Coal storage yard inventory supervision is an important part of the safety management of enterprises such as production coal mines, ports and thermal power plants, as well as an important part of enterprise production management, transportation and marketing scheduling and cost  accounting.

UAV coal inventory technology adopts drones equipped with advanced sensing platform to realize all-area inspection of coal storage yards and carry out three-dimensional reconstruction of coal storage yards, storage calculation, etc. to realize accurate inventory of coal stored in coal yards and provide scientific decision-making basis for enterprise production planning, transportation and marketing scheduling, etc.

Unmanned coal tray system effectively avoids human errors, is simple, reliable, efficient and time-saving, and is the preferred solution to replace the existing coal tray method.

1 .System Composition

The open coalfield coal pan system consists of three parts: UAV system, communication system and ground station system, as shown in Figure 1. The UAV system mainly includes flight control system, sensor system and detection terminal and gimbal, etc. to realize high-definition image acquisition along the railroad line and mining area. The communication system includes data link and high-definition map transmission system to realize efficient transmission of data acquired by the airborne sensing platform. The ground station system includes data intelligent management and analysis system and data management system. The volume calculation module in the ground station system calculates the volume of the 3D model through the information recorded when acquiring images, so as to calculate the volume of coal pile and realize the 3D reconstruction, volume calculation and data processing of coal volume in open pit coal field.

2  System Basic Working Principle
The system takes UAV as the carrier, adopts high-definition (4K) digital photography technology and differential integrated position sensing technology to realize the real-world 3D reconstruction of the coal field, instantly obtains the spatial position of the coal field, and transmits it to the ground station computer platform synchronously. By using 3D modeling technology and computer graphics processing technology, the spatial location information data is converted to 3D coordinates in the computer platform, reconstructing the real-world 3D model, restoring the real shape of the measured coal pile, and scientifically calculating the volume of the coal pile and other data parameters.