CN110040250B - Unmanned aerial vehicle system for detection in thermal power plant boiler and control method thereof - Google Patents
Unmanned aerial vehicle system for detection in thermal power plant boiler and control method thereof Download PDFInfo
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- CN110040250B CN110040250B CN201910331545.3A CN201910331545A CN110040250B CN 110040250 B CN110040250 B CN 110040250B CN 201910331545 A CN201910331545 A CN 201910331545A CN 110040250 B CN110040250 B CN 110040250B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The invention discloses an unmanned aerial vehicle system for detecting in a boiler of a thermal power plant and a control method thereof, belonging to the field of boiler detection, and comprising an unmanned aerial vehicle and a positioning device, wherein the positioning device comprises an infrared LED arranged on the unmanned aerial vehicle and an infrared camera arranged on a working platform at the bottom of a boiler: the defect collecting device is arranged on the unmanned aerial vehicle and used for collecting defects of the inner wall of the boiler; the data processing and communication device is used for controlling the position of the unmanned aerial vehicle in the boiler by using the data generated by the positioning device, so that the unmanned aerial vehicle is always positioned right above the infrared camera; the invention replaces the existing in-furnace detection mode of manual visual detection by building a scaffold, so that the in-furnace detection time is greatly reduced, the labor cost is greatly reduced, and the in-furnace detection efficiency is improved.
Description
Technical Field
The invention relates to the field of boiler detection, in particular to an unmanned aerial vehicle system for detecting in a boiler of a thermal power plant and a control method thereof.
Background
The thermal power plant boiler is important industrial equipment, the service environment is severe and complex, damage or faults are easy to occur, and the detection work of the boiler has important significance for guaranteeing the safe and stable operation of the boiler. Boiler detection is an important process for ensuring safe and stable operation of a boiler, and China legally stipulates that the boiler is required to be used as special equipment to carry out forced inspection and detection, including water leakage, air leakage, equipment integrity and sensitivity, operation conditions of auxiliary equipment and accessories, compliance conditions of equipment operation, working conditions of combustion equipment and water treatment equipment and the like, so as to ensure that the boiler is operated in a safe state. Common boiler detection methods include: appearance observation detection, hammer detection, lighting detection, magnetic particle infiltration detection, ultrasonic detection, X-ray inspection, and the like, and detection of boilers generally requires a combination of various methods.
When carrying out outward appearance observation detection method to the boiler and detecting, need build the scaffold in the boiler, detection personnel rely on visually to observe the detection to the boiler inner wall on the scaffold, and this kind of detection mode wastes time and energy, and detection efficiency is lower to professional knowledge level to detection personnel requires highly.
Patent number is CN 106932411A's patent discloses "an equipment detection method and device for thermal power plant", the method includes that control unmanned aerial vehicle flies according to predetermined detection route, at unmanned aerial vehicle flight in-process, gathers the terahertz image or the infrared image of thermal power plant equipment inside and outside wall, wherein, thermal power plant equipment includes boiler, chimney, desulfurization absorption tower and air cooling island, right terahertz image or infrared image carry out the analysis, confirm the position and the heat dissipation condition of the defect that equipment exists, adopt unmanned aerial vehicle to replace the defect that the manpower exists to thermal power plant equipment inside and outside wall to detect. Because the condition is complicated in the boiler, adopt general locate mode, for example laser ranging location, microwave radar location and ultrasonic positioning, can not satisfy the location requirement, simultaneously because the temperature in the boiler that the shut down waited to overhaul is nearly unanimous basically, if adopt infrared camera to gather the defect, can make boiler inner wall characteristic unobvious, detection effect is unsatisfactory.
Disclosure of Invention
The invention aims to: the unmanned aerial vehicle system for detecting the inner wall of the boiler of the thermal power plant and the control method thereof solve the technical problems that the existing unmanned aerial vehicle is used for detecting the inner wall of the boiler, the adopted positioning mode is inaccurate, and the defects are collected by an infrared camera, so that the defect characteristics are not obvious.
