Integrated anti-fall laser coal meter and measurement method for enclosed spaces

Abstract

The present invention discloses an integrated, drop-resistant laser coal meter and measurement method for enclosed spaces. The aircraft coal meter is provided with a magnetic device on top, which is connected to the aircraft coal meter via a connecting device and is used to maintain the coal meter device in a horizontal position. The aircraft coal meter is provided with an aircraft camera and a coal meter scanning probe for scanning and measuring coal piles in enclosed spaces. A buffer frame is provided below the aircraft coal meter, and the regular hexagonal drop-resistant buffer frame is connected to the drop-resistant buffer frame. The buffer frame at the bottom of the coal meter is vertically connected to the regular hexagonal buffer frame to form an integral buffer frame for protecting the aircraft coal meter. The present invention is provided with a three-dimensional laser scanner and a buffer device, which can perform large-scale spatial scanning and measurement of coal piles, effectively preventing the coal meter device from falling and being damaged due to signal interruption, ensuring the accuracy and reliability of the measurement results, and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the measurement of the volume and mass of a pile in a closed space environment, and in particular to an integrated anti-fall laser coal meter and a measurement method for a closed space. Background Art

[0002] Coal yards are crucial facilities for fuel storage and supply in coal-fired power plants. Currently, the capacity of domestic coal-fired units remains large, and increasingly stringent environmental protection requirements are driving increasingly stringent design requirements for coal yards. Reducing coal yard footprint, improving site utilization, enhancing coal yard automation, and minimizing environmental pollution are gaining increasing attention. Consequently, coal-fired power plants now utilize enclosed coal yards. Compared to traditional open coal yards, fully enclosed coal yards offer numerous advantages, including reduced footprint, increased site utilization, advanced automation, and reduced environmental impact. Fully enclosed coal yards utilize zoned areas and multiple coal piles. Compared to traditional open or semi-enclosed coal yards, fully enclosed coal yards present a more complex environment and taller coal piles, placing greater demands on the difficulty and precision of coal handling. Coal costs also rank highest among power plant operating costs, making timely and accurate monitoring of coal storage levels crucial.

[0003] Currently, coal counting methods in coal yards include manual counting, laser radar counting, ultrasonic measurement, and drone-mounted coal counting devices. All of these methods have significant drawbacks for fully enclosed coal yards. Manual methods are prone to significant errors when handling coal storage yards. Furthermore, on-site manual measurement is labor-intensive, requires a poor working environment, and requires limited personnel time, resulting in a long delay. Ultrasonic measurement, which calculates distance by multiplying the time difference between an ultrasonic wave's return from an obstacle by its propagation speed, cannot accurately control the time taken for measurement. This can lead to measurement errors, making ultrasonic measurement unsuitable for applications requiring precise measurement of points over a large area. Therefore, traditional methods for obtaining data using conventional coal counting devices have limitations. Using drone-mounted coal counting devices also presents drawbacks, as the all-metal roof of a fully enclosed coal shed poses a risk of signal shielding. Drones are also prone to signal interruption and a high risk of falling during operation. Furthermore, drone-mounted coal counting devices are heavy, resulting in relatively poor control accuracy.

[0004] Prior art document 1 (CN117550108A) discloses a fall-proof coal pan meter for carrying on an aircraft, comprising an aircraft, a measuring mechanism provided at the middle part of the bottom end of the aircraft, a gimbal provided at the bottom end of the measuring mechanism, a coal pan meter provided at the bottom end of the gimbal, and a supporting mechanism provided at the bottom end of the aircraft. However, the shortcomings of this prior art are: 1. The split design requires two control systems to control the drone and the coal pan meter respectively, which is inconvenient to operate; 2. The equipment is mainly used for measurement in open spaces, and signal transmission in confined spaces is easily obstructed; 3. The anti-fall protection device of this invention provides strong protection for the main equipment, but has weak protection for equipment such as wings.

