KR101880099B1 - Coal depat ignition monitoring system using drone - Google Patents

Abstract

The present invention relates to a coal yard ignition monitoring system for manually or automatically flying a drone equipped with an image camera for capturing an image and a thermal image camera for capturing heat existing in an imaging spot and for monitoring the ignition or potential ignition of bituminous coals and the like stored in a coal yard. The coal yard ignition monitoring system using a drone according to the present invention comprises: a drone including an image camera for capturing an image, a thermal imaging camera for detecting the heat existing in the imaging spot, a gimbal for controlling capturing angles of the image camera and the thermal imaging camera and a communication device having a communication function; and a terrestrial control device capable of controlling the image camera, the drone, the thermal imaging camera and the gimbal in a wireless communication manner and displaying captured image and heat on a screen.

Description

{Coal depat ignition monitoring system using drone}

The present invention relates to a system for monitoring the ignition of bituminous coal loaded on a low-lean-burn using a drones, and more particularly to a system for monitoring the ignition of bituminous coal loaded on a drones The present invention relates to a low-lean ignition monitoring system for monitoring the possibility of ignition or ignition of bituminous coal stored in a low-freeness manner.

Generally, bituminous coal is a type of coal corresponding to anthracite coal, and it contains a large amount of volatile components, which causes flame at the time of combustion, generates soot, and is mainly used for power generation because of high calorific value.

When such bituminous coal is stored in a low-firing furnace, the internal temperature gradually rises due to oxidation over time, and when the inside is completely dried by the elevated temperature, the temperature rapidly increases as carbon monoxide, carbon dioxide, So that the spontaneous ignition phenomenon may occur.

Due to the nature of the coal, it is very difficult to evolve when the ignition starts, which can result in the loss of enormous amounts of bituminous coal, pollution of the surrounding environment, and a large amount of damage to the surroundings due to the smell generated during combustion. It is necessary to provide a method for suppressing spontaneous ignition in advance by measuring the internal temperature of a stack of bituminous coal minimized or loaded. As a related invention, there is disclosed in Korean Patent Publication No. 10-2012-0139227 entitled " A system for measuring spontaneous ignition of coal, "Korean Patent Publication No. 10-1364000," Coal Spontaneous Ignition Measurement Apparatus, "Korean Patent Laid-Open Publication No. 10-2014-0056738, -2017-0067015 " Indoor low-lean ignition prevention and evolving system " has been proposed and disclosed.

In the above-mentioned Korean Patent Laid-Open Publication No. 10-2012-0139227 entitled "Low-Intensity Ignition Prevention System Using Flue Gas", the flue gas discharged from the oxy-fuel power plant is recovered to remove moisture and stored in a compressed state. An invention relating to a system capable of preventing spontaneous ignition of low-freeness by injecting an exhaust gas in parallel is disclosed in Korean Patent Publication No. 10-1364000, and a reactor containing a certain amount of coal sample And the oxidizing gas is continuously supplied to the inside of the reactor so that the coal sample located inside the reactor is ignited. The temperature of the coal sample is changed to the spontaneous ignition temperature And time, and additionally the high quality of coal according to the pretreatment method of low grade coal (Technology for converting high calorific value to low self-igniting coal) has been proposed.

In addition, Korean Patent Laid-Open Publication No. 10-2014-0056738, entitled " System and Method for Monitoring the Ignition of Low-Intensity Spontaneous Ignition ", is installed in a low-carbon coal file in the form of a matrix to detect and store the internal temperature change of the coal file, A relay unit for receiving and storing a temperature sensing signal for transmitting and a response signal for transmitting a response signal to the temperature sensing unit and a signal from the relay unit via wired / wireless communication, and when the temperature sensing unit senses a temperature higher than a set temperature The present invention relates to a system and a method for preventing a fire by detecting a change in the internal temperature of coal that is subject to low-leaning by constructing a monitoring server that generates an abnormal signal, and Korean Patent Application Publication No. 10-2017-0067015 The "Low-Intensity Indoctrination Prevention and Evolution System" A plurality of belts, a pressure wall which is attached to the plurality of belts so as to be spaced apart from each other along the longitudinal direction of the belt so as to pressurize the coal when the belt is rotated, a driving part for providing driving force, An invention has been proposed in which a system comprising a pressing part and capable of preventing spontaneous ignition by extruding coal stored in a low-lean furnace or shutting off oxygen supply, and capable of effectively evolving fire upon spontaneous ignition has been proposed.

