CN109911642B - Movable vehicle-mounted automatic coal inventory system - Google Patents
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Abstract
The invention relates to the field of coal inventory systems, and particularly provides a mobile vehicle-mounted automatic coal inventory system which comprises a loading vehicle, a lifting part, a scanning part and a processor, wherein the loading vehicle is arranged on the loading vehicle; the loading vehicle is used for carrying out position movement and is also used for loading the lifting part and the scanning part; the bottom of the lifting part is fixed on the loading vehicle, and the top of the lifting part can stretch up and down; the scanning part comprises a scanning device, the scanning device is arranged at the top end of the lifting part, and the scanning device is used for scanning the coal pile and transmitting scanning data to the processor; and the processor is used for receiving the scanning data of the scanning device and generating the measurement result of the coal inventory. The system has accurate measurement result, high efficiency and wide application range.
Description
Technical Field
The invention relates to the field of coal inventory systems, in particular to a mobile vehicle-mounted automatic coal inventory system.
Background
Coal inventory of a power plant is checked, the coal inventory in early stage is mainly measured manually, an irregular coal pile is piled into a relatively regular shape by a bulldozer, the size of the coal pile is measured by a ruler, the volume of the coal pile is calculated, and the volume is multiplied by the specific gravity of the coal to obtain the coal inventory. The method has the advantages of complex flow, low efficiency, larger error of the measurement result and insufficient accuracy.
The coal checking method of the manual laser coal checking instrument appears later, the operation process is that a worker holds the laser coal checking instrument to walk around a coal pile to check coal, but the efficiency of the method is still low, and the top of the coal pile is not uneven, so that the top of the coal pile is partially sunken or partially raised, the worker cannot measure the top of the coal pile, and the measurement result from the side surface is not accurate enough.
For raising efficiency and measuring accuracy, partly personnel in the industry try to use unmanned aerial vehicle to carry out the formation of image and measure, but present many units take the coal yard of coal canopy except open-air coal yard in addition, though unmanned aerial vehicle formation of image measuring's efficiency is high, but unmanned aerial vehicle can't realize low flying, unable normal use in the coal canopy, application scope is less, and the high stability of flight in-process can't guarantee, measured data's precision is difficult to guarantee.
In conclusion, in the prior art, when coal is coiled, the scanning quality of the top of the coal pile is generally not high, the top of the coal pile is difficult to scan and shoot stably, and the accuracy of a measuring result is difficult to guarantee.
Disclosure of Invention
The invention provides a mobile vehicle-mounted automatic coal inventory system, aiming at the problems that in the prior art, the scanning quality of the top of a coal pile is generally low and the accuracy of a measurement result is difficult to guarantee when coal inventory is carried out.
The basic scheme provided by the invention is as follows:
the mobile vehicle-mounted automatic coal turning system comprises a loading vehicle, a lifting part, a scanning part and a processor;
the loading vehicle is used for carrying out position movement and is also used for loading the lifting part and the scanning part;
the bottom of the lifting part is fixed on the loading vehicle, and the top of the lifting part can stretch up and down;
the scanning part comprises a scanning device, the scanning device is arranged at the top end of the lifting part, and the scanning device is used for scanning the coal pile and transmitting scanning data to the processor;
the processor is used for receiving the scanning data of the scanning device and generating the measurement result of the coal inventory.
Basic scheme theory of operation and beneficial effect:
1. after the loading vehicle is driven to a scanning point, the lifting part is manually controlled to ascend, and after the lifting part ascends to a sufficient height, the scanning device starts normal scanning. Through the altitude mixture control of lift portion, make scanning device can carry out complete scanning to the coal pile top, can improve measuring result's accuracy nature.
2. The scanning device is on the lift portion top, as long as the scanning height of coal pile can both scan with this system in the lift high within range of lift portion, and the suitability is strong.