[0005] Prior art document 2 (CN217805276U) discloses an unmanned aerial vehicle (UAV) with a high-speed laser scanner for coal handling in coal plants, which belongs to the field of UAV technology. A chassis is fixed to the lower end face of the UAV body, a drive cavity is opened in the middle part of the chassis, and a scanning cavity and a power supply cavity are opened symmetrically at both ends of the chassis about the drive cavity. The laser scanner body is installed in the scanning cavity, and the probe of the laser scanner body extends out of the chassis, and a cleaning component is installed in the drive cavity. However, the shortcomings of this prior art are: 1. The device only has a landing gear and no protective device, and cannot protect the device in the event of a fall in special circumstances; 2. The device is mainly used for measurement in open spaces, and signal transmission in confined spaces is easily obstructed: 3. The device has no top electromagnetic suction device. When measuring closed coal yards, the risk of falling increases due to obstructed signal transmission: 4. The laser scanning probe cannot be adjusted at multiple angles, and measurement is inconvenient. Summary of the Invention

[0006] In order to solve the deficiencies in the prior art, the present invention provides an integrated anti-fall coal panning instrument and measurement method for closed spaces, which uses a three-dimensional laser scanner to perform large-scale spatial scanning and measurement of coal piles, especially for the measurement of coal quantity in coal yards in closed spaces, which can greatly improve the efficiency of measuring the volume of existing coal. At the same time, the instrument itself is light in weight, and has auxiliary equipment such as a signal enhancement device and an electromagnetic magnetic device, and is equipped with a protective device, which can effectively avoid the problem of the coal panning device falling and being damaged due to signal interruption. Its measurement efficiency and accuracy have significant advantages over traditional manual measurement.

[0007] The present invention adopts the following technical solutions.

[0008] The first aspect of the present invention discloses an integrated, drop-resistant laser coal counting instrument for enclosed spaces, comprising: an aircraft coal counting instrument, wherein a magnetic device is provided on the top of the aircraft coal counting instrument, the magnetic device being connected to the aircraft coal counting instrument via a connecting device and being adsorbed on the top of a coal shed in an enclosed coal yard to maintain the coal counting instrument in a horizontal position;

[0009] An aircraft camera and a coal panning instrument scanning probe are provided on one side of the aircraft coal panning instrument for scanning and measuring the coal pile in a closed space;

[0010] A buffer rack is provided under the aircraft coal panning meter, and the buffer rack includes: an anti-fall buffer rack, a coal panning meter bottom buffer rack and a regular hexagonal anti-fall buffer rack. The regular hexagonal anti-fall buffer rack is connected to the anti-fall buffer rack, and the coal panning meter bottom buffer rack is vertically connected to the regular hexagonal buffer rack to form a buffer rack as a whole, which is used to protect the aircraft coal panning meter.

[0011] Preferably, the aircraft coal panning meter comprises: aircraft wings, a flight axis, an aircraft camera and a coal panning meter scanning probe;

[0012] Among them, the number of aircraft wings and flight axes is 4, which are arranged at the end of the aircraft coal pan meter, and the aircraft camera and the coal pan meter scanning probe are arranged on the same side of the aircraft coal pan meter.

[0013] Preferably, the aircraft camera and the coal pan scanning probe can be adjusted in an angle of 0-270° up and down, and in an angle of 0-180° left and right, and can be adjusted in the up, down, left and right directions at the same time.

[0014] Preferably, the aircraft wing includes three flight wing blades, and the flight shaft, flight wing blades and coal disc probe can all be disassembled.

[0015] Preferably, a transverse bracket is provided at the end of the anti-fall buffer frame, and explosive airbags are provided at both ends of the transverse bracket, and the external vertical distance thereof is greater than the wings of the aircraft; an explosive airbag is also provided at the end of the bottom buffer frame of the coal pan meter.

[0016] Preferably, the explosive airbag comprises an inner airbag and an outer airbag, the outer airbag is provided with two double-layer airbag outer airbag bursting holes, and the inner airbag is provided with a double-layer airbag inner airbag bursting hole.

[0017] Preferably, the connecting device comprises: a rotating device, a telescopic rod and a telescopic rod motor;

[0018] The magnetic device is connected to the top of the telescopic rod through a rotating device, the top of the telescopic rod is connected to the telescopic rod, and the telescopic rod motor is arranged inside the telescopic rod.

[0019] Preferably, the telescopic adjustment range of the telescopic rod is 7-20 cm, and the telescopic rod can be adjusted 45° forward, backward, left and right.

[0020] A second aspect of the present invention discloses a method for measuring an integrated anti-drop laser coal meter for a closed space. The method comprises the following steps:

[0021] Step 1: Conduct on-site observation and survey of the closed coal yard;

[0022] Step 2: Determine the location and route based on the survey results of step 1;

[0023] Step 3: assemble the flyable integrated coal pan meter equipment on site;

[0024] Step 4: The equipment undergoes a test flight;

[0025] Step 5: Use the coal pan meter to measure the three-dimensional picture of the entire coal yard;

[0026] Step 6: Process, review, and calculate the measurement results to obtain measurement and data analysis results.