However, the above-mentioned conventional inventions pertain to a technology for preventing loss of resources due to ignition by simultaneously managing or monitoring a large amount of coal loaded in a low-lean interior or a low-lean area, and it requires a lot of installation and operation cost Therefore, there is a need for an invention that can prevent the spontaneous ignition of bituminous coal loaded on a low-lean-burn site, and propose an efficient method to detect it immediately.

Korean Patent Publication No. 10-2012-0139227 (December 27, 2012) Korean Registered Patent No. 10-1364000 (Apr. Korean Patent Laid-Open Publication No. 10-2014-0056738 (Apr. Korean Patent Publication No. 10-2017-0067015 (June 15, 2017)

In order to solve the above-described problems of the conventional art, the low-leaner ignition surveillance system using the drones according to the present invention is proposed,

When the bituminous coal is stored for a long period of time, spontaneous ignition occurs at all times, resulting in the loss of enormous amount of bituminous coal, contamination of the surrounding environment, and generation of complaints caused by the smell,

It is an object of the present invention to provide a solution to the problem that excessive cost is required to install and operate a facility for simultaneously managing or monitoring a large amount of bituminous coal loaded in a low -

In order to realize the above-mentioned object, in the low-leaning ignition monitoring system using the drones according to the present invention,

Claims [1] A low tint ignition surveillance system for monitoring ignition of bituminous coal loaded on a low-leaner tanks using a drones, the low tint ignition monitoring system comprising: an image camera for capturing an image; And a dron equipped with a communication device having a gimbal and a communication function for controlling an angle of photographing of the thermal imaging camera; A terrestrial control device capable of controlling the drone, the image camera, the thermal imaging camera, and the gimbals by a wireless communication method and displaying images and sensed heat on a screen; The present invention provides a low-lean ignition monitoring system using a dron.

The low-lean ignition monitoring system using the dron according to the present invention,

It is possible to immediately detect the spontaneous combustion of bituminous coal loaded on the low tender with the video camera and thermal camera installed in the drone and to measure the internal temperature of the bituminous coal piled up by the thermal camera, It is possible to prevent environmental pollution and to prevent complaints caused by odor,

Instead of installing and operating the device in a wide range of low-carbon interior, it is possible to reduce the installation and operation costs by monitoring the bituminous coal buried in the low-leaning area by using the mobility-excellent drones.

1 is a system configuration diagram of a low-lean ignition monitoring system using a dron according to the present invention;
FIG. 2 is a block diagram illustrating a process of providing a user with an image captured by a video camera and a heat sensed by a thermal camera in a low-tint ignition monitoring system using a drone according to the present invention.
FIG. 3 is a block diagram showing a configuration in which a drones, an image camera, a thermal imager, and a gimbals are controlled in a low-lean ignition monitoring system using a dron according to the present invention.
Fig. 4 (a) is a view showing an example in which a ground control device of a low-leaning ignition monitoring system using a dron according to the present invention is configured as a manual control device.
Fig. 4 (b) is a view showing an example in which the ground control device of the low-leaning ignition monitoring system using the drones according to the present invention is configured as an automatic control device.
FIG. 4 (c) is a view showing an example in which the ground control device of the low-leaner ignition monitoring system using the drones according to the present invention is composed of a manual control device and an automatic control device.
FIG. 5 is a view showing a state in which an analyzer is added to a low-leaner ignition monitoring system using a dron according to the present invention. FIG.

