CN112650285A - Combined inspection method and system - Google Patents
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Abstract
The application relates to a joint inspection method and a system, which utilize an unmanned aerial vehicle to automatically move to a position to be inspected according to a flight task route, and shoot a target image after hovering. When the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position after the target images of all the positions to be inspected are shot; and sending the acquired target image to a central controller. The central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler; and generating a wall-climbing robot inspection route according to the wall coking detection result. And the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route. Compared with the traditional manual inspection method, the full-process automation, intellectualization and simplified operation of the inspection of the heating surface in the furnace are realized, the inspection period of the heating surface is effectively shortened, the inspection efficiency is improved, and the maintenance cost and the operation risk of personnel dangerous areas are reduced.
Description
Technical Field
The application relates to the technical field of nondestructive testing, in particular to a combined inspection method and a system.
Background
In a coal-fired boiler furnace of a large-scale thermal power station, the conditions of high-temperature corrosion and cold ash bucket hard damage near a main burner of a water-cooled wall are more and more prominent, and the macroscopic cracks of a pipeline near a soot blower are frequently found, the local thermal fatigue of a partition screen is discovered, the mechanical property of a 12Cr1MoVG inlet pipeline is lower than the lower limit of a standard value, the highest spheroidization level reaches 4.5, a ceiling superheater sinks, a tail flue gas corridor has a constant threat, the problems of deformation, aging and the like of a heating surface in the furnace are more and more prominent, and the maintenance task amount is also more. The detection work of the heating surface in the furnace is regularly carried out every year by the power plant, the detection task is mainly completed by a manual scaffold handheld instrument, the high-altitude operation in the internal space is realized, the light in the furnace is poor, the concentration of inhalable particles is high, and the high-altitude detection device has the characteristics of poor working environment, high risk, low efficiency, limited detection area, long period and high cost.
The in-furnace maintenance operation method has been continued in the domestic and foreign electric power industry for decades, has no essential change except for the technical upgrading of detection equipment and tools, and does not realize the aim of safe, efficient and quick inspection. The maintainer long-term operation in the stove leads to the disease to take place because of inhaling the particulate matter to detection efficiency is lower. Therefore, the equipment and the method for realizing the rapid inspection of the heating surface in the furnace instead of manual work are lacked.
Disclosure of Invention
Based on this, the present application provides a joint inspection method and system for the above technical problems.
The application provides a joint inspection method, which comprises the following steps:
the unmanned aerial vehicle automatically moves to a position to be inspected according to the flight task route, and shoots a target image after hovering;
when the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position after the target images of all the positions to be inspected are shot;
sending the acquired target image to a central controller;
the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler;
generating a wall-climbing robot routing inspection route according to the wall coking detection result;
and the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route.
In one embodiment, the step of generating a wall-climbing robot routing inspection route according to the wall coking detection result comprises the following steps:
determining a coking position according to the wall surface coking detection result;
and generating the routing inspection route according to the coking position so that the wall climbing robot avoids the coking position.
In one embodiment, the step of obtaining the mission path includes:
establishing a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device;
and generating the flight mission route according to the received flight instruction and the three-dimensional positioning model, wherein the flight mission route comprises the coordinate information of each position to be patrolled.
In one embodiment, the method further comprises the following steps:
when the wall climbing robot is according to patrol and examine the route, carry out the wall thickness measurement and patrol and examine the in-process, utilize unmanned aerial vehicle to carry out video monitoring to the wall climbing robot.
In one embodiment, the method further comprises the following steps:
and the wall climbing robot compares the detected wall thickness information with a threshold value to determine whether the wall has the defect or not and marks the position of the defect.
In one embodiment, the method further comprises the following steps:
sending the detected wall thickness information and the defect position to the central controller;
and the central controller controls the unmanned aerial vehicle or the wall-climbing robot to review the defect position according to the wall thickness information and the defect position.
Based on the same inventive concept, the application provides a combined inspection system, which comprises:
the unmanned aerial vehicle system is used for automatically moving to a position to be inspected according to the flight task route and shooting a target image after hovering; when the target image of the current position to be inspected is shot, the unmanned aerial vehicle system controls the unmanned aerial vehicle to automatically move to the next position to be inspected according to the flight task route, and the unmanned aerial vehicle returns to the initial position after the target images of all the positions to be inspected are shot;
the central controller is used for acquiring the target image, calling a training library to identify a target in the target image, generating a wall coking detection result of the boiler, and generating a wall-climbing robot routing inspection route according to the wall coking detection result;
and the wall-climbing robot system is used for controlling the wall-climbing robot to carry out wall surface thickness measurement inspection according to the inspection route.