The technical scheme adopted by the invention is as follows:
detect in steam power plant boiler and use unmanned vehicles system, including unmanned vehicles, still include
The positioning device comprises an infrared LED arranged on the unmanned aerial vehicle and an infrared camera arranged on a working platform at the bottom of the boiler;
the defect collecting device is arranged on the unmanned aerial vehicle and used for collecting defects of the inner wall of the boiler;
and the data processing and communication device is used for controlling the position of the unmanned aerial vehicle in the boiler by using the data generated by the positioning device, so that the unmanned aerial vehicle is always positioned right above the infrared camera.
Further, unmanned vehicles is four rotor unmanned vehicles.
Furthermore, infrared LED is isosceles triangle set up in unmanned vehicles bottom surface.
Further, defect collection system includes laser lighting device and camera, laser lighting device and camera set up side by side unmanned vehicles bottom side.
Furthermore, a movable support is arranged on the working platform and used for driving the infrared camera to move.
A control method of an unmanned aerial vehicle system for detection in a boiler of a thermal power plant comprises the following steps:
collecting light spot information of 3 infrared LEDs on the bottom surface of the unmanned aerial vehicle,
calculating the flight direction and horizontal displacement of the unmanned aerial vehicle head by using the light spot information,
and the unmanned aerial vehicle changes the flight track according to the flight direction and the horizontal direction displacement.
Further, the method for calculating the flight direction includes:
and calculating the angle between the bisector of the included angle between the two equal sides and the y axis of the view field according to the position relation of the 3 infrared LEDs on the view field, wherein the angle is the flight direction of the unmanned aerial vehicle.
Further, the method for calculating the displacement in the horizontal direction includes:
through the position relation of 3 infrared LEDs on the visual field, the offset dy of the two equilateral intersection points and the central point of the visual field of the infrared camera on the y axis and the offset dx on the x axis are calculated, and the offset dy and the offset dx are the horizontal displacement of the unmanned aerial vehicle controller.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention replaces the existing in-furnace detection mode of manual visual detection by building a scaffold, so that the in-furnace detection time is greatly reduced, the labor cost is greatly reduced, and the in-furnace detection efficiency is improved.
2. Because the periphery of the boiler is completely sealed, no light rays exist, and no GPS signals exist, the positioning device disclosed by the invention can enable the unmanned aerial vehicle to achieve GPS positioning accuracy, and enable the boiler defect detection to be effectively carried out.
3. Adopt laser lighting device and camera to carry out the collection of flaw picture, can effectually guarantee that the characteristic is gathered completely, improve the precision that detects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a bottom view and a front view of the UAV of the present invention;
FIG. 2 is an overall structural view of the present invention;
FIG. 3 is a schematic diagram of a vision-based deviation control method according to the present invention;
the labels in the figure are: 1-propeller, 2-infrared LED, 3-motor component, 4-unmanned aerial vehicle frame, 5-laser lighting device, 6-camera, 7-boiler, 8-unmanned aerial vehicle, 9-laser lighting device facula, 10-infrared camera, 11-movable support, 12-working platform, 13-data processing and communication device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Detect in steam power plant boiler and use unmanned vehicles system, including unmanned vehicles 8, still include
The positioning device comprises an infrared LED2 arranged on the unmanned aerial vehicle 8 and an infrared camera 10 arranged on a working platform 12 at the bottom of the boiler 7;
the defect collecting device is arranged on the unmanned aerial vehicle 8 and used for collecting defects of the inner wall of the boiler 7;
and the data processing and communication device 13 is used for controlling the position of the unmanned aerial vehicle 8 in the boiler 7 by using the data generated by the positioning device, so that the unmanned aerial vehicle 8 is always positioned right above the infrared camera 10.
Infrared LED2 is isosceles triangle set up in unmanned vehicles 8 bottom surface.
