CN112489348A - Coal yard temperature intelligent detection and early warning method based on unmanned aerial vehicle - Google Patents
Coal yard temperature intelligent detection and early warning method based on unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
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- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- H—ELECTRICITY
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Abstract
The invention discloses an intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and an infrared thermal imager, wherein the unmanned aerial vehicle comprises an intelligent coal yard unmanned aerial vehicle temperature detection and early warning system, and the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system comprises a background monitoring system, an unmanned aerial vehicle measuring platform and a data transmission system. Compared with the prior art, the invention has the advantages that: the coal yard condition can be effectively monitored and early warned in time, and economic loss is saved.
Description
Technical Field
The invention relates to the technical field of coal yard temperature detection and early warning, in particular to an intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle.
Background
Coal occupies a leading position in the energy structure of China, the open and outdoor storage of the coal occupies spontaneous combustion of the coal pile due to factors such as weather, environment, storage time and the like, serious economic loss and environmental pollution are caused, the natural hidden danger position of the open-air coal yard is found in time, effective measures are taken, and the exploration of a novel intelligent coal pile temperature real-time monitoring method has great significance for the safety management of the open-air coal yard. At present, the common coal yard spontaneous combustion detection technology, such as the use of a thermocouple type temperature measuring device, needs a person to insert a taking point on a coal block into the depth of the coal for measurement, and has the problems of high danger coefficient, large workload, low efficiency, small temperature measuring range and the like; as with the gas analysis method, the temperature of a high-temperature region is predicted by analyzing the gas around the coal pile, and therefore, the position and the development and change speed of the high-temperature region cannot be accurately located, and a plurality of coal piles cannot be measured at the same time. The unmanned aerial vehicle becomes an ideal carrier for monitoring the temperature of the open-air coal yard by the characteristics of quick deployment and low cost. Therefore, a method for adopting the unmanned aerial vehicle as temperature monitoring is urgently needed to be researched, and the work of carrying out full-automatic autonomous temperature monitoring and early warning in an open-air coal yard can be realized.
Disclosure of Invention
The invention aims to overcome the technical defects and provide an intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle, which can effectively monitor and early warn the coal yard condition in time and recover economic loss.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: an intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle comprises the unmanned aerial vehicle and an infrared thermal imager, wherein the unmanned aerial vehicle comprises an intelligent coal yard unmanned aerial vehicle temperature detection and early warning system, and the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system comprises a background monitoring system, an unmanned aerial vehicle measuring platform and a data transmission system;
the background monitoring system comprises functional modules for analyzing and processing data, sending and receiving instructions, controlling the unmanned aerial vehicle, shooting picture display in real time, setting a flight task and analyzing data management, wherein the module for sending and receiving the instructions sends information and processes the received information, software for setting the flight task sets a flight route for the unmanned aerial vehicle, the module for shooting the picture display in real time is connected with measurement software and analysis software, the measurement software is used for shooting common pictures of a coal pile by integrating position and distance data transmitted back by the unmanned aerial vehicle, and the analysis software analyzes thermal imaging pictures shot by the unmanned aerial vehicle in real time and detects abnormal temperature points;
the unmanned aerial vehicle measuring platform comprises an unmanned aerial vehicle body, a flight controller, a power system, a double-optical camera, a laser radar, a barometer, a magnetic compass and a communication system, the unmanned aerial vehicle measuring platform takes the unmanned aerial vehicle body as a carrier, the double-optical camera and an infrared thermal imager are carried on the unmanned aerial vehicle body, the unmanned aerial vehicle is accurately positioned by means of a differential positioning base station and a Beidou positioning system, autonomous navigation is completed through a gyroscope inertial navigation system, the unmanned aerial vehicle flies around a coal yard according to a route to carry out coal yard temperature measurement work, infrared thermal shooting is carried out on a coal pile, a coal yard temperature distribution diagram is presented, and the unmanned aerial vehicle returns to the air and lands after forming a chromatographic distribution diagram;
the data transmission system comprises a data transmission radio station, a picture transmission radio station, a 4G module and a WIFI module, the data transmission system is used for instruction transmission and information transmission between the background monitoring system and the unmanned aerial vehicle measuring platform, the data transmission radio station and the picture transmission radio station realize communication between the unmanned aerial vehicle and the data transmission system, and the data transmission system and the company server are in wired transmission.
