Annular monorail mobile laser coal inventory device for closed coal yard

Abstract

The invention relates to an annular monorail mobile laser coal inventory device for a closed coal yard. The annular monorail mobile laser coal inventory device belongs to the field of mechanical equipment. The annular monorail mobile laser coal inventory device is composed of an annular rail, a driving positioning device, a coal inventory device and a driving control system. The annular monorail mobile laser coal inventory device for the closed coal yard adopts the annular monorail, can lay the annular monorail in a segmented manner according to the actual size and the scanning range of the closed coal yard, realizes coal yard full-coverage scanning coal inventory, and improves the universality of the coal inventory device; a transmission gear on a closed-loop motor shaft provided with a stroke encoder is meshed with a transmission rack, so that a driving force can be provided for the coal coiling device and can be used for automatic feedback positioning of the coal inventory device, thereby greatly simplifies the difficulty of the control system; and by adopting a mode of combining a load-carrying bearing with a guide wheel for load-carrying and positioning, effective meshing of the gear and the rack can be ensured, so that the positioning precision of the coal inventory device can be improved, thereby being capable of effectively improving the precision of scanned data, and achieving the purpose of precise coal inventory.

Description

technical field [0001] The invention relates to an annular single-track mobile laser coal-coaling device in a closed coal yard, which belongs to the field of mechanical equipment. Background technique [0002] In order to reduce the production cost of power generation in thermal power enterprises, the coal in the coal yard must be dynamically monitored. However, since the coal consumption of the boiler unit cannot be counted, at present, the inventory of the existing coal in the coal yard is used to adjust the supply of coal combustion. Relationship, also known as pan coal in the industry. At present, there are two methods of coal panning, one is manual coal panning, which has been basically eliminated due to high labor intensity, low coal panning efficiency and accuracy, and does not meet the current lean production requirements; the other is laser pan coal panning, which mainly The laser scanner is used to scan the coal field to generate a three-dimensional point cloud im...

AI Technical Summary

Problems solved by technology

Its shortcoming is that this scheme requires the cooperation of multiple coal scanning scanners, and the coal cost is high. At the same time, not only is the data integration difficult, but also the coal error cannot be controlled after data integration. The size of the closed coal yard is limited, and the versatility of the coal pan is not strong, so it needs to be customized according to the size of the site

[0004] In the mobile coal pan, the Chinese patent announcement CN109110515A, the name of the invention is "a mobile coal pan trolley in a closed coal yard" and the Chinese patent announcement CN107402052A, the invention is called "a self-propelled intelligent pile body measurement System", the above two patent applications both disclose the plan of using a wheeled mobile device to carry a scanner on a double-track track, and use a stroke encoder to position the walking device. Both solutions can realize real-time inventory of the stockyard. The degree of automation is high, but the shortcoming is that both schemes use double-track tracks, so the requirements for track installation are high. At the same time, due to the limitation of the scanning range of the laser pan coal detector, multiple track equipment is required to monitor the coal yard in the same large coal yard. Coal panning not only increases the cost of coal panning, but also increases the difficulty of writing coal panning software systems. In addition, the above two solutions are only applicable to square coal yards, and the versatility is insufficient

[0005] Among other mobile coal pans, Chinese patent announcement CN104071548A, the name of the invention is "a cantilever bucket wheel stacker and reclaimer and its coal panning method", the application discloses that by installing a laser scanner on the cantilever The shortcoming of the method of scanning to obtain the amount of coal stored in the coal yard is that the bucket wheel machine is a heavy machine, and its own vibration will affect the scanning data when it is turned on. At the same time, the positioning accuracy of the bucket wheel machine itself will affect the data scanned by the laser scanner, which will cause Greatly increase the error of pan coal

In addition, the Chinese patent announcement CN108596914A, the name of the invention is "a method of unmanned aerial vehicle coal panning", this scheme discloses a method of unmanned aerial vehicle coal panning, which can carry out coal piles in semi-closed coal sheds. Inventory, after collecting the image information of the coal pile, the image information can be automatically processed, modeled, and coal inventory information is generated. The disadvantage is that this method requires professional and technical personnel to operate, and the use and maintenance costs are high. At the same time, it is affected by weather, site Environmental factors have a great influence. In addition, the scanner is installed on the drone, and its flight height stability during the flight cannot be guaranteed, which affects the accuracy of the coal.

[0006] To sum up, in the current laser pan coal, whether it is a fixed type or a double-track mobile coal pan, there are always problems such as poor versatility, low positioning accuracy, and large coal pan error, which cannot meet the actual requirements of the coal pan and restrict thermal power. The pace of enterprises realizing the automation and digitization of reclaiming materials in stockyards

Images