The defect collecting device comprises a laser lighting device 5 and a camera 6, wherein the laser lighting device 5 and the camera 6 are arranged on the side face of the bottom of the unmanned aerial vehicle 8 side by side.
The working platform 12 is provided with a movable support 11 for driving the infrared camera 10 to move.
A control method of an unmanned aerial vehicle system for detection in a boiler of a thermal power plant comprises the following steps:
collecting the light spot information of 3 infrared LEDs 2 on the bottom surface of the unmanned aerial vehicle 8,
calculating the flight direction and horizontal displacement of the nose of the unmanned aerial vehicle 8 by using the light spot information,
and the unmanned aerial vehicle 8 changes the flight track according to the flight direction and the horizontal direction displacement.
The calculation method of the flight direction comprises the following steps:
and calculating the angle between the bisector of the included angle between the two equal sides and the y axis of the view field through the position relation of the 3 infrared LEDs 2 on the view field, wherein the angle is the flight direction of the unmanned aerial vehicle 8.
The calculation method of the displacement in the horizontal direction comprises the following steps:
through the position relation of the 3 infrared LEDs 2 on the visual field, the offset dy of the two sides of the intersection and the central point of the visual field of the infrared camera 10 on the y axis and the offset dx on the x axis are calculated, and the offset dy and the offset dx are the horizontal displacement of the unmanned aerial vehicle controller.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
The utility model provides a detect in steam power plant boiler and use unmanned vehicles system, includes unmanned vehicles 8, unmanned vehicles 8 adopts four rotor unmanned vehicles 8 of X type overall arrangement, four rotor unmanned vehicles 8 are as equipment such as flight platform integrated motor element 3, electricity accent, screw 1, battery, self-driving appearance and wireless communication module, and screw 1 provides lift for unmanned vehicles 8, and unmanned vehicles frame 4 is used for the installation equipment such as battery, communication module, motor element 3 are for the conventional setting in this field.
The system also comprises a positioning device, which comprises an infrared LED2 arranged on the unmanned aerial vehicle 8 and an infrared camera 10 arranged on a working platform 12 at the bottom of the boiler 7; the number of infrared LED2 is 3, is regular shape distribution, is isosceles triangle distribution in unmanned vehicles 8's bottom surface, and one of them infrared LED2 sets up in bottom surface center, and two sets up respectively in two motor bottoms of the four rotor unmanned vehicles 8 aircraft heads orientation directions of X type overall arrangement in addition, and 3 infrared LED2 intervals are as big as possible.
The defect collecting device is arranged on the unmanned aerial vehicle 8 and used for collecting defects of the inner wall of the boiler 7; defect collection system includes laser lighting device 5 and camera, laser lighting device 5 and camera set up side by side 8 bottom sides of unmanned vehicles, laser lighting device 5 are used for illuminating the inner wall formation of image region, are convenient for the camera is shot and is formed images.
And the data processing and communication device 13 is used for controlling the position of the unmanned aerial vehicle 8 in the boiler 7 by using the data generated by the positioning device, so that the unmanned aerial vehicle 8 is always positioned right above the infrared camera 10. The data processing and communication device 13 is used for processing the data of the infrared camera 10, generating the position information of the infrared LED2 arranged at the bottom of the aircraft, which is shot by the infrared camera 10, into guiding information, and sending the guiding information to the aircraft through the communication device, so that the aircraft can control the position of the space in the furnace in real time.
Example 2
This example is based on example 1 and is used to explain the application flow of the present invention.
