Closed coal yard U-shaped monorail mobile laser coal inventory device

Abstract

The invention relates to a closed coal yard U-shaped monorail mobile laser coal inventory device. The device comprises a U-shaped monorail 1 erected on a steel structure ceiling of a coal yard, and acoal inventory instrument trolley which is used for moving along a rail route to inventory coal in the whole coal yard is arranged on the U-shaped monorail in an inverted mode. And the coal inventoryinstrument trolley is provided with a coal inventory instrument device for carrying out actual specific full-coverage scanning coal inventory on the whole coal yard. A U-shaped monorail laser scannerwith an omnidirectional holder is adopted, during coal inventory scanning, two different modes of inner-ring scanning and outer-ring scanning are selected, internal and external sites covered by the U-shaped monorail can be completely scanned in the process that the trolley walks back and forth, the laser coal inventory instrument is not limited by coal yard conditions any more; and meanwhile, theU-shaped monorail can be laid in a segmented mode according to the actual size and the scanning range of the closed coal yard, track cost is saved, installation difficulty is reduced, and universality of the coal inventory device is enhanced.

Description

technical field [0001] The invention relates to the technical field of laser coal panning, in particular to a U-shaped monorail movable laser coal pan device in a closed coal yard. Background technique [0002] At present, laser pan coal is divided into fixed type and mobile type. [0003] In the fixed coal-coaling method, the Chinese patent announcement CN109029259A, the title of the invention is "a method and system for fixed coal-coaling in a closed coal yard". Disclosed is a fixed coal-coaling method in a closed coal yard. Multiple Panmei scanners with rotating pan / tilts are fixedly installed at preset positions in closed coal yards, and through block scanning, and then data integration, superimposed information and useless information are eliminated, and finally Panmei has no blind spots. 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 difficu...

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.

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