Integrated Anti-fall laser coal pile measurement instrument for enclosed space, and measurement method

Abstract

Disclosed in the present invention are an integrated anti-fall laser coal pile measurement instrument for an enclosed space, and a measurement method. A magnetic attraction device is provided at the top of an aircraft coal pile measurement instrument, is connected to the aircraft coal pile measurement instrument by means of a connection device, and is used for keeping a coal pile measurement instrument device in a horizontal position. The aircraft coal pile measurement instrument is provided with an aircraft camera and a coal pile measurement instrument scanning probe, which are configured to perform enclosed space scanning and measurement on coal piles. A buffer frame is provided below the aircraft coal pile measurement instrument. The buffer frame comprises: an anti-fall buffer frame, a coal pile measurement instrument bottom buffer frame and a regular hexagonal anti-fall buffer frame, wherein the regular hexagonal anti-fall buffer frame is connected to the anti-fall buffer frame, and the coal pile measurement instrument bottom buffer frame is vertically connected to the regular hexagonal buffer frame, thereby forming the entire buffer frame for protecting the aircraft coal pile measurement instrument. In the present invention, a three-dimensional laser scanner and a buffer device are provided and can perform large-range spatial scanning and measurement on the coal piles, and the problems of falling and falling-induced damage of a coal pile measurement device caused by signal interruptions are effectively prevented, thereby ensuring the accuracy and reliability of measurement results, and improving work efficiency.

Description

Integrated anti-fall laser coal counting instrument and measurement method for enclosed spaces Technical Field

[0001] This invention relates to the calculation of the volume and mass of coal piles in enclosed spaces, specifically to an integrated anti-drop laser coal counting instrument and measurement method for enclosed spaces. Background Technology

[0002] Coal yards are crucial facilities for fuel storage and supply in coal-fired power plants. Currently, the capacity of domestic coal-fired power units remains relatively large, and increasingly stringent environmental requirements are placing higher demands on coal yard design. Reducing the land area occupied by coal yards, improving site utilization, enhancing automation levels, and minimizing environmental pollution are receiving increasing attention. Therefore, coal-fired power plants now typically employ enclosed coal yards. Compared to traditional open coal yards, fully enclosed coal yards offer numerous advantages, including smaller footprint, higher site utilization, higher automation levels, and less environmental impact. Fully enclosed coal yards utilize zoned, multi-group coal storage. Because fully enclosed coal yards present a more complex environment and higher coal pile height compared to traditional open or semi-enclosed yards, the difficulty and accuracy of coal inventory checks are significantly limited. Coal costs are the highest among the various operating costs of power plants; therefore, timely and accurate monitoring of coal storage levels is extremely important.

[0003] Currently, coal inventory methods in coal yards include manual inventory, lidar inventory, ultrasonic measurement, and drone-borne inventory instruments. For fully enclosed coal yards, all of these methods have significant drawbacks. Manual methods are prone to large errors, and on-site measurements are labor-intensive, in poor working conditions, and time-consuming due to the inability of personnel to remain for extended periods. Ultrasonic measurement, which calculates distance by multiplying the time difference of ultrasonic waves upon encountering an obstacle by their propagation speed, suffers from measurement errors due to the unpredictable timing of measurements, especially when precise measurements are required over large areas. Therefore, traditional methods of using ordinary inventory instruments have limitations. Drone-borne inventory instruments also present drawbacks. The all-metal roof of the fully enclosed coal shed poses a signal shielding risk, increasing the likelihood of signal interruption and fall during drone operation. Furthermore, the heavy weight of the drone carrying the inventory instrument also results in relatively poor control accuracy.

[0004] Prior art document 1 (CN117550108A) discloses a shockproof coal inventory device for aircraft, including an aircraft, a measuring mechanism located at the bottom center of the aircraft, a gimbal located at the bottom of the measuring mechanism, a coal inventory device located at the bottom of the gimbal, and a support mechanism located at the bottom 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 inventory device respectively, which is inconvenient to operate; 2. This device is mainly designed for measurement in open spaces, and signal transmission is easily obstructed in enclosed spaces; 3. The shockproof protection device of this invention provides strong protection for the main equipment, but weak protection for equipment such as wings.