[0027] Preferably, the step 5 specifically includes:

[0028] When the coal pan meter starts working, the magnetic device can be adsorbed on the top of the coal shed in the closed coal yard to perform a full-scale scan of all parts of the coal yard;

[0029] When the coal pan meter finishes working, the magnetism of the magnetic device is eliminated by controlling the switch, and the buffer rack serves as the landing gear of the coal pan meter;

[0030] When the coal pan meter falls accidentally, the lower air bag of the coal pan meter buffer frame touches the ground first to ensure the safety of the equipment when falling.

[0031] The beneficial effect of the present invention is that, compared with the prior art,

[0032] (1) The present invention provides an integrated, drop-resistant laser coal meter for enclosed spaces, particularly for measuring coal volume and mass in enclosed or semi-enclosed spaces. Since these environments may have complex signal propagation characteristics, the device is designed to operate under these conditions. It is equipped with a three-dimensional laser scanner that can perform large-scale spatial scanning and measurement of coal piles, ensuring the accuracy and reliability of the measurement results and providing more detailed and accurate coal pile data. Automated measurement greatly reduces time consumption and improves work efficiency.

[0033] (2) The present invention provides an integrated, drop-proof laser coal meter for closed coal yards, which is particularly suitable for measuring the amount of coal in a closed space. It can greatly improve the efficiency of measuring the volume of existing coal. At the same time, it is lightweight and has auxiliary equipment such as a signal enhancement device and an electromagnetic magnetic device. Even in an environment with poor signal, the electromagnetic magnetic device can ensure the stable operation of the coal meter and the safety of the device itself.

[0034] (3) The present invention provides a flyable integrated coal pan meter for closed coal yards, which is equipped with a protective device to effectively prevent the coal pan device from falling and being damaged due to signal interruption. Its measurement efficiency and accuracy are significantly superior to traditional manual measurement, and it has more built-in safety measures, such as an emergency landing system and fail-safe protection, to ensure the safety of the equipment and operators.

[0035] (4) The present invention provides a flyable integrated coal pan meter for closed coal yards, which can adapt to the measurement of coal piles of different sizes. This is due to the maneuverability of the drone, which can easily reach various complex or difficult-to-access coal pile locations for measurement. The integrated drone coal pan meter adopts a closed integrated carbon fiber fuselage structure with dust and water resistance, suitable for working in harsh environments, and the fuselage is light, which makes the drone easy to carry and easier and faster to operate;

[0036] The flyable integrated coal pan meter described in the present invention usually has a more integrated design, which means that the aircraft, measuring mechanism, coal pan meter and other components are optimized and combined, thereby providing higher operational convenience and reliability in actual use. The present invention is particularly suitable for occasions where accurate measurement of coal storage is required. Its unique design makes its application in closed spaces particularly prominent, and can effectively improve work efficiency and safety levels in these environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is the overall top view of the integrated high-altitude anti-fall three-dimensional automatic laser coal pan instrument;

[0038] Figure 2 It is a side view schematic diagram of the invention;

[0039] Figure 3 This is a diagram of the buffer ball structure;

[0040] Figure 4 It is a side view of the magnetic device and telescopic rod;

[0041] In the figure: 1. Explosive airbag; 1.1. Outer airbag bursting hole; 1.2. Inner airbag; 1.3. Outer airbag; 1.4. Inner airbag bursting hole; 2. Anti-fall buffer frame; 3. Coal counting meter bottom buffer frame; 4. Aircraft wing; 5. Flight axis; 6. Aircraft camera; 7. Aircraft coal counting meter; 8. Regular hexagonal anti-fall buffer frame; 9. Magnetic device; 10. Aircraft wing blade; 11. Regular hexagonal buffer frame and aircraft bottom connection buffer bracket; 12. Coal counting meter scanning probe; 13. Connection between bottom buffer frame and regular hexagonal buffer frame; 15. Connection device between magnetic device and aircraft coal counting meter body; 18. Magnet of magnetic device; 19. Rotating device; 20. Top of telescopic rod; 21. Telescopic rod; 22. Telescopic rod motor; 23. Connection between the top of automatic laser coal counting meter and telescopic rod. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without making creative efforts are all within the scope of protection of the present invention.

