CN210605473U - Power plant inspection system - Google Patents
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- CN210605473U CN210605473U CN201921953651.7U CN201921953651U CN210605473U CN 210605473 U CN210605473 U CN 210605473U CN 201921953651 U CN201921953651 U CN 201921953651U CN 210605473 U CN210605473 U CN 210605473U
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Abstract
The utility model provides a system of patrolling and examining of power plant belongs to the robotechnology field, including patrolling and examining the robot and can remove in the power plant and patrol and examine, fixed point detection module establishes on stating the waiting to detect equipment of power plant for fixed point detects the corresponding information of waiting to detect equipment, and the surveillance center respectively with patrol and examine robot and fixed point detection module signal connection, be used for respectively to patrol and examine the robot and send the detection instruction with fixed point detection module, and receive and handle the information of patrolling and examining robot and fixed point detection module collection. Through will remove to patrol and examine and detect the combination with the fixed point, accord with the on-the-spot actual demand of patrolling and examining of production conscientiously, can solve tower boiler and patrol and examine a difficult problem, combine big data and internet of things, realize intelligent fortune dimension, promote fortune dimension efficiency, carry out real time monitoring to the equipment in the main power house, realize equipment trouble early warning.
Description
Technical Field
The utility model relates to a robotechnology field particularly, relates to a power plant system of patrolling and examining.
Background
Along with the development of science and technology, the robot is used more and more frequently, and it can improve work efficiency, adapts to the place that the environment is abominable. The internal of the main power house of the power plant is divided into a main power house of a steam turbine and a main power house of a boiler, the inspection mode of the main power house of the boiler and other production areas is still mainly achieved through manual inspection, the inspection line of the system is long, and the temperature is high. Whole main building relies on the manual work to patrol and examine now, and it is low to patrol and examine work efficiency, and the personnel's work load of patrolling and examining is big, and can't carry out frequent round trip to patrol and examine, has the work blind area.
Adopt the robot to patrol and examine the boiler main building scene in still some power plants, nevertheless because some equipment acquisition points department have other devices to shelter from in the power plant, some special areas's equipment fixing position in addition is hidden, and equipment operating temperature is high, and some robots can't be close to equipment, consequently cause to patrol and examine the degree of difficulty height, patrol and examine the phenomenon such as the data inaccuracy that obtain.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a system of patrolling and examining of power plant combines to remove to patrol and examine and detects with the fixed point, and the equipment condition of ability automated inspection power plant improves and patrols and examines efficiency and patrols and examines the rate of accuracy.
The embodiment of the utility model is realized like this:
one aspect of the embodiments of the present invention provides a power plant inspection system, which includes an inspection robot for moving inspection within a power plant; the fixed-point detection module is arranged on the equipment to be detected of the power plant and is used for detecting corresponding information of the equipment to be detected in the power plant at a fixed point; and the monitoring center is in signal connection with the inspection robot and the fixed point detection module respectively, and is used for sending detection instructions to the inspection robot and the fixed point detection module respectively, and receiving and processing the information collected by the inspection robot and the fixed point detection module.
Optionally, be equipped with the controller in the robot of patrolling and examining and respectively with laser radar, camera, temperature sensor, sound detection module, the interface module that charges that the controller electricity is connected.
Optionally, the fixed point detection module includes a fixed point temperature sensor, a vibration sensor, an image collector and a sound collector, and is configured to collect temperature, vibration, image and working noise decibel of the device, respectively.
Optionally, the monitoring center includes a monitoring module, a processing module and a display module, and the monitoring module is respectively in signal connection with the inspection robot and the fixed point detection module, and is configured to respectively receive information collected by the inspection robot and the fixed point detection module; the processing module is electrically connected with the monitoring module and is used for processing the acquired information; the display module is electrically connected with the processing module and used for displaying the data of the processing module.
Optionally, the monitoring center is further provided with an application service module, and the application service module is electrically connected with the processing module and used for storing data of the processing module.
Optionally, the monitoring center is further provided with an alarm module, and the alarm module is electrically connected with the processing module or the application service module.
Optionally, still include the basic station, the basic station docks a plurality of robots of patrolling and examining, the basic station respectively with a plurality of the robot of patrolling and examining with the surveillance center wireless signal connects.
Optionally, the inspection robot is further provided with a safety radar electrically connected with the controller for detecting obstacles.