[0005] Prior art document 2 (CN217805276U) discloses a drone with a high-speed laser scanner for coal yard measurement, belonging to the field of drone technology. The drone's main body has a chassis fixed to its lower end. A drive cavity is formed in the middle of the chassis, and scanning and power supply cavities are symmetrically formed at both ends of the chassis about the drive cavity. A laser scanner body is installed in the scanning cavity, and the probe of the laser scanner body extends outward from the chassis. A cleaning component is installed in the drive cavity. However, this prior art has the following shortcomings: 1. The device only has a landing gear and no protective device, which cannot protect the device in case of a fall under special circumstances; 2. The device is mainly designed for measurement in open spaces, and signal transmission is easily obstructed in enclosed spaces; 3. The device lacks a top electromagnetic suction device, increasing the risk of fall due to obstructed signal transmission when measuring enclosed coal yards; 4. The laser scanning probe cannot be adjusted at multiple angles, making measurement inconvenient. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an integrated anti-fall coal stockpile measuring instrument and measurement method for enclosed spaces. It utilizes a three-dimensional laser scanner to perform large-scale spatial scanning measurements on coal piles, and is particularly effective for measuring coal volume in enclosed spaces. This significantly improves the efficiency of measuring the volume of stored coal. Furthermore, it is lightweight and equipped with auxiliary devices such as signal enhancement devices and electromagnetic attraction devices. In addition, it features protective devices to effectively prevent the coal stockpile from falling and being damaged due to signal interruption. Its measurement efficiency and accuracy have significant advantages over traditional manual measurements.

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

[0008] The first aspect of the present invention discloses an integrated anti-fall laser coal inventory device for enclosed spaces, comprising: a flying coal inventory device, wherein a magnetic attraction device is provided on the top of the flying coal inventory device, the magnetic attraction device is connected to the flying coal inventory device through a connecting device, and is attracted to the top of the coal shed in the enclosed coal yard to keep the coal inventory device in a horizontal position.

[0009] The aircraft coal inventory device is equipped with an aircraft camera and a coal inventory device scanning probe on one side, which are used to perform enclosed space scanning and measurement of the coal pile.

[0010] A buffer frame is installed below the coal inventory unit of the aircraft. The buffer frame includes: a drop buffer frame, a bottom buffer frame of the coal inventory unit, and a regular hexagonal drop buffer frame. The regular hexagonal drop buffer frame is connected to the drop buffer frame, and the bottom buffer frame of the coal inventory unit is vertically connected to the regular hexagonal buffer frame to form a whole buffer frame, which is used to protect the coal inventory unit of the aircraft.

[0011] Preferably, the aircraft coal inventory device includes: an aircraft wing, a flight shaft, an aircraft camera, and a coal inventory device scanning probe;

[0012] The aircraft has four wings and four flight axes, which are located at the end of the aircraft's coal inventory device. The aircraft's camera and the coal inventory device's scanning probe are located on the same side of the aircraft's coal inventory device.

[0013] Preferably, the vertical angle of the aircraft camera and the coal inventory scanner can be adjusted from 0 to 270°, and the horizontal angle can be adjusted from 0 to 180°, and the vertical and horizontal angles can be adjusted simultaneously.

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

[0015] Preferably, the end of the anti-fall buffer frame is provided with a horizontal support, and the two ends of the horizontal support are provided with explosive airbags, the external vertical distance of which is greater than that of the aircraft wing; the end of the bottom buffer frame of the coal meter is also provided with an explosive airbag.

[0016] Preferably, the explosive airbag includes an inner airbag and an outer airbag, wherein the outer airbag is provided with two double-layer outer airbag burst ports, and the inner airbag is provided with a double-layer inner airbag burst port.

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

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

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

[0020] A second aspect of the present invention discloses a measurement method for an integrated anti-drop laser coal meter for enclosed spaces, comprising the following steps:

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

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

[0023] Step 3: Assemble the flying integrated coal inventory device on site;

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

[0025] Step 5: Use a coal inventory meter to measure the three-dimensional overall view of the entire coal yard;

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

[0027] Preferably, step 5 specifically includes:

[0028] When the coal counting device starts working, the magnetic suction device can be attached to the top of the coal shed in the enclosed coal yard to perform a comprehensive scan of all parts of the coal yard.

[0029] When the coal counting device finishes working, the magnetic attraction device is demagnetized by the control switch, and the buffer frame acts as the lifting frame of the coal counting device.

[0030] When the coal balancer falls unexpectedly, the lower airbag of the coal balancer's buffer frame lands first, ensuring the safety of the equipment during the fall.