In one embodiment, the central controller comprises an identification module and a task formulation module, the identification module is used for determining a coking position according to the wall coking detection result, and the task formulation module is used for generating the routing inspection route according to the coking position so that the wall-climbing robot avoids the coking position.
In one embodiment, the central controller further comprises a three-dimensional model management module, the three-dimensional model management module is used for establishing a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device, the task making module is further used for generating the flight task route according to the received flight instruction and the three-dimensional positioning model, and the flight task route comprises coordinate information of each position to be inspected.
In one embodiment, the wall-climbing robot system is further configured to compare detected wall thickness information with a threshold value to determine whether a defect exists and mark a defect position, send the detected defect position to the central controller, and the central controller generates a three-dimensional data report according to all defect positions obtained in one inspection task.
According to the combined inspection method and the system, the unmanned aerial vehicle is automatically moved to a position to be inspected according to a flight task route, and a target image is shot after hovering. And after the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position until all the target images of the positions to be inspected are shot. And secondly, sending the acquired target image to a central controller. And the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler. And finally, generating a wall-climbing robot inspection route according to the wall coking detection result. And the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route. This application prevents unmanned aerial vehicle and the wall of boiler from bumping under the dark surrounds through setting up flight task route in advance, and then can realize independently flying. Unmanned aerial vehicle jointly patrols and examines with wall climbing robot, utilizes unmanned aerial vehicle to the whole scanning of furnace of boiler at first, and the key check area is confirmed in the quick analysis of automatic identification image help maintainer to generate wall climbing robot and patrol and examine the route. And the wall climbing robot completes the wall surface thickness measurement and inspection task according to the inspection route. Compared with the traditional manual inspection method, the full-process automation, intellectualization and simplified operation of the inspection of the heating surface in the furnace are realized, the inspection period of the heating surface is effectively shortened, the inspection efficiency is improved, and the maintenance cost and the operation risk of personnel dangerous areas are reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a joint inspection method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a joint inspection method according to another embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a joint inspection system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a joint inspection system according to another embodiment of the present application.
Description of the main element reference numerals
10. An unmanned aerial vehicle system; 20. a central controller; 21. an identification module; 22. a task formulation module; 23. a three-dimensional model management module; 30. wall climbing robot system.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, a first acquisition module may be referred to as a second acquisition module, and similarly, a second acquisition module may be referred to as a first acquisition module, without departing from the scope of the present application. The first acquisition module and the second acquisition module are both acquisition modules, but are not the same acquisition module.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Based on this, please refer to fig. 1, the present application provides a joint polling method. The combined inspection method comprises the following steps:
s10, automatically moving the unmanned aerial vehicle to a position to be inspected according to the flight task route, and shooting a target image after hovering;
s20, when the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position after the target images of all the positions to be inspected are shot;
s30, sending the acquired target image to a central controller;
s40, the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler;
s50, generating a wall-climbing robot routing inspection route according to the wall coking detection result;
and S60, the wall climbing robot carries out wall thickness measurement inspection according to the inspection route.
It should be noted that the combined inspection method can be applied to the detection of the heating surface in the coal-fired boiler of the large-scale thermal power station. Water cooling pipes are laid on the heating surface (wall surface) in the coal-fired boiler. The combined inspection method can detect the problems of thermal deformation, aging and the like of the water-cooled tube.
Before patrolling and examining, can carry out the platform and build and the setting of space orientation signal. Specifically, the simple platform and the three-dimensional positioning signal transmitting device can be transported into a hearth through a manhole of 80cm multiplied by 70cm, about 10 m, of the boiler, and the simple platform is erected in the top area of a cold ash hopper in the boiler. The simple platform is used for arranging the three-dimensional positioning signal transmitting device in the furnace. Further, the position of the central area of the platform can be adjusted, set and selected to be the zero point of the three-dimensional space coordinate in the furnace, and meanwhile, the zero point is used as the circle center, and the circular area with the radius of 0.5 meter is set as the automatic take-off and landing platform of the unmanned aerial vehicle. The method comprises the steps of dividing a hearth area space into 4 surfaces including a front surface, a rear surface, a left surface and a right surface by taking an unmanned aerial vehicle coordinate zero point as an original point (namely, the center of a simple platform), and establishing a three-dimensional positioning model of the boiler through a three-dimensional positioning signal transmitting device. It should be noted that, because before polling each time, platform construction and spatial positioning signal setting need to be carried out again, in order to avoid manual error, the three-dimensional positioning model needs to be calibrated again before polling each time, so as to ensure that the coordinate positioning carried by the detection data is consistent with the physical spatial position.