Further, the unmanned aerial vehicle is a four-axis unmanned aerial vehicle, the cruising ability is 55 minutes without load, 45 minutes with full load, the infrared thermal imager can reach 200 meters in height, 30 times of visible light optics, and 200 times of figures.
Further, the overall design of the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard comprises the following specific steps: (1) carrying out boundary dotting by using an unmanned aerial vehicle to carry out laser radar scanning on the coal pile; (2) the unmanned aerial vehicle automatically generates an area scanning air route; (3) the data transmission system is connected with the background control center; (4) carrying an infrared thermal imager by the unmanned aerial vehicle to execute tasks; (5) shooting temperature data in real time and transmitting the temperature data back to the control center; (6) the software end of the control center analyzes the temperature information of the coal pile in real time; (7) if the temperature of the current point is abnormal, the unmanned aerial vehicle hovers and collects multiple groups of data for analysis, and if the temperature of the current point is not abnormal, the unmanned aerial vehicle continues to execute flight of the air route; (8) returning and landing after all coal piles in the coal yard are detected; (9) and storing and uploading the data to a system to form an analysis report.
Further, the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard comprises the following specific working steps: (1) starting, the control center issues tasks and executes the next step; (2) the unmanned aerial vehicle platform receives the instruction and executes the next step; (3) the unmanned aerial vehicle system starts self-checking, whether the unmanned aerial vehicle is normal is detected, whether the magnetic compass is normal is detected if the unmanned aerial vehicle is abnormal, whether the GPS is normal is detected, whether the barometer is normal is detected, and automatic or manual calibration is started if one of the three detections is abnormal or one detection is normal; if the unmanned aerial vehicle is normal and the automatic or manual calibration is finished, executing the next step; (4) carrying out automatic flight of the air route according to the assigned task and executing the next step; (5) detecting whether the relative position of the unmanned aerial vehicle waypoint and the coal pile deviates, and if the deviation exists, issuing a flight control deviation rectifying instruction by the control center to execute the next step; if no deviation exists, directly executing the next step; (6) executing a preset route and executing the next step; (7) collecting coal pile temperature information by an infrared thermal camera, and executing the next step; (8) the temperature information data transmission system transmits the acquired information back to the control center, the next step is executed, meanwhile, the unmanned aerial vehicle self-checks whether the electric quantity is sufficient or not, if the electric quantity is insufficient, the unmanned aerial vehicle automatically returns to the journey and replaces the battery, a breakpoint cruising function is executed, the mission is continuously executed, and the temperature data and the image of the coal pile are recorded; if the electric quantity is sufficient, continuing to execute the task and recording the temperature data and the image of the coal pile; (9) the background control center processes and analyzes the coal pile temperature data in real time and executes the next step; (10) whether the coal pile temperature is abnormal or not, if so, confirming the fixed-point hovering of the unmanned aerial vehicle, continuing to execute tasks and recording coal pile temperature data and images; if no abnormity exists, continuing to execute the task, recording the temperature data and the image of the coal pile, and executing the next step; (11) and (4) storing data by return flight and landing, and ending.
Compared with the prior art, the invention has the advantages that: the background monitoring system sends out information and analyzes the fed back information, the real-time shooting picture display connected measurement software is used for shooting a common picture of the coal pile by integrating position and distance data transmitted back by the unmanned aerial vehicle, analyzing data management and analyzing a thermal imaging picture shot by the unmanned aerial vehicle in real time, and detecting temperature abnormal points; the data transmission system adopts an unmanned aerial vehicle self-carried data transmission radio station and a picture transmission radio station to realize communication between the unmanned aerial vehicle and the data transmission system, and is used for instruction transmission and information transmission between the background monitoring system and the unmanned aerial vehicle measuring platform; unmanned aerial vehicle measuring platform uses the unmanned aerial vehicle organism as the carrier, with two optical cameras, infrared thermal imager carries on the unmanned aerial vehicle organism, rely on difference positioning basic station and big dipper positioning system, carry out accurate location to unmanned aerial vehicle, unmanned aerial vehicle carries out coal yard temperature measurement work around the flight of coal yard according to the airline, carry out infrared heat to the coal pile and shoot, present coal yard temperature distribution diagram, form the chromatogram distribution diagram, can in time effectively monitor and early warning coal yard situation, retrieve economic loss.