[0031] The beneficial effects of this invention are that, compared with the prior art,

[0032] (1) This invention provides an integrated anti-fall laser coal counting instrument for enclosed spaces, especially for scenarios where coal volume and mass are measured in enclosed or semi-enclosed spaces. Since these environments may have complex signal propagation characteristics, the device is designed to work under these conditions. It is equipped with a three-dimensional laser scanner, which can perform large-scale spatial scanning 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.

[0033] (2) This invention provides an integrated anti-fall laser coal inventory instrument for closed coal yards, especially for measuring the amount of coal in a closed space. It can greatly improve the efficiency of measuring the volume of stored coal. At the same time, it is lightweight and has auxiliary equipment such as signal enhancement device and electromagnetic magnetic attraction device. Even in environments with poor signal, the electromagnetic magnetic attraction auxiliary equipment can ensure the stable operation of the coal inventory instrument and the safety of the equipment itself.

[0034] (3) This invention provides a flyable integrated coal inventory device for enclosed coal yards, which is equipped with a protective device to effectively prevent the coal inventory device from falling and being damaged due to signal interruption. Its measurement efficiency and accuracy have significant advantages over traditional manual measurement, and it has more built-in safety measures, such as an emergency landing system and runaway protection, to ensure the safety of the equipment and operators.

[0035] (4) This invention provides a flyable integrated coal inventory instrument for enclosed coal yards, which can adapt to the measurement work of coal piles of different sizes. This is due to the mobility of the drone, which can easily reach various complex or hard-to-reach coal pile locations for measurement. The integrated drone coal inventory instrument adopts an enclosed integrated carbon fiber body structure, which has the function of dustproof and waterproof, and is suitable for working in harsh environments. The body is lightweight, which makes the drone easy to carry and easier to operate.

[0036] The flyable integrated coal inventory device described in this invention typically has a more integrated design, which means that the components such as the aircraft, measuring mechanism, and coal inventory device are optimized and combined, thereby providing higher operational convenience and reliability in actual use. This invention is particularly suitable for occasions that require accurate measurement of coal inventory. Its unique design makes its application in enclosed spaces particularly outstanding, which can effectively improve the working efficiency and safety level in these environments. Attached Figure Description

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

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

[0039] Figure 3 shows the structure of the buffer ball;

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

[0041] In the diagram: 1. Explosive airbag; 1.1. Outer airbag rupture port; 1.2. Inner airbag; 1.3. Outer airbag; 1.4. Inner airbag rupture port; 2. Shock-proof buffer frame; 3. Bottom buffer frame of the coal inventory device; 4. Aircraft wing; 5. Flight shaft; 6. Aircraft camera; 7. Aircraft coal inventory device; 8. Regular hexagonal shock-proof buffer frame; 9. Magnetic suction device; 10. Flight wing blade; 11. Buffer support connecting the regular hexagonal buffer frame to the bottom of the aircraft; 12. Coal inventory device scanning probe; 13. Connection between the bottom buffer frame and the regular hexagonal buffer frame; 15. Connection device between the magnetic suction device and the main body of the flying coal inventory device; 18. Magnet of the magnetic suction device; 19. Rotating device; 20. Top of the telescopic rod; 21. Telescopic rod; 22. Telescopic rod motor; 23. Connection between the top of the automatic laser coal inventory device and the telescopic rod. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0043] As shown in Figures 1-2, the present invention provides an integrated anti-fall laser coal counting device for enclosed spaces, including: a flight coal counting device 7.

[0044] A magnetic suction device 9 is provided on the top of the coal inventory device 7 of the aircraft, and a buffer frame is provided below the coal inventory device body 7 of the aircraft.

[0045] It is worth noting that the magnetic suction device 9 is designed to ensure the safety of the equipment during operation. When the equipment is measuring on the coal pile, it can be attached to the roof of the coal yard to prevent it from falling due to accidental collisions or wind.

[0046] The buffer frame consists of a drop buffer frame 2, a bottom buffer landing gear 3, and a regular hexagonal drop buffer frame 8.

[0047] The hexagonal anti-fall buffer frame 8 is connected to the anti-fall buffer frame 2, and the bottom buffer frame 3 of the coal inventory device is vertically connected to the hexagonal buffer frame 8. The coal inventory device and the aircraft are designed as an integrated unit and operated by a single controller.