3. Compare with unmanned aerial vehicle, no matter this system is indoor coal pile or outdoor coal pile can both be stable measure, and is wider than unmanned aerial vehicle's application scope.
The device further comprises a controller, a lifting part and a scanning device, wherein the controller is used for controlling the lifting of the lifting part and the scanning of the scanning device, and a height difference value between a scanning position and the top of the coal pile is preset in the controller; an infrared sensor is fixed at the top of the lifting part and is electrically connected with the controller; when the controller controls the lifting part to ascend, if a feedback signal given to the controller by the infrared sensor changes from an obstacle in front to no obstacle in front, the controller controls the lifting part to continuously ascend by a preset height difference value, and then the lifting part stops ascending.
The controller controls the lifting part to ascend, when the infrared sensor receives a feedback signal and changes from an obstacle in the front into an obstacle-free object in the front, the fact that the height of the scanning device just exceeds the top end of the coal pile is shown, the controller controls the lifting part to continue to ascend and stop ascending after a preset height difference value is achieved, the scanning device is enabled to have a good scanning visual field and can carry out complete scanning on the coal pile, and measuring quality during scanning is guaranteed. The specific value of the height difference can be set by those skilled in the art according to the size of the coal yard or the coal shed. This system adjusts scanning device's the highest scanning position through infrared ray sensor's signal feedback, compares with the height of artifical regulation lift portion, and is more intelligent, simple and convenient, can also guarantee scanning device's measurement quality simultaneously.
Further, the controller is pre-stored with the scanning time of the scanning device at the highest point, when the lifting part reaches the highest point, the controller controls the scanning device to scan, and when the scanning time reaches the preset scanning time, the controller controls the lifting part to reset.
Through such setting, the rising of elevating gear, scanning device's scanning and elevating gear's resetting all can be independently gone on by the system, and the staff only need with the load wagon remove to the scanning point can, it is more convenient to use.
Furthermore, the coordinates and the sequence of the scanning points are prestored in the controller, and the controller controls the lifting part to reset and then automatically recommends the coordinates of the next scanning point; the loading vehicle is fixedly provided with a GPS positioning device.
Through the arrangement, the worker can sequentially scan the scanning points in the coal yard according to the coordinates recommended by the controller, the work of the worker is more worry-saving, and the worker can easily complete the scanning of the scanning points under the condition that the number of the scanning points is large.
Further, the GPS positioning device is electrically connected with the controller; coordinates of scanning points prestored in the controller are classified according to coal piles, after the scanning device scans for preset time, if the scanning point is the last scanning point of a certain coal pile, the controller controls the lifting part to reset and then recommends the coordinates of the next scanning point, if not, the controller recommends the coordinates of the next scanning point directly, and the scanning is started after the loading vehicle reaches the coordinates of the next scanning point.
By adopting the arrangement, because the heights of the tops of different scanning points of the same coal pile are approximately equal, when the different scanning points of the same coal pile move, only the position is required to move; however, the height difference between the tops of different coal piles may be large, and therefore, after the last scanning point of a certain coal pile is scanned, the lifting part needs to be reset first, and then the lifting part needs to be moved to the scanning point of the next coal pile.
Further, the processor comprises an arithmetic unit, a storage unit and an analysis unit; the computing unit is used for computing the received scanning data to generate a coal inventory result; the storage unit is used for storing the coal inventory result; and the analysis unit is used for carrying out comparative analysis on the recent coal inventory result.
Through the comparison and analysis of the coal inventory result, the recent use condition of the coal can be known in time.
Furthermore, the processor also comprises a comparison unit and an early warning unit, and the lowest coal quantity value is prestored in the storage unit; the comparison unit is used for comparing the coal inventory result with the lowest coal quantity value; and the early warning unit is used for carrying out early warning when the comparison result of the comparison unit is that the coal inventory result is smaller than the lowest coal quantity value.