[0043] like Figure 1-2 As shown, the present invention provides an integrated anti-fall laser coal counting instrument for enclosed spaces, including: an aircraft coal counting instrument 7.

[0044] A magnetic device 9 is provided on the top of the aircraft coal pan meter 7, and a buffer rack is provided below the aircraft coal pan meter body 7;

[0045] It is worth noting that the magnetic device 9 is intended to ensure the safety of the equipment during operation. When the equipment is measuring on a coal pile, it can be adsorbed on the ceiling of the coal yard to prevent it from falling due to accidental collisions or wind and other factors.

[0046] The buffer frame is composed of an anti-fall buffer frame 2, a bottom buffer landing gear 3 and a regular hexagonal anti-fall buffer frame 8.

[0047] The regular hexagonal anti-fall buffer frame 8 is connected to the anti-fall buffer frame 2, and the coal pan meter bottom buffer frame 3 is vertically connected to the regular hexagonal buffer frame 8. The coal pan meter and the aircraft are integrated into one design and are operated by a controller.

[0048] The hexagonal anti-drop buffer frame 8 is designed to provide physical protection for the device body and wings, reducing damage caused by collisions or other external forces during operation.

[0049] In a preferred but non-limiting embodiment of the present invention, the aircraft coal counting instrument 7 includes an aircraft wing 4, a flight axis 5, an aircraft camera 6 and a coal counting instrument scanning probe 12. The number of aircraft wings 4 and flight axes 5 is 4. The aircraft camera 6 and the coal counting instrument scanning probe 12 are arranged on the same side of the aircraft coal counting instrument 7. The aircraft camera 6 and the coal counting instrument scanning probe 12 can be adjusted up and down by 0-270° and left and right by 0-180°, and can be adjusted up and down, left and right at the same time to meet the use of all scenarios.

[0050] The aircraft's control system can be controlled according to the operation of the four flight axes, which are paired in two pairs of corners. When a problem occurs in one of any pair of flight axes, the other one will stop rotating to ensure the balance of the aircraft. After adjustments are made to the problem, the aircraft will choose a safe position to land. The aircraft's two propellers can bear the weight of the equipment itself when working.

[0051] It is worth noting that the present invention uses a quadrotor aircraft among multi-rotor aircraft, that is, a quadcopter, which carries a three-dimensional fully automatic laser scanner to scan the coal pile, and uses the collected coal pile images and GPS information to perform three-dimensional reconstruction of the coal yard, including motion recovery structure, aerial triangulation, oblique photogrammetry, etc. This technology can provide detailed volume and surface feature data, which is very critical for calculating the quantity and management of coal.

[0052] Further preferably, the aircraft wing 4 includes three flight wing blades 10, and the flight shaft 5, the flight wing blades 10, and the coal disc probe 12 can all be disassembled.

[0053] Because the flyable, integrated, drop-resistant, three-dimensional automatic laser coal counting instrument is relatively expensive, protecting the device from falling accidents is particularly important. Therefore, the present invention installs a regular hexagonal buffer frame 8 at the bottom of the aircraft, with an explosive airbag 1 installed at the end of the buffer frame. Its main function is to provide a buffer to prevent damage to the device when the aircraft falls out of control. The hexagonal buffer frame is made of elastic material and can withstand up to 10 times the weight of the device itself. It is designed to provide physical protection for the device body and wings, reducing damage caused by collisions or other external forces during operation. Each corner of the hexagonal buffer frame is equipped with a protective bracket. The upper support rod is connected to the device body and consists of six buffer rods. The lower part also consists of 12 support rods. There are six vertical brackets perpendicular to each corner of the regular hexagonal buffer frame. The bottom of the vertical bracket is installed with an explosive airbag. Six brackets are installed along the downward extension of the upper bracket. A horizontal bracket is installed at the end of each bracket. Each bracket is equipped with an explosive airbag at both ends. The bottom of the airbag is located on the same plane as the bottom of the vertical bracket. Six brackets are installed along the downward extension of the upper bracket to prevent the flight axis and the device body from falling. The diameter of the downward-diagonal support rod is 1cm, and the diameter of the vertical support rod is 0.7cm.

[0054] The buffer rack is detachable. After the measurement is completed, all parts can be disassembled and packed for easy carrying.

[0055] When the aircraft falls due to special circumstances, the explosive airbag can land first when the wing touches the ground. In the event of a special situation, it can effectively protect the flight axis and equipment safety. The airbag is detachable and can be easily and retrogradely replaced if it is damaged during a fall.

