A U-shaped single-rail mobile laser coal yard measuring device for a closed coal yard

Abstract

The present invention relates to a U-shaped single-rail mobile laser coal yard inventory device, which includes a U-shaped single rail 1 erected on the steel structure ceiling of the coal yard. An inventory instrument trolley for moving along the track route to conduct coal yard inventory is inversely arranged on the U-shaped single rail, and an inventory instrument device for actually and specifically scanning the entire coal yard in a full-coverage manner is provided on the inventory instrument trolley. By adopting a U-shaped single rail and an omnidirectional pan-tilt laser scanner, during coal yard inventory scanning, by selecting two different modes of inner-circle scanning and outer-circle scanning, the internal and external sites covered by the U-shaped rail can be scanned in their entirety during one round trip of the trolley. Not only is the laser coal yard inventory instrument no longer restricted by the coal yard conditions, but also the U-shaped single rail can be laid in sections according to the actual size of the enclosed coal yard and the scanning range, saving track costs, reducing the installation difficulty, and enhancing the versatility of the coal yard inventory device.

Description

Technical Field

[0001] The present invention relates to the technical field of laser coal yard measurement, and particularly to a U-shaped single-rail mobile laser coal yard measurement device for a closed coal yard. Background Art

[0002] Currently, laser coal yard measurement is divided into fixed type and mobile type.

[0003] In the fixed coal yard measurement method, Chinese Patent Publication No. CN109029259A, with the invention title of "A Fixed Coal Yard Measurement Method and System for a Closed Coal Yard", discloses a fixed coal yard measurement method for a closed coal yard. A plurality of coal yard measurement scanners with rotating cloud platforms are fixedly installed at preset positions in the closed coal yard. Through block-by-block scanning and then data integration, overlapping information and useless information are eliminated, and finally, there is no blind area in coal yard measurement. Its disadvantages are that this solution requires the cooperation of multiple coal yard measurement scanners, resulting in high coal yard measurement costs. At the same time, not only is the data integration difficult, but also the coal yard measurement error cannot be controlled after data integration. In addition, this solution cannot meet the requirements of fixed-point and partitioned coal yard measurement. Restricted by the size of the closed coal yard, the universality of coal yard measurement is not strong, and it needs to be customized independently according to the size of the site.

[0004] In mobile coal yard measurement, Chinese Patent Publication No. CN109110515A, with the invention title of "A Mobile Coal Yard Measurement Cart for a Closed Coal Yard", and Chinese Patent Publication No. CN107402052A, with the invention title of "A Self-propelled Intelligent Stack Measurement System", both of the above two patent applications disclose a coal yard measurement solution that uses a wheeled mobile device to carry a scanner on a double-rail track and uses a travel encoder to position the walking device. Both solutions can achieve real-time inventory of the stockyard, with a relatively high degree of automation. Their disadvantages are that both solutions use double-rail tracks, so the requirements for track installation are high. At the same time, limited by the scanning range of the laser coal yard measuring instrument, multiple track devices are required to measure the coal yard in the same large coal yard, which not only increases the cost of coal yard measurement but also increases the difficulty of writing the coal yard measurement software system. In addition, the above two solutions are only applicable to square coal yards, and the universality is insufficient.