When the storage amount of the coal material is lower than the preset lowest coal amount value, the fact that the coal amount of the coal pile is not much is indicated, the coal material can be supplemented in time through the warning of the early warning unit, and the situation that the storage amount of the coal material is too small can be prevented.
Further, the early warning unit carries out early warning in a mode of adding voice and characters.
The staff can know the situation in time through sound early warning, and the staff can be prevented from forgetting the early warning information due to negligence through character display.
Further, the scanning part also comprises a cloud platform for installing the scanning device, the cloud platform is a rotatable cloud platform, and the cloud platform is electrically connected with the controller.
Because the shape of the coal pile is not necessarily very neat, blind spots or dead angles are easy to appear when the single-angle scanning is carried out, the cradle head is a rotatable cradle head and is electrically connected with the controller, when the scanning device carries out scanning, the rotation of the cradle head is controlled by the controller, the scanning can be carried out from multiple angles, the blind spots or the dead angles are avoided as far as possible, and the measurement result is more accurate.
Furthermore, the rotation angle and the scanning time of the cradle head are prestored in the controller, and after the controller controls the lifting device to reach the highest position, the controller controls the cradle head to rotate and reset, and controls the cradle head to pause the prestored scanning time at the prestored rotation angle.
According to the arrangement, the system can automatically scan at preset angles for preset time in the scanning process, the angle of the holder does not need to be adjusted manually, and compared with the manual holder angle operated through the controller, the system is more intelligent and labor-saving.
Drawings
FIG. 1 is a logic block diagram of a first embodiment of a mobile vehicle-mounted automatic coal inventory system of the present invention;
FIG. 2 is a schematic front view of a loading vehicle part in a first embodiment of the mobile vehicle-mounted automatic coal turning system of the present invention;
fig. 3 is a schematic front structure view of a second assembly vehicle part in the embodiment of the mobile vehicle-mounted automatic coal turning system.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the loading vehicle comprises a loading vehicle 1, a lifting part 2, a tripod head 3, a scanning device 4, a balance bar 5, a mounting seat 6, a supporting spring 7, a driving motor 8, a rotating rod 81 and an eccentric wheel 82.
Example one
As shown in the attached figures 1 and 2:
the mobile vehicle-mounted automatic coal turning system comprises a loading vehicle 1, a lifting part 2, a scanning part, a processor and a controller.
The loading cart 1 is used for position movement, and also for loading the lifting unit 2 and the scanning unit.
The bottom of the lifting part 2 is fixed on the loading vehicle 1 by bolts, and the top of the lifting part 2 is welded with an infrared sensor which is electrically connected with the controller. The lifting part 2 in the embodiment is an electronic telescopic rod customized by Jinge hardware mechanical and electrical limited company in Zhongshan city, the maximum stroke of which is 5 meters, and the infrared sensor is an infrared sensor of Autonics brand BR100-DDT model.
The scanning part comprises a cloud platform 3 and a scanning device 4, the cloud platform 3 is fixed at the top of the lifting part 2 by bolts, the cloud platform 3 is a rotatable cloud platform 3, and the cloud platform 3 is electrically connected with the controller; the scanning device 4 is fixed on the holder 3 by bolts, and the scanning device 4 is used for scanning the coal pile and transmitting the scanning data to the processor; in this embodiment, the pan/tilt 3 is an military-grade heavy-duty digital pan/tilt 3HIW-E1 of haipu software industry limited, chongqing, and the scanning device 4 is a laser three-dimensional scanner custom-assembled by mingwei vision automation equipment limited, guan, dongguan.
The processor comprises an arithmetic unit, a storage unit, an analysis unit, a comparison unit and an early warning unit; the operation unit is used for operating the received scanning data to generate a coal inventory result; the storage unit is used for storing the coal inventory result, and the lowest coal quantity value is prestored in the storage unit; the analysis unit is used for carrying out comparative analysis on recent coal inventory results; the comparison unit is used for comparing the coal inventory result with the lowest coal quantity value; the early warning unit is used for carrying out early warning in a text and sound mode when the comparison result of the comparison unit is that the coal inventory result is smaller than the minimum coal quantity value, and reminding workers to carry out coal charge supplement. In the embodiment, the processor is of an intel brand BX80635E52650V2SR1a8 type, and the processor is stable in performance and particularly suitable for industrial application.
