CN113298820B

CN113298820B - Method and system for stockpile warehouse

Info

Publication number: CN113298820B
Application number: CN202011383770.0A
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: 2022-08-26
Anticipated expiration: 2040-12-01
Also published as: CN113298820A

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 and a retaining wall on a stock strip, converts the three-dimensional point cloud data into the three-dimensional point cloud data under a world coordinate system based on external parameters, establishes a height map corresponding to the stock strip, and performs stock pile segmentation and retaining wall identification on the height map to obtain an area map of the stock pile and an area map of the retaining wall; and calculating the weight of the stacked materials in the stockpile based on the density of the stacked materials in the stockpile, the coordinate value corresponding to the area map of the stockpile and the coordinate value corresponding to the area map of the retaining wall, so as to realize the stockpile disc warehouse. Therefore, the method and the system provided by the invention can establish the height map comprising the stock pile areas and the retaining wall areas according to the three-dimensional point cloud data, divide the stock piles in the height map, identify the retaining wall, 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 warehouse.

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 used for receiving, storing, processing and uniformly mixing the raw materials and the fuel for ferrous metallurgy. 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 checking is to check the reserves of various raw materials, and arrange the feeding plan of various raw materials 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 and a retaining wall 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 and retaining wall identification processing on the height map to obtain an area map of each stock pile and an area map of each retaining wall, and coordinate values corresponding to the area maps of each stock pile and the area maps of each retaining wall 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, the coordinate value corresponding to the area map of each pile and the coordinate value corresponding to the area map of each retaining wall.

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 _i And the three-dimensional point cloud data P collected by the ith laser scanner _i According to the formula P _W ＝RT _i ×P _i Converting 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 strip according to the three-dimensional point cloud data under the world coordinate system comprises:

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 a stockpile and a retaining wall, 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.

Further, the calculating a plurality of dividing lines in the stockpile area map includes:

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, the wall identification processing is performed on the height map to obtain a region map of each wall, and the method includes:

projecting the height map to the X-axis direction under the world coordinate system to generate a one-dimensional histogram comprising a plurality of stockpile areas and retaining wall areas;

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 sum is larger than the theoretical height value of the retaining wall region, determining that the position of the pixel point coordinate corresponding to the actual height value is the position of the retaining wall region, and obtaining a region diagram of a plurality of retaining walls.

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

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

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 _k And 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 material strip is positioned on two sides of the track, a plurality of material piles are placed on the material strip, a retaining wall is arranged between every two adjacent material piles, the laser scanner is arranged on a material yard ceiling and is used for collecting three-dimensional point cloud data of each material pile and the retaining wall on the material strip; 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 external parameters and three-dimensional point cloud data generated when a laser scanner arranged on a stock yard ceiling collects each stock pile and a retaining wall on a stock bar, wherein the external parameters are used for representing the relationship 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;

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 and each retaining wall on the stock strip, converts the three-dimensional point cloud data into the 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 and retaining wall identification processing on the height map to obtain an area map of each stock pile and an area map of each retaining wall; and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile, the coordinate value corresponding to the area map of each pile and the coordinate value corresponding to the area map of each retaining wall, so as to realize the pile disc warehouse. Therefore, the method and the system provided by the embodiment of the invention can establish the height map comprising the stock pile areas and the retaining wall areas according to the three-dimensional point cloud data, divide the stock piles in the height map, identify the retaining wall, and determine the type and the corresponding density of the material 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 warehouse.

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 provided in accordance with 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 wall identification processing 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 easily occur in a manual calculation mode, and the utilization rate of a stock ground is low due to the errors, so that an inlet and outlet plan 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, eliminates the influence of a retaining wall in the stock making process and has higher stock making accuracy. 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, each material pile 500 corresponds to one material, and the retaining wall 700 is arranged between every two adjacent material piles 500, so that the situation that the materials stacked in the material piles 500 are mixed to influence the purity of the materials is avoided.