[0048] The hexagonal shock absorber is designed to provide physical protection for the equipment 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 inventory instrument 7 includes an aircraft wing 4, a flight shaft 5, an aircraft camera 6, and a coal inventory instrument scanning probe 12. The number of aircraft wings 4 and flight shafts 5 is 4. The aircraft camera 6 and the coal inventory instrument scanning probe 12 are located on the same side of the aircraft coal inventory instrument 7. The aircraft camera 6 and the coal inventory instrument scanning probe 12 can be adjusted vertically from 0 to 270° and horizontally from 0 to 180°, and can be adjusted vertically, horizontally, and vertically simultaneously to meet the needs of all scenarios.

[0050] The aircraft's control system can control the operation of the four flight axes, which are paired in two opposite directions. If one of the flight axes in any pair malfunctions, the other will stop rotating to ensure the aircraft's balance. After adjustments are made, the aircraft will choose a safe location to land. Both of the aircraft's propellers can support the weight of the equipment itself when they are working.

[0051] It is worth noting that this invention employs a quadcopter, a type of multi-rotor aircraft, to carry a fully automated 3D laser scanner for scanning coal piles. The collected coal pile images and GPS information are used to perform 3D reconstruction of the coal yard, including motion reconstruction, aerial triangulation, and oblique photogrammetry. This technology can provide detailed volume and surface feature data, which is crucial for calculating the quantity and management of coal.

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

[0053] Because the cost of a flight-integrated, drop-proof, three-dimensional automatic laser coal inventory system is relatively high, protecting the equipment from fall accidents is of paramount importance. Therefore, this invention incorporates a hexagonal buffer frame 8 at the bottom of the aircraft, with an explosive airbag 1 installed at the end of the buffer frame. Its primary function is to cushion the impact and prevent equipment damage in the event of an uncontrolled fall. The hexagonal buffer frame is made of elastic material and can withstand up to 10 times the weight of the equipment itself, aiming to provide physical protection for the equipment 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 equipment 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 hexagonal buffer frame. An explosive airbag is installed at the bottom of the vertical bracket. Six brackets are installed along the downward direction of the upper bracket. A horizontal bracket is installed at the end of the bracket. An explosive airbag is installed at both ends of the bracket. The bottom of the airbag is on the same plane as the bottom of the vertical bracket. The six brackets installed along the downward direction of the upper bracket can protect the flight shaft and the equipment body in the event of a fall. The diameter of the downward-sloping support rod is 1 cm, and the diameter of the vertically downward support rod is 0.7 cm.

[0054] The buffer frame is detachable, and all components can be disassembled and packed into a box after measurement for easy carrying.

[0055] When an aircraft falls due to special circumstances, the explosive airbags will land first when the wings touch the ground. In the event of a fall due to special circumstances, they can effectively protect the flight axis and equipment. The airbags are detachable, and can be easily and reversibly replaced if they are damaged during a fall.

[0056] As shown in Figure 2, the explosive airbag 1 is installed at the end of the crash buffer frame 2. A horizontal support is installed at the end of the support, and two explosive airbags are set at both ends of the horizontal support. 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 when it falls. Under normal circumstances, it can act as the landing gear of the equipment.

[0057] As shown in Figure 3, the explosive airbags include an inner airbag 1.2 and an outer airbag 1.3. Twelve airbags are installed at the ends of the hexagonal downward-sloping supports, and six are installed at the ends of the vertically downward-sloping supports, totaling 18 airbags, all of which are double-layered explosive airbags. In the event of an accidental crash, the lower airbag of the coal meter will land first. 1.1 is the burst port of the outer airbag of the double-layered airbag; the bursting pressure of the two outlets is three times the weight of the entire equipment. 1.4 is the burst port of the inner airbag of the double-layered airbag; the bursting pressure of this outlet is five times the weight of the entire equipment. Furthermore, all supports are made of flexible materials, which can provide cushioning and effectively protect the equipment during a fall.

[0058] As shown in Figure 4, a telescopic electromagnetic top suction device 9 is installed on the top of the aircraft coal inventory device 7. A magnetic magnet 18 is provided on the top of the electromagnetic top suction device 9. The aircraft coal inventory device body 7 and the magnetic suction device 9 are connected by a connecting device 15. The bottom of the connecting device 15 is provided with a connection point 23 between the top of the automatic laser coal inventory device 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 20 of the telescopic rod via the rotating device 19. The telescopic rod motor 22 is located inside the telescopic rod 21. The maximum extension distance of the telescopic rod 21 is 20 cm, the minimum distance is 7 cm, and the adjustment range is 7-20 cm. The telescopic rod 21 is adjustable 45° forward, backward, left, and right, and can be tilted at multiple angles. Because the top structure of the coal shed is not horizontal in many places, this device ensures that when the magnetic suction device is attached to the top of the coal shed, which is not horizontal, the equipment is kept in a horizontal position, preventing the device from falling due to signal interruption during measurement. The magnetic suction device is in a non-magnetic state during takeoff and after takeoff, but not during measurement.

