Unmanned load management monitoring device and unmanned load management monitoring method

Abstract

The present invention relates to an unmanned management and monitoring device for cargo and a method for unmanned management and monitoring of cargo. It comprises: a collection unit including a 3D scanner installed on at least one of the upper part of a reclaimer and a tripper provided in an indoor coal storage facility to 3D scan the cargo, and a position sensing sensor installed on at least one of the lower part of the reclaimer and the tripper to detect height and position; a communication unit that transmits 3D scan images and position information collected by the collection unit; a storage unit that stores 3D scan images and position information transmitted by the communication unit; a computation processing unit that calculates the coal storage capacity from the images stored in the storage unit and calculates the real-time position from the position information; an image processing unit that filters the images stored in the storage unit; a display unit that displays the images filtered by the image processing unit; and a control unit that controls the operation of the reclaimer and the tripper based on the information calculated by the computation processing unit. By doing so, it provides the effect of managing cargo unmanned and controlling the reclaimer and the tripper to operate unmanned automated remotely.

Description

Technology Field

[0001] The present invention relates to an unmanned cargo management and monitoring device and an unmanned cargo management and monitoring method, and more specifically, to an unmanned cargo management and monitoring device and an unmanned cargo management and monitoring method that automatically monitors cargo stored in an indoor coal storage area, etc., to manage and monitor cargo-related data. Background Technology

[0002] In order to store and supply raw materials such as coal, iron ore, and limestone to steel mills or thermal power plants, outdoor or indoor storage yards capable of storing large quantities of materials are required for long-term storage. Recently, as part of measures to reduce fine dust, projects to convert storage yards into indoor facilities are being promoted.

[0003] In order to store, manage, and discharge raw materials such as coal, iron ore, and limestone in the indoor coal storage yard, workers visually inspect the yard's operational status and manually operate trippers and portal reclaimers. As a result, there were problems with reduced work efficiency, such as decreased productivity and safety accidents, due to poor operating conditions caused by dust and gas in the indoor coal storage yard.

[0004] In addition, methods for calculating the volume of raw materials loaded in the coal yard largely involve installing load cells on conveyors for cumulative calculation or supplementing methods that estimate roughly based on the draft of incoming vessels. However, these methods have limitations in accurately calculating and managing coal volume.

[0005] Furthermore, coal storage yards are vulnerable to spontaneous combustion because they store materials such as bituminous coal for long periods and are exposed to air. Spontaneous combustion of coal has caused problems, including the loss of coal and air pollution resulting from harmful substances such as carbon monoxide and fine dust; in severe cases, it can escalate into large-scale fires, leading to massive economic losses.

[0006] To prevent such problems, a drone-based coal yard fire monitoring system (Registration No. 10-1880099) has recently been developed and is in use; however, this drone-based monitoring system can only be used in outdoor coal yards where GPS reception is possible, and it is a technology that cannot be utilized in indoor coal yards.

[0007] Therefore, there has been a need for technologies and methods to accurately calculate coal storage capacity in indoor coal yards where GPS reception is impossible, to manage the receiving, transfer, discharge, and inventory of stored materials, and to predict and monitor capacity and spontaneous combustion.

[0008] In particular, there is a need for control technology for unmanned automated operation systems in indoor coal storage yards that minimizes worker exposure to harsh operating environments caused by dust and gas, thereby reducing safety accidents and improving work efficiency by operating facilities unmanned and automated. Prior art literature

[0009] Republic of Korea Registered Patent No. 10-2356264 (January 24, 2022) Republic of Korea Published Patent No. 10-2013-0051838 (May 21, 2013) Republic of Korea Published Patent No. 10-2004-0083826 (October 6, 2004) The problem to be solved

[0010] The present invention was devised to resolve the aforementioned conventional problems, and aims to provide a cargo unmanned management monitoring device and a cargo unmanned management monitoring method that collect 3D scan images and location information from a 3D scanner and a location sensing sensor to manage cargo unmanned and control a reclaimer and a tripper to operate unmanned automated operations remotely.

[0011] In addition, the present invention aims to provide an unmanned cargo management and monitoring device and a method for unmanned cargo management and monitoring, wherein the shape of the cargo is formed into a 3D image from a 3D scanner equipped in a reclaimer, and if the shape of the cargo is non-uniform, it is homogenized by the reclaimer to increase the load capacity, the flattening and homogenization operation of the cargo can be confirmed in real time from an optical camera, spontaneous combustion can be predicted and monitored from a thermal imaging camera, and the height and position of the reclaimer can be determined from a position detection sensor.

[0012] In addition, the present invention aims to provide an unmanned cargo management monitoring device and a cargo management monitoring method capable of identifying the 3D shape of the cargo from a 3D scanner equipped on a tripper and confirming the height and position of the tripper from a position detection sensor.

[0013] In addition, the present invention aims to provide an unmanned cargo management monitoring device and an unmanned cargo management monitoring method capable of responding to explosion risks by housing a 3D scanner, an optical camera, a thermal imaging camera, a position detection sensor, a power supply member, and a first communication member inside an explosion-proof case.

