CN111595300A - Unmanned aerial vehicle coal inventory detection system and coal inventory method for thermal power plant - Google Patents
Unmanned aerial vehicle coal inventory detection system and coal inventory method for thermal power plant Download PDFInfo
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Abstract
The invention discloses a coal checking system and a coal checking method for an unmanned aerial vehicle in a thermal power plant, which comprises the unmanned aerial vehicle, a GPS type laser range finder scanner, an aerial camera, an infrared thermal imager, an LED searchlight and a PC processing platform, wherein the GPS type laser range finder scanner, the aerial camera, the infrared thermal imager and the LED searchlight are all arranged at the lower part of the unmanned aerial vehicle and are powered by a battery of the unmanned aerial vehicle, the invention adopts a scheme of fusing laser scanning range finding and aerial camera surveying and mapping, and has the advantages of improving coal checking precision, reducing system coal checking cost and improving digital technical level of a modern open coal storage field by utilizing the automatic cruise function of the unmanned aerial vehicle, in addition, the temperature measuring type infrared thermal imager carried by the unmanned aerial vehicle can enter the inner part of a chimney, the leakage condition and the position distribution in the chimney can be judged, and under the condition that maintenance personnel do not enter the inner barrel of the, quantitatively estimating the degree of corrosion of the inner wall of the chimney.
Description
Technical Field
The invention relates to the technical field of coal inventory, in particular to a thermal power plant unmanned aerial vehicle coal inventory detection system and a coal inventory method.
Background
With the continuous rising of the price of the current electric coal, the coal burning management of the thermal power plant is the important work of production management, the monthly benefit of the thermal power plant is closely related to the generated energy and the coal consumption, and the monthly benefit of the thermal power plant has direct influence on the economic operation of the power plant. Because the fuel cost of a thermal power plant accounts for the vast majority of the whole production cost, and the measurement of the coal storage amount of a coal yard directly influences the economic index of the power plant, the rapid and accurate measurement of the volume and the quality of the coal pile on the coal yard is routine work of cost accounting, economic benefit assessment and scientific management of each power plant, and the checking of the coal storage amount of the coal yard also ensures the reasonable reserve amount of the coal yard. In order to avoid the influence on normal power generation due to fuel supply interruption, a power plant must have a certain amount of reserve, but the reserve is excessive, so that the capital turnover of the power plant is influenced, the storage loss is increased, the reserve is too small, the normal power generation cannot be guaranteed, and the reserve is proper, so that a reasonable reserve is determined according to the storage conditions, daily consumption level, transportation interval, frequent reserve, insurance reserve and other factors of the power plant. Moreover, most of coal stored in the power plant is stored in the open air, and is easy to weather and self-ignite, in order to reduce the storage loss, the reasonable storage quantity of the coal yard is also ensured, and whether the measurement of the coal storage quantity is accurate or not is related to the measurement and economic index of the coal consumption of the power plant; on the other hand, the method also relates to how to accurately predict the available time of the existing coal storage amount according to the load of the power plant, which is an important parameter in the operation process of the power plant.
At present, coal inventory methods of domestic coal storage yards mainly comprise methods of manual measurement, laser radar coal inventory measurement and the like.
The manual measurement method still adopts a 'tape measure + marker post' or a level gauge to carry out measurement, even an empirical estimation mode is adopted to carry out measurement. The manual measurement method is greatly influenced by the geometric shape of the coal pile, the shape of the coal pile needs to be reformed, the workload is large, the measurement precision is low, the error is large, the mode wastes manpower, the working condition is poor, and the measurement result is inaccurate due to the influence of more human factors, so that the requirement of rapidly and accurately obtaining the coal storage quantity in the coal storage yard of a modern coal mine, a port and a coal-fired thermal power plant cannot be met.
The laser radar coal inventory measuring method scans a coal pile through a laser radar, accurately obtains a three-dimensional model of the coal pile, and then calculates the volume of the coal pile through a corresponding algorithm, so that the coal storage quantity of a coal storage yard is obtained. Although the laser radar coal inventory system can quickly and accurately obtain the coal storage quantity, the cost of the laser radar is too high, the implementation process is complex, the fixed laser radar coal inventory system has high requirements on field installation and field debugging, if the fixed laser radar coal inventory system is not well installed, the fixed laser radar coal inventory system is easy to damage, the fixed laser radar coal inventory system cannot achieve the required precision easily due to poor debugging, the maintenance cost is high, the measurement distance is short, the geometric positioning has measurement dead angles and blind areas, and the laser radar coal inventory system is greatly influenced by dust raising and atmospheric light transmission effects, so that the laser radar coal inventory system is difficult to be widely applied to an open-air coal.