In step S10, the step of obtaining the flight mission route may include: establishing a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device; and generating the flight mission route according to the received flight instruction and the three-dimensional positioning model. The flight task route comprises coordinate information of each position to be patrolled. The flight instructions may include the number of locations to be inspected and the physical spatial location. The mission route may be displayed on a terminal console display so that a worker may control the mission route of the drone on the display. After the flight mission route is determined, whether the electric quantity of the unmanned aerial vehicle meets the minimum flight market requirement (the minimum flight time is determined through a test experiment) or not can be determined, if yes, the unmanned aerial vehicle takes off, and if not, the battery replacement is prompted.
A plurality of positions to be inspected can be set in one flight task. After the unmanned aerial vehicle reaches a certain position to be patrolled, coordinate confirmation is carried out again; and then, starting to shoot the heated surface to obtain a target image. Unmanned aerial vehicle possesses due anticollision, anti-sticking function, and conventional configuration temperature sensor, high definition image imaging sensor, thermal infrared imaging sensor and range unit, camera possess self-cleaning function, and unmanned aerial vehicle real-time detection image can be through the central controller of wireless mode synchronous transmission to simple and easy platform, and rethread wired network transmission reaches data analysis management center. The ranging device of the unmanned aerial vehicle can acquire the relative position of the target image and the suspension point, and further enables each target image to be provided with a position label (the coordinate information of the target image can be acquired according to the coordinate of the suspension point and the relative position of the target image and the suspension point).
The specific steps included in step S20 may be that the unmanned aerial vehicle takes a picture, and from a first autonomous detection point (position to be patrolled), the unmanned aerial vehicle maintains a position one meter away from the surface of the heated surface to hover stably through flight control and autonomous hover control, and performs two consecutive automatic photographs on the surface of the heated surface through the cooperation of an intelligent light supplement system, wherein the resolution of the image is 1mm × 1mm, and then flies horizontally or vertically to the next photographing point; and after finishing the polling shooting task for all the preset points according to the flight route, returning to the unmanned aerial vehicle take-off and landing platform according to the three-dimensional space positioning information.
In the steps S30 and S40, the photographing by the unmanned aerial vehicle may be performed by dividing a single-side heating surface into grids in horizontal and vertical forms, the geometric center of the grid is a vertical coordinate of the hovering of the aircraft, and the hovering coordinate corresponding to the aircraft is obtained through conversion; after the task of autonomous inspection and shooting of the single-side heating surface is completed, the data can be uniformly transmitted back to the central controller and then transmitted to a server platform of an engineer station outside the hearth through a network to be spliced into a large graph; and each picture identifies abnormal conditions such as dust accumulation, coking and the like on the surface of the heated surface through an image intelligent algorithm, the pictures judged to be abnormal are pushed uniformly to generate a detection result report, and the overall distribution condition of the defects is checked through a large spliced picture, so that production personnel can be helped to perform relevant analysis. The image intelligence algorithm may be an image recognition convolution depth learning algorithm. Of course, the image intelligence algorithm may be any other algorithm that can identify objects in the target image.
In step S50, the wall climbing robot can perform a detection task by moving the wall surface of the water wall forward and backward along the water wall tubes on the heating surface or by moving the wall surface of the water wall tubes laterally between rows of the water wall tubes. The wall climbing robot has certain obstacle crossing capability (local deformation and coking of a water wall), a temperature sensor, a high-definition image imaging sensor, a thermal infrared imaging sensor and an electromagnetic ultrasonic wall thickness measuring device are conventionally configured, and a camera has a self-cleaning function. However, when the surface of the heated surface is coked in a large area, the obstacle-crossing failure of the wall-climbing robot can be caused, and the wall-climbing robot falls off from the heated surface, so that the inspection fails. Therefore, the unmanned aerial vehicle is used for scanning the whole hearth, the automatic identification image helps the maintainer to rapidly analyze and determine the key inspection area, the coking position and the area, and then the inspection route can be generated according to the coking position and the coking area, so that the wall climbing robot avoids the large-area coking position and completes the detection task.