[0014] In addition, the present invention aims to provide an unmanned cargo management monitoring device and an unmanned cargo management monitoring method capable of smart safety management by closing access or preventing unauthorized vehicles and people from entering or exiting when a reclaimer is activated by an access detection sensor and an optical camera installed at the entrance.

[0015] In addition, the present invention aims to provide an unmanned management and monitoring device for cargo and a method for unmanned management and monitoring of cargo that can automatically manage and monitor cargo without human intervention by calculating in real time data including at least one of the receiving date, receiving quantity, transfer quantity, discharge quantity, and remaining quantity for each type of cargo loaded in an indoor coal storage yard by a computational processing unit. means of solving the problem

[0016] The present invention, for achieving the above-mentioned purpose, is a load management and monitoring device installed in an indoor coal storage facility to manage and monitor loads loaded in the facility without human intervention, comprising: a collection unit including a 3D scanner installed in at least one of the upper part of a reclaimer and a tripper provided in the indoor coal storage facility to 3D scan the loads, and a position sensing sensor installed in at least one of the lower part of the reclaimer and the tripper to detect height and position; a communication unit that transmits 3D scan images and position information collected by the collection unit; a storage unit that stores 3D scan images and position information transmitted by the communication unit; a computation processing unit that calculates the coal storage capacity from the images stored in the storage unit and calculates the real-time position from the position information; an image processing unit that filters the images stored in the storage unit; a display unit that displays the images filtered by the image processing unit; and a control unit that controls the operation of the reclaimer and the tripper based on the information calculated by the computation processing unit.

[0017] Preferably, the collection unit comprises a first collection member provided in the reclaimer; and a second collection member provided in the tripper; and the communication unit comprises a first communication member provided in the reclaimer for sending information collected from the first collection member, a second communication member provided in the tripper for sending information collected from the second collection member, and a fourth communication member for receiving information from the first and second communication members.

[0018] Preferably, the first collecting member comprises: a 3D scanner installed on the upper part of the reclaimer to collect a 3D scan image of the load; an optical camera installed on the upper part of the reclaimer to collect an optical image of the load; a thermal imaging camera installed on the upper part of the reclaimer to collect a thermal image of the load; and a position sensing sensor installed on the lower part of the reclaimer to detect the position of the reclaimer.

[0019] Preferably, the first collecting member further comprises: an explosion-proof case having an explosion-proof function that houses the 3D scanner, the optical camera, the thermal imaging camera, and the position sensing sensor inside; and a power supply member provided inside the explosion-proof case to supply power to the 3D scanner, the optical camera, the thermal imaging camera, and the position sensing sensor, and the first communication member is provided inside the explosion-proof case.

[0020] Preferably, the second collecting member comprises: a 3D scanner located below the tripper to collect 3D scan images; and a position sensing sensor provided on the tripper to detect the height and position of the tripper.

[0021] Preferably, the collection unit comprises a third collection member installed at the entrance of the indoor coal storage facility, comprising an entry detection sensor that detects the entry of vehicles and people, and an optical camera that collects optical images of vehicles and people entering and exiting; and the communication unit comprises a third communication member installed at the entrance of the indoor coal storage facility that transmits information collected from the third collection member.

[0022] Preferably, the above-mentioned processing unit calculates data including at least one of the receiving date, receiving quantity, transfer quantity, discharge quantity, and remaining quantity for each type of material loaded in the indoor coal storage facility in real time.

[0023] Preferably, the control unit manages and monitors the indoor coal storage based on data calculated by the computation processing unit and data processed by the image processing unit, and controls the operation of the tripper and the reclaimer.

[0024] Preferably,

[0025] A method for unmanned management and monitoring of a load installed in an indoor coal storage facility according to the present invention, for unmannedly managing and monitoring a load loaded in the indoor coal storage facility, comprising: a collection step of collecting a 3D scan image of a load loaded in the indoor coal storage facility and location information of at least one of a reclaimer and a tripper provided in the indoor coal storage facility; a communication step of transmitting the 3D scan image and location information collected in the collection step; a storage step of storing the 3D scan image and location information transmitted in the communication step; a computation processing step of calculating a coal storage capacity from the image stored in the storage step and calculating a real-time location from the location information; an image processing step of filtering the image stored in the storage step; a display step of displaying the image filtered in the image processing step; and a control step of controlling the operation of the reclaimer and the tripper based on the information calculated in the computation processing step. Effects of the invention

[0026] As described above, the present invention collects 3D scan images and location information from a 3D scanner and a position sensing sensor, thereby providing the effect of managing loads unmanned and controlling the reclaimer and tripper to operate remotely in an unmanned automated manner.

[0027] In addition, the present invention provides the effect of increasing the load capacity by homogenizing the load with the reclaimer when the shape of the load is non-uniform by shaping the shape of the load with a 3D image from a 3D scanner equipped in the reclaimer, and confirming the flattening and homogenization of the load in real time using an optical camera, predicting and monitoring spontaneous combustion using a thermal imaging camera, and determining the height and position of the reclaimer using a position detection sensor.

[0028] In addition, the present invention provides the effect of identifying the 3D shape of a load from a 3D scanner equipped in a tripper and confirming the height and position of the tripper from a position detection sensor.

