| Bulk materials,represented by coal,grain and sand and gravel,play an irreplaceable role as important materials in daily life and production,so the accurate measurement of bulk material pile volumes is key to ensuring social stability and national development.Coal is one of the most important energy sources in China and is widely used in life and production.Accurate measurement of the volume of coal is conducive to improving economic efficiency and ensuring national energy security.With the development of technology,scientific instruments such as 3D Li DAR have been used in bulk pile volume measurement to improve efficiency and accuracy.However,there are problems in the collected point cloud data such as noisy points and objects that are not easily distinguishable,and these problems lead to inaccurate reconstruction of the pile model and inaccurate volume measurement.To solve these problems,this study proposes a bulk pile volume measurement method based on 3D reconstruction technology,and verifies the feasibility and reliability of the method through field bulk pile volume measurement experiments.The details of the study are described as follows:(1)An improved K-means point cloud denoising algorithm is proposed to address the issue of noise points in actual pile data.This algorithm divides the point cloud data into voxel grids and uses the centroids of the voxel grids as initial clustering points,using the weighted Euclidean distance between point clouds as the clustering criterion.Experimental results demonstrate that the proposed algorithm effectively removes outliers and smoothes the outer contour.(2)A curvature-constrained Euclidean clustering point cloud data segmentation method is proposed to solve the problem that objects are not easily distinguishable.The algorithm calculates the curvature value of the point cloud and adds curvature constraints to the traditional Euclidean clustering.The experimental results show that the algorithm can reasonably segment different objects in the bulk material field and represent different point cloud collections with different colours to facilitate staff identification.(3)The projection method is employed for volume measurement of bulk material piles,and measurements are verified on real stone and coal piles.Experimental results demonstrate that the proposed method can quickly and accurately measure the volume of the piles.(4)A bulk material pile volume measurement system is designed based on the Qt framework.The system mainly realizes measurement and query functions.Specifically,the measurement function presents the three-dimensional model of the bulk material pile and stores the measurement results in the database,while the query function enables operations such as querying and modifying bulk material pile data.Through this system,bulk material pile data can be effectively managed and analyzed,further enhancing the practicality and operability of the measurement method. |