The detection device comprises a power plant boiler 7 to be detected, wherein a workbench is arranged at the bottom of the boiler 7, a movable support 11 is arranged on the workbench, and the movable support 11 drives an infrared camera 10 to move. The data processing and communication device 13 is also arranged on the movable support 11, moves synchronously with the infrared camera 10, selects the position of the infrared camera 10, enables the unmanned aerial vehicle 8 to fly in the boiler 7, positions and identifies the infrared LED2 arranged at the bottom of the unmanned aerial vehicle 8 from top to bottom by the infrared camera 10, transmits the shot light spot information of the infrared LED2 to the data processing and communication device 13 for processing, generates a control instruction and transmits the control instruction to the unmanned aerial vehicle 8, realizes the flight control of the unmanned aerial vehicle 8, enables the unmanned aerial vehicle 8 to keep flying right above the infrared camera 10, enables the unmanned aerial vehicle 8 to be a movable support after shooting in a certain vertical area in the boiler, and enables the unmanned aerial vehicle 8 to keep flying above the infrared camera through the control of an automatic control system, and shifting to the desired area to continue photographing.
Example 3
This embodiment is used to explain the control method in the present invention.
The invention adopts a vision deviation control mode to carry out positioning control on the unmanned aerial vehicle 8. The infrared camera 10 captures infrared LEDs 2 which are arranged at the bottom of the fuselage and are regularly arranged, after an image is captured, the data processing and communication device 13 calculates the deviation between the optical axes of the infrared LED2 and the infrared camera 10, the deviation information is sent to the unmanned aerial vehicle 8 through the communication device, the unmanned aerial vehicle 8 corrects the posture according to the deviation, the unmanned aerial vehicle 8 is guaranteed to fly right above the infrared camera 10 all the time, and therefore the detection work is guaranteed to be smoothly unfolded. Fig. 3 shows a schematic diagram based on a vision deviation control manner, and it is assumed that A, B, C is an infrared LED2 light spot which is shot by an infrared camera 10 and is placed at the bottom of the unmanned aerial vehicle 8, wherein point C is placed at the geometric center of a frame at the bottom of the unmanned aerial vehicle 8, point B and point C are respectively placed at the bottoms of two motors in the nose orientation direction of the quad-rotor unmanned aerial vehicle 8 in an X-type layout, and the length of AC is equal to the length of BC.
And defining an unmanned aerial vehicle 8 body coordinate system, wherein the Z-axis forward direction is from the bottom to the top, the Y-axis forward direction is along the nose direction, and the X-axis is formed by 90 degrees with the nose. The upward y-axis forward direction and the rightward x-axis forward direction of the viewing field plane of the infrared camera 10 are defined.
The angle theta between the bisector of the alpha ACB and the y axis of the view field can be calculated through the position relation of the ABC three points on the view field, the angle is used for controlling the direction of the head of the unmanned aerial vehicle 8, and the direction of the head is always consistent with the direction of the y axis of the view field of the infrared camera 10 through course deviation control; in addition, the offsets dy and dx of the point C and the point O of the field of view of the infrared camera 10 on the y axis and the x axis are calculated through a data processing and communication device; the dx, dy and theta are sent to the unmanned aerial vehicle 8 through the communication device, the unmanned aerial vehicle 8 controls the displacement of the unmanned aerial vehicle in the horizontal direction according to the offsets dx and dy, and controls the machine head direction of the unmanned aerial vehicle according to the theta, so that the unmanned aerial vehicle 8 is controlled at the central point of the infrared camera 10, and controlled flight of the unmanned aerial vehicle 8 for detection in the furnace of the thermal power plant boiler 7 during detection in the furnace is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a detect in steam power plant boiler and use unmanned vehicles system, includes unmanned vehicles (8), its characterized in that: the device also comprises a positioning device, which comprises an infrared LED (2) arranged on the unmanned aerial vehicle (8) and an infrared camera (10) arranged on a working platform (12) at the bottom of the boiler (7); the defect acquisition device is arranged on the unmanned aerial vehicle (8) and used for acquiring defects of the inner wall of the boiler (7);
the data processing and communication device (13) is used for controlling the position of the unmanned aerial vehicle (8) in the boiler (7) by using the data generated by the positioning device, so that the unmanned aerial vehicle (8) is always positioned right above the infrared camera (10);
the infrared LED (2) is in an isosceles triangle shape and is arranged on the bottom surface of the bottom of the unmanned aerial vehicle (8), and a movable support (11) is arranged on the working platform (12) and is used for driving the infrared camera (10) to move.