[0005] Among other mobile coal yard inventory methods, Chinese Patent Publication No. CN104071548A, with the invention title of "A Cantilever Bucket Wheel Reclaimer and Its Coal Yard Inventory Method", discloses a method of scanning and obtaining the coal storage volume in the coal yard by installing a laser scanner on the boom of the bucket wheel reclaimer. Its disadvantages are that the bucket wheel reclaimer is a heavy machine, and the tremor during its operation affects the scanning data. At the same time, the positioning accuracy of the bucket wheel reclaimer itself affects the data scanned by the laser scanner, which will greatly increase the error of coal yard inventory. In addition, Chinese Patent Publication No. CN108596914A, with the invention title of "A UAV Coal Yard Inventory Method", discloses a UAV coal yard inventory method that can inventory the coal piles in a semi-closed coal shed. After collecting the image information of the coal piles, it can automatically process the image information, model, and generate coal yard inventory information. Its disadvantages are that this method requires professional technical personnel to operate, with high use and maintenance costs. At the same time, it is greatly affected by weather and on-site environmental factors. In addition, the scanner is installed on the UAV, and the flight height stability during its flight cannot be guaranteed, thus affecting the accuracy of coal yard inventory. Summary of the Invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned existing technologies and provide a U-shaped single-rail mobile laser coal yard inventory device for a closed coal yard.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A U-shaped single-rail mobile laser coal yard inventory device for a closed coal yard includes a U-shaped single track erected on the steel structure ceiling of the coal yard. An inventory instrument trolley for moving along the track route to inventory the entire coal yard is inverted on the U-shaped single track. An inventory instrument device for actually and specifically scanning and inventorying the entire coal yard in a full-coverage manner is provided on the inventory instrument trolley.

[0009] Furthermore, the U-shaped single track is laid with a single-rail I-beam.

[0010] Furthermore, the inventory instrument trolley consists of a drive module, a wireless charging and battery module, and a trolley distribution box.

[0011] Furthermore, the drive module includes a motor with an encoder and a drive wheel connected to the motor with the encoder. The inventory instrument trolley is fixed on the U-shaped single track by the drive wheel, and the motor with the encoder is connected to the wireless charging and battery module.

[0012] Furthermore, the motor with the encoder is a DC brushless motor.

[0013] Furthermore, the encoder adopts an incremental encoder, an absolute encoder, a shaft-type encoder or a bush-type encoder.

[0014] Furthermore, a wireless communication module for communicating with the main control room is provided in the trolley distribution box.

[0015] Furthermore, the coal inventory measuring device is composed of a laser scanner, a thermal imager and a camera, and the laser scanner, the thermal imager and the camera are all connected to the wireless charging and battery module.

[0016] Furthermore, the laser scanner adopts a laser scanner with an omnidirectional pan-tilt head, and the camera adopts a camera with an omnidirectional pan-tilt head.

[0017] Furthermore, the U-shaped single-rail mobile laser coal inventory measuring device has a coal yard full-coverage scanning working mode, and the coal yard full-coverage scanning working mode specifically includes: taking one end of the U-shaped single track as the starting point and the other end as the ending point. When the coal inventory measuring trolley starts from the starting point and goes to the ending point, select the inner circle scanning mode, that is, use the pan-tilt head of the laser scanner with an omnidirectional pan-tilt head on the coal inventory measuring device to turn towards the inner circle and scan the range covered by the U-shaped single track inside; when the coal inventory measuring trolley reaches the ending point and returns to the starting point again, select the outer circle scanning mode, that is, use the pan-tilt head of the laser scanner with an omnidirectional pan-tilt head on the coal inventory measuring device to turn towards the outer circle and scan the range covered by the U-shaped single track outside. Thus, the coal inventory measuring trolley realizes full-coverage scanning of the coal yard through a round trip passing through the entire starting point and ending point of the U-shaped single track.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. By adopting a U-shaped single track and a laser scanner with an omnidirectional pan-tilt head, during coal inventory scanning, by selecting two different modes of inner circle scanning and outer circle scanning, the inside and outside areas covered by the U-shaped track can be scanned completely during a round trip of the trolley. Not only is the laser coal inventory measuring instrument no longer restricted by the coal yard conditions, but also the U-shaped single track can be laid in sections according to the actual size of the enclosed coal yard and the scanning range, saving the track cost, reducing the installation difficulty, and also facilitating adjusting the length of the track according to the size of each stockyard to achieve full-coverage coal inventory scanning of the coal yard and enhancing the versatility of the coal inventory measuring device;

[0020] 2. By adopting an inverted installation method, the scanning field of view of the scanner can be increased, the requirement for the scanning range of the scanner is reduced, and the procurement cost of the laser scanner is reduced;

[0021] 3. A thermal imager and a camera with an omnidirectional pan-tilt are installed on the coal inventory cart. During daily coal inventory and use, it can not only monitor the self-temperature of the coal pile within the coverage of the U-shaped track in real time, but also observe the real-time dynamics within the coal yard through the omnidirectional camera.