The present invention relates to a system for monitoring the ignition of bituminous coal loaded in a low-lean-burned state using a drones,

A low tint ignition monitoring system for monitoring ignition of bituminous coal loaded on a low-freeness tester using a drones, the low tint ignition monitoring system comprising: an image camera (110) for photographing an image; an infrared camera 120), a drones (100) having a gimbal (130) for controlling the angle of view of the image camera (110) and the thermal imaging camera (120) and a communication device (140) having a communication function; The controller controls the drone (100), the image camera (110), the thermal imager (120) and the gimbals (130) in a wireless communication manner. (200); And a low-level ignition monitoring system using the drones.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the low-lean ignition monitoring system using the drones according to the present invention is a low-leaning ignition monitoring system for monitoring the ignition of bituminous coal loaded in a low-lean-burn using a drones. As shown in FIG. 1, A gimbal 130 for controlling the angle of view of the image camera 110 and the thermal imaging camera 120 and a gimbal 130 for controlling the angle of view of the thermal imaging camera 120, And a drones (100) provided with a communication device (140).

The drone 100 is a unmanned aerial vehicle in which a plurality of rotor arms mounted with rotors, which are fixed wings, extend in all directions. A dual copter having two rotors, a tric copter having three rotors, A four-rotor quad-copter, a six-rotor hexacopter, and an eight-rotor octocopter, and is controlled by a user manually or by an automatic control method, It plays the role of flying over the sky.

2, the image captured by the image camera 110 is displayed on the screen of the drones 100. The image captured by the image camera 110 is displayed on the screen of the display unit 100, And the user is immediately used to recognize the ignition advance phenomenon and the ignition state, and the thermal imager 120 can detect the unidentifiable heat with the naked eye, As a result, all the columns existing within the shooting point sensed by the thermal imaging camera 120 are displayed on the screen in different colors according to the temperature, so that the user can recognize the point where the ignition is imminent.

That is, when the smoke generated in the pile of bituminous coal is captured on the screen photographed by the image camera 110, the user can determine that the smoke is a fogging phenomenon and take immediate action. If the temperature of a part of the dummy approaches the ignition point, it is determined that the ignition point is the imminent point, and the fire is prevented in advance to promptly prevent the fire. The temperature at which the flame is caught in the video camera 110 or captured by the thermal camera 120, Or more, it is judged that it is a fire, and the damage caused by the fire can be minimized immediately.

At this time, the video camera 110 and the thermal camera 120 may be provided in the plurality of drones 100 to provide a plurality of screens to a user simultaneously, As shown in FIG. 1, the low-lean burn ignition monitoring system using the drone according to the present invention is constructed in such a manner that the video camera 110 and the thermal imager And a gimbal 130 for controlling the photographing angle of the photographing lens 120.

The gimbal 130 may be manually controlled or automatically controlled by the user to adjust the angle of view of the image camera 110 and the thermal imager 120. The image generated due to the flight of the drones 100 A plurality of dancers (100) are provided on the lower or lateral sides of the drones (100) so that the image camera (110) and the thermal imaging camera (120) So that the image without blurring can be photographed at various angles during the moving or stopping flight of the camera 100.

The user or the like includes a user who directly manages the drone 100 manually using the control device and a user who does not directly participate in the control of the drone 100 but monitors the bituminous coal pile through a screen shot in real time , As well as the above system capable of automatically controlling the drones 100 and recognizing the ignition advance phenomenon and the ignition state.

Therefore, as shown in FIG. 3, the drone control unit 150 for controlling the flight of the drone 100 must be provided inside the drone 100 by a manual control signal or an automatic control signal by the user, A camera controller 160 for driving or stopping the image camera 110 and the thermal imager 120 by a manual control signal or an automatic control signal by the user and zooming in and out, And a gimbal controller 170 for rotating the gimbal 130 at a predetermined angle by a manual control signal or an automatic control signal.

1 and 2, the communication device 140 receives various signals transmitted from the ground control device 200 described below, that is, the signal transmitted from the drones control unit 150 to the drones 100 A control signal for controlling the camera controller 160 to drive or stop the image camera 110 and the thermal imager 120 and for zooming in and zooming out and a control signal for controlling the gimbal controller 170, Receives a control signal for rotating the gimbals 130 and transfers various information collected by the drones 100 and an image captured by the video camera 110 and the thermal imaging camera 120 to the outside.

The various information collected by the drones 100 may include information on the current position of the drones 100 collected from a GPS (Global Positioning System), an altimeter, etc. and altitude information The temperature that can be loaded on the drones 100, and the temperature and humidity inside the low-firing chamber, which are collected from the hygrometer, and it is possible to mount various devices as needed and collect various information accordingly.