[0029] In addition, the present invention provides the effect of being able to respond to the risk of explosion by housing a 3D scanner, an optical camera, a thermal imaging camera, a position detection sensor, a power supply member, and a first communication member inside an explosion-proof case.

[0030] In addition, the present invention provides the effect of enabling smart safety management by closing access or preventing unauthorized vehicles and people from entering when a reclaimer is activated by an access detection sensor and an optical camera installed at the entrance.

[0031] In addition, the present invention provides the effect of enabling unmanned automatic management and monitoring of loaded materials by calculating in real time, for each type of loaded material stored in an indoor coal storage yard, data including at least one of the receiving date, receiving quantity, transfer quantity, discharge quantity, and remaining quantity by a computational processing unit. Brief explanation of the drawing

[0032] Figure 1 is a photograph showing the shape of a stack stored in an outdoor coal yard. FIG. 2 is a drawing showing the indoor coal storage facility of the present invention. FIG. 3 is a photograph showing a reclaimer according to an embodiment of the present invention. FIG. 4 is a photograph showing a tripper according to an embodiment of the present invention. FIG. 5 is a configuration diagram showing the arrangement of the collection unit and the communication unit according to an embodiment of the present invention. FIG. 6 is a cross-sectional view of a reclaimer showing the arrangement of a collection unit and a communication unit according to an embodiment of the present invention. FIG. 7 is a block diagram showing an unmanned cargo management monitoring device according to an embodiment of the present invention. FIG. 8 is a configuration diagram showing the arrangement of a collection unit and a communication unit according to another embodiment of the present invention. FIG. 9 is a flowchart illustrating a method for unmanned management and monitoring of cargo according to an embodiment of the present invention. Specific details for implementing the invention

[0033] Hereinafter, a preferred embodiment of the present invention will be described in more detail with reference to the attached drawings.

[0034] FIG. 2 is a drawing showing an indoor coal storage facility according to the present invention, FIG. 3 is a photograph showing a reclaimer according to an embodiment of the present invention, FIG. 4 is a photograph showing a tripper according to an embodiment of the present invention, FIG. 5 is a configuration diagram showing the arrangement state of a collection unit and a communication unit according to an embodiment of the present invention, FIG. 6 is a drawing showing a cross-section of a reclaimer showing the arrangement state of a collection unit and a communication unit according to an embodiment of the present invention, FIG. 7 is a block diagram showing an unmanned management and monitoring device for loaded materials according to an embodiment of the present invention, FIG. 8 is a configuration diagram showing the arrangement state of a collection unit and a communication unit according to another embodiment of the present invention, and FIG. 9 is a flowchart showing an unmanned management and monitoring method for loaded materials according to an embodiment of the present invention.

[0035] The unmanned management monitoring device for the load of the present invention is installed in an indoor coal storage facility. In the indoor coal storage facility, as shown in FIG. 2, a conveyor for receiving raw materials such as coal and iron ore and a conveyor for releasing raw materials are arranged, and a reclaimer (1) and a tripper (2) are arranged between the conveyor for receiving raw materials and the conveyor for releasing raw materials.

[0036] As illustrated in FIGS. 3 to 6, the unmanned management and monitoring device for cargo according to the present embodiment comprises a collection unit, a communication unit, a storage unit (300), a computation processing unit (400), an image processing unit (500), a display unit (600), and a control unit (700), and is a device that manages and monitors cargo unmanned and automatically controls reclaimers and trippers.

[0037] The collection unit is a component installed in a reclaimer and tripper, etc., provided in an indoor coal storage facility to collect information within the coal storage facility, and consists of a first collection unit (110), a second collection unit (120), and a third collection unit (130).

[0038] The first collecting member (110) is a collecting member provided in the reclaimer (1) and includes a 3D scanner (111), an optical camera (112), a thermal imaging camera (113), a position sensing sensor (114), an explosion-proof case, and a power supply member.

[0039] The 3D scanner (111) is provided on the upper part of the reclaimer (1) and is a scanner that provides a three-dimensional 3D scan image of the stacking shape of the stacking material from the upper part of the stacking material stored in the coal yard, extracts information on the size, shape, and depth of the stacking material and stores it in a digital form on a computer and transmits it to a system, thereby allowing the stacking amount, incoming amount, transfer amount, and outgoing amount of the stacking material to be determined.

[0040] In addition, the 3D scanner (111) can increase the loading amount by homogenizing the irregular pile shape of the loaded material in real time using a reclaimer (1) when storing raw materials using a shaped image of the loaded material.

[0041] The optical camera (112) is installed on the upper part of the reclaimer (1) and is a camera that captures the external condition of the loaded material in real time. It is used to collect optical images of the loaded material and to visually monitor the loaded material and its shape as it is received, transferred, or discharged from the indoor coal storage facility. Additionally, the work status can be checked in real time during flattening and homogenization operations of the loaded material.

[0042] In addition, it serves to assist the thermal imaging camera (113) in the event of abnormal signs or fire in the indoor coal storage area, and is used to check the screen and verify the action process when abnormal signs or fire occur.