[0060] The function of the top magnetic suction device 9 is to ensure the safety of the equipment when measuring the coal stored in the closed coal yard. Since it is necessary to scan various locations in the coal yard, the measurement takes a certain amount of time. When the coal inventory meter is working, the magnetic suction device can be attached to the top of the closed coal yard coal shed to perform a comprehensive scan of various parts of the coal yard. After the measurement is completed, the magnetism of the magnetic suction device can be eliminated by controlling the switch. The magnetic suction force of the magnetic suction device is 10 times the weight of the equipment.

[0061] It is worth noting that, due to potential signal attenuation or interference issues in enclosed coal yards, this invention addresses the need to improve the reliability and accuracy of data transmission. Signal amplifiers are installed inside the iron shed, positioned on the ground of the enclosed coal yard walkways. By placing one amplifier every 40 meters, the signal coverage area is expanded and signal reception is enhanced. These devices can receive signals from drones, amplify them, or retransmit them, thereby ensuring stable signal transmission within the confined space and improving the control accuracy of the integrated coal inventory controller.

[0062] After the coal inventory is completed, the data in the data storage card needs to be processed. The computing control terminal reads the data, first demodulates it according to a certain protocol, and then converts the data into information such as location and distance. This data is then interpolated and fitted to generate a three-dimensional surface map, reconstructing the coal pile map of the coal yard. The volume of the coal pile is obtained using the infinitesimal method of integration. Then, the mass of coal in the coal yard is calculated using the formula m=pV (where m is the mass; p is the density of the coal pile measured using the standard bucket method and water bag method; and V is the measured volume). Finally, the total amount of coal stored in the entire coal yard is obtained.

[0063] Embodiment 2 of the present invention provides a measurement method for a flyable integrated coal inventory meter for enclosed coal yards, comprising the following steps:

[0064] Step 1: Conduct on-site observation and survey of the enclosed 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 coal piles in the coal yard; identifying obstacles within the coal yard, such as supporting structures and equipment; and assessing environmental conditions such as lighting, temperature, and humidity within the coal yard to determine potential risk points.

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

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

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

[0069] Step 2.2: Analyze the field survey data and select an area with no interference and good visibility as the control station;

[0070] Step 2.3: Based on the size and shape of the coal yard, plan the flight route and measurement points to achieve comprehensive coverage. Install signal boosters to ensure their location optimizes communication between the UAV and the control station.

[0071] Step 3: Assemble the flying integrated coal inventory device on site;

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

[0073] Step 3.1: Install the coal metering device on the drone and ensure all connections are secure and reliable.

[0074] Step 3.2: Inspect 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 includes:

[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 meter. 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 inventory operation, magnetic attraction device operation. Start the drone and fly autonomously along the predetermined route, while recording flight data and coal pile data.

[0081] Step 4.4: Monitor the drone's flight status and the coal inventory device's operating status to ensure data quality and equipment safety. Use a magnetic attachment to ensure the drone can be quickly secured when needed, preventing accidents.

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

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

[0084] When the coal counting device starts working, the magnetic suction device can be attached to the top of the coal shed in the enclosed coal yard to perform a comprehensive scan of all parts of the coal yard.

[0085] When the coal counting device finishes working, the magnetic attraction device is demagnetized by the control switch, and the buffer frame acts as the lifting frame of the coal counting device.

[0086] When the coal balancer falls unexpectedly, the lower airbag of the coal balancer's buffer frame lands first, effectively protecting the equipment from falling hazards.

[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: Transmit the collected data to the computer system for 3D reconstruction and volume calculation;

[0090] Step 6.2: Review the 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 inventory device and the drone.