[0056] like Figure 2 As shown, the explosive airbag 1 is installed at the end of the anti-fall buffer frame 2, and a horizontal bracket is installed at the end of the bracket. Two explosive airbags are set at both ends of the horizontal bracket. The external vertical distance between them is 8 cm greater than the external distance of the aircraft wing 4. The regular hexagonal buffer frame 8 plays the role of buffering and protecting the equipment during falling. Under normal circumstances, it can serve as the landing gear of the equipment.

[0057] like Figure 3 As shown, the explosive airbags include: an inner airbag 1.2 and an outer airbag 1.3. There are 12 airbags installed at the ends of the regular hexagonal downward-facing brackets and 6 airbags installed at the ends of the vertical downward-facing brackets, totaling 18. All of them are double-layer explosive airbags. In the event of an accidental fall of the aircraft, the lower airbag of the pan coal meter will land first. 1.1 is the explosion port of the outer airbag of the double-layer airbag. The pressure of the two air outlets when the airbag explodes is 3 times the weight of the entire device. 1.4 is the explosion port of the inner airbag of the double-layer airbag. The explosion pressure of the air outlet is 5 times the weight of the entire device. At the same time, all brackets are made of flexible materials and can provide cushioning, which can effectively protect the safety of the device when it falls.

[0058] like Figure 4 As shown, a telescopic electromagnetic top suction device 9 is installed on the top of the aircraft coal counting instrument 7, and a magnetic suction device magnet 18 is provided on the top of the electromagnetic top suction device 9. The aircraft coal counting instrument body 7 and the magnetic suction device 9 are connected by a connecting device 15, and the bottom of the connecting device 15 is provided with a connection point 23 between the top of the automatic laser coal counting instrument and the telescopic rod.

[0059] The connecting device 15 includes a rotating device 19, a telescopic rod 21, and a telescopic rod motor 22. The electromagnetic suction device 9 is connected to the top of the telescopic rod 20 via the rotating device 19. The telescopic rod motor 22 is located inside the telescopic rod 21. The telescopic rod 21 can be extended and retracted to a maximum distance of 20 cm and a minimum distance of 7 cm, with an adjustment range of 7-20 cm. The telescopic rod 21 can be adjusted 45° forward, backward, left, and right, allowing for multiple tilt angles. Because many parts of the coal shed roof are not horizontal, this device ensures that the device remains horizontal when the magnetic suction device is attached to a non-horizontal coal shed roof, preventing the device from falling due to signal interruption during measurement. The magnetic suction device is in a non-magnetic state during and after takeoff, and when not measuring.

[0060] The function of the top magnetic device 9 is that when measuring the coal stored in a closed coal yard, since it is necessary to scan various positions in the coal yard, the measurement takes a certain amount of time. To ensure the safety of the equipment, when the coal meter is working, the magnetic device can be adsorbed on the top of the coal shed in the closed coal yard to perform a full-scale scan of various parts of the coal yard. After the measurement is completed, the magnetism of the magnetic device can be eliminated by controlling the switch. The suction force of the magnetic device is 10 times the weight of the equipment.

[0061] It is worth noting that since closed coal yards may have signal attenuation or interference problems, in order to improve the reliability and accuracy of data transmission, the present invention sets up signal boosters inside the iron shed. The signal boosters are installed on the ground of the closed coal yard walkway. By evenly distributing one every 40 meters, the signal coverage range can be expanded and the signal reception effect can be enhanced. These devices can receive the signals sent by the drone and amplify or retransmit them, thereby ensuring stable signal transmission in the confined space and improving the control accuracy of the integrated coal pan meter hand operator.

[0062] After the coal handling process is complete, the data stored in the data storage card needs to be processed. The computing control terminal reads the data and first demodulates it according to a specific protocol, converting it into information such as location and distance. This data is then interpolated and fitted to generate a three-dimensional surface diagram, reconstructing the coal pile image. The volume of the coal pile is then calculated using the differential element method, using the formula m = pV (where m is mass, p is the density of the coal pile measured using the standard bucket and water bag methods, and V is the measured volume). Ultimately, the total coal inventory for the entire coal yard is determined.