In step S60, when the wall climbing robot performs wall thickness measurement inspection according to the inspection route, the detected wall thickness information can be transmitted back to the central controller in real time. The wall climbing robot can also compare the detected wall thickness information with a threshold value to determine whether the wall climbing robot has defects. Of course the step of determining whether there is a defect may also be performed in the central controller. The defects can be that the water-cooling pipe is heated to expand or the wall of the water-cooling pipe becomes thin. And a paint spraying opening is formed in the wall-climbing robot. When judging this position of patrolling and examining has the defect, can utilize wall climbing robot's paint spraying mouth to this position of patrolling and examining to spray paint in order to mark the defect position. Workers can overhaul the water cooling pipe according to the marked position.
In the embodiment, the unmanned aerial vehicle is firstly utilized to automatically move to the position to be patrolled and examined according to the flight task route, and the target image is shot after hovering. And after the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position until all the target images of the positions to be inspected are shot. And secondly, sending the acquired target image to a central controller. And the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler. And finally, generating a wall-climbing robot inspection route according to the wall coking detection result. And the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route. This application prevents unmanned aerial vehicle and the wall of boiler from bumping under the dark surrounds through setting up flight task route in advance, and then can realize independently flying. Unmanned aerial vehicle jointly patrols and examines with wall climbing robot, utilizes unmanned aerial vehicle to the whole scanning of furnace of boiler at first, and the key check area is confirmed in the quick analysis of automatic identification image help maintainer to generate wall climbing robot and patrol and examine the route. And the wall climbing robot completes the wall surface thickness measurement and inspection task according to the inspection route. Compared with the traditional manual inspection method, the full-process automation, intellectualization and simplified operation of the inspection of the heating surface in the furnace are realized, the inspection period of the heating surface is effectively shortened, the inspection efficiency is improved, and the maintenance cost and the operation risk of personnel dangerous areas are reduced.
Referring to fig. 2, in one embodiment, the joint inspection method further includes:
when the wall climbing robot is according to patrol and examine the route, carry out the wall thickness measurement and patrol and examine the in-process, utilize unmanned aerial vehicle to carry out video monitoring to the wall climbing robot. Unmanned aerial vehicle can pass the video monitoring information of wall climbing robot back central controller in real time to the staff can adjust the route of patrolling and examining of wall climbing robot according to video monitoring information at any time, so that the completion that wall climbing robot can be fine patrols and examines the task.
In one embodiment, the joint inspection method further includes:
sending the detected wall thickness information and the defect position to the central controller; and the central controller controls the unmanned aerial vehicle or the wall-climbing robot to review the defect position according to the wall thickness information and the defect position. When the defect is judged to be possibly required to be maintained according to the wall thickness information and the defect position, the unmanned aerial vehicle or the wall climbing robot is controlled to recheck the defect position so as to obtain more comprehensive information and conveniently determine whether the defect needs to be maintained.
In one embodiment, the joint inspection method further includes:
sending the detected defect location to the central controller;
and the central controller generates a three-dimensional data report according to all the defect positions acquired in the primary inspection task.
It can be understood that the three-dimensional data report can reflect the number of all defect points detected by the wall-climbing robot in the current inspection task, and the three-dimensional point coordinates of each defect point in the coal-fired boiler can be checked in the three-dimensional data report.
Referring to fig. 3, the present application provides a joint inspection system based on the same inventive concept. The combined inspection system includes an unmanned aerial vehicle system 10, a central controller 20, and a wall-climbing robot system 30.
The unmanned aerial vehicle system 10 is used for automatically moving to a position to be inspected according to a flight task route and shooting a target image after hovering; after the target image of the current position to be inspected is shot, the unmanned aerial vehicle system 10 controls the unmanned aerial vehicle to automatically move to the next position to be inspected according to the flight task route, and the unmanned aerial vehicle returns to the initial position until all the target images of the positions to be inspected are shot. The central controller 20 is configured to obtain the target image, call a training library to identify a target in the target image, generate a wall coking detection result of the boiler, and generate a wall-climbing robot inspection route according to the wall coking detection result. The wall-climbing robot system 30 is used for controlling the wall-climbing robot to perform wall thickness measurement inspection according to the inspection route.