[0043] The thermal imaging camera (113) is a camera that provides thermal images and temperature data by measuring from the top of the materials stored in the indoor coal storage facility in a multi-focus manner. It is installed such that the pixels or resolution of the camera are appropriate, and the thermal images and temperature data are transmitted to and stored in a big data control system by measuring and monitoring the top of the indoor coal storage facility in a multi-focus manner over a wide area.

[0044] This thermal imaging camera (113) can set a temperature range for management in stages and can predict and monitor spontaneous combustion. When abnormal signs or the occurrence of fire are detected from the thermal imaging camera (113), it is possible to transmit thermal images and temperature data in real time to the control room and administrators via a wired or wireless communication network, and additionally send a danger alert and video when the danger level is reached.

[0045] A position detection sensor (114) is provided at the bottom of the reclaimer (1) and is a sensor that detects the real-time position of the reclaimer (1), and can automatically operate the position of the reclaimer (1) unmanned through the control unit (700). A laser sensor may be used for this position detection sensor (114).

[0046] Thus, when discharging a load, the reclaimer (1) can be moved to the programmed location of the load to discharge it, allowing for remote control of the reclaimer's movement and the discharge of the load. This improves the operating rate of the reclaimer and enhances the operator's work productivity, thereby enabling the effective and safe operation of the indoor storage yard.

[0047] The explosion-proof case is a storage member installed on the upper part of the reclaimer, which can move along the reclaimer on the upper part of the load and stores and protects various cameras and scanners so that they can be photographed on the upper part of the load. This explosion-proof case houses a 3D scanner (111), an optical camera (112), a thermal imaging camera (113), and a power supply member inside, and may be made of a material having explosion-proof capabilities or may be made of an explosion-proof certified case.

[0048] Since the 3D scanner (111), optical camera (112), and thermal imaging camera (113) in these explosion-proof cases may be contaminated by dust and moisture, it is also possible to add a nozzle that sprays high-pressure air to enable periodic cleaning.

[0049] The power supply member is a power supply device that supplies power to the 3D scanner (111), optical camera (112), and thermal imaging camera (113), and may be composed of a rechargeable battery or a battery connected to an external power source. The power supply member may be any device capable of supplying power other than a battery.

[0050] The second collecting member (120) is a collecting member provided in the tripper (2) and includes a 3D scanner (121) and a position sensing sensor (122).

[0051] A 3D scanner (121) is provided at the bottom of the tripper (2) and is a scanner that provides a three-dimensional 3D scan image of the loading shape of the load placed at the bottom of the tripper (2). It extracts information on the size, shape, and depth of the load and stores it in a digital form on a computer and transmits it to a system, thereby allowing the loading amount, receiving amount, transfer amount, and discharge amount of the load to be determined.

[0052] A position detection sensor (122) is provided in the tripper (2) and is a sensor that detects the height and position of the tripper (2). By checking the height of the tripper (2), the height of the tripper (2) can be adjusted according to the height of the load loaded at the bottom of the tripper (2), and by checking the position of the tripper (2), the movement of the tripper (2) can be controlled, thereby reducing the amount of dust blown from the load. A laser sensor may be used for this position detection sensor (122).

[0053] The second collecting member (120) may further include an optical camera and a thermal imaging camera, similar to the first collecting member (110).

[0054] The optical camera is installed on the tripper (2) and is a camera that captures the external condition of the loaded material in real time. It is used to collect optical images of the loaded material and to visually monitor the loaded material and its shape as it is received, transferred, or discharged from the indoor coal storage facility. Additionally, the work status can be checked in real time during flattening and homogenization operations of the loaded material.

[0055] In addition, it serves to support thermal imaging cameras in the event of abnormal signs or fires in indoor coal storage areas, and is used to verify the screen and confirm the response process in the event of such incidents.

[0056] The thermal imaging camera is a camera that provides thermal images and temperature data by measuring from the top of the cargo stored in the indoor coal yard using a multi-focus method. It is installed with appropriate pixel or resolution, and monitors the top of the indoor coal yard extensively using a multi-focus method to transmit the thermal images and temperature data to a big data control system for storage.

[0057] These thermal imaging cameras allow for the setting of management temperature ranges in stages, enabling the prediction and monitoring of spontaneous combustion. If abnormal signs or the occurrence of a fire are detected by the thermal imaging camera, thermal images and temperature data can be transmitted in real-time to the control room and administrators via wired or wireless networks; furthermore, it is possible to send additional danger alerts and video footage when a critical level is reached.

[0058] The third collection member (130) is installed at the entrance of an indoor coal storage area and includes an entry detection sensor (131) that detects the entry of vehicles and people and an optical camera (132) that collects optical images of the entrance.

[0059] The access detection sensor (131) detects whether vehicles and people entering the entrance of the indoor coal storage facility for maintenance are registered. By doing so, when the reclaimer (1) operates inside the indoor coal storage facility, access by vehicles and people is restricted, or when unauthorized vehicles or people are detected, access by said vehicles and people is restricted, thereby automatically managing the security and safety of the indoor coal storage facility.

[0060] The optical camera (132) is a camera that captures the external conditions around the entrance of an indoor coal storage facility in real time, and can collect optical images around the entrance to visually monitor vehicles and people entering and exiting the entrance.