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

[0092] Furthermore, the integrated UAV coal inventory system described in this invention primarily involves key technologies in its control, including flight control system, data acquisition and processing system, signal enhancement and communication system, user interface and operation control, autonomous measurement algorithm, 3D modeling and volume calculation, anomaly handling and safety mechanisms, energy management, and software control system. The integration and application of these technologies make the integrated UAV coal inventory system a highly efficient and accurate coal inventory tool, helping to improve inventory efficiency and reduce human error.

[0093] The integrated UAV coal counting device of this invention has a working endurance of up to 45 minutes; wind resistance up to 15 m / s; working temperature range: -10℃ to 45℃; flight speed 0-15 m / s;

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

[0095] Equipped with an autopilot flight control system, a high-precision satellite positioning system, gyroscopes, and accelerometer sensors, this device is noteworthy for its adaptive flight control capabilities. It can adjust its 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 and 4 kilograms, making it easy to carry; the battery has a capacity of 20,000-25,000 mAh and includes a battery level detector; it also features autonomous satellite positioning capabilities.

[0097] In a preferred but non-limiting embodiment of the invention, in order to support continuous operation for extended periods, the device may employ a high-efficiency battery system or energy management technology to ensure that measurement tasks can be completed even without an external power source.

[0098] The aircraft can automatically avoid obstacles during flight; it is easy to operate, and can be trained to use it proficiently in half a day. It can automatically plan flight routes, take off with one button, and return to home automatically after the flight ends. In addition, the equipment has adaptive flight control capabilities, which can adjust flight altitude and speed to adapt to coal piles of different sizes and shapes, as well as changing coal yard environments.

[0099] The integrated UAV coal measuring instrument of this invention 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 >40000㎡ / min, specifically proportional to the speed of the aircraft.

[0100] This invention features real-time data acquisition, real-time SLAM point cloud construction, and integrated point cloud model display with a real-time processor, eliminating the need for external wireless modules and processing terminals. The power display device includes a real-time power display screen showing the power percentage, with an overall measurement accuracy exceeding 99.7%. The system directly processes the point cloud data in 3D to obtain the volume of the scanned target and combines this volume data with the density to directly generate an inventory report. Wireless transmission distance is 500m-800m outdoors and 300m-500m indoors, with a speed greater than 100Mbps; 3G / 4G signal transmission is also supported.

[0101] In addition to measuring coal piles, the device of this invention may also be able to monitor environmental conditions within enclosed coal yards, such as temperature, humidity, and coal dust levels, to assess the working environment and safety risks. Considering potential unforeseen circumstances during operation, the invention may also include safety features and emergency response mechanisms, such as automatic return and safe landing.

[0102] The beneficial effects of this invention are that, compared with the prior art,

[0103] (1) This invention provides an integrated anti-fall laser coal stacker for enclosed coal yards, which is equipped with a three-dimensional laser scanner that can perform large-scale spatial scanning measurement of coal piles, ensuring the accuracy and reliability of 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) This invention provides an integrated anti-fall laser coal inventory instrument for closed coal yards, especially for measuring the amount of coal in a closed space. It can greatly improve the efficiency of measuring the volume of stored coal. At the same time, it is lightweight and has auxiliary equipment such as signal enhancement device and electromagnetic magnetic attraction device. Even in environments with poor signal, the electromagnetic magnetic attraction auxiliary equipment can ensure the stable operation of the coal inventory instrument and the safety of the equipment itself.

[0105] (3) This invention provides a flyable integrated coal inventory device for enclosed coal yards, which is equipped with a protective device to effectively prevent the coal inventory device from falling and being damaged due to signal interruption. Its measurement efficiency and accuracy have significant advantages over traditional manual measurement, and it has more built-in safety measures, such as an emergency landing system and runaway protection, to ensure the safety of the equipment and operators.

[0106] (4) This invention provides a flyable integrated coal inventory instrument for enclosed coal yards, which can adapt to the measurement work of coal piles of different sizes. This is due to the mobility of the drone, which can easily reach various complex or hard-to-reach coal pile locations for measurement. The integrated drone coal inventory instrument adopts an enclosed integrated carbon fiber body structure, which has the function of dustproof and waterproof, and is suitable for working in harsh environments. The body is lightweight, which makes the drone easy to carry and easier to operate.

