horizontal plane X-Y, and segmenting the projection points into a plurality of triangles, wherein the triangles formed by the projection points correspond to the triangles formed by the coal pile surface points one by one to form triangular prisms together;
the three-dimensional point cloud of the coal pile to be measured can be divided into a plurality of triangular prisms according to the method, and finally, the volume result of the whole coal pile is obtained by calculating the volume of each triangular prism and accumulating and adding.
Preferably, the method of calculating the triangular prism includes: let N ' ik, N ' (i +1) k, N ' i (k +1) be the projections of coal pile three-dimensional surface feature pixel points Nik, N (i +1) k, Ni (k +1) on the plane, let N ' ikNik, N ' (i +1) kN (i +1) k, N ' i (k +1) Ni (k +1) length be h1, h2, h3 respectively, let triangle NikN (i +1) kNi (k +1) projection area on the plane be Δ S, then the volume Δ V of the triangular prism formed by Nik, N ' ik, N (i +1) k, N ' (i +1) k, Ni (k +1), N ' i (k +1) is:
preferably, the area formula of the triangle is: Δ S ═ x (i +1) k-xik) (yk + 1-yk)/2.
Preferably, the first step is to establish a simulated coal pile before, then perform measurement calculation on the simulated coal pile, and if the error rate of the calculated result and the actual volume of the simulated coal pile is higher or lower than a set value, improve the measurement method until the error rate of the measured calculation structure and the actual volume of the simulated coal pile is within the set value.
Compared with the prior art, the invention has the beneficial effects that:
according to the coal pile volume calculation method based on the three-dimensional point cloud, a three-dimensional coordinate system is established through field survey data, a simulation three-dimensional model is established by utilizing the three-dimensional point cloud data, and accurate survey volume data are obtained through precise calculation, so that the method has the advantages that the survey data accuracy is high, the volume stability obtained through measurement is superior, and the effect of guaranteeing the survey volume with high reliability is achieved through multiple on-site survey data.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a three-dimensional model diagram of the present invention;
FIG. 3 is a three-dimensional point cloud data diagram 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.
Please refer to FIGS. 1-3
Example 1
A coal pile volume calculation method based on three-dimensional point cloud comprises the following steps:
calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data;
establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system;
step three, constructing a three-dimensional model: displaying the three-dimensional point cloud data surveyed in the step one to the three-dimensional coordinate system established in the step two to construct a three-dimensional model of the coal pile to be detected, and finally calculating the survey volume of the coal pile through the three-dimensional model;
step four, checking repeated data: repeating the step for 10 times to respectively obtain 10 groups of three-dimensional point cloud data of the measured coal piles, then sequentially establishing 10 groups of three-dimensional models through 10 groups of three-dimensional point cloud data values to obtain 10 groups of coal pile surveying volumes, and finally, adding all calculated coal pile surveying volumes and dividing the sum by the on-site surveying times to obtain the final coal pile surveying volume.
In this embodiment, preferably, the function equation used in step four includes:
wherein X represents a volume value of a coal pile survey, n represents a number of field surveys,
representing the resulting volume of the coal pile survey.
In this embodiment, preferably, the measuring device includes a laser scanner and an intelligent moving vehicle for carrying the laser scanner.
In this embodiment, preferably, in the step one, the distance measurement of any measurement point of the measurement device is set to be S, and the scan angle is θ, then the coordinates of the measurement point in the three-dimensional coordinate system are:
where Rn is a placement angle transformation matrix,
the coordinate value of the eccentricity of the center of the measuring equipment relative to the center of the three-dimensional coordinate system is obtained.
In this embodiment, preferably, the formula of the placement angle transformation matrix Rn includes:
in this embodiment, preferably, the three-dimensional point cloud data obtained by calculation in the step one includes longitude and latitude coordinate data of the measured coal pile.
In this embodiment, preferably, the calculating the volume according to the three-dimensional model in step three includes:
firstly, projecting all coal pile surface points in the three-dimensional point cloud data of the coal pile to be detected onto a plane where an X axis and a Y axis are located in a three-dimensional coordinate system;
triangulating the projection points of the coal pile surface points in a horizontal plane X-Y, and segmenting the projection points into a plurality of triangles, wherein the triangles formed by the projection points correspond to the triangles formed by the coal pile surface points one by one to form triangular prisms together;
the three-dimensional point cloud of the coal pile to be measured can be divided into a plurality of triangular prisms according to the method, and finally, the volume result of the whole coal pile is obtained by calculating the volume of each triangular prism and accumulating and adding.