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 material yard ceiling, the lens of the laser scanner 200 faces the material strip 400, and is used for collecting three-dimensional point cloud data of each material pile 500 and each retaining wall 700 on the material strip 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 scan the profile data of the whole stockpile, a plurality of laser scanners 200 can be arranged in the stockpile, the laser scanners 200 are separated by a certain distance, and each laser scanner 200 can acquire three-dimensional point cloud data of a plurality of stockpiles 500 and retaining walls 700 stored on the material strip 400. 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:

s1, acquiring external parameters and three-dimensional point cloud data generated when a laser scanner arranged on a stock yard ceiling collects each stock pile and a retaining wall 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.

And the laser scanner 200 on the stock yard ceiling collects the outlines of each stock pile and the retaining wall on the stock bars within 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 ground, 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 ground is taken as the Z-axis direction, that is, the X-axis is parallel to the strip direction, the Y-axis is perpendicular to the rail 300, the Z-axis is perpendicular to the rail 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 are required to be utilized in converting three-dimensional point cloud data acquired by the laser scanners 200 under the scanner coordinate system into a world coordinate system, wherein the external parameters comprise rotation parameters and translation parameters corresponding to three direction coordinate axes.

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 12, determining rotation parameters around the X axis, rotation parameters around the Y axis and rotation parameters around the Z axis which are required by converting the coordinate system of the scanner 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 coordinate system of the scanner.

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 also be reversed or angled, i.e., the X-axis forward direction of the scanner coordinate system is reversed 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 reversed or angled from the Y-axis forward direction of the world coordinate system.

Therefore, the parameters of rotation around the X axis, the parameters of rotation around the Y axis and the parameters of rotation 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 deviation of the established directions 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 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.

Therefore, in order to convert the scanner coordinate system into the world coordinate system, the X-axis translation parameter, the Y-axis translation parameter and the Z-axis translation parameter 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 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) ₁ 0,0), the installation position of the laser scanner is determined to be x distance from the origin of coordinates under the world coordinate system ₁ Right position of (a). Therefore, the origin of coordinates of the scanner coordinate system needs to be shifted to the left by x ₁ After the distance is reached, the translation x is realized under the coordinate system of the scanner and the coordinate system of the world ₁ The 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 _i The external parameter of the scanner in the world coordinate system is RT _i Then can be according to formula P _W ＝RT _i ×P _i Converting the three-dimensional point cloud data into three-dimensional point cloud data P under 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 under 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 strips by the control system according to the three-dimensional point cloud data under 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 a material pile and a retaining wall, 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 under 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 that the three-dimensional point cloud data collected by the laser scanner are projected on a two-dimensional plane only comprising an X axis and a Y axis to obtain a two-dimensional image, and the two-dimensional image comprises data corresponding to the stockpile and the retaining wall.

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 stock pile and each retaining wall 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 the 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.

And 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 a non-null pixel value mean value according to the pixel value of each neighborhood pixel point, and performing hole filling processing on the current pixel point by taking the non-null pixel value mean value as the pixel value of the pixel point where the null value is located.

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 located ₀ If the pixel value of (1) is null, determining the pixel point A ₀ Surrounding 8 neighborhood pixels A ₁ 、A ₂ 、A ₃ 、A ₄ 、 A ₅ 、A ₆ 、A ₇ 、A ₈ And obtaining the pixel value P of the 8 neighborhood pixels ₁ 、P ₂ 、P ₃ 、P ₄ 、P ₅ 、P ₆ 、P ₇ 、 P ₈ . Based on each pixel value, calculating the mean value P ═ P (P) of the non-empty pixel values of 8 neighborhood pixels ₁ 、P ₂ 、P ₃ 、P ₄ 、P ₅ 、 P ₆ 、P ₇ 、P ₈ ) And 8, taking the mean value P of the non-empty pixel values as a pixel point A ₀ The pixel value of (2).