[0061] In this way, by monitoring the entrances and exits of the indoor coal storage facility and managing the entry and exit of vehicles and people in real time, smart safety management of the indoor coal storage facility is possible, enabling a 24-hour uninterrupted and accident-free operating environment.

[0062] The communication unit is a means of communication for transmitting 3D scan images, optical images, thermal images, location information, and access detection information collected by the collection unit, and transmits various image data using various communication means such as wired communication or wireless communication, such as wired and wireless networks, e.g., the internet, intranet and extranet, cellular, e.g., wireless telephone network, LAN (local area network), WAN (wide area network), WiFi network, ad-hoc network and any suitable communication network including combinations thereof.

[0063] The communication unit can communicate with the operation control server so that images and information collected from the collection unit are linked. The operation control server manages, monitors, and automatically controls the indoor coal storage facility based on data calculated by the computation processing unit (400) and images processed by the image processing unit (500).

[0064] These communication members include a first communication member (210), a second communication member (220), a third communication member (230), and a fourth communication member (240).

[0065] The first communication member (210) is provided in the reclaimer (1) and transmits information collected from the first collection member (110). The second communication member (220) is provided in the tripper (2) and transmits information collected from the second collection member (120). The third communication member (230) is installed in the entrance of the indoor coal storage area and transmits information collected from the third collection member (130). The fourth communication member (240) receives information from the first, second, and third communication members (210, 220, 230).

[0066] The first communication member (210) can be installed anywhere in the reclaimer and may also be provided inside an explosion-proof case installed in the reclaimer.

[0067] A collection unit and a communication unit according to the first embodiment of the present invention are arranged as shown in FIGS. 5 and 6. The reclaimer (1) is equipped with a first collection member (110) including a 3D scanner (111) and a position detection sensor (114), and a first communication member (210). The tripper (2) is equipped with a second collection member (120) including a 3D scanner (121) and a position detection sensor (122), and a second communication member (220). A third collection member (130) and a third communication member (230) are provided at the entrance of the indoor storage area.

[0068] The storage unit (300) is a storage means for storing 3D scan images, optical images, thermal images, location information, access detection information, etc. transmitted from the communication unit, and is composed of a storage medium that stores images and data, such as an HDD (hard disk drive) or an SSD (solid drive).

[0069] The computation processing unit (400) calculates the coal storage capacity of the cargo based on optical images and 3D scan images stored in the storage unit (300), calculates the ignition of the cargo based on thermal images, and calculates the real-time location of the device from location information. It is composed of a semiconductor such as an integrated circuit or a processor that performs various control functions, and is capable of rapidly processing various computations for multiple data in real time.

[0070] The computation processing unit (400) calculates the storage capacity of the loaded material by imaging the shape of the loaded material from a 3D scan image of the loaded material pile in the coal storage yard, and calculates and manages the characteristics of the loaded material, the date of entry, the amount of entry, the amount of transfer, the amount of discharge, the inventory amount, the long-term inventory trend, the distribution by coal storage yard, the management of the fuel amount of the coal storage yard, the storage time of the loaded material, and the allocation of the consumption amount in real time for each type of loaded material.

[0071] These storage units (300) and computational processing units (400) may include a computing system composed of one or more CPUs (central processing units), memory, mass storage, input interface device, and output interface device. The elements of the computing system may communicate with each other via a bus.

[0072] The hardware platform of such computing devices can be applied in various forms, including distributed computing environments such as personal computers, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, programmable consumer electronics, and any of the above systems or devices, such as cloud-based computing systems.

[0073] The image processing unit (500) is an image processing means for filtering images stored in the storage unit (300), and can perform combination and filtering of 3D images, optical images, and thermal images input from the collection unit.

[0074] The image processing unit (500) maps an optical image and a 3D scan image to enable accurate verification of the loading shape, storage location, etc. of the loaded object. Additionally, by mapping thermal image data and a 3D scan image, it enables accurate identification of the ignition point, predicted ignition point, etc. of the loaded object. Of course, the image mapped by the image processing unit (500) can be stored in the storage unit (300) described above. This image mapping operation can be performed optionally.

[0075] And the image processing means for such processing is preferably configured as a program, and matching the resolution of optical data, thermal image data and 3D scan data is intended to easily synchronize the object in the optical or thermal image with the object in the 3D scan image.

[0076] The display unit (600) is a display means for displaying an image filtered by the image processing unit (500), and can be made of various display means such as a flat panel display such as an HMI, LCD (liquid crystal display), LED (light emitting diode), monitor, or electronic display board.

[0077] This display unit (600) provides various input screens to the manager and, in particular, as a display for outputting images provided from the collection unit, provides multiple screens including screens for each collection unit or provides image screens from a specific collection unit.

[0078] The control unit (700) is a control means for controlling the operation of the reclaimer (1) and tripper (2) within the indoor coal storage facility, and controls the operation of the reclaimer so that the loading, transfer, and discharge of the loaded material can be made possible.

[0079] Additionally, if the loading shape of the load is uneven due to an image collected by the collection unit or an image processed by the image processing unit (500), the control unit (700) operates a reclaimer to flatten the top of the load pile, thereby increasing the storage capacity of the load in the coal yard.