Therefore, an unmanned automatic cruise coal inventory system is in urgent need of research.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides a thermal power plant's unmanned aerial vehicle dish coal detecting system, includes unmanned aerial vehicle, GPS type laser range scanner, the camera of taking photo by plane, infrared thermal imager, LED searchlight, PC processing platform, GPS type laser range scanner, the camera of taking photo by plane, infrared thermal imager, LED searchlight all set up in the unmanned aerial vehicle lower part and by unmanned aerial vehicle battery powered, unmanned aerial vehicle passes through the flight control system serial ports and is connected with PC processing platform, GPS type laser range scanner, camera of taking photo by plane, infrared thermal imager all are connected with PC processing platform through remote module, PC processing platform embeds there is unmanned aerial vehicle flight control system software, laser scanning data processing software, three-dimensional reconstruction software.
As an improvement, the unmanned aerial vehicle is a six-rotor 1000-wheelbase unmanned aerial vehicle, a three-axle adjustable pan-tilt is arranged at the joint of the unmanned aerial vehicle, a GPS type laser ranging scanner, an aerial camera and an infrared thermal imager, a remote control receiving system, a double-loop flight control system, a sensor system, an automatic cruise system, an automatic suspension system and a flight recording system are arranged in the unmanned aerial vehicle, the double-loop flight control system is connected with the remote control receiving system, and the remote control receiving system is connected with a remote controller through a wireless network.
As an improvement, when a GPS type laser ranging scanner is used for coal inventory, the method specifically comprises the following steps:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring scanning data of a GPS type laser ranging scanner, wherein the scanning data comprises a distance a between the GPS type laser ranging scanner and a scanning point at the boundary of the surface of the coal pile, a vertical height h between the GPS type laser ranging scanner and the ground, and an included angle phi between the distance a and a vertical plane;
(3) calculating the vertical height b between a scanning point at the boundary of the coal pile surface and a GPS type laser ranging scanner and calculating the height h1 between the scanning point at the boundary of the coal pile surface and the ground through laser scanning data processing software according to the data acquired in the step (2);
(4) the flying direction and the flying speed of the unmanned aerial vehicle are set, a plurality of scanning points are scanned on the surface of the coal pile, dense points on the surface of the coal pile are formed, and the volume of the coal pile is calculated.
As an improvement, when the aerial camera is used for driving the coal, the method specifically comprises the following steps:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring a plurality of image sequences of the ground coal pile through an aerial camera, and performing sparse point cloud reconstruction after correction pretreatment by using three-dimensional reconstruction software;
(3) generating a feature descriptor of each coal pile image by using an SURF algorithm after the steps of scale space construction, feature point selection and positioning, feature point main direction calculation and the like, performing feature descriptor matching on two coal pile initial images, solving a camera essential matrix corresponding to the two images by using a motion recovery structure method based on deep learning, and iterating the rest images until iteration is completed to form initial pose information of the camera and sparse three-dimensional point cloud data of the coal piles;
(4) optimizing the obtained sparse point cloud reconstruction result by a bundling adjustment method, eliminating observation errors and related noises, obtaining optimized camera parameters and a coal pile three-dimensional structure, completing dense point cloud reconstruction by adopting a multi-view three-dimensional reconstruction algorithm based on a surface patch through initial feature matching, surface patch diffusion and surface patch filtering, finally performing surface reconstruction by utilizing a polygonal surface patch to obtain a three-dimensional grid model of the coal pile, and further calculating to obtain the volume of the coal pile.
As an improvement, when an infrared thermal imager is used for detecting the corrosion of the chimney, the method specifically comprises the following steps:
(1) the unmanned aerial vehicle carries an infrared thermal imager to enter the chimney, and the infrared thermal imager illuminates the chimney through an LED searchlight;
(2) dividing the inner wall of the chimney into areas and numbering, storing the recorded video or photo for each inspection according to the number, establishing a long-term historical database, comparing the data after each inspection with the previous data, and judging whether the corrosion problem occurs according to the data change;
(3) if leakage corrosion appears in the chimney, liquid can be accumulated at a leakage point, the temperature difference exists between the liquid and the foaming material due to different materials, the performance of infrared imaging can have color difference, and the infrared thermal imager transmits the acquired infrared imaging to the PC processing platform to determine the leakage condition and distribution.
