1.School of Mechatronic Engineer,Xuzhou College of Industrial Technology，Xuzhou，China; 2.Huayang CommunicationSci-Tec Company Limited，Xuzhou ，China;3.School of Information and Electric Engineering，China University of Mining and Technology，Xuzhou ，China

Aiming at the problems of camera shake, unstable positioning accuracy and poor adaptability of closed space in automatic coal volume measuring system of unmanned aerial vehicle (UAV), according to the characteristics of roof structure of closed coal storage yard, an automatic measuring coal storage volume system is designed based on the high altitude orbit walking robot. This system is mainly conposed of the ground operating system, the orbit system and the walking robot system. The ground system realizes emergency manual operation control and data receiving and processing, which is composed of hand-controlled remote control and operation box. The orbit system includes the roof orbit system and the lifting orbit system of robot. The roof orbit of shed and the position sensor set on the orbit realize the determination of walking path and the position information of robot. The lifting orbit system is equipped with a fixed switch and a stroke position switch to ensure that the robot fixation and the lifting orbit is effectively combined with the top orbit of the shed, so as to achieve the safety promotion, walking and descent of the walking robot. The walking robot system consists of three parts: power module, data acquisition module and control module. The power module provides the power source for the robot to walk in orbit, including battery and walking mechanism. The data acquisition module realizes image acquisition and position information fusion, and the PLC control system realizes remote control, walking control and high definition image acquisition and transmission of the robot. The test results show that the system retains the advantages of data acquisition and analysis of UAV automatic measuring coal storage volume system, and solves the shortcomings of UAV automatic measuring coal storage volume system.Although the initial overall investment of the automatic measuring coal storage volume system of the high altitude orbit walking robot is high, but the system is low use cost and easy to operate.

国家重点研发计划资助项目（2016YFC0801808）；江苏高校“青蓝工程”资助项目（？）；徐州市科技计划资助项目（KC16HQ239）