[0080] Thus, the reclaimer (1) and tripper (2) installed in the indoor coal storage facility can be remotely operated in an unmanned automated manner, thereby preventing problems such as reduced productivity and safety accidents caused by poor operating conditions due to dust or gas in the indoor coal storage facility, and enabling smart safety management of the indoor coal storage facility, thereby providing a 24-hour uninterrupted and accident-free operating environment. In addition, reduced efficiency or safety accidents caused by operator error or malfunction can be prevented.

[0081] The control unit (700) may further include a warning device, a recirculation transfer device, and a fire extinguishing device.

[0082] The warning device is linked with the display unit (600) so that when ignition or a hot spot occurs, the optical image of that point can be enlarged to check the situation at the site, and it operates normally when the temperature is below 50°C in the preset temperature level 1, and provides an alarm to the site and the control room when the temperature rises to 50°C to 70°C in the temperature level 2, 70°C to 100°C in the temperature level 3, and 100°C or higher in the temperature level 4.

[0083] Of course, this warning device can zoom in on optical images for intensive monitoring when the temperature of the materials loaded in the indoor coal storage rises by more than 20°C above the average temperature of the surrounding area, and it is also possible to provide alarms to the site and the control room when the temperature rises by more than 30°C or by two levels.

[0084] In addition, the warning device generates an alarm sound when ignition occurs or is likely to occur in the loading area of ​​a specific cargo. Furthermore, it is also possible to store video and temperature information corresponding to the loading area where ignition has occurred or is likely to occur, allowing an administrator to view and verify this information.

[0085] In addition, the warning device generates an alarm sound when abnormal signs occur during the receiving, transfer, or discharge of cargo, and it is also possible to store video information of the area where the abnormal signs occurred, allowing the manager to view and verify it.

[0086] The recirculation transfer device is designed to recirculate coal by transferring it to another area when the temperature rises to level 2 or higher, or when there is a temperature deviation of more than 30°C from the average temperature of the surrounding area, thereby lowering the temperature to a normal temperature of 20°C to 40°C or lower and re-storing it to suppress ignition.

[0087] The fire extinguishing device may be installed along rails in all directions (front, back, left, and right) within the upper interior of the coal storage yard, or installed as a fixed type. This fire extinguishing device is composed of various fire extinguishing means, such as a spraying means for spraying water onto combustible materials from above the stacks, a spraying means installed along rails in all directions (front, back, left, and right) within the upper interior of the coal storage yard for spraying fire extinguishing powder from above the stacks, and a stirring means installed rotatably in the central part of the inner floor surface of the coal storage yard to extinguish fires by stirring unignited combustible materials with ignited combustible materials from the bottom of the stacks using a stirrer.

[0089] Hereinafter, an unmanned cargo management and monitoring device according to a second embodiment of the present invention will be described with reference to the drawings. The second embodiment of the present invention differs from the first embodiment in the arrangement of the collection unit, and the description of components having the same configuration and function as the first embodiment is omitted.

[0090] The collection unit according to the second embodiment of the present invention is arranged as shown in FIG. 8. The entry / exit detection sensor (131) of the third collection member (130) is installed at the entrance of the indoor coal storage unit, the optical camera (132) is installed at the entrance of the indoor coal storage unit and on the upper part of the conveyor from which raw materials are discharged, and a plurality of 3D scanners (133) are installed at regular intervals on the upper part of the conveyor from which raw materials are received.

[0092] A method for unmanned management and monitoring of cargo according to the present embodiment will be described in detail below with reference to the drawings.

[0093] As illustrated in FIG. 9, the unmanned management and monitoring method for cargo according to the present embodiment comprises a collection step (S10), a communication step (S20), a storage step (S30), a computation processing step (S40), an image processing step (S50), a display step (S60), and a control step (S70), and is an unmanned management and monitoring method for cargo installed in an indoor coal storage facility that manages, monitors, and automatically controls cargo without human intervention.

[0094] The collection step (S10) is a step of collecting data such as 3D scan images, optical images, thermal images, location information, and entry / exit information from a first collection member (110) installed in a reclaimer, a second collection member (120) installed in a tripper, and a third collection member (130) installed in the entrance / exit of an indoor coal storage facility. By doing so, the receiving, transfer, discharge, and management of materials stored in the indoor coal storage facility, as well as the possibility of spontaneous combustion of the materials, can be monitored and predicted.

[0095] The communication step (S20) is a step of transmitting data such as optical images, thermal images, 3D scan images, location information, and access information captured in the collection step (S10), and various image data is transmitted using various communication means such as wired communication or wireless communication, such as any appropriate communication network.

[0096] The storage step (S30) is a step for storing data such as optical images, thermal images, 3D scan images, location information, and access information transmitted in the communication step (S20), and the data is stored using various storage media that store image data, such as an HDD (hard disk drive) or an SSD (solid state drive).

[0097] The computation processing step (S40) calculates the coal capacity from the 3D scan image stored in the storage step (S30), calculates the prediction of ignition of the cargo from the thermal image, and calculates the real-time location from the location information. It is composed of a semiconductor such as an integrated circuit or a processor that performs various control functions, thereby enabling rapid processing of various computations for multiple thermal image data in real time.