After adopting the structure, the invention has the following advantages: the invention adopts a scheme of fusing laser scanning ranging and aerial photography camera mapping, utilizes the automatic cruise function of the unmanned aerial vehicle, has the advantages of improving coal inventory precision, reducing system coal inventory cost and improving the digital technical level of a modern open coal storage yard, and can enter the chimney through the temperature measurement type thermal infrared imager carried by the unmanned aerial vehicle, judge the leakage condition and position distribution in the chimney, and quantitatively estimate the corrosion degree of the inner wall of the chimney under the condition that maintenance personnel do not enter the inner barrel of the chimney.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle coal inventory detection system and a coal inventory method of a thermal power plant.
Fig. 2 is a schematic diagram of a thermal power plant unmanned aerial vehicle coal inventory detection system and a coal inventory method when a GPS type laser ranging scanner is used.
As shown in the figure: 1. unmanned aerial vehicle, 2, GPS type laser range scanner, 3, the camera of taking photo by plane, 4, infrared thermal imager, 5, LED searchlight, 6, PC processing platform, 7, flight control system serial ports, 8, remote module.
Detailed Description
Combine the figure, an unmanned aerial vehicle of thermal power plant dish coal detecting system, including unmanned aerial vehicle 1, GPS type laser range scanner 2, 3, the infrared thermal imager 4 of taking photo by plane camera, LED searchlight 5, PC processing platform 6, GPS type laser range scanner 2, 3, the infrared thermal imager 4 of taking photo by plane camera, LED searchlight 5 all set up in 1 lower part of unmanned aerial vehicle and by the power supply of unmanned aerial vehicle battery, unmanned aerial vehicle 1 is connected with PC processing platform 6 through flight control system serial ports 7, GPS type laser range scanner 2, 3, the infrared thermal imager 4 of taking photo by plane camera all are connected with PC processing platform 6 through remote module 8, PC processing platform 6 embeds there is unmanned aerial vehicle flight control system software, laser scanning data processing software, three-dimensional reconstruction software.
As a preferred embodiment of this embodiment, the unmanned aerial vehicle 1 is a six-rotor 1000-wheelbase unmanned aerial vehicle, a three-axis adjustable pan-tilt is disposed at a joint of the unmanned aerial vehicle, the GPS laser range scanner 2, the aerial camera 3, and the infrared thermal imager 4, a remote control receiving system, and a dual-loop flight control system, a sensor system, an automatic cruise system, an automatic levitation system, and a flight recording system that are connected to the remote control receiving system are disposed inside the unmanned aerial vehicle 1, and the remote control receiving system is connected to a remote controller through a wireless network.
As a preferred embodiment of this embodiment, when coal inventory is performed by using the GPS type laser ranging scanner 2, the method specifically includes the following steps:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring scanning data of a GPS type laser ranging scanner, wherein the scanning data comprises a distance a between the GPS type laser ranging scanner and a scanning point at the boundary of the surface of the coal pile, a vertical height h between the GPS type laser ranging scanner and the ground, and an included angle phi between the distance a and a vertical plane;
(3) calculating the vertical height b between a scanning point at the boundary of the coal pile surface and a GPS type laser ranging scanner and calculating the height h1 between the scanning point at the boundary of the coal pile surface and the ground through laser scanning data processing software according to the data acquired in the step (2);
(4) the flying direction and the flying speed of the unmanned aerial vehicle are set, a plurality of scanning points are scanned on the surface of the coal pile, dense points on the surface of the coal pile are formed, and the volume of the coal pile is calculated.
Adopt GPS type laser range scanner to carry out the barring at open-air coal yard, acquire unmanned aerial vehicle by GPS system and carry the level face value and the height of barring the coal appearance, acquire the height value of coal pile by laser range system, calculate the volume of coal pile through software, unmanned aerial vehicle is according to the airline of setting for independently flying, because closed environment, the location of unmanned aerial vehicle and barring the coal appearance has the problem, it is not suitable for GPS type laser barring the coal appearance to seal the coal yard, consequently in sealing the coal yard, adopt the aerial photography camera to carry out the barring survey and drawing.