Drawings
FIG. 1 is a composition diagram of an intelligent temperature detection and early warning system for an unmanned aerial vehicle in a coal yard.
FIG. 2 is a general design flow chart of the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard.
FIG. 3 is a flow chart of the working process of the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard.
FIG. 4 is a three-dimensional diagram generated by a coal pile of the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard.
FIG. 5 is a temperature analysis diagram of the intelligent temperature detection and early warning system for the unmanned aerial vehicle in the coal yard.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
An intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle comprises the unmanned aerial vehicle and an infrared thermal imager, wherein the unmanned aerial vehicle comprises an intelligent coal yard unmanned aerial vehicle temperature detection and early warning system, and the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system comprises a background monitoring system, an unmanned aerial vehicle measuring platform and a data transmission system;
the background monitoring system comprises functional modules for analyzing and processing data, sending and receiving instructions, controlling the unmanned aerial vehicle, shooting picture display in real time, setting a flight task and analyzing data management, wherein the module for sending and receiving the instructions sends information and processes the received information, software for setting the flight task sets a flight route for the unmanned aerial vehicle, the module for shooting the picture display in real time is connected with measurement software and analysis software, the measurement software is used for shooting common pictures of a coal pile by integrating position and distance data transmitted back by the unmanned aerial vehicle, and the analysis software analyzes thermal imaging pictures shot by the unmanned aerial vehicle in real time and detects abnormal temperature points;
the unmanned aerial vehicle measuring platform comprises an unmanned aerial vehicle body, a flight controller, a power system, a double-optical camera, a laser radar, a barometer, a magnetic compass and a communication system, the unmanned aerial vehicle measuring platform takes the unmanned aerial vehicle body as a carrier, the double-optical camera and an infrared thermal imager are carried on the unmanned aerial vehicle body, the unmanned aerial vehicle is accurately positioned by means of a differential positioning base station and a Beidou positioning system, autonomous navigation is completed through a gyroscope inertial navigation system, the unmanned aerial vehicle flies around a coal yard according to a route to carry out coal yard temperature measurement work, infrared thermal shooting is carried out on a coal pile, a coal yard temperature distribution diagram is presented, and the unmanned aerial vehicle returns to the air and lands after forming a chromatographic distribution diagram;
the data transmission system comprises a data transmission radio station, a picture transmission radio station, a 4G module and a WIFI module, the data transmission system is used for instruction transmission and information transmission between the background monitoring system and the unmanned aerial vehicle measuring platform, the data transmission radio station and the picture transmission radio station realize communication between the unmanned aerial vehicle and the data transmission system, and the data transmission system and the company server are in wired transmission.
The unmanned aerial vehicle is a four-axis unmanned aerial vehicle, the cruising ability is 55 minutes without load and 45 minutes with full load, the infrared thermal imager can reach 200 meters in height, and the visible light is 30 times optical and 200 times digital.
The intelligent temperature detection and early warning system for the coal yard unmanned aerial vehicle is mainly designed by the following specific steps: (1) carrying out boundary dotting by using an unmanned aerial vehicle to carry out laser radar scanning on the coal pile; (2) the unmanned aerial vehicle automatically generates an area scanning air route; (3) the data transmission system is connected with the background control center; (4) carrying an infrared thermal imager by the unmanned aerial vehicle to execute tasks; (5) shooting temperature data in real time and transmitting the temperature data back to the control center; (6) the software end of the control center analyzes the temperature information of the coal pile in real time; (7) if the temperature of the current point is abnormal, the unmanned aerial vehicle hovers and collects multiple groups of data for analysis, and if the temperature of the current point is not abnormal, the unmanned aerial vehicle continues to execute flight of the air route; (8) returning and landing after all coal piles in the coal yard are detected; (9) and storing and uploading the data to a system to form an analysis report.