[0063] Embodiment 2 of the present invention provides a measurement method for a flyable integrated coal pan meter in a closed coal yard, comprising the following steps:

[0064] Step 1: Conduct on-site observation and survey of the closed coal yard;

[0065] In a preferred but non-limiting embodiment of the present invention, step 1 specifically includes: inspecting the size, shape, and distribution of the coal yard; identifying obstacles within the coal yard, such as support structures and equipment; and assessing environmental conditions within the coal yard, such as lighting, temperature, and humidity, to identify potential risk points.

[0066] Step 2: Determine the location and route based on the survey results of step 1;

[0067] In a preferred but non-limiting embodiment of the present invention, step 2 specifically comprises:

[0068] Step 2.1: Determine the signal booster installation location and measurement location based on the site survey results;

[0069] Step 2.2: Analyze the site survey data and select an area with no interference and good line of sight as the control station;

[0070] Step 2.3: Plan the flight path and measurement points to achieve full coverage based on the size and shape of the coal yard. Install the signal booster, ensuring that its location optimizes communication between the drone and the control station.

[0071] Step 3: assemble the flyable integrated coal pan meter equipment on site;

[0072] In a preferred but non-limiting embodiment of the present invention, step 3 specifically comprises:

[0073] Step 3.1, install the coal pan meter on the drone and ensure that all connections are firm and reliable;

[0074] Step 3.2: Check the drone, including battery status, propeller safety, sensor functionality, etc.

[0075] Step 3.3: Turn on the device and perform system self-test and calibration.

[0076] Step 4: The equipment undergoes a test flight;

[0077] In a preferred but non-limiting embodiment of the present invention, step 4 specifically comprises:

[0078] Step 4.1: Before the formal measurement, conduct a test flight to test the flight performance of the UAV and the working status of the coal panning instrument. Verify whether the flight path and measurement points are planned reasonably;

[0079] Step 4.2, check the effectiveness of the signal booster to ensure the stability of data transmission;

[0080] Step 4.3, equipment measurement, aircraft operation, coal pan meter operation, magnetic device operation, start the drone, fly autonomously along the predetermined route, and record flight data and coal pile data at the same time.

[0081] In step 4.4, monitor the drone's flight status and the coal meter's operating status to ensure data quality and equipment safety. Use a magnetic device to ensure the drone can be quickly secured when needed to prevent accidents.

[0082] Step 5: Measure the three-dimensional picture of the entire coal yard;

[0083] Step 5 specifically involves using drone-mounted photography and laser scanning equipment to obtain a three-dimensional image of the coal pile, ensuring that the image and data cover the entire coal yard without missing any important parts;

[0084] When the coal pan meter starts working, the magnetic device can be adsorbed on the top of the coal shed in the closed coal yard to perform a full-scale scan of all parts of the coal yard;

[0085] When the coal pan meter finishes working, the magnetism of the magnetic device is eliminated by controlling the switch, and the buffer rack serves as the landing gear of the coal pan meter;

[0086] When the coal pan meter falls accidentally, the lower air bag of the coal pan meter buffer frame touches the ground first, effectively protecting the safety of the equipment when it falls.

[0087] Step 6: Process, review, and calculate the measurement results to obtain measurement and data analysis results;

[0088] Step 6 specifically includes:

[0089] Step 6.1, transmitting the collected data to a computer system for three-dimensional reconstruction and volume calculation;

[0090] Step 6.2: Review data quality, eliminate outliers and errors, and calculate the volume and storage capacity of the coal pile based on the data recorded by the coal pan meter and drone.

[0091] Step 6.3, prepare a detailed coal analysis report, including measurement results and data analysis.

[0092] Furthermore, the control aspects of the integrated drone coal counting instrument described in this invention primarily involve key technologies such as flight control systems, data acquisition and processing systems, signal enhancement and communication systems, user interfaces and operational controls, autonomous measurement algorithms, 3D modeling and volume calculation, exception handling and safety mechanisms, energy management, and software control systems. The integration and application of these technologies make the integrated drone coal counting instrument an efficient and accurate coal counting tool, helping to improve counting efficiency and reduce human error.

[0093] The integrated UAV coal panning meter of the present invention has a flight time of up to 45 minutes, a wind resistance of up to 15 m / s, an operating temperature range of -10°C to 45°C, and a flight speed of 0-15 m / s.

[0094] The device features high-efficiency propeller wings; a waterproof and dustproof main control housing; a professional camera system with over 30 million effective pixels and a large aperture fixed-focus lens; and a built-in POS system that automatically captures GPS location information when taking photos.