As a preferred embodiment of this embodiment, when using the aerial camera 3 to coil coal, the method specifically comprises the following steps:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring a plurality of image sequences of the ground coal pile through an aerial camera, and performing sparse point cloud reconstruction after correction pretreatment by using three-dimensional reconstruction software;
(3) generating a feature descriptor of each coal pile image by using an SURF algorithm after the steps of scale space construction, feature point selection and positioning, feature point main direction calculation and the like, performing feature descriptor matching on two coal pile initial images, solving a camera essential matrix corresponding to the two images by using a motion recovery structure method based on deep learning, and iterating the rest images until iteration is completed to form initial pose information of the camera and sparse three-dimensional point cloud data of the coal piles;
(4) optimizing the obtained sparse point cloud reconstruction result by a bundling adjustment method, eliminating observation errors and related noises, obtaining optimized camera parameters and a coal pile three-dimensional structure, completing dense point cloud reconstruction by adopting a multi-view three-dimensional reconstruction algorithm based on a surface patch through initial feature matching, surface patch diffusion and surface patch filtering, finally performing surface reconstruction by utilizing a polygonal surface patch to obtain a three-dimensional grid model of the coal pile, and further calculating to obtain the volume of the coal pile.
As a preferred embodiment of this embodiment, when the infrared thermal imager 4 is used for detecting the corrosion of the chimney, the method specifically includes the following steps:
(1) the unmanned aerial vehicle carries an infrared thermal imager to enter the chimney, and the infrared thermal imager illuminates the chimney through an LED searchlight;
(2) dividing the inner wall of the chimney into areas and numbering, storing the recorded video or photo for each inspection according to the number, establishing a long-term historical database, comparing the data after each inspection with the previous data, and judging whether the corrosion problem occurs according to the data change;
(3) if leakage corrosion appears in the chimney, liquid can be accumulated at a leakage point, the temperature difference exists between the liquid and the foaming material due to different materials, the performance of infrared imaging can have color difference, and the infrared thermal imager transmits the acquired infrared imaging to the PC processing platform to determine the leakage condition and distribution.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides a thermal power plant unmanned aerial vehicle dish coal detecting system, its characterized in that, includes unmanned aerial vehicle, GPS type laser range scanner, the camera of taking photo by plane, infrared thermal imager, LED searchlight, PC processing platform, GPS type laser range scanner, the camera of taking photo by plane, infrared thermal imager, LED searchlight all set up in the unmanned aerial vehicle lower part and are supplied power by the unmanned aerial vehicle battery, unmanned aerial vehicle passes through the flight control system serial ports and is connected with PC processing platform, GPS type laser range scanner, the camera of taking photo by plane, infrared thermal imager all are connected with PC processing platform through remote module, PC processing platform embeds there is unmanned aerial vehicle flight control system software, laser scanning data processing software, three-dimensional reconstruction software.
2. The system for detecting the coal on board of the unmanned aerial vehicle in the thermal power plant according to claim 1, wherein the unmanned aerial vehicle is a six-rotor 1000-wheelbase unmanned aerial vehicle, a three-axle adjustable pan-tilt is arranged at the joint of the unmanned aerial vehicle with the GPS laser ranging scanner, the aerial camera and the infrared thermal imager, a remote control receiving system, a dual-loop flight control system, a sensor system, an automatic cruise system, an automatic suspension system and a flight recording system are arranged in the unmanned aerial vehicle, and the remote control receiving system is connected with a remote controller through a wireless network.
3. The coal checking method of the unmanned aerial vehicle coal checking system of the thermal power plant according to claim 1, when checking coal by using a GPS type laser ranging scanner, comprising the following steps:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring scanning data of a GPS type laser ranging scanner, wherein the scanning data comprises a distance a between the GPS type laser ranging scanner and a scanning point at the boundary of the surface of the coal pile, a vertical height h between the GPS type laser ranging scanner and the ground, and an included angle phi between the distance a and a vertical plane;
(3) calculating the vertical height b between the scanning point at the boundary of the coal pile surface and a GPS type laser ranging scanner and calculating the height h1 between the scanning point at the boundary of the coal pile surface and the ground through laser ranging scanning data processing software according to the data acquired in the step (2);
(4) the flying direction and the flying speed of the unmanned aerial vehicle are set, a plurality of scanning points are scanned on the surface of the coal pile, dense points on the surface of the coal pile are formed, and the volume of the coal pile is calculated.