The utility model discloses beneficial effect includes:
the embodiment of the utility model provides a system of patrolling and examining of power plant patrols and examines the robot and can remove in the power plant and patrol and examine, and fixed point detection module establishes on stating the equipment of examining of power plant for fixed point detects the corresponding information of examining equipment, and the surveillance center respectively with patrol and examine robot and fixed point detection module signal connection, be used for respectively to patrol and examine robot and fixed point detection module and send the detection instruction, and receive and handle the information of patrolling and examining robot and fixed point detection module collection. Through will remove to patrol and examine and detect the combination with the fixed point, accord with the on-the-spot actual demand of patrolling and examining of production conscientiously, can solve tower boiler and patrol and examine a difficult problem, combine big data and internet of things, realize intelligent fortune dimension, promote fortune dimension efficiency, carry out real time monitoring to the equipment in the main power house, realize equipment trouble early warning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required 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 one of schematic structural diagrams of a power plant inspection system provided by an embodiment of the present invention;
fig. 2 is a schematic structural view of an inspection robot provided by the embodiment of the present invention;
fig. 3 is a second schematic structural diagram of a power plant inspection system according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method of the power plant inspection system provided by the embodiment of the present invention.
Icon: 10-a patrol robot; 11-a controller; 12-a laser radar; 13-a camera; 14-a temperature sensor; 14A-an infrared camera; 15-a sound detection module; 16-a charging interface module; 17-a safety radar; 18-a robotic arm; 19-an indicator light; 20-a fixed point detection module; 21-a fixed point temperature sensor; 22-a vibration sensor; 23-an image collector; 24-a sound collector; 30-monitoring center.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as 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 accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Example one
Please refer to fig. 1, this embodiment provides a power plant inspection system, mainly apply to the power system, divide into steam main building and boiler main building in the power plant main building, in the existing boiler main building, to some hidden equipments of mounted position of special areas such as steam turbine platform, because the equipment temperature is high, inspect the equipment distribution and disperse, the mounted position makes the robot unable to be close to, can't accomplish the robot and patrol and examine, this embodiment adopts and patrols and examines robot 10 and patrols and examines the boiler main building scene, adopt the mode that the fixed point detected according to different areas simultaneously, patrol and examine and combine together with the fixed point detection with the robot, accord with the actual demand of patrolling and examining of production site in the power plant conscientiously.
The power plant inspection system of the embodiment comprises an inspection robot 10, a fixed point detection module 20 and a monitoring center 30, wherein the inspection robot 10 can automatically walk and move, can independently work and is used for moving inspection in a power plant; the fixed-point detection module 20 is arranged on the equipment to be detected of the power plant and is used for detecting corresponding information of the equipment to be detected in a fixed-point manner; and the monitoring center 30 is in signal connection with the inspection robot 10 and the fixed point detection module 20, and is used for sending detection instructions to the inspection robot 10 and the fixed point detection module 20, and receiving and processing information collected by the inspection robot 10 and the fixed point detection module 20.
It should be noted that, first, the inspection robot 10 serves as a mobile platform on which various devices for acquiring information are arranged, and is a carrier of each acquisition device. The bottom of the inspection robot 10 is provided with wheels for the inspection robot 10 to travel, i.e., a wheeled vehicle body for autonomous navigation. The wheeled robot is suitable for working environments with multiple devices, wide distribution range and flat ground.
The wheeled robot takes a four-wheeled trolley as a moving carrier, a controller 11 is arranged on the inspection robot 10 to control various actions of the inspection robot 10, the controller 11 is respectively and electrically connected with a laser radar 12, a camera 13, a temperature sensor 14, a sound detection module 15, a charging interface module 16, an indicator light 19 and the like which are arranged on the inspection robot 10, the inspection robot 10 is positioned by the laser radar 12 and can walk according to a navigation path, meanwhile, the inspection robot 10 also has the functions of image acquisition, temperature acquisition, sound acquisition, automatic charging and the like, and the temperature sensor 14 can also be an infrared camera 14A and is used for acquiring temperature information; the inspection robot 10 can acquire images of the running state of the equipment, the state of the power distribution cabinet, the oil level, the meter gauge and the like, and acquire the temperature and the sound of the equipment. The laser navigation is adopted to ensure the walking of the robot and avoid obstacles, and the inspection requirement of relatively complex terrains is met.