[0107] The flyable integrated coal inventory device described in this invention typically has a more integrated design, which means that the components such as the aircraft, measuring mechanism, and coal inventory device are optimized and combined, thereby providing higher operational convenience and reliability in actual use. This invention is particularly suitable for occasions that require accurate measurement of coal inventory. Its unique design makes its application in enclosed spaces particularly outstanding, which can effectively improve the working efficiency and safety level 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. An integrated anti-fall laser coal counting device for enclosed spaces, comprising: The aircraft coal inventory device (7) is characterized by: The top of the aircraft coal inventory device (7) is equipped with a magnetic suction device (9). The magnetic suction device (9) is connected to the aircraft coal inventory device (7) through a connecting device (15) and is attached to the top of the closed coal yard coal shed to keep the coal inventory device in a horizontal position. The aircraft coal inventory device (7) is equipped with an aircraft camera (6) and a coal inventory device scanning probe (12) on one side, which are used to perform closed-space scanning measurement of the coal pile. A buffer frame is provided below the coal inventory device (7) of the aircraft. The buffer frame includes: a drop buffer frame (2), a bottom buffer frame (3) of the coal inventory device, and a regular hexagonal drop buffer frame (8). The regular hexagonal drop buffer frame (8) is connected to the drop buffer frame (2), and the bottom buffer frame (3) of the coal inventory device is vertically connected to the regular hexagonal buffer frame (8) to form a whole buffer frame, which is used to protect the coal inventory device (7) of the aircraft.

2. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 1, characterized in that: The aircraft coal inventory device (7) includes: aircraft wings (4), flight shaft (5), aircraft camera (6) and coal inventory device scanning probe (12); The aircraft has four wings (4) and four flight shafts (5), which are located at the end of the aircraft coal inventory device (7). The aircraft camera (6) and the coal inventory device scanning probe (12) are located on the same side of the aircraft coal inventory device (7).

3. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 2, characterized in that: The aircraft camera (6) and the coal panning instrument scanning probe (12) can be adjusted vertically from 0 to 270° and horizontally from 0 to 180°, and can be adjusted vertically, horizontally, and vertically simultaneously.

4. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 2, characterized in that: The aircraft wing (4) includes three wing blades (10), and the flight shaft (5), wing blades (10) and coal probe (12) can all be disassembled.

5. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 2, characterized in that: The end of the anti-fall buffer frame (2) is provided with a horizontal support, and the two ends of the horizontal support are provided with explosive airbags (1), the external vertical distance of which is greater than that of the aircraft wing (4); the end of the bottom buffer frame (3) of the coal pan is also provided with an explosive airbag.

6. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 5, characterized in that: The explosive airbag (1) includes an inner airbag (1.2) and an outer airbag (1.3). The outer airbag is provided with two double-layer airbag outer airbag burst ports (1.1), and the inner airbag is provided with a double-layer airbag inner airbag burst port (1.4).

7. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 1, characterized in that: The connecting device (15) includes: a rotating device (19), a telescopic rod (21), and a telescopic rod motor (22). The magnetic suction device (9) is connected to the top of the telescopic rod (20) via the rotating device (19), the top of the telescopic rod (20) is connected to the telescopic rod (21), and the telescopic rod motor (22) is located inside the telescopic rod (21).

8. The integrated anti-fall laser coal counting device for enclosed spaces as described in claim 1, characterized in that: The telescopic rod (21) has a telescopic adjustment range of 7-20cm and can be adjusted 45° forward, backward, left and right.

9. A measurement method for an integrated anti-drop laser coal measuring instrument for enclosed spaces, comprising the integrated anti-drop laser coal measuring instrument for enclosed spaces as described in claims 1-8, characterized in that: Includes the following steps: Step 1: Conduct on-site observation and survey of the enclosed coal yard; Step 2: Determine the location and route based on the survey results from Step 1; Step 3: Assemble the flying integrated coal inventory device on site; Step 4: The equipment undergoes a test flight; Step 5: Use a coal inventory meter to measure the three-dimensional overall view of the entire coal yard; Step 6: Process, review, and calculate the measurement results to obtain measurement and data analysis results.

10. The measurement method of an integrated anti-fall laser coal measuring instrument for enclosed spaces according to claim 9, characterized in that: Step 5 specifically includes: When the coal counting device starts working, the magnetic suction device can be attached to the top of the coal shed in the enclosed coal yard to perform a comprehensive scan of all parts of the coal yard. When the coal counting device finishes working, the magnetic attraction device is demagnetized by the control switch, and the buffer frame acts as the lifting frame of the coal counting device. When the coal balancer falls unexpectedly, the lower airbag of the coal balancer's buffer frame lands first, ensuring the safety of the equipment during the fall.

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