[0098] The image processing step (S50) is a step of filtering the image collected in the collection step (S10) and the image stored in the storage step (S30), and can synthesize the optical image or thermal image by mapping it onto the 3D scan image.

[0099] The image processing step (S50) maps an optical image and a 3D scan image to enable accurate verification of the loading shape, storage location, etc. of the loaded object. Additionally, by mapping thermal image data and a 3D scan image, it enables accurate identification of the ignition point, predicted ignition point, etc. of the loaded object. Of course, the image mapped in the image processing step (S50) can be stored in the storage unit (30) described above.

[0100] The display step (S60) is a step of displaying the image filtered in the image processing step (S50), and can display the entire coal storage area on a single screen using various images collected, stored, and filtered. The display step (S60) displays various images and various information using various display means such as flat panel displays like HMI, LCD (liquid crystal display), or LED (light emitting diode), monitors, or electronic display boards.

[0101] In addition, in this display step (S60), various input screens are provided to the administrator, and in particular, it is possible to provide multiple screens including the screen collected in the collection step (S10) or to provide the screen collected in a specific collection step (S10) in order to output the video screen provided in the collection step (S10).

[0102] The control step (S70) is a step of controlling the operation of the tripper and reclaimer based on the data calculated in the calculation processing step (S40), and controls the operation of the tripper and reclaimer to enable the receiving, transfer, and discharge of the loaded material.

[0103] In addition, in the control step (S70), if the shape of the stack of materials is uneven due to the image collected in the collection step (S10) or the image processed in the image processing step (S50), the reclaimer is operated to flatten the top of the stack of materials, thereby increasing the storage capacity of materials in the coal yard.

[0104] Meanwhile, the control step (S70) can perform warning, recirculation transfer, and extinguishing operations.

[0105] When a fire or hot spot occurs, the warning operation allows the optical image of that point to be enlarged and the situation at the site to be checked through the display unit (600). Normal operation is performed when the temperature is below 50°C in the preset temperature level 1, and when the temperature rises to 50°C to 70°C in the temperature level 2, 70°C to 100°C in the temperature level 3, or 100°C or higher in the temperature level 4, an alarm is provided to the site and the control room to issue a warning.

[0106] In addition, the warning operation generates an alarm sound when abnormal signs occur during the receiving, transfer, or discharge of specific cargo, and it is also possible to store video information of the area where the abnormal signs occurred, allowing the manager to view and verify it.

[0107] When the temperature rises above the second level or when there is a temperature deviation of more than 30°C from the average temperature of the surrounding area, the stored materials in the indoor coal storage are transferred to another area to lower the temperature to the ambient temperature of 20°C to 40°C or lower, and then stored again to suppress ignition through recirculation transfer.

[0108] When the temperature rises to level 3 or higher, the firefighting operation is carried out in conjunction with a fire control system to control ignition by spraying firefighting water, fire suppressants, and fire extinguishing liquid onto the stored materials in the coal yard.

[0109] The fire extinguishing device may be installed along rails in all directions (front, back, left, and right) within the upper interior of the coal storage yard, or installed as a fixed type. It is also possible to extinguish spontaneous combustion of the stored materials using various extinguishing means, such as a watering means for spraying water onto combustible materials from above the stored materials, a spraying means installed along rails in all directions within the upper interior of the coal storage yard to spray extinguishing powder from above the stored materials, and a stirring means installed rotatably in the central part of the inner floor of the coal storage yard to extinguish the combustion by stirring unignited combustible materials with ignited combustible materials from the bottom of the stored materials using a stirrer.

[0110] Meanwhile, the unmanned management and monitoring device and unmanned management and monitoring method of the present invention can manage, in real time, the characteristics of the loaded material according to the raw material, the receiving date, receiving quantity, transfer quantity, discharge quantity, storage quantity, inventory quantity, long-term inventory trend, distribution by storage yard, management of fuel quantity in the storage yard, storage time of the loaded material, allocation of consumption quantity, loading shape, storage location, etc., in indoor storage yards for storing raw materials such as limestone and iron ore, in addition to indoor coal yards for storing coal.

[0111] As explained above, according to the present invention, 3D scan images and location information are collected from a 3D scanner and a position sensing sensor, thereby providing the effect of managing loads unmanned and controlling the reclaimer and tripper to operate unmanned automated operations remotely.

[0112] In addition, the present invention provides the effect of increasing the load capacity by homogenizing the load with the reclaimer when the shape of the load is non-uniform by shaping the shape of the load with a 3D image from a 3D scanner equipped in the reclaimer, and confirming the flattening and homogenization of the load in real time using an optical camera, predicting and monitoring spontaneous combustion using a thermal imaging camera, and determining the height and position of the reclaimer using a position detection sensor.

[0113] In addition, the present invention provides the effect of identifying the 3D shape of a load from a 3D scanner equipped in a tripper and confirming the height and position of the tripper from a position detection sensor.

[0114] In addition, the present invention provides the effect of being able to respond to the risk of explosion by housing a 3D scanner, an optical camera, a thermal imaging camera, a position detection sensor, a power supply member, and a second communication member inside an explosion-proof case.

[0115] In addition, the present invention provides the effect of enabling smart safety management by closing access or preventing unauthorized vehicles and people from entering when a reclaimer is activated by an access detection sensor and an optical camera installed at the entrance.