[0095] It has an automatic flight control system and is equipped with a high-precision satellite positioning system, gyroscope and accelerometer sensors. It is worth noting that the equipment has adaptive flight control capabilities and can adjust the flight altitude and speed to adapt to coal piles of different sizes and shapes, as well as changing coal yard environments.

[0096] The device weighs between 3-4 kg and is easy to carry. It has a 20,000-25,000 mAh battery and a battery level detector. It also has an autonomous satellite positioning function.

[0097] In a preferred but non-limiting embodiment of the present invention, in order to support continuous operation for a longer period of time, the device may adopt a high-efficiency battery system or energy management technology to ensure that the measurement task can be completed without an external power supply.

[0098] The aircraft can automatically avoid obstacles encountered during flight; it is easy to operate and can be trained to be proficient in its use in half a day. It automatically plans the route, takes off with one button, and automatically returns to the home position. The device also has adaptive flight control capabilities and can adjust the flight altitude and speed to adapt to coal piles of different sizes and shapes, as well as changing coal yard environments.

[0099] The integrated unmanned aerial vehicle (UAV) coal panning instrument has a ranging error of ≤2cm, a scanning range of ≥300m, a scanning frequency of 10Hz, a positioning error of <0.6%, and a local reconstruction error of ±1%. The scanning speed is >40,000m2 / min, which is proportional to the aircraft's movement speed.

[0100] The present invention collects data in real time, constructs a real-time SLAM point cloud, and displays the point cloud model in an integrated design with an integrated real-time processor, eliminating the need for external wireless modules and processing terminals. The power display device has a real-time power display screen, which displays the power in digital percentage. The overall measurement accuracy of real-time power monitoring is better than 99.7%. The system directly processes the point cloud data in three dimensions to obtain the volume data of the scanned target, and combines the volume data to directly generate an inventory report on the pile density. The wireless transmission distance is 500m-800m outdoors and 300m-500m indoors, with a rate greater than 100Mbps; 3G / 4G signal transmission can be used.

[0101] In addition to measuring coal piles, the device may also be able to monitor environmental conditions within closed coal yards, such as temperature, humidity, and coal dust levels, to assess the operating environment and safety risks. To account for unexpected situations the device may encounter during operation, the invention may also include safety features and emergency response mechanisms, such as automatic return to home and safe landing.

[0102] The beneficial effect of the present invention is that, compared with the prior art,

[0103] (1) The present invention provides an integrated anti-drop laser coal meter for closed coal yards, which is equipped with a three-dimensional laser scanner and can perform large-scale spatial scanning and measurement of coal piles, ensuring the accuracy and reliability of the measurement results, providing more detailed and accurate coal pile data, and the automated measurement greatly shortens the time consumption and improves work efficiency;

[0104] (2) The present invention provides an integrated, drop-proof laser coal meter for closed coal yards, which is particularly suitable for measuring the amount of coal in a closed space. It can greatly improve the efficiency of measuring the volume of existing coal. At the same time, it is lightweight and has auxiliary equipment such as a signal enhancement device and an electromagnetic magnetic device. Even in an environment with poor signal, the electromagnetic magnetic device can ensure the stable operation of the coal meter and the safety of the device itself.

[0105] (3) The present invention provides a flyable integrated coal pan meter for closed coal yards, which is equipped with a protective device to effectively prevent the coal pan device from falling and being damaged due to signal interruption. Its measurement efficiency and accuracy are significantly superior to traditional manual measurement, and it has more built-in safety measures, such as an emergency landing system and fail-safe protection, to ensure the safety of the equipment and operators.

[0106] (4) The present invention provides a flyable integrated coal pan meter for closed coal yards, which can adapt to the measurement of coal piles of different sizes. This is due to the maneuverability of the drone, which can easily reach various complex or difficult-to-access coal pile locations for measurement. The integrated drone coal pan meter adopts a closed integrated carbon fiber fuselage structure with dust and water resistance, suitable for working in harsh environments, and the fuselage is light, which makes the drone easy to carry and easier and faster to operate;

