Thermal power plant coal inventory measuring and calculating method based on four-axis aircraft

Abstract

The invention relates to a thermal power plant coal inventory measuring and calculating method based on a four-axis aircraft. The method includes the following steps that (1) laser distance measurement is conducted over a coal pile, the straight-line distance h between an acquisition point over the coal pile and a surface point of the coal pile is measured, the straight-line distance between the acquisition point and the horizontal plane of a place where the coal pile is located is H, the straight-line distance z between the surface point of the coal pile and the horizontal plane of the place where the coal pile is located is equal to H-h, and meanwhile, horizontal coordinates x and y of the acquisition point are acquired through a GPS positioning module; (2) the step (1) is repeated, so that the straight-line distances between multiple acquisition points over the coal pile and multiple surface points of the coal pile and horizontal coordinates are acquired, the straight-line distances between the surface points of the coal pile and the horizontal plane of the place where the coal pile is located are acquired through the straight-line distances between the acquisition points over the coal pile and the surface points of the coal pile, and therefore a coal pile vertical view outline is drawn; (3) the approximate size of the coal pile is calculated through the straight-line distances between the surface points of the coal pile and the horizontal plane of the place where the coal pile is located and the horizontal coordinates of the acquisition points. The method is suitable for measurement conducted in various environments and large-area region measurement can be achieved.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle surveying and mapping, and relates to the measurement and calculation of coal in thermal power plants, in particular to a method for measuring and calculating coal in thermal power plants based on a four-axis aircraft. Background technique [0002] With the expansion of thermal power plant units and the increase of coal prices, coal panning has increasingly become an indispensable part of power generation enterprises. At present, the coal panning technology of thermal power plants mainly depends on the way of weighing and manual laser scanning when entering the power plant. The way the instrument scans the outline of the coal pile. However, there is a principle error in the former. The amount of coal stored is calculated by measuring the difference between the coal flowing into the power plant and the coal consumed, but the amount of coal lost due to various reasons during the long-term stor...

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Problems solved by technology

However, there is a principle error in the former. The amount of coal stored is calculated by measuring the difference between the coal flowing into the power plant and the coal consumed. However, the amount of coal lost due to various reasons during the long-term storage of coal is unknown.

The latter requires the operator to move the laser scanner at a constant speed, which has high requirements for the operator's technical proficiency and operational stability. It cannot overcome the influence of the local deep concave area on the calculation error of the coal pile volume, and is greatly affected by the climate. Time-consuming and labor-intensive, the degree of automation is low, and it is extremely disproportionate to the production management level of modern thermal power plants

[0003] After searching, I found a patent document related to the coal panning calculation technology, which is disclosed as the Chinese patent of CN1687700A, which provides a stereoscopic vision coal panning method, using a binocular camera to scan the coal pile in three dimensions. Although the method is novel, the thermal power plant The coal pile is huge, the binocular camera is expensive, and needs to be installed with high precision

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