A controller for controlling the lifting of the lifting part 2, the rotation of the holder 3 and the scanning of the scanning device 4; the rotation angle and the scanning time of the cradle head 3 are prestored in the controller, and after the controller controls the lifting device to reach the highest position, the controller controls the cradle head 3 to rotate and reset, and controls the cradle head 3 to pause the prestored scanning time at the prestored rotation angle. In this embodiment, the controller is model FX3G-60MT/ES-A of Mitsubishi brand, which supports autonomous programming, and has powerful functions and stable performance.
The controller is pre-stored with the height difference between the scanning position of the scanning device 4 and the top of the coal pile, and the specific value of the height difference can be specifically set by a person skilled in the art according to the scale of the coal yard or the coal shed. When the controller controls the lifting unit 2 to ascend, if a feedback signal given to the controller by the infrared sensor changes from an obstacle in front to no obstacle in front, the controller controls the lifting unit 2 to continue to ascend by a preset height difference value, and then stops the lifting unit 2 to ascend.
The specific implementation process is as follows:
after the loading vehicle 1 is moved to the first scanning point, the controller controls the lifting part 2 to ascend, in the ascending process, the infrared sensor at the top of the lifting part 2 feeds back the received signal to the controller, and when the infrared sensor receives the fed-back signal and changes from the front obstacle to the front obstacle, the top of the lifting part 2 just exceeds the top of the coal pile. At this time, the controller controls the lifting unit 2 to continue to lift by the preset height difference value and then stop lifting, so that the scanning device 4 has a good view field to perform scanning measurement of the coal pile.
When the scanning device 4 scans at the highest point, the controller performs rotation control according to the prestored rotation angle and scanning time of the cradle head 3 and the cradle head 3, in the embodiment, the rotation angle prestored by the control value is reset after clockwise rotating for 30 degrees and anticlockwise rotating for 60 degrees, and the preset scanning time of a single angle is 10 seconds; therefore, the scanning device 4 can scan and measure coal from a plurality of angles when scanning at the highest point, so that blind spots or dead corners during scanning can be avoided as much as possible, the measurement result is more accurate, and the scanning process at the highest point is completely controlled by the system without manual operation. After the controller controls the cradle head 3 to reset, the lifting part 2 is controlled to reset. The worker can move the cart 1 to the next position for scanning.
When the scanning device 4 scans, the measured data is sent to the processor, the computing unit performs coal inventory calculation by using the received data, and the calculated coal inventory result is stored in the storage unit. In this embodiment, the coal inventory of the processor is performed by performing three-dimensional modeling by using the data fed back by the measurement of the scanning device 4 to obtain a three-dimensional model of the coal pile, calculating the volume of the three-dimensional model, and multiplying the volume by the pre-stored coal density to obtain the storage amount of the coal material.
Then, the analysis unit carries out comparative analysis on the recent coal inventory result, so that the working personnel can know the recent use condition of the coal material in time; the contrast unit compares the coal inventory result with the minimum coal quantity value of prestoring, if the contrast result is less than minimum coal quantity value for the coal inventory result, the early warning unit carries out the early warning through the mode of sound with the characters, reminds the staff to carry out the coal charge and supplyes, and the too little condition of prevention coal stock appears, can let the staff in time know the condition through the sound early warning, then can prevent through the characters show that the staff from appearing neglecting to forget early warning information.
Example two
As shown in fig. 3, the present embodiment further includes a balance bar 5, a mounting seat 6, a support spring 7 and a driving motor 8.