In this embodiment, preferably, the method for calculating a triangular prism includes: let N ' ik, N ' (i +1) k, N ' i (k +1) be the projections of coal pile three-dimensional surface feature pixel points Nik, N (i +1) k, Ni (k +1) on the plane, let N ' ikNik, N ' (i +1) kN (i +1) k, N ' i (k +1) Ni (k +1) length be h1, h2, h3 respectively, let triangle NikN (i +1) kNi (k +1) projection area on the plane be Δ S, then the volume Δ V of the triangular prism formed by Nik, N ' ik, N (i +1) k, N ' (i +1) k, Ni (k +1), N ' i (k +1) is:
in this embodiment, preferably, the area formula of the triangle is: Δ S ═ x (i +1) k-xik) (yk + 1-yk)/2.
In this embodiment, preferably, the simulated coal pile is established before the first step, then the simulated coal pile is measured and calculated, and if the error rate of the calculation result and the actual volume of the simulated coal pile is higher or lower than a set value, the measurement method is improved until the error rate of the measurement calculation structure and the actual volume of the simulated coal pile is within the set value.
The invention has the beneficial effects that:
according to the coal pile volume calculation method based on the three-dimensional point cloud, a three-dimensional coordinate system is established through field survey data, a simulated three-dimensional model is established by utilizing the three-dimensional point cloud data, and accurate survey volume data are obtained through precise calculation, so that the method has the advantages of high survey data accuracy, excellent volume stability obtained through measurement, and high-reliability survey volume effect obtained through multiple on-site survey data.
Example 2
A coal pile volume calculation method based on three-dimensional point cloud comprises the following steps:
calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data;
establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system;
step three, constructing a three-dimensional model: displaying the three-dimensional point cloud data surveyed in the step one to the three-dimensional coordinate system established in the step two to construct a three-dimensional model of the coal pile to be detected, and finally calculating the survey volume of the coal pile through the three-dimensional model;
step four, checking repeated data: and repeating the step one for 8 times to respectively obtain 8 groups of three-dimensional point cloud data of the measured coal piles, then sequentially establishing 8 groups of three-dimensional models through 8 groups of three-dimensional point cloud data values to obtain 8 groups of coal pile surveying volumes, and finally, adding all calculated coal pile surveying volumes and dividing the sum by the on-site surveying times to obtain the final coal pile surveying volume.
In this embodiment, preferably, the function equation used in step four includes:
wherein X represents a volume value of a coal pile survey, n represents a number of field surveys,
representing the resulting volume of the coal pile survey.
In this embodiment, preferably, the measuring device includes a laser scanner and an intelligent moving vehicle for carrying the laser scanner.
In this embodiment, preferably, in the step one, the distance measurement of any measurement point of the measurement device is set to be S, and the scan angle is θ, then the coordinates of the measurement point in the three-dimensional coordinate system are:
where Rn is a placement angle transformation matrix,
the coordinate value of the eccentricity of the center of the measuring equipment relative to the center of the three-dimensional coordinate system is obtained.
In this embodiment, preferably, the formula of the placement angle transformation matrix Rn includes:
in this embodiment, preferably, the three-dimensional point cloud data obtained by calculation in the step one includes longitude and latitude coordinate data of the measured coal pile.
In this embodiment, preferably, the calculating the volume according to the three-dimensional model in step three includes:
firstly, projecting all coal pile surface points in the three-dimensional point cloud data of the coal pile to be detected onto a plane where an X axis and a Y axis are located in a three-dimensional coordinate system;
triangulating the projection points of the coal pile surface points in a horizontal plane X-Y, and segmenting the projection points into a plurality of triangles, wherein the triangles formed by the projection points correspond to the triangles formed by the coal pile surface points one by one to form triangular prisms together;
the three-dimensional point cloud of the coal pile to be measured can be divided into a plurality of triangular prisms according to the method, and finally, the volume result of the whole coal pile is obtained by calculating the volume of each triangular prism and accumulating and adding.