[0116] In addition, the present invention provides the effect of enabling unmanned automatic management and monitoring of loaded materials by calculating in real time, for each type of loaded material stored in an indoor coal storage yard, data including at least one of the receiving date, receiving quantity, transfer quantity, discharge quantity, and remaining quantity by a computational processing unit.

[0117] The invention described above may be implemented in various other forms without departing from its technical concept or main features. Accordingly, the above embodiments are merely examples in all respects and should not be interpreted restrictively. Explanation of the symbols

[0118] 100 : Collection Unit 200 : Communication Unit 300 : Storage unit 400 : Operation processing unit 500 : Image processing unit 600 : Display unit 700 : Control unit

Claims

Claim 1 A loading unmanned management and monitoring device installed in an indoor coal storage facility for unmanned management and monitoring of loadings stored in the coal storage facility, comprising: a collection unit including a 3D scanner installed on at least one of the upper part of a reclaimer and a tripper provided in the indoor coal storage facility to 3D scan the loadings, and position sensing sensors installed on the lower part of the reclaimer and each of the tripper to detect the height and position of the reclaimer and the tripper, respectively; a communication unit for transmitting 3D scan images and position information collected by the collection unit; a storage unit for storing 3D scan images and position information transmitted by the communication unit; a calculation processing unit for calculating the coal storage capacity from the images stored in the storage unit and calculating the real-time position from the position information; an image processing unit for filtering the images stored in the storage unit; and a display unit for displaying the images filtered by the image processing unit. A loading unmanned management and monitoring device comprising a control unit that manages and monitors the indoor coal storage based on data calculated by the above-mentioned computation processing unit and data processed by the above-mentioned image processing unit, and controls the operation of the tripper and the reclaimer, wherein the control unit controls the operation of the reclaimer to flatten the top of the pile of loading when the loading shape of the loading is uneven due to an image collected by the above-mentioned collection unit or an image processed by the above-mentioned image processing unit, and controls the movement of the tripper to reduce the amount of dust generated during loading by adjusting the height of the tripper and confirming the position according to the height of the loading confirmed through the position detection sensor. Claim 2 A cargo unmanned management monitoring device according to claim 1, wherein the collection unit comprises: a first collection member provided in the reclaimer; and a second collection member provided in the tripper; and the communication unit comprises: a first communication member provided in the reclaimer for sending information collected from the first collection member; a second communication member provided in the tripper for sending information collected from the second collection member; and a fourth communication member for receiving information from the first and second communication members. Claim 3 The unmanned management and monitoring device for a load according to claim 2, wherein the first collecting member comprises: a 3D scanner installed on the upper part of the reclaimer to collect a 3D scan image of the load; an optical camera installed on the upper part of the reclaimer to collect an optical image of the load; a thermal imaging camera installed on the upper part of the reclaimer to collect a thermal image of the load; and a position sensing sensor installed on the lower part of the reclaimer to detect the height and position of the reclaimer. Claim 4 The unmanned cargo management monitoring device according to claim 3, wherein the first collecting member further comprises: an explosion-proof case having an explosion-proof function that houses the 3D scanner, the optical camera, the thermal imaging camera, and the position detection sensor inside; and a power supply member provided inside the explosion-proof case that supplies power to the 3D scanner, the optical camera, the thermal imaging camera, and the position detection sensor, and wherein the first communication member is provided inside the explosion-proof case. Claim 5 A cargo unmanned management monitoring device according to claim 2, wherein the second collecting member comprises: a 3D scanner installed at the bottom of the tripper to collect 3D scan images; and a position sensing sensor provided on the tripper to detect the height and position of the tripper. Claim 6 The unmanned management and monitoring device for loaded materials according to claim 1, wherein the collection unit comprises a third collection member consisting of an entry detection sensor that detects the entry and exit of vehicles and people installed at the entrance of the indoor coal storage yard and an optical camera that collects optical images of vehicles and people entering and exiting; and the communication unit comprises a third communication member that is installed at the entrance of the indoor coal storage yard and transmits information collected from the third collection member. Claim 7 The unmanned management and monitoring device for loaded materials according to claim 1, wherein the computation processing unit calculates in real time data including at least one of the receiving date, receiving quantity, transfer quantity, discharge quantity, and remaining quantity for each type of loaded material loaded in the indoor coal storage yard. Claim 8 delete Claim 9 A method for unmanned management and monitoring of a load using an unmanned management and monitoring device of claim 1, comprising: a collection step in which a collection unit collects a 3D scan image of a load loaded in an indoor coal storage yard and location information of at least one of the reclaimer and tripper provided in the indoor coal storage yard; a communication step in which a communication unit transmits the 3D scan image and location information collected in the collection step; a storage step in which a storage unit stores the 3D scan image and location information transmitted in the communication step; a computation processing step in which a computation processing unit calculates the coal storage capacity from the image stored in the storage step and calculates the real-time location from the location information; an image processing step in which an image processing unit filters the image stored in the storage step; a display step in which a display unit displays the image filtered in the image processing step; and a control step in which a control unit controls the operation of the reclaimer and the tripper based on the information calculated in the computation processing step.

Images