Unmanned aerial vehicle system 10 can possess should include anticollision, anti-sticking function, and conventional configuration temperature sensor, high definition image imaging sensor, thermal infrared imaging sensor and range unit, the camera possesses self-cleaning function. The drone system 10 may also include a pan-tilt, a GPS module, and a gyroscope.
The wall-climbing robot system 30 has certain obstacle-crossing capability (local deformation and coking of a water wall), a temperature sensor, a high-definition image imaging sensor, a thermal infrared imaging sensor and an electromagnetic ultrasonic wall thickness measuring device are conventionally configured, and a camera has a self-cleaning function.
The structure of the central controller 20 is not particularly limited as long as the above-described functions can be achieved. The combined inspection system can realize the combined inspection method.
Referring to fig. 4, in one embodiment, the central controller 20 includes an identification module 21 and a task formulation module 22, the identification module 21 is configured to determine a coking position according to the result of detecting coking on the wall surface, and the task formulation module 22 is configured to generate the inspection route according to the coking position, so that the wall climbing robot avoids the coking position.
In one embodiment, the central controller 20 further includes a three-dimensional model management module 23, the three-dimensional model management module 23 is configured to establish a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device, and the task making module 22 is further configured to generate the flight mission route according to the received flight instruction and the three-dimensional positioning model, where the flight mission route includes coordinate information of each position to be inspected.
In one embodiment, the wall-climbing robot system 30 is further configured to compare the detected wall thickness information with a threshold value to determine whether there is a defect, and mark a defect position, and send the detected defect position to the central controller, and the central controller generates a three-dimensional data report according to all defect positions obtained in one inspection task. When the defect is judged to be possibly required to be maintained according to the wall thickness information and the defect position, the unmanned aerial vehicle or the wall climbing robot is controlled to recheck the defect position so as to obtain more comprehensive information and conveniently determine whether the defect needs to be maintained.
The step of obtaining the flight mission route may include: establishing a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device; and generating the flight mission route according to the received flight instruction and the three-dimensional positioning model. The flight task route comprises coordinate information of each position to be patrolled. The flight instructions may include the number of locations to be inspected and the physical spatial location. The mission route may be displayed on a terminal console display so that a worker may control the mission route of the drone on the display. After the flight mission route is determined, whether the electric quantity of the unmanned aerial vehicle meets the minimum flight market requirement (the minimum flight time is determined through a test experiment) or not can be determined, if yes, the unmanned aerial vehicle takes off, and if not, the battery replacement is prompted.
A plurality of positions to be inspected can be set in one flight task. After the unmanned aerial vehicle reaches a certain position to be patrolled, coordinate confirmation is carried out again; and then, starting to shoot the heated surface to obtain a target image. Unmanned aerial vehicle possesses due anticollision, anti-sticking function, and conventional configuration temperature sensor, high definition image imaging sensor, thermal infrared imaging sensor and range unit, camera possess self-cleaning function, and unmanned aerial vehicle real-time detection image can be through wireless mode synchronous transmission to the central controller 20 on the simple and easy platform, and rethread wired network transmission reaches data analysis management center. The ranging device of the unmanned aerial vehicle can acquire the relative position of the target image and the suspension point, and further enables each target image to be provided with a position label (the coordinate information of the target image can be acquired according to the coordinate of the suspension point and the relative position of the target image and the suspension point).
The unmanned aerial vehicle shoots pictures, from a first autonomous detection point (position to be patrolled), the unmanned aerial vehicle keeps a position one meter away from the surface of the heating surface to hover stably through flight control and autonomous hovering control, the surface of the heating surface is automatically shot twice continuously through the cooperation of an intelligent light supplementing system, the resolution of the images is 1mm by 1mm, and then the images horizontally or vertically fly to the next shooting point; and after finishing the polling shooting task for all the preset points according to the flight route, returning to the unmanned aerial vehicle take-off and landing platform according to the three-dimensional space positioning information.
