Design Of Volume Measurement System For Coal Inventory Based On Rotor UAV

Electricity industry is lifeblood of a national economy.With the increasing demand for electricity and growing shortage of coal resource,the safe and stable production of thermal power plants is of great significance for social economy and stability.Entered in the 21 st century,the rapid development of electric power industry has put forward higher requirements for the thermal power plant fuel.Coal inventory system as an part of the fuel system used for the dynamic monitor and analyze of the coal quantity is of great importance for the efficient operation of thermal power plants.Based on the analysis of the existing thermal power plants' measurement methods,according to the working principle of the existing laser coal pile-inventorying instrument,the volume measurement system of coal inventory based on rotor UAV(unmanned aerial vehicle)is designed in this paper.And at the end of the paper,the systematic error is analyzed and the improvement measures proposed.The system mainly includes: a rotor UAV platform,a two-dimensional laser scanner,a GPRS wireless data transmission module,a data acquisition system and a ground station data processing system.The data acquisition system based on STM32 Cotex M4 micro controller mainly to achieve the communication between each module,the data acquisition and storage;The data processing software is written in C# language based on the Visual Studio 2010 environment and is responsible for the monitor and control the system's operation,processing the measured data in real-time,producing three-dimensional map of coal pail and realize the dynamic monitoring of coal inventory.The UAV loads the laser scanner travels along the area with the planned routes and scans the stockyards,the data acquisition system records the UAV's position and attitude information,the laser scanner's scanning distance and scanning angle information and the operation state of the system in real-time.And these data are transmitted to the ground data processing system by the GPRS wireless data transmission module at the same time.The system can take full range measurement of the coal pile and carry out real-time data processing,therefore,the inventory reliability and data processing efficiency has been greatly improved.