And if all the neighborhood pixel points of the current pixel point with the null value are 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 A ₀ If the pixel value is abnormal, the pixel point A is determined ₀ Surrounding 8 neighborhood pixels A ₁ 、A ₂ 、A ₃ 、A ₄ 、A ₅ 、A ₆ 、A ₇ 、A ₈ And obtaining the pixel value P of the 8 neighborhood pixels ₁ 、 P ₂ 、P ₃ 、P ₄ 、P ₅ 、P ₆ 、P ₇ 、P ₈ . Based on each pixel value, calculating the mean value P ═ P (P) of the non-empty pixel values of 8 neighborhood pixels ₁ 、P ₂ 、P ₃ 、P ₄ 、P ₅ 、P ₆ 、P ₇ 、P ₈ ) And/8, taking the average value P of the non-empty pixel values as an abnormal point pixel point A ₀ The 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 stockpile segmentation processing and retaining wall identification processing on the height map to obtain an area map of each stockpile and an area map of each retaining wall, and obtaining a coordinate value corresponding to the area map of each stockpile and a coordinate value corresponding to the area map of each retaining wall 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 stockpiles and the retaining walls. In order to accurately store each pile, a plurality of pile images on the height map need to be segmented, and the positions of a plurality of retaining walls need to be identified, so that an area map of a single pile and an area map of a single retaining wall are obtained.

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:

s311, obtaining 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 the Z axis.

S312, comparing the pixel value of each pixel point with a ground height threshold value, segmenting a stockpile area presented in the height map of the material strip and the ground area based on the comparison result, and extracting a stockpile area map.

S313, 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 a material pile, a retaining wall and the ground. Therefore, when the material pile is divided into the height map, the position of the retaining wall is not considered, the material pile group is divided from the ground firstly, and then the single material pile in the material pile group is divided. The retaining wall is not considered because the retaining wall is located in the pile group, and the height of the retaining wall and the height of the pile are both higher than the ground, so when the pile group is divided from the ground, the retaining wall is actually divided from the ground.

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:

and 3121, based on the height map, creating a mark image with the same image size as the height map.

And 3122, comparing the pixel value of each pixel point in the height map with the ground height threshold value.

And 3123, if the pixel value of any pixel point is greater than or equal to the ground height threshold value, identifying each pixel point as a first numeric character on the mark image, and determining the region surrounded by all the first numeric characters as a stockpile region.

And 3124, if the pixel value of any pixel point is smaller than the ground height threshold, marking any pixel point on the mark image as a second character, and determining the region surrounded by all the second characters as a ground region.

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 the control system in calculating the multiple dividing lines in the stockpile area map comprises the following steps:

step 31311, obtain the number identified on the logo image.

And 31312, searching the digit characters as corresponding critical pixel points between the first digit character and the second digit character, and generating boundary lines for the critical pixel points, wherein the region surrounded by each boundary line is a stockpile region.

31313, determining a dividing line between the two adjacent boundary lines, wherein the dividing line is used for dividing the two adjacent stockpile areas.

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:

31321, projecting the height map to an X-axis direction in an image coordinate system, where the image coordinate system is a pixel coordinate system where the height map is located, to generate a one-dimensional histogram.

31322, 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 using the sum of the pixel values and the X-axis pixel point coordinate smaller than the ground height threshold as a stockpile segmentation point.

31323, determining a middle point of the two adjacent pile dividing points, and generating a dividing line for dividing the two adjacent pile areas based on the middle point.

Fig. 8 is a partial schematic view of a one-dimensional histogram provided in 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. Wherein, 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 formula _i,j The 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 the two pile regions are adjacent to each other but spaced apart from each other by a distance, the intermediate point between the two pile dividing points is taken as the dividing point, and the dividing line for dividing the two adjacent pile regions is generated based on the intermediate point. When two windrow areas are adjacent and next to each other, a division line can be generated at a common division 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.

Fig. 9 is a flowchart of a method for identifying and processing retaining walls according to an embodiment of the present invention. Referring to fig. 9, in the embodiment of the present invention, the control system performs wall identification processing on the height map to obtain an area map of each wall, including:

s321, projecting the height map to the X-axis direction under a world coordinate system to generate a one-dimensional histogram comprising a plurality of stockpile areas and retaining wall areas.

And S322, 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.

S323, 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, and obtaining a plurality of area maps of the retaining wall.

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. In this embodiment, the height map is projected to the X-axis direction under the world coordinate system to generate a one-dimensional histogram including a plurality of stockpile areas and retaining wall areas, and the specific implementation process of generating the one-dimensional histogram may refer to the corresponding content in step 31321 in the foregoing embodiment, which is not described herein again.

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, since there may be an error when generating the height map from the three-dimensional point cloud data, so that there is a certain difference between the height value of each retaining wall area and the actual height value, an error threshold may be set, and the error threshold may 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, 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, and extracting the region map of each retaining wall.