The intelligent temperature detection and early warning system for the coal yard unmanned aerial vehicle comprises the following specific working steps: (1) starting, the control center issues tasks and executes the next step; (2) the unmanned aerial vehicle platform receives the instruction and executes the next step; (3) the unmanned aerial vehicle system starts self-checking, whether the unmanned aerial vehicle is normal is detected, whether the magnetic compass is normal is detected if the unmanned aerial vehicle is abnormal, whether the GPS is normal is detected, whether the barometer is normal is detected, and automatic or manual calibration is started if one of the three detections is abnormal or one detection is normal; if the unmanned aerial vehicle is normal and the automatic or manual calibration is finished, executing the next step; (4) carrying out automatic flight of the air route according to the assigned task and executing the next step; (5) detecting whether the relative position of the unmanned aerial vehicle waypoint and the coal pile deviates, and if the deviation exists, issuing a flight control deviation rectifying instruction by the control center to execute the next step; if no deviation exists, directly executing the next step; (6) executing a preset route and executing the next step; (7) collecting coal pile temperature information by an infrared thermal camera, and executing the next step; (8) the temperature information data transmission system transmits the acquired information back to the control center, the next step is executed, meanwhile, the unmanned aerial vehicle self-checks whether the electric quantity is sufficient or not, if the electric quantity is insufficient, the unmanned aerial vehicle automatically returns to the journey and replaces the battery, a breakpoint cruising function is executed, the mission is continuously executed, and the temperature data and the image of the coal pile are recorded; if the electric quantity is sufficient, continuing to execute the task and recording the temperature data and the image of the coal pile; (9) the background control center processes and analyzes the coal pile temperature data in real time and executes the next step; (10) whether the coal pile temperature is abnormal or not, if so, confirming the fixed-point hovering of the unmanned aerial vehicle, continuing to execute tasks and recording coal pile temperature data and images; if no abnormity exists, continuing to execute the task, recording the temperature data and the image of the coal pile, and executing the next step; (11) and (4) storing data by return flight and landing, and ending.
When the system is implemented specifically, the unmanned aerial vehicle adopts a model with four shafts, the cruising ability is 55 minutes without load and 45 minutes with full load, the infrared thermal imager adopts a model with the height of 200 meters and the optical length of 30 times and the number of 200 times under visible light, the unmanned aerial vehicle carries a laser radar, an area scanning air line is automatically generated after a coal pile is scanned and boundary dotting is carried out, then the unmanned aerial vehicle is connected with a background control center through a data transmission system, and the unmanned aerial vehicle carries the thermal imager to shoot temperature data in real time and transmit the temperature data back to the control center. And the control center software end analyzes the coal pile temperature information in real time, if the current point temperature is detected to be abnormal, the unmanned aerial vehicle hovers and collects multiple groups of data for analysis, and if the current point temperature is not abnormal, the unmanned aerial vehicle continues to execute the flight mission. The unmanned aerial vehicle flies around the coal yard according to the flight route to carry out a coal yard temperature measurement task, carries out infrared heat shooting on the coal pile, forms an analysis report, presents a coal yard temperature distribution diagram, forms a chromatographic distribution diagram, returns to the air after all the coal piles in the coal yard are detected, stores data and uploads the data to the system, analyzes the data, and the higher the temperature is, the lower the color temperature value is, the more bright orange red the color is, and the alarm prompt system can send out an alarm in real time to pay attention to the condition of the coal pile in the orange red color area.
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 (4)
1. An intelligent coal yard temperature detection and early warning method based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle and an infrared thermal imager, wherein the unmanned aerial vehicle comprises an intelligent coal yard unmanned aerial vehicle temperature detection and early warning system, and the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system comprises a background monitoring system, an unmanned aerial vehicle measuring platform and a data transmission system;
the background monitoring system comprises functional modules for analyzing and processing data, sending and receiving instructions, controlling the unmanned aerial vehicle, shooting picture display in real time, setting a flight task and analyzing data management, wherein the module for sending and receiving the instructions sends information and processes the received information, software for setting the flight task sets a flight route for the unmanned aerial vehicle, the module for shooting the picture display in real time is connected with measurement software and analysis software, the measurement software is used for shooting common pictures of a coal pile by integrating position and distance data transmitted back by the unmanned aerial vehicle, and the analysis software analyzes thermal imaging pictures shot by the unmanned aerial vehicle in real time and detects abnormal temperature points;
the unmanned aerial vehicle measuring platform comprises an unmanned aerial vehicle body, a flight controller, a power system, a double-optical camera, a laser radar, a barometer, a magnetic compass and a communication system, the unmanned aerial vehicle measuring platform takes the unmanned aerial vehicle body as a carrier, the double-optical camera and an infrared thermal imager are carried on the unmanned aerial vehicle body, the unmanned aerial vehicle is accurately positioned by means of a differential positioning base station and a Beidou positioning system, autonomous navigation is completed through a gyroscope inertial navigation system, the unmanned aerial vehicle flies around a coal yard according to a route to carry out coal yard temperature measurement work, infrared thermal shooting is carried out on a coal pile, a coal yard temperature distribution diagram is presented, and the unmanned aerial vehicle returns to the air and lands after forming a chromatographic distribution diagram;
the data transmission system comprises a data transmission radio station, a picture transmission radio station, a 4G module and a WIFI module, the data transmission system is used for instruction transmission and information transmission between the background monitoring system and the unmanned aerial vehicle measuring platform, the data transmission radio station and the picture transmission radio station realize communication between the unmanned aerial vehicle and the data transmission system, and the data transmission system and the company server are in wired transmission.