The balance rods 5 are electric push rods, the number of the balance rods 5 is four, the bottoms of the balance rods 5 are welded on the loading vehicle 1, the balance rods 5 are electrically connected with the controller, and the bottoms of the four balance rods 5 are sequentially connected to form a rectangle; in this embodiment, the balance bar 5 is a 500 mm stroke electric push bar customized by elephant electric company ltd in zhongshan city.
The mounting seat 6 is a sealed hollow cuboid, four corners of the bottom surface of the mounting seat 6 are respectively hinged with the tops of the four balance rods 5, mercury is filled in the mounting seat 6, pressure sensors are welded on the side walls in the mounting seat 6, the four pressure sensors are respectively located at the intersection of the four side walls of the mounting seat 6, and when the mounting seat 6 is in a horizontal state, the pressure sensors are located above the mercury; the pressure sensor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the balance rod 5 on the same side as the pressure sensor to extend; in this embodiment, the pressure sensor is a core sensible brand GZP6857 model.
Four support springs 7 are arranged, one end of each support spring 7 is welded on the top surface of the mounting seat 6, and the other end of each support spring 7 is welded on the bottom surface of the lifting part 2; the supporting spring 7 is an overweight load type die compression spring, and the lifting part 2 can shake in a small amplitude when being supported and the lifting part 2 is subjected to external force; in this embodiment, the supporting spring 7 is an overweight load type die compression spring customized by a large continuous large spring factory.
The driving motor 8 is welded on the mounting seat 6, an eccentric wheel 82 is welded on a rotating rod 81 of the driving motor 8, and when the lifting part 2 is static, the eccentric wheel 82 rotates to be in contact with the lifting part 2 and apply thrust to the lifting part 2; the driving motor 8 is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the driving motor 8 to rotate.
The welding has inclination sensor on cloud platform 3, and inclination sensor horizontal installation is on cloud platform 3, and inclination sensor is connected with the controller electricity, and control lift portion 2 rises to and surpasss the coal pile top and predetermine the high back, when inclination sensor's feedback angle is 90, control scanning device 4 and shoot and scan. In this embodiment, the tilt sensor is a T1000 high-precision tilt sensor of nage microelectronics technologies, ltd.
The ground of many coal yards is not level, if have sunken or coal cinder, if load wagon 1 rolls on the coal cinder, the automobile body of load wagon 1 can appear inclining, and lift portion 2 on the load wagon 1 also can appear inclining thereupon, and under this condition, not only the actual rise height of lift portion 2 can have great error with the height of estimating, and scanning device 4 is along with behind the slope of lift portion 2, and the precision of measurement is influenced.
In this embodiment, when the loading vehicle 1 moves, if the loading vehicle 1 rolls on a dropped coal briquette, and the loading vehicle 1 tilts, the mounting seat 6 tilts together, the mercury in the mounting seat 6 is liquid, and after the mounting seat 6 tilts, the surface of the mounting seat still approaches to a plane, the contact area between the downward-tilting side of the mounting seat 6 and the mercury increases, the pressure sensor on the downward-tilting side contacts with the mercury and receives pressure, and after the pressure sensor feeds back a signal to the controller, the controller controls the balance bar 5 on the same side as the pressure sensor, that is, on the downward-tilting side to extend; after the stabilizer bar 5 on the downward inclined side is extended, the mount 6 is restored to a nearly horizontal state.
Because mercury is liquid, at mount pad 6 slope and the in-process that resumes the level, the surface of mercury can not keep absolute plane, but can make a round trip to rock, when making a round trip to rock, mercury can trigger a plurality of sensors, consequently, mount pad 6 resumes the horizontally in-process, and lift portion 2, scanning device 4 above mount pad 6 all can have the back and forth rocking of certain range.