In this embodiment, preferably, the method for calculating a triangular prism includes: let N ' ik, N ' (i +1) k, N ' i (k +1) be the projections of coal pile three-dimensional surface feature pixel points Nik, N (i +1) k, Ni (k +1) on the plane, let N ' ikNik, N ' (i +1) kN (i +1) k, N ' i (k +1) Ni (k +1) length be h1, h2, h3 respectively, let triangle NikN (i +1) kNi (k +1) projection area on the plane be Δ S, then the volume Δ V of the triangular prism formed by Nik, N ' ik, N (i +1) k, N ' (i +1) k, Ni (k +1), N ' i (k +1) is:
example 3
A coal pile volume calculation method based on three-dimensional point cloud comprises the following steps:
calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data;
establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system;
step three, constructing a three-dimensional model: displaying the three-dimensional point cloud data surveyed in the step one to the three-dimensional coordinate system established in the step two to construct a three-dimensional model of the coal pile to be detected, and finally calculating the survey volume of the coal pile through the three-dimensional model;
step four, checking repeated data: and repeating the step for a plurality of times to respectively obtain the three-dimensional point cloud data of 6 groups of measured coal piles, then sequentially establishing 6 groups of three-dimensional models through 6 groups of three-dimensional point cloud data values to obtain the surveying volumes of 6 groups of coal piles, and finally, adding all the calculated surveying volumes of the coal piles and dividing the sum by the on-site surveying times to obtain the final surveying volume of the coal piles.
In this embodiment, preferably, the function equation used in step four includes:
wherein X represents a volume value of a coal pile survey, n represents a number of field surveys,
representing the resulting volume of the coal pile survey.
In this embodiment, preferably, the measuring device includes a laser scanner and an intelligent moving vehicle for carrying the laser scanner.
In this embodiment, preferably, in the step one, the distance measurement of any measurement point of the measurement device is set to be S, and the scan angle is θ, then the coordinates of the measurement point in the three-dimensional coordinate system are:
where Rn is a placement angle transformation matrix,
the coordinate value of the eccentricity of the center of the measuring equipment relative to the center of the three-dimensional coordinate system is obtained.
In this embodiment, preferably, the formula of the placement angle transformation matrix Rn includes:
in this embodiment, preferably, the calculating the volume according to the three-dimensional model in step three includes:
firstly, projecting all coal pile surface points in the three-dimensional point cloud data of the coal pile to be detected onto a plane where an X axis and a Y axis are located in a three-dimensional coordinate system;
triangulating the projection points of the coal pile surface points in a horizontal plane X-Y, and segmenting the projection points into a plurality of triangles, wherein the triangles formed by the projection points correspond to the triangles formed by the coal pile surface points one by one to form triangular prisms together;
the three-dimensional point cloud of the coal pile to be measured can be divided into a plurality of triangular prisms according to the method, and finally, the volume result of the whole coal pile is obtained by calculating the volume of each triangular prism and accumulating and adding.
In this embodiment, preferably, the method for calculating a triangular prism includes: let N ' ik, N ' (i +1) k, N ' i (k +1) be the projections of coal pile three-dimensional surface feature pixel points Nik, N (i +1) k, Ni (k +1) on the plane, let N ' ikNik, N ' (i +1) kN (i +1) k, N ' i (k +1) Ni (k +1) length be h1, h2, h3 respectively, let triangle NikN (i +1) kNi (k +1) projection area on the plane be Δ S, then the volume Δ V of the triangular prism formed by Nik, N ' ik, N (i +1) k, N ' (i +1) k, Ni (k +1), N ' i (k +1) is:
experiment:
an experimental simulated coal pile with the actual volume of 60 cubic meters is built, then the experimental simulated coal pile is measured for 10 times by the method, and experimental data obtained by measurement and calculation are shown in the following table.