1, the low-leaner ignition monitoring system using the dron according to the present invention is characterized in that the drones 100, the image camera 110, the thermal imagers 120, And a terrestrial control device 200, which is controllable by a communication method, and displays images and sensed heat on a screen.

The terrestrial control device 200 includes a control signal for controlling the flight of the drones 100 generated by manual control by a user or automatic control by a system, a video camera 110, and a thermal imager 120 and a control signal for axially rotating the gimbals 130 to the communication device 140. The control unit 140 controls the user to send the drones 100 to the user A real time image transmitted from the communication device 140 is displayed on the screen in order to provide convenience for the control. In order to allow the user to immediately recognize the ignition advance phenomenon and the ignited state, Is displayed on the screen.

The terrestrial control apparatus 200 further includes a current position information and altitude information of the drones 100 collected from a GPS and an altimeter which can be mounted on the drones 100 and a temperature and hygrometer The temperature and the humidity of the inside of the low-fuels collected from the communication device 140 can be further displayed.

4A to 4C, the terrestrial control apparatus 200 includes the drones 100, the image cameras 110, the thermal imagers 120, and the gimbals 130 Or the gimbals 130 can be automatically controlled by a wireless communication method, and the manual controller 210 can be manually controlled by a wireless communication system, or the drones 100, The manual control device 210 and the automatic control device 220 may be provided or the ground control device 200 may be provided with the manual control device 210 and the automatic control device 220. [ (220) are all included.

A method of controlling the drones 100 and the like by the manual control device 210 is preferably a general radio control method and a method of controlling the drones 100 and the like by the automatic control device 220 is as follows: And may be configured as various embodiments as described above.

As an embodiment of the present invention, the user can sequentially specify a flight path of the drones 100 by sequentially inputting a plurality of coordinate information, which are latitude information, longitude information, and altitude information, to the automatic control device 220 Then, the drone 100 can continuously fly at the corresponding coordinates according to the order of the input coordinate information, and can perform the monitoring flight about the ignition of the bituminous coal loaded on the low-level.

At this time, the automatic control device 220 transmits a control signal to the communication device 140 so that the video camera 110 and the thermal imaging camera 120 are automatically driven during the flight of the drones 100 And transmits a control signal for rotating the gimbal 130 to the communication device 140 so that the image camera 110 and the thermal imaging camera 120 can photograph images and heat at various angles .

In another embodiment of the present invention, a user inputs a plurality of coordinate information, which is composed of latitude information, longitude information and altitude information, to the automatic control device 220 in order, and further inputs time information into each coordinate information Then, the drone 100 is flown to the corresponding coordinates according to the order of the input coordinate information, and stops and follows the time information inputted for each coordinate, and conducts surveillance flight about the ignition of the bituminous coal loaded in the low-level can do.

The time information may include time information for flying the drone 100 to a specific position at predetermined time intervals or stopping time information for stopping and flying the drones 100 for a predetermined time, The apparatus 220 preferably transmits a control signal to the communication device 140 so that the video camera 110 and the thermal imaging camera 120 are automatically driven while the drones 100 are flying, It is preferable that a control signal for axially rotating the gimbal 130 is transmitted to the communication device 140 so that the camera 110 and the thermal imaging camera 120 can photograph images and heat at various angles.

In addition, as another embodiment of the present invention, the automatic control device 220 may be configured to automatically store the flight path of the drones 100 by manual control of the user using the manual control device 210 , The drones 100 can then automatically fly according to the stored flight path and perform monitoring flight on the ignition of the bituminous coal loaded on the low-freeness.

At this time, the automatic control device 220 controls the driving of the image camera 110 and the thermal imaging camera 120 by the manual control of the user using the manual control device 210 and the driving control signals of the gimbal 130 And the shaft rotation control signal is automatically stored to enable the drone 100 to be utilized during automatic flight.

However, the control of the image camera 110, the thermal imaging camera 120 and the gimbals 130 is not necessarily performed automatically during the automatic flight of the drones 100, The thermal imaging camera 120 and the gimbals 130 may be manually controlled and the drones 100 may be manually operated but may be manually operated by the imaging camera 110, And the gimbals 130 are configurable to be automatically controlled.