The cloud platform 3 is provided with an inclination angle sensor horizontally, and after the controller controls the lifting part 2 to rise to a height higher than the preset height of the top of the coal pile, the controller controls the scanning device 4 to shoot and scan when the feedback angle of the inclination angle sensor is 90 degrees. The feedback angle of the tilt sensor is 90 degrees, which indicates that the lifting part 2 is in a vertical state at the moment, the difference between the height of the scanning device 4 and the preset height is very small, the scanning device 4 performs scanning and photographing at the moment, and the obtained result error is small.
Therefore, the built-in mercury of mount pad 6 is not water, because the density of mercury is more than water is big, when load carrier 1 inclines, the range and the frequency that mercury rocked back and forth all can be much less than water, promptly, compare with water, mercury is when load carrier 1 inclines, its surface can keep relatively stable, can not be in mount pad 6 quick big amplitude rocking back and forth shake even splash to mount pad 6 inner wall, lead to each pressure sensor to receive serious interference then, the controller receives chaotic feedback signal.
By using the system, even if the loading vehicle 1 rolls coal blocks or the traveling road of the loading vehicle 1 is uneven and has a certain inclination, the system can still perform accurate shooting and scanning.
EXAMPLE III
Different from the first embodiment, the loading vehicle is welded with a GPS positioning device, and the GPS positioning device is electrically connected with the controller. In this embodiment, the GPS positioning device is a TK309 model of a neutral brand.
The controller is also pre-stored with the coordinates and the sequence of the scanning points, and the coordinates of the scanning points are classified according to the coal piles to which the scanning points belong, and the scanning points of the same coal pile are classified into the same class; after the scanning device 4 finishes scanning a certain scanning point, if the scanning point is the last scanning point of the coal pile, the controller controls the lifting part 2 to reset and then recommends the coordinate of the next scanning point, if not, the controller recommends the coordinate of the next scanning point, and starts scanning after the loading vehicle 1 reaches the next scanning point.
After the coal piles in the coal yard are stacked, the bottom shapes of the coal piles are relatively fixed, so that the coordinates of the selected scanning points are relatively fixed when coal is stocked, the coordinates of the scanning points can be reasonably planned, the coordinates of the scanning points are pre-stored in the controller and are sequenced according to the moving sequence of the loading vehicle 1, and the scanning points belonging to the same coal pile are classified into the same type during sequencing.
Because the heights of the tops of different scanning points of the same coal pile are approximately equal, when the different scanning points of the same coal pile move, only the position of the coal pile needs to be moved; since the heights of the tops of different coal piles may be greatly different from each other, after the scanning of the last scanning point of a certain coal pile is completed, the lifting unit 2 needs to be reset and then moved to the scanning point of the next coal pile.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. Portable on-vehicle automatic dish coal system, its characterized in that: comprises a loading vehicle, a lifting part, a scanning part and a processor;
the loading vehicle is used for carrying out position movement and is also used for loading the lifting part and the scanning part;
the bottom of the lifting part is fixed on the loading vehicle, and the top of the lifting part can stretch up and down;
the scanning part comprises a scanning device, the scanning device is arranged at the top end of the lifting part, and the scanning device is used for scanning the coal pile and transmitting scanning data to the processor;
the processor is used for receiving the scanning data of the scanning device and generating the measurement result of the coal inventory;
the controller is used for controlling the lifting of the lifting part and the scanning of the scanning device, and a height difference value between a scanning position and the top of the coal pile is preset in the controller; an infrared sensor is fixed at the top of the lifting part and is electrically connected with the controller; when the controller controls the lifting part to ascend, if a feedback signal sent to the controller by the infrared sensor changes from an obstacle in front to an obstacle not in front, the controller controls the lifting part to continuously ascend by a preset height difference value, and then the lifting part stops ascending; the scanning part also comprises a cloud platform used for installing a scanning device, the cloud platform is a rotatable cloud platform, and the cloud platform is electrically connected with the controller;