2. The unmanned aerial vehicle system for detecting in a boiler of a thermal power plant according to claim 1, wherein the unmanned aerial vehicle (8) is a quad-rotor unmanned aerial vehicle.
3. The unmanned aerial vehicle system for detecting in a boiler of a thermal power plant according to claim 1, wherein the defect collecting device comprises a laser lighting device (5) and a camera (6), and the laser lighting device (5) and the camera (6) are arranged side by side at the bottom side of the unmanned aerial vehicle (8).
4. A control method of an unmanned aerial vehicle system for inspection in a boiler of a thermal power plant, the control method being used for the unmanned aerial vehicle system for inspection in a boiler of a thermal power plant according to any one of claims 1 to 3, comprising:
collecting the light spot information of 3 infrared LEDs (2) on the bottom surface of the unmanned aerial vehicle (8),
calculating the flight direction and horizontal displacement of the nose of the unmanned aerial vehicle (8) by using the light spot information,
and the unmanned aerial vehicle (8) changes the flight track according to the flight direction and the horizontal direction displacement.
5. The method for controlling the unmanned aerial vehicle system for detecting in the boiler of the thermal power plant according to claim 4, wherein the method for calculating the flight direction comprises:
calculating the angle between the bisector of the included angle between the two equal sides and the y axis of the view field according to the position relation of the 3 infrared LEDs (2) on the view field, wherein the angle is the flight direction of the unmanned aerial vehicle (8);
the coordinate system of the body of the unmanned aerial vehicle (8) is a z-axis forward direction from the bottom to the top, a y-axis forward direction along the direction of the machine head, and an x-axis forming an angle of 90 degrees with the machine head.
6. The method for controlling the unmanned aerial vehicle system for detection in the boiler of the thermal power plant according to claim 4, wherein the method for calculating the displacement in the horizontal direction comprises:
calculating the offset dy of the center point of the field of view of the two equilateral intersections and the infrared camera (10) on the y axis and the offset dx of the center point of the field of view on the x axis according to the position relation of the 3 infrared LEDs (2) on the field of view, wherein the offset dy and the offset dx are the horizontal displacement of the unmanned aerial controller; wherein the upward y-axis forward direction of the viewing field plane of the infrared camera (10) and the rightward x-axis forward direction.
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| CN201910331545.3A CN110040250B (en) | 2019-04-24 | 2019-04-24 | Unmanned aerial vehicle system for detection in thermal power plant boiler and control method thereof |
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| CN111976983A (en) * | 2020-08-26 | 2020-11-24 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Method for detecting boiler by using unmanned aerial vehicle |
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| US8874283B1 (en) * | 2012-12-04 | 2014-10-28 | United Dynamics Advanced Technologies Corporation | Drone for inspection of enclosed space and method thereof |
| KR20170036488A (en) * | 2015-09-24 | 2017-04-03 | 한국전력공사 | Boiler tube diagnosis apparatus |
| CN105333865B (en) * | 2015-11-13 | 2018-09-18 | 深圳市小羽科技有限公司 | Unmanned vehicle infrared location system |
| CN106774419A (en) * | 2017-01-20 | 2017-05-31 | 塞壬智能科技（北京）有限公司 | For the unmanned plane cruising inspection system and method for inspecting of heat power plant boiler |
| CN106932411A (en) * | 2017-04-06 | 2017-07-07 | 侯思明 | A kind of equipment detection method and device for being applied to thermal power plant |
| US10317905B2 (en) * | 2017-08-10 | 2019-06-11 | RavenOPS, Inc. | Autonomous robotic technologies for industrial inspection |
| CN108688805B (en) * | 2018-06-11 | 2024-03-12 | 视海博（中山）科技股份有限公司 | Unmanned aerial vehicle applied to limited space safety detection |
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