As shown in fig. 2, the inspection robot 10 is further provided with a safety radar 17 electrically connected with the controller 11 for detecting obstacles, and the controller 11 controls the wheels to turn and walk, so that the inspection robot 10 can automatically run and autonomously avoid obstacles.
The inspection robot 10 is provided with a mechanical arm 18, the mechanical arm 18 is a six-degree-of-freedom mechanical arm 18, and the intelligent camera 13 is mounted on the mechanical arm 18, so that the complex measuring point requirements of various angles and different heights can be met more flexibly.
The inspection robot 10 is powered by a battery, the battery with proper capacity is selected according to the walking distance of the robot, and the inspection robot is matched with a battery management system, so that when the electric quantity of the battery is insufficient, the robot can automatically return to a charging position for charging.
During patrol, patrol and examine robot 10 and will wait to patrol and examine the position of equipment and take notes in controller 11 in advance, patrol and examine the start-up back, patrol and examine robot 10 and carry out information acquisition to patrolling and examining equipment one by one according to the route that laser radar 12 planned, after every information on accomplishing the collection equipment, feed back the information of gathering to surveillance center 30 through controller 11, patrol and examine a equipment and accomplish the back, remove next target equipment and carry out information acquisition. After all the devices to be detected are collected, a polling cycle is performed, and after the polling cycle is completed, the monitoring center 30 waits for sending a next polling instruction and then performs polling.
The inspection robot 10 supports a fully autonomous inspection mode. The fully autonomous mode comprises a conventional mode and a special inspection mode. Conventionally, after the inspection robot 10 sends an inspection instruction according to preset inspection task content, time, path and other parameter information, the monitoring center 30 autonomously starts the inspection robot 10 and completes the inspection task; the special inspection is that an operator sets an inspection point, and the robot autonomously completes an inspection task on the inspection point. The power plant equipment can be repeatedly inspected, and continuous and dynamic data acquisition and system storage of the equipment state can be realized.
Secondly, fixed point detection module 20 is used for detecting the fixed point, and the fixed point is established on the equipment of awaiting measuring or near the equipment of awaiting measuring, and fixed point detection module 20 solves the unable problem that is close to equipment detection of robot 10 of patrolling and examining.
The fixed point detection module 20 includes a fixed point temperature sensor 21, a vibration sensor 22, an image collector 23 and a sound collector 24, and is configured to collect temperature, vibration, image and working noise decibels of the device, respectively.
The fixed point temperature sensor 21 and the vibration sensor 22 are mainly distributed on the boiler, a bearing seat of a steam turbine rotating device and an important motor of a main plant of the boiler, wireless transmission is adopted, the measured temperature and the vibration speed value are transmitted to a wireless gateway through wireless signals, the monitoring center 30 obtains temperature vibration data through a protocol, the temperature vibration data are integrally displayed on a display screen of the monitoring center 30, and abnormal alarm of the temperature vibration data can be realized through a threshold value.
When the fixed point detection module 20 detects the fixed point, it is a polling cycle after all the devices to be detected complete information acquisition, and after a polling cycle is completed, it waits for the monitoring center 30 to send a next polling instruction and then performs polling.
It should be noted that, in one polling cycle of the polling robot 10 and the fixed point detection module 20, multiple times of collection and multiple times of processing can be performed on the same collection point, and the specific collection and processing times are set as required. After the information processing of the same acquisition point is completed, the inspection robot 10 performs information acquisition of the next acquisition point.
Thirdly, the monitoring center 30 is used for performing bidirectional information data interaction with the inspection robot 10 and the fixed point detection module 20, and when interacting with the inspection robot 10, the monitoring center also includes the state data of the inspection robot 10 itself in addition to the information collected by the inspection robot 10.
The monitoring center 30 comprises a monitoring module, a processing module and a display module, wherein the monitoring module is respectively in signal connection with the inspection robot 10 and the fixed point detection module 20 and is used for respectively receiving information collected by the inspection robot 10 and the fixed point detection module 20; the processing module is electrically connected with the monitoring module and is used for processing the acquired information; the display module is electrically connected with the processing module and used for displaying the data of the processing module. The monitoring center 30 is further provided with an alarm module, the alarm module is electrically connected with the processing module, and abnormal alarm of the data of the processing module is realized through a threshold value.
Specifically, the image acquirer 23 includes a camera, which can adjust a camera angle, set a preset point, and the like. The display module comprises a display screen, and the display screen can monitor the picture of the camera in real time in a split screen mode. The fixed-point cameras can also