In addition, the low-leaner ignition monitoring system using the drones according to the present invention has an automatic regression function of automatically landing in the predetermined regression coordinates when the drones 100 are disconnected from the radio communication with the terrestrial control device 200 .

Such an automatic regression function may be performed when the control of the drones 100 through the terrestrial control apparatus 200 is impossible due to various causes such as the failure of the terrestrial control apparatus 200, The drones 100 may be configured so that the user can input the regression coordinates and the current coordinates at the time of driving are automatically updated and stored as regression coordinates, It is preferable that the storage and automatic regeneration functions of the drones control unit 150 are performed.

When the distance between the drone 100 and an external object is narrowed to a predetermined distance so as to prevent a fall caused by a collision with a structure or a bitumen of a bituminous coal during flight, And the drones 100 may be provided with one or more distance sensors.

At this time, when the drones 100 depart from their current position, the movement of the drones 100 such as a sudden rise, a pause, and a backward flight is not necessarily limited to this example.

5, the low-leaner spark ignition monitoring system using the drones according to the present invention analyzes an image transmitted from the communication device 140 and sensed heat to determine an ignition advance phenomenon and an ignition state, (230).

When the temperature of the heat sensed by the thermal imaging camera 120 is close to the temperature of the image captured by the image camera 110, the analyzer 230 determines that it is an ignition advance phenomenon, When the flame is captured on the image captured by the image sensor 110 or when the temperature of the heat detected by the thermal camera 120 exceeds the ignition point, it is determined that the flame is in an ignited state and the warning signal is generated for warning the user immediately. And may be configured to be included in the terrestrial control apparatus 200. The terrestrial control apparatus 200 shown in FIG.

At this time, the warning signal generated by the analyzer 230 may be displayed in a warning message on the screen of the terrestrial control device 200, or may be expressed as a warning sound, so that the user immediately recognizes the ignition advance phenomenon or the ignition state .

The embodiments described above are provided by way of example for the purpose of enabling a person skilled in the art to sufficiently transfer the technical idea of the present invention to a person skilled in the art, But may be embodied in other forms without limitation.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

Further, like reference numerals designate like elements throughout the specification.

100: Drones 110: Video camera
120: thermal imaging camera 130: gimbal
140: Communication device 150: Drones control
160: camera control unit 170: gimbal control unit
200: ground control device 210: manual control device
220: automatic control device 230: analyzing device

Claims (5)

A low tint ignition monitoring system for monitoring the ignition of bituminous coal loaded in a low-lean-burned state using a drones,
In the low-lean ignition monitoring system,
A gimbal 130 for controlling an angle of view of the image camera 110 and the thermal imaging camera 120; a thermal imaging camera 120 for sensing heat existing within a photographing point; A drones 100 provided with a communication device 140 having a distance sensor and a communication function;
The controller 100 controls the drone 100, the image camera 110, the thermal imager 120, and the gimbals 130 in a wireless communication manner. The images and the sensed heat are displayed on a screen. (210) or the automatic control device (220) A ground control device (200);
An analyzer 230 for analyzing images and sensed heat transmitted from the communication device 140 to determine ignition advance phenomenon and an ignited state; And a control unit,
The drones (100)
And an automatic avoidance function of stopping the flight, ascending flight, or backward flight after the pause when the distance to the external object is narrowed to a predetermined distance,
The automatic control device (220)
It is possible to automatically store the flight path of the drones 100 by manual control of the user using the manual control device 210 and automatically fly the drones 100 according to the stored flight paths, Wherein the controller is configured to fly the drones (100) according to a plurality of coordinate information, and to stop the drones (100) according to the time information input for each coordinate.
The method according to claim 1,
In the drones 100,
A drones controller 150 for controlling the drones 100;
A camera controller 160 for controlling the image camera 110 and the thermal imager 120;
A gimbal control unit 170 for controlling the gimbal 130; Wherein the low-tingling ignition monitoring system uses the drones.
delete The method according to claim 1,
The drones (100)
Wherein the controller is configured to have an automatic regeneration function for automatically landing at a predetermined regression coordinate when radio communication with the terrestrial control device (200) is cut off.
delete

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