The unmanned aerial vehicle photographing can be that a single-side heating surface is divided into grids in a horizontal and vertical mode, the geometric center of each grid is a vertical coordinate of hovering of the aircraft, and the hovering coordinate corresponding to the aircraft is obtained through conversion; after the task of autonomous inspection and shooting of the single-side heating surface is completed, the data can be uniformly transmitted back to the central controller 20 and then transmitted to a server platform of an engineer station outside the hearth through a network to be spliced into a large graph; and each picture identifies abnormal conditions such as dust accumulation, coking and the like on the surface of the heated surface through an image intelligent algorithm, the pictures judged to be abnormal are pushed uniformly to generate a detection result report, and the overall distribution condition of the defects is checked through a large spliced picture, so that production personnel can be helped to perform relevant analysis. The image intelligence algorithm may be an image recognition convolution depth learning algorithm. Of course, the image intelligence algorithm may be any other algorithm that can identify objects in the target image.
The wall climbing robot can perform detection tasks on the wall surface of the water wall by moving along the water wall tubes on the heating surface back and forth or moving transversely among the water wall tube rows. The wall climbing robot has certain obstacle crossing capability (local deformation and coking of a water wall), a temperature sensor, a high-definition image imaging sensor, a thermal infrared imaging sensor and an electromagnetic ultrasonic wall thickness measuring device are conventionally configured, and a camera has a self-cleaning function. However, when the surface of the heated surface is coked in a large area, the obstacle-crossing failure of the wall-climbing robot can be caused, and the wall-climbing robot falls off from the heated surface, so that the inspection fails. Therefore, the unmanned aerial vehicle is used for scanning the whole hearth, the automatic identification image helps the maintainer to rapidly analyze and determine the key inspection area, the coking position and the area, and then the inspection route can be generated according to the coking position and the coking area, so that the wall climbing robot avoids the large-area coking position and completes the detection task.
When the wall climbing robot is according to the route of patrolling and examining, carry out the wall thickness measurement and patrol and examine the in-process, can be in real time with the wall thickness information that detects back to central controller 20. The wall climbing robot can also compare the detected wall thickness information with a threshold value to determine whether the wall climbing robot has defects. Of course, the step of determining whether there is a defect may also be performed in the central controller 20. The defects can be that the water-cooling pipe is heated to expand or the wall of the water-cooling pipe becomes thin. And a paint spraying opening is formed in the wall-climbing robot. When judging this position of patrolling and examining has the defect, can utilize wall climbing robot's paint spraying mouth to this position of patrolling and examining to spray paint in order to mark the defect position. Workers can overhaul the water cooling pipe according to the marked position.
When the wall climbing robot is according to patrol and examine the route, carry out the wall thickness measurement and patrol and examine the in-process, utilize unmanned aerial vehicle to carry out video monitoring to the wall climbing robot. Unmanned aerial vehicle can pass the video monitoring information of wall climbing robot back central controller 20 in real time to the staff can adjust the route of patrolling and examining of wall climbing robot according to video monitoring information at any time, so that the completion that wall climbing robot can be fine patrols and examines the task.
In this embodiment, through setting up flight task route in advance, prevent that unmanned aerial vehicle from bumping with the wall of boiler under the dark surrounds, and then can realize independently flying. Unmanned aerial vehicle jointly patrols and examines with wall climbing robot, utilizes unmanned aerial vehicle to the whole scanning of furnace of boiler at first, and the key check area is confirmed in the quick analysis of automatic identification image help maintainer to generate wall climbing robot and patrol and examine the route. And the wall climbing robot completes the wall surface thickness measurement and inspection task according to the inspection route. Compared with the traditional manual inspection method, the full-process automation, intellectualization and simplified operation of the inspection of the heating surface in the furnace are realized, the inspection period of the heating surface is effectively shortened, the inspection efficiency is improved, and the maintenance cost and the operation risk of personnel dangerous areas are reduced.
The present application provides a computer device. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the joint inspection method in any one of the above embodiments when executing the computer program.
The memory, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the magnetic resonance imaging method in the embodiments of the present application. The processor executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory, namely, the joint inspection method is realized.