4. The coal inventory method of the unmanned aerial vehicle coal inventory detection system of the thermal power plant according to claim 1, characterized by comprising the following steps when using an aerial camera to inventory coal:
(1) setting an unmanned aerial vehicle to carry out coal inventory in a designated area;
(2) acquiring a plurality of image sequences of the ground coal pile through an aerial camera, and performing sparse point cloud reconstruction after correction pretreatment by using three-dimensional reconstruction software;
(3) generating a feature descriptor of each coal pile image by using an SURF algorithm after the steps of scale space construction, feature point selection and positioning, feature point main direction calculation and the like, performing feature descriptor matching on two coal pile initial images, solving a camera essential matrix corresponding to the two images by using a motion recovery structure method based on deep learning, and iterating the rest images until iteration is completed to form initial pose information of the camera and sparse three-dimensional point cloud data of the coal piles;
(4) optimizing the obtained sparse point cloud reconstruction result by a bundling adjustment method, eliminating observation errors and related noises, obtaining optimized camera parameters and a coal pile three-dimensional structure, completing dense point cloud reconstruction by adopting a multi-view three-dimensional reconstruction algorithm based on a surface patch through initial feature matching, surface patch diffusion and surface patch filtering, finally performing surface reconstruction by utilizing a polygonal surface patch to obtain a three-dimensional grid model of the coal pile, and further calculating to obtain the volume of the coal pile.
5. The coal checking method of the unmanned aerial vehicle coal checking system of the thermal power plant according to claim 1, wherein when an infrared thermal imager is used for detecting chimney corrosion, the method specifically comprises the following steps:
(1) the unmanned aerial vehicle carries an infrared thermal imager to enter the chimney, and the infrared thermal imager illuminates the chimney through an LED searchlight;
(2) dividing the inner wall of the chimney into areas and numbering, storing the recorded video or photo for each inspection according to the number, establishing a long-term historical database, comparing the data after each inspection with the previous data, and judging whether the corrosion problem occurs according to the data change;
(3) if leakage corrosion appears in the chimney, liquid can be accumulated at a leakage point, the temperature difference exists between the liquid and the foaming material due to different materials, the performance of infrared imaging can have color difference, and the infrared thermal imager transmits the acquired infrared imaging to the PC processing platform to determine the leakage condition and distribution.
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| CN202010375863.2A CN111595300A (en) | 2020-05-07 | 2020-05-07 | Unmanned aerial vehicle coal inventory detection system and coal inventory method for thermal power plant |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114152624A (en) * | 2021-12-03 | 2022-03-08 | 广州发展电力科技有限公司 | Chimney checking method and device based on unmanned aerial vehicle cruising |
| CN114562939A (en) * | 2022-01-20 | 2022-05-31 | 华能汕头海门发电有限责任公司 | Laser coal inventory system based on unmanned aerial vehicle |
| CN115060665A (en) * | 2022-08-16 | 2022-09-16 | 君华高科集团有限公司 | Automatic inspection system for food safety |
| CN116625582A (en) * | 2023-07-24 | 2023-08-22 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
-
2020
- 2020-05-07 CN CN202010375863.2A patent/CN111595300A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114152624A (en) * | 2021-12-03 | 2022-03-08 | 广州发展电力科技有限公司 | Chimney checking method and device based on unmanned aerial vehicle cruising |
| CN114562939A (en) * | 2022-01-20 | 2022-05-31 | 华能汕头海门发电有限责任公司 | Laser coal inventory system based on unmanned aerial vehicle |
| CN114562939B (en) * | 2022-01-20 | 2023-11-07 | 华能汕头海门发电有限责任公司 | Laser coal-burning system based on unmanned aerial vehicle |
| CN115060665A (en) * | 2022-08-16 | 2022-09-16 | 君华高科集团有限公司 | Automatic inspection system for food safety |
| CN116625582A (en) * | 2023-07-24 | 2023-08-22 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
| CN116625582B (en) * | 2023-07-24 | 2023-09-19 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
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Application publication date: 20200828 |