[0107] The flyable integrated coal pan meter described in the present invention usually has a more integrated design, which means that the aircraft, measuring mechanism, coal pan meter and other components are optimized and combined, thereby providing higher operational convenience and reliability in actual use. The present invention is particularly suitable for occasions where accurate measurement of coal storage is required. Its unique design makes its application in closed spaces particularly prominent, and can effectively improve work efficiency and safety levels in these environments.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An integrated anti-drop laser coal detector for enclosed spaces, comprising: Aircraft coal pan instrument (7), characterized by: A magnetic device (9) is provided on the top of the aircraft coal panning meter (7), and the magnetic device (9) is connected to the aircraft coal panning meter (7) through a connecting device (15), and is adsorbed on the top position of the coal shed in the closed coal yard, and is used to keep the coal panning meter device in a horizontal position; the connecting device (15) includes: a rotating device (19), a telescopic rod (21) and a telescopic rod motor (22); wherein, the magnetic device (9) is connected to the top (20) of the telescopic rod through the rotating device (19), the top (20) of the telescopic rod is connected to the telescopic rod (21), and the telescopic rod motor (22) is provided inside the telescopic rod (21); The telescopic adjustment range of the telescopic rod (21) is 7-20 cm, and the telescopic rod (21) can be adjusted 45 degrees forward, backward, left and right; An aircraft camera (6) and a coal panning instrument scanning probe (12) are provided on one side of the aircraft coal panning instrument (7) for scanning and measuring the coal pile in a closed space; A buffer frame is provided below the aircraft coal pan instrument (7), and the buffer frame comprises: an anti-fall buffer frame (2), a coal pan instrument bottom buffer frame (3), and a regular hexagonal anti-fall buffer frame (8), wherein the regular hexagonal anti-fall buffer frame (8) is connected to the anti-fall buffer frame (2), and the coal pan instrument bottom buffer frame (3) is vertically connected to the regular hexagonal anti-fall buffer frame (8), forming a buffer frame as a whole, and is used to protect the aircraft coal pan instrument (7); The end of the anti-fall buffer frame (2) is provided with a transverse bracket, and both ends of the transverse bracket are provided with explosive airbags (1), whose external vertical distance is greater than the aircraft wing (4); the end of the bottom buffer frame (3) of the coal pan meter is also provided with an explosive airbag (1); The explosive airbag (1) comprises an inner airbag (1.2) and an outer airbag (1.3), wherein the outer airbag is provided with two double-layer airbag outer airbag bursting holes (1.1), and the inner airbag is provided with a double-layer airbag inner airbag bursting hole (1.4).

2. The integrated anti-drop laser coal counting instrument for enclosed spaces according to claim 1, characterized in that: The aircraft coal panning instrument (7) comprises: an aircraft wing (4), a flight axis (5), an aircraft camera (6) and a coal panning instrument scanning probe (12); The number of the aircraft wings (4) and the flight axes (5) is four, which are arranged at the end of the aircraft coal panning instrument (7), and the aircraft camera (6) and the coal panning instrument scanning probe (12) are arranged on the same side of the aircraft coal panning instrument (7).

3. The integrated anti-drop laser coal counting instrument for enclosed spaces as claimed in claim 2, characterized in that: The aircraft camera (6) and the coal pan scanning probe (12) can be adjusted in an angle of 0-270° up and down, and in an angle of 0-180° left and right, and can be adjusted in the up, down, left and right directions simultaneously.

4. The integrated anti-drop laser coal counting instrument for enclosed spaces according to claim 2, characterized in that: The aircraft wing (4) comprises three flight wing blades (10), and the flight shaft (5), the flight wing blades (10) and the coal disc probe (12) are all detachable.

5. A method for measuring an integrated, drop-resistant laser coal meter for enclosed spaces, comprising: The following steps are involved: Step 1: Conduct on-site observation and survey of the closed coal yard; Step 2: Determine the location and route based on the survey results of step 1; Step 3: assemble the flyable integrated coal pan meter equipment on site; Step 4: The equipment conducts a test flight; Step 5: Use the coal pan meter to measure the three-dimensional picture of the entire coal yard; Step 6: Process, review, and calculate the measurement results to obtain measurement and data analysis results.

6. The method for measuring coal using an integrated, drop-resistant laser coal meter in a closed space according to claim 5, characterized in that: The step 5 specifically includes: When the coal pan meter starts working, the magnetic device can be adsorbed on the top of the coal shed in the closed coal yard to perform a full-scale scan of all parts of the coal yard; When the coal pan meter finishes working, the magnetism of the magnetic device is eliminated by controlling the switch, and the buffer rack serves as the landing gear of the coal pan meter; When the coal pan meter falls accidentally, the lower air bag of the coal pan meter buffer frame touches the ground first to ensure the safety of the equipment when falling.

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