The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function. The storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, and these remote memories may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In this embodiment, the computer device implements the joint inspection method, and the unmanned aerial vehicle is first automatically moved to a position to be inspected according to a flight task route, and a target image is photographed after hovering. And after the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position until all the target images of the positions to be inspected are shot. And secondly, sending the acquired target image to a central controller. And the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler. And finally, generating a wall-climbing robot inspection route according to the wall coking detection result. And the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route. This application prevents unmanned aerial vehicle and the wall of boiler from bumping under the dark surrounds through setting up flight task route in advance, and then can realize independently flying. Unmanned aerial vehicle jointly patrols and examines with wall climbing robot, utilizes unmanned aerial vehicle to the whole scanning of furnace of boiler at first, and the key check area is confirmed in the quick analysis of automatic identification image help maintainer to generate wall climbing robot and patrol and examine the route. And the wall climbing robot completes the wall surface thickness measurement and inspection task according to the inspection route. Compared with the traditional manual inspection method, the full-process automation, intellectualization and simplified operation of the inspection of the heating surface in the furnace are realized, the inspection period of the heating surface is effectively shortened, the inspection efficiency is improved, and the maintenance cost and the operation risk of personnel dangerous areas are reduced.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A joint inspection method, comprising:
the unmanned aerial vehicle automatically moves to a position to be inspected according to the flight task route, and shoots a target image after hovering;
when the target image of the current position to be inspected is shot, the unmanned aerial vehicle automatically moves to the next position to be inspected according to the flight task route, and returns to the initial position after the target images of all the positions to be inspected are shot;
sending the acquired target image to a central controller;
the central controller calls a training library to identify the target in the target image and generate a wall coking detection result of the boiler;
generating a wall-climbing robot routing inspection route according to the wall coking detection result;
and the wall climbing robot carries out wall surface thickness measurement inspection according to the inspection route.
2. The combined inspection method according to claim 1, wherein the step of generating a wall-climbing robot inspection route according to the wall coking detection result comprises:
determining a coking position according to the wall surface coking detection result;
and generating the routing inspection route according to the coking position so that the wall climbing robot avoids the coking position.
3. The combined inspection method according to claim 1, wherein the step of obtaining the mission route includes:
establishing a three-dimensional positioning model of the boiler by using a three-dimensional positioning signal transmitting device;
and generating the flight mission route according to the received flight instruction and the three-dimensional positioning model, wherein the flight mission route comprises the coordinate information of each position to be patrolled.
4. The combined inspection method according to claim 1, further comprising:
when the wall climbing robot is according to patrol and examine the route, carry out the wall thickness measurement and patrol and examine the in-process, utilize unmanned aerial vehicle to carry out video monitoring to the wall climbing robot.
5. The combined inspection method according to claim 1, further comprising:
and the wall climbing robot compares the detected wall thickness information with a threshold value to determine whether the wall has the defect or not and marks the position of the defect.
6. The combined inspection method according to claim 5, further comprising:
sending the detected wall thickness information and the defect position to the central controller;
and the central controller controls the unmanned aerial vehicle or the wall-climbing robot to review the defect position according to the wall thickness information and the defect position.
7. A joint inspection system, comprising:
the unmanned aerial vehicle system is used for automatically moving to a position to be inspected according to the flight task route and shooting a target image after hovering; when the target image of the current position to be inspected is shot, the unmanned aerial vehicle system controls the unmanned aerial vehicle to automatically move to the next position to be inspected according to the flight task route, and the unmanned aerial vehicle returns to the initial position after the target images of all the positions to be inspected are shot;
the central controller is used for acquiring the target image, calling a training library to identify a target in the target image, generating a wall coking detection result of the boiler, and generating a wall-climbing robot routing inspection route according to the wall coking detection result;
and the wall-climbing robot system is used for controlling the wall-climbing robot to carry out wall surface thickness measurement inspection according to the inspection route.
8. The combined inspection system according to claim 7, wherein the central controller includes an identification module and a task formulation module, the identification module is configured to determine a coking position according to the wall coking detection result, and the task formulation module is configured to generate the inspection route according to the coking position, so that the wall-climbing robot avoids the coking position.
9. The combined inspection system according to claim 7, wherein the central controller further includes a three-dimensional model management module, the three-dimensional model management module is configured to establish a three-dimensional positioning model of the boiler using a three-dimensional positioning signal transmitting device, the task formulation module is further configured to generate the mission route according to the received flight instruction and the three-dimensional positioning model, and the mission route includes coordinate information of each of the positions to be inspected.
10. The combined inspection system according to claim 7, wherein the wall-climbing robot system is further configured to compare the detected wall thickness information with a threshold value to determine whether a defect exists and mark a defect position, the wall-climbing robot system sends the detected defect position to the central controller, and the central controller generates a three-dimensional data report according to all defect positions obtained in one inspection task.
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