In the one-dimensional histogram, the regional graph of each retaining wall is identified, so that the influence of the retaining wall can be eliminated during subsequent stockpile inventory, and the accuracy during subsequent inventory 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 materials 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 _A 50 m, position L of seed B _B Because 100 meters, the approximate position L of each material type when the height map and the one-dimensional histogram are generated _K All 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 _K The material type of the material pile can be determined in the corresponding interval of the start-stop position, 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 _B Is 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, the coordinate value corresponding to the area map of each pile and the coordinate value corresponding to the area map of each retaining wall.

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

The coordinate value of each pile region and the coordinate value of each retaining wall region can be determined based on the height map, namely, the coordinate value corresponding to the region map of each pile and the coordinate value corresponding to the region map of each retaining wall. And establishing a coordinate system in the height map, wherein each divided stockpile 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.

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 ].

Because the retaining wall has a certain thickness, the start-stop coordinates of each material pile area can be influenced, and therefore, when the weight of the stacked materials in each material 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, the coordinate value corresponding to the area map of each pile, and the coordinate value corresponding to the area map of each retaining wall includes:

51, obtaining a 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

Step 52, calculating the position Ls of the initial dividing line and the position Le of the ending dividing line according to the position coordinates of the retaining wall area;

step 53, according to the formula

Calculating the volume V of each pile _k ；

Step 54, according to the density of the material deposited in each pile and the volume V of each pile _k And calculating the weight of the stacked materials in each material 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.

When the volume of the stacked materials of each pile is calculated, the height value f (i) of each pile in a one-dimensional histogram is obtained, and the actual length of each pixel point in the X-axis direction in the height map

And the actual length in the Y-axis direction

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 _k And 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 _K Then according to formula M _K ＝ρ _K ×V _K Calculating the weight M of the material stacked in each pile _K 。

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 influence of the retaining wall is eliminated in the inventory process, and the inventory accuracy is higher. In the inventory making process, the stockpile area can be subjected to inventory making according to needs, one-key inventory making can be supported, and the accuracy of the 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; 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 strip, converts the three-dimensional point cloud data into three-dimensional point cloud data of 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 and retaining wall identification processing on the height map to obtain a region map of each stock pile and a region map of each retaining wall; and calculating the weight of the stacked materials of each pile based on the density of the stacked materials in each pile, the coordinate value corresponding to the area map of each pile and the coordinate value corresponding to the area map of each retaining wall, so as to realize the pile disc warehouse. Therefore, the method and the system provided by the embodiment of the invention can establish the height map comprising the stock pile areas and the retaining wall areas according to the three-dimensional point cloud data, divide the stock piles in the height map, identify the retaining wall, and determine the type and the corresponding density of the material 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 warehouse.

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 do not limit the scope of the present invention.

Claims

1. A method of stockpile stockpiling characterized by comprising the steps of:

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

and calculating the weight of the stacked materials in each pile based on the density of the stacked materials in each pile, the coordinate value corresponding to the area diagram of each pile and the coordinate value corresponding to the area diagram of each retaining wall.

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:

based on the external parameter RT of the ith laser scanner in the world coordinate system _i And the ith laserThree-dimensional point cloud data P collected by scanner _i According to the formula P _W ＝RT _i ×P _i Converting the three-dimensional point cloud data into three-dimensional point cloud data P under a world coordinate system _W 。

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:

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

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;

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

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

10. The method according to claim 1, wherein the wall identification processing on the height map to obtain a region map of each wall comprises:

and if the actual height value and the theoretical height value larger than the retaining wall region are determined, determining that the position of the pixel point coordinate corresponding to the actual height value is the position of the retaining wall region, and obtaining the regional images of a plurality of retaining walls.

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

12. The method according to claim 9, wherein calculating the weight of the stacked material in each pile based on the density of the stacked material in each pile, the coordinate value corresponding to the area map of each pile, and the coordinate value corresponding to the area map of each retaining wall comprises:

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, laser scanners, 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, a retaining wall is arranged between every two adjacent material piles, the laser scanners are arranged on a material yard ceiling, and the laser scanners are used for acquiring three-dimensional point cloud data of each material pile and the retaining wall 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;