2. The intelligent coal yard temperature detection and early warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein: the unmanned aerial vehicle is a four-axis unmanned aerial vehicle, the cruising ability is 55 minutes without load and 45 minutes with full load, the infrared thermal imager can reach 200 meters in height, and the visible light is 30 times optical and 200 times digital.
3. The intelligent coal yard temperature detection and early warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system is generally designed by the following specific steps: (1) carrying out boundary dotting by using an unmanned aerial vehicle to carry out laser radar scanning on the coal pile;
(2) the unmanned aerial vehicle automatically generates an area scanning air route;
(3) the data transmission system is connected with the background control center;
(4) carrying an infrared thermal imager by the unmanned aerial vehicle to execute tasks;
(5) shooting temperature data in real time and transmitting the temperature data back to the control center;
(6) the software end of the control center analyzes the temperature information of the coal pile in real time;
(7) if the temperature of the current point is abnormal, the unmanned aerial vehicle hovers and collects multiple groups of data for analysis, and if the temperature of the current point is not abnormal, the unmanned aerial vehicle continues to execute flight of the air route;
(8) returning and landing after all coal piles in the coal yard are detected;
(9) and storing and uploading the data to a system to form an analysis report.
4. The intelligent coal yard temperature detection and early warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein the intelligent coal yard unmanned aerial vehicle temperature detection and early warning system specifically comprises the following steps: (1) starting, the control center issues tasks and executes the next step;
(2) the unmanned aerial vehicle platform receives the instruction and executes the next step;
(3) the unmanned aerial vehicle system starts self-checking, whether the unmanned aerial vehicle is normal is detected, whether the magnetic compass is normal is detected if the unmanned aerial vehicle is abnormal, whether the GPS is normal is detected, whether the barometer is normal is detected, and automatic or manual calibration is started if one of the three detections is abnormal or one detection is normal; if the unmanned aerial vehicle is normal and the automatic or manual calibration is finished, executing the next step;
(4) carrying out automatic flight of the air route according to the assigned task and executing the next step;
(5) detecting whether the relative position of the unmanned aerial vehicle waypoint and the coal pile deviates, and if the deviation exists, issuing a flight control deviation rectifying instruction by the control center to execute the next step; if no deviation exists, directly executing the next step;
(6) executing a preset route and executing the next step;
(7) collecting coal pile temperature information by an infrared thermal camera, and executing the next step;
(8) the temperature information data transmission system transmits the acquired information back to the control center, the next step is executed, meanwhile, the unmanned aerial vehicle self-checks whether the electric quantity is sufficient or not, if the electric quantity is insufficient, the unmanned aerial vehicle automatically returns to the journey and replaces the battery, a breakpoint cruising function is executed, the mission is continuously executed, and the temperature data and the image of the coal pile are recorded; if the electric quantity is sufficient, continuing to execute the task and recording the temperature data and the image of the coal pile;
(9) the background control center processes and analyzes the coal pile temperature data in real time and executes the next step;
(10) whether the coal pile temperature is abnormal or not, if so, confirming the fixed-point hovering of the unmanned aerial vehicle, continuing to execute tasks and recording coal pile temperature data and images; if no abnormity exists, continuing to execute the task, recording the temperature data and the image of the coal pile, and executing the next step;
(11) and (4) storing data by return flight and landing, and ending.
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| CN114003068A (en) * | 2021-11-23 | 2022-02-01 | 西安热工研究院有限公司 | Power plant coal yard temperature monitoring system and method based on unmanned aerial vehicle |
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Application publication date: 20210312 |