The experimental volumes in the table above have a maximum value of 60.1, a minimum value of 59.7, and an average value of 59.87, and then are calculated according to the error formula: and P is Xm-Xs/Xaverage (P is an error value, Xm is a maximum value, Xs is a minimum value, and X is an average value), the error P is 0.668%, the error is small, a three-dimensional model diagram of the experimental simulation coal pile can be accurately generated, and the high accuracy, the high stability and the high reliability of the method are verified.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A coal pile volume calculation method based on three-dimensional point cloud is characterized by comprising the following steps:
calculating three-dimensional point cloud data: the working personnel operates the measuring equipment to move for a circle along the bottommost layer of the coal pile to obtain the measuring data of the coal pile, and then the three-dimensional point cloud data of the coal pile is calculated according to the measuring data;
establishing a survey coordinate system: taking a starting point in field data survey as a phase center of a GPS, then taking the phase center as an original point to establish a survey coordinate system, then taking horizontal true north as a Y axis, taking a Z axis upwards along a gravity plumb line, and enabling an X axis to be vertical to the Y axis and point to the true east to establish a three-dimensional coordinate system;
step three, constructing a three-dimensional model: displaying the three-dimensional point cloud data surveyed in the step one to the three-dimensional coordinate system established in the step two to construct a three-dimensional model of the coal pile to be detected, and finally calculating the survey volume of the coal pile through the three-dimensional model;
step four, checking repeated data: and repeating the step for a plurality of times to respectively obtain a plurality of groups of three-dimensional point cloud data of the measured coal piles, establishing a plurality of groups of three-dimensional models sequentially through a plurality of groups of three-dimensional point cloud data values to obtain a plurality of groups of coal pile surveying volumes, and finally, adding all the calculated coal pile surveying volumes and dividing the sum by the on-site surveying times to obtain the final coal pile surveying volume.
2. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: the function equation used in step four includes:
wherein X represents a volume value of a coal pile survey, n represents a number of field surveys,
representing the resulting volume of the coal pile survey.
3. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: the measuring equipment comprises a laser scanner and an intelligent moving vehicle for bearing the laser scanner.
4. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: in the first step, the distance measurement of any measurement point of the measurement device is set to be S, and the scanning angle is θ, then the coordinates of the measurement point in the three-dimensional coordinate system are:
where Rn is a placement angle transformation matrix,
and the coordinate value of the eccentricity of the center of the measuring equipment relative to the center of the three-dimensional coordinate system is obtained.
5. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 4, wherein: the formula of the seating angle conversion matrix Rn includes:
6. the coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: and the three-dimensional point cloud data obtained by calculation in the first step comprises longitude and latitude coordinate data of the coal pile to be measured.
7. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: the step three of calculating the volume according to the three-dimensional model comprises the following steps:
firstly, projecting all coal pile surface points in the three-dimensional point cloud data of the coal pile to be detected onto a plane where an X axis and a Y axis are located in the three-dimensional coordinate system;
triangulating the projection points of the coal pile surface points in a horizontal plane X-Y, and segmenting the projection points into a plurality of triangles, wherein the triangles formed by the projection points correspond to the triangles formed by the coal pile surface points one by one to form triangular prisms together;
the three-dimensional point cloud of the coal pile to be measured can be divided into a plurality of triangular prisms according to the method, and finally, the volume result of the whole coal pile is obtained by calculating the volume of each triangular prism and accumulating and adding.
8. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 7, wherein: the method for calculating the triangular prism comprises the following steps: let N ' ik, N ' (i +1) k, N ' i (k +1) be the projections of coal pile three-dimensional surface feature pixel points Nik, N (i +1) k, Ni (k +1) on the plane, let N ' ikNik, N ' (i +1) kN (i +1) k, N ' i (k +1) Ni (k +1) length be h1, h2, h3 respectively, let triangle NikN (i +1) kNi (k +1) projection area on the plane be Δ S, then the volume Δ V of the triangular prism formed by Nik, N ' ik, N (i +1) k, N ' (i +1) k, Ni (k +1), N ' i (k +1) is:
9. the coal pile volume calculation method based on the three-dimensional point cloud according to claim 8, characterized in that: the area formula of the triangle is as follows: Δ S ═ x (i +1) k-xik) (yk + 1-yk)/2.
10. The coal pile volume calculation method based on the three-dimensional point cloud as claimed in claim 1, wherein: and step one, establishing a simulated coal pile before, then carrying out measurement calculation on the simulated coal pile, and if the calculated result and the actual volume error rate of the simulated coal pile are higher than or lower than a set value, improving the measurement method until the error rate of the actual volume of the measured calculation structure and the simulated coal pile is within the set value.
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