A Closed Stockyard UAV Intelligent Inventory System

Strategic resources affect national development and security at all times. Actual utilization of strategic resources is crucial. In recent years, strategic resources such as coal and mineral powder usually need to be stored in closed stockyards after mining due to environmental protection, concealment, and other reasons. The existing stockpiling inventory system cannot autonomously complete the stockpiling inventory in the closed stockyard with low risk, low cost, and high precision. Therefore, this paper proposes a closed stockyard UAV intelligent inventory system. Our inventory system comprises a UAV system, a visual mapping system, and a classification and volume calculation system. In this paper, we focus on the navigation system belonging to the UAV system and propose a GNSS-denied environment navigation system based on lidar and ArUco markers. We conduct experiments in the dry coal shed of thermal power plants, one of the application scenarios. After analysis and comparison, it can be concluded that our intelligent UAV stockpiling inventory system can complete the task with high robustness and high precision with the assistance of our navigation system.