the balance rod, the mounting seat, the supporting spring and the driving motor are further included;
the balancing rods are electric push rods, the number of the balancing rods is four, the bottoms of the balancing rods are welded on the loading vehicle, the balancing rods are electrically connected with the controller, and the bottoms of the four balancing rods are sequentially connected to form a rectangle;
the mounting seat is a sealed hollow cuboid, four corners of the bottom surface of the mounting seat are respectively hinged with the tops of the four balancing rods, mercury is filled in the mounting seat, pressure sensors are welded on the side walls in the mounting seat, the four pressure sensors are respectively positioned at the intersection of the side walls on the four sides of the mounting seat, and when the mounting seat is in a horizontal state, the pressure sensors are positioned above the mercury; the pressure sensor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the balance rod on the same side as the pressure sensor to extend;
four support springs are arranged, one end of each support spring is welded on the top surface of the mounting seat, and the other end of each support spring is welded on the bottom surface of the lifting part; the supporting spring is an overweight load type die compression spring;
the driving motor is welded on the mounting seat, an eccentric wheel is welded on a rotating rod of the driving motor, and when the lifting part is static, the eccentric wheel rotates to be in contact with the lifting part and apply thrust to the lifting part; the driving motor is electrically connected with the controller, and when the controller receives a feedback signal of the pressure sensor, the controller controls the driving motor to rotate;
the welding has inclination sensor on the cloud platform, and inclination sensor horizontal installation is on the cloud platform, and inclination sensor is connected with the controller electricity, and control lift portion rises to and surpasss the coal pile top and predetermine the high back, when inclination sensor's feedback angle was 90, control scanning device shoot and scan.
2. The mobile vehicle-mounted automatic coal inventory system of claim 1, wherein: the controller is internally pre-stored with the scanning time of the scanning device at the highest point, when the lifting part reaches the highest point, the controller controls the scanning device to scan, and when the scanning time reaches the preset scanning time, the controller controls the lifting part to reset.
3. The mobile vehicle-mounted automatic coal inventory system of claim 2, wherein: coordinates and sequencing of the scanning points are prestored in the controller, and the controller controls the lifting part to reset and then automatically recommends the coordinates of the next scanning point; the loading vehicle is fixedly provided with a GPS positioning device.
4. The mobile vehicle-mounted automatic coal inventory system of claim 3, wherein: the GPS positioning device is electrically connected with the controller; coordinates of scanning points prestored in the controller are classified according to coal piles, after the scanning device scans for preset time, if the scanning point is the last scanning point of a certain coal pile, the controller controls the lifting part to reset and then recommends the coordinates of the next scanning point, if not, the controller recommends the coordinates of the next scanning point directly, and the scanning is started after the loading vehicle reaches the coordinates of the next scanning point.
5. The mobile vehicle-mounted automatic coal inventory system of claim 1, wherein: the processor comprises an arithmetic unit, a storage unit and an analysis unit; the computing unit is used for computing the received scanning data to generate a coal inventory result; the storage unit is used for storing the coal inventory result; and the analysis unit is used for carrying out comparative analysis on the recent coal inventory result.
6. The mobile vehicle-mounted automatic coal inventory system of claim 5, wherein: the processor also comprises a comparison unit and an early warning unit, and the lowest coal quantity value is prestored in the storage unit; the comparison unit is used for comparing the coal inventory result with the lowest coal quantity value; and the early warning unit is used for carrying out early warning when the comparison result of the comparison unit is that the coal inventory result is smaller than the lowest coal quantity value.
7. The mobile vehicle-mounted automatic coal inventory system of claim 6, wherein: the early warning unit carries out early warning in a mode of adding voice and characters.
8. The mobile vehicle-mounted automatic coal inventory system of claim 1, wherein: the controller is internally pre-stored with the rotation angle and the scanning time of the cradle head, and after the controller controls the lifting device to reach the highest position, the controller controls the cradle head to rotate and reset, and controls the cradle head to suspend the pre-stored scanning time at the pre-stored rotation angle.
Priority Applications (1)
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