[0022] 4. Through the cooperation and mutual verification of the encoder on the DC brushless motor and the RFID reader, the self-feedback positioning of the coal inventory device is greatly stabilized, which not only simplifies the difficulty of the control system, but also ensures the position accuracy of the coal inventory cart.

[0023] 5. The single-rail I-beam is laid, which not only increases the strength of the coal inventory track, but also effectively reduces the impact on the steel structure of the closed coal yard ceiling. At the same time, it can reduce the difficulty of track laying and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention;

[0025] Figure 2 It is a plan view of the U-shaped single track in the closed coal yard of the operating environment of the device of the present invention;

[0026] In the figure, 1 is the U-shaped single track, 2 is the drive module, 3 is the drive wheel, 4 is the motor with an encoder, 5 is the cart distribution box, 6 is the laser scanner, 7 is the camera, 8 is the thermal imager, and 9 is the wireless charging and battery module. DETAILED DESCRIPTION OF THE INVENTION

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Specific Embodiment

[0029] 1. Device Structure:

[0030] A U-shaped single-rail mobile laser coal inventory device for a closed coal yard of the present invention is mainly composed of three parts: a coal inventory device, a coal inventory cart, and a U-shaped single track 1.

[0031] The coal inventory device is mainly composed of three parts: a laser scanner 6 with an omnidirectional pan-tilt, a thermal imager 8, and a camera 7 with an omnidirectional pan-tilt. They are fixed by bolts and installed upside down on the coal inventory cart.

[0032] The coal panning instrument trolley is composed of three parts: a driving module 2, a wireless charging and battery module 9, and a trolley power distribution box 5. The driving module 2 includes a motor 4 with an encoder and a driving wheel 3. The trolley power distribution box 5 includes a wireless communication module. The wireless charging and battery module 9 provides working power to the omnidirectional PTZ laser scanner 6, the thermal imager 8, the omnidirectional PTZ camera 7, and the motor 4 with an encoder; the U-shaped single track 1 adopts an I-beam U-shaped single track, which can be laid in sections according to the actual size and scanning range of the closed coal yard to achieve full coverage of the coal yard and scanning of coal panning.

[0033] In this embodiment, the motor 4 with an encoder is a brushless DC motor, and the encoder is an incremental encoder, an absolute encoder, a shaft encoder or a sleeve encoder.

[0034] 2. Working principle:

[0035] A U-shaped monorail mobile laser coal-coal-coal-coal-yard device is used. The operator issues coal-coal ...

[0036] A straight rail is installed on the top of each span of the closed coal yard, and then a curved rail is used to connect the two straight rails at the end of the coal yard to form a U-shaped track, which serves as the track for the coal counting trolley. The trolley track is made of 16# I-beam, and the track is installed on the horseway position on the top of the dry coal shed where personnel can easily access it. It can be laid in sections according to the actual size of the closed coal yard and the scanning range, so as to achieve full coverage of the coal yard and coal counting.

[0037] The laser scanner with omnidirectional PTZ is installed upside down on the coal tray trolley. The system provides two coal tray scanning modes: inner circle scanning and outer circle scanning. When the coal tray trolley moves from the starting point to the end point, the inner circle scanning mode can be selected. The scanner PTZ turns to the inner circle to scan the inner range covered by the U-shaped track; when the coal tray trolley returns from the end point to the starting point, the outer circle scanning mode can be selected. The scanner PTZ turns to the outer circle to scan the outer range covered by the U-shaped track. The trolley travels back and forth to achieve full coverage scanning of the coal yard.

[0038] The laser scanner and thermal imager are installed upside down on the coal-carrying trolley. The trolley is driven by a DC brushless motor to drive the driving wheel and is wirelessly controlled. The control methods are wireless network program control and local remote control. The trolley's own battery can ensure that the trolley can continue to move on the track. The battery life can be estimated according to the size of the battery, and the program control room will be alarmed when the battery is low (less than 25% and 15%). At the same time, the wireless charging device installed on the trolley will automatically return to the initial position to charge when the low battery alarm is triggered.

[0039] The coal yard inventory trolley has two walking modes. One is fast walking with a speed of 3 m / s, which can provide basic information about the current coal pile shape and temperature in a short time. The other is slow walking with a speed of 0.15 m / s, which is used for accurate inventory and point temperature monitoring.

[0040] The thermal imager is installed upside down on the coal yard inventory trolley and compared with the images captured by the left camera. During the movement of the trolley, the temperature of the stored coal in the coal yard can be accurately grasped.

[0041] The camera with an omnidirectional pan-tilt head installed at the front end of the trolley can rotate 360 degrees, enabling clear observation of the stored coal in the coal yard, the operation of the equipment around the bucket wheel stacker, etc.

[0042] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A U-shaped single-rail mobile laser coal yard measuring device, characterized in that, It includes a U-shaped single track (1) installed on the steel structure ceiling of the coal yard. An inventory car for coal yard is inverted and arranged on the U-shaped single track (1) and used to move along the track route for coal yard inventory. An inventory device for actual and specific full-coverage scanning of the entire coal yard is provided on the inventory car; The inventory car consists of a drive module (2), a wireless charging and battery module (9), and a car distribution box (5); The drive module (2) includes a motor (4) with an encoder and a drive wheel (3) connected to the motor (4) with an encoder. The inventory car is fixed on the U-shaped single track (1) by the drive wheel (3). The motor (4) with an encoder is connected to the wireless charging and battery module (9); The inventory device consists of a laser scanner (6), a thermal imager (8), and a camera (7). The laser scanner (6), the thermal imager (8), and the camera (7) are all connected to the wireless charging and battery module (9); This U-shaped single-rail mobile laser coal yard inventory device has a coal yard full-coverage scanning working mode. The coal yard full-coverage scanning working mode specifically includes: taking one end of the U-shaped single track (1) as the starting point and the other end as the ending point. When the inventory car starts from the starting point and goes to the ending point, select the inner circle scanning mode, that is, use the laser scanner (6) with an omnidirectional pan-tilt on the inventory device to turn the pan-tilt to the inner circle and scan the range covered by the U-shaped single track (1) inside; when the inventory car reaches the ending point and returns to the starting point again, select the outer circle scanning mode, that is, use the laser scanner (6) with an omnidirectional pan-tilt on the inventory device to turn the pan-tilt to the outer circle and scan the range covered by the U-shaped single track outside. Thus, the inventory car realizes full-coverage scanning of the coal yard by making a round trip through the entire starting point and ending point of the U-shaped single track (1).

2. The U-shaped single-rail mobile laser coal yard measuring device for a closed coal yard according to claim 1, wherein The U-shaped single track (1) is laid with a single-rail I-beam.

3. The U-shaped monorail mobile laser coal yard measuring device according to claim 1, characterized in that, The motor (4) with an encoder uses a DC brushless motor.

4. The U-shaped monorail mobile laser coal yard measuring device according to claim 1, characterized in that, The encoder uses an incremental encoder, an absolute encoder, a shaft-type encoder, or a bush-type encoder.

5. The U-shaped single-rail mobile laser coal yard measuring device according to claim 1, characterized in that, A wireless communication module for communication connection with the main control room is provided in the car distribution box (5).

6. The U-shaped monorail mobile laser coal yard measuring device according to claim 1, characterized in that The laser scanner (6) uses a laser scanner with an omnidirectional pan-tilt, and the camera (7) uses a camera with an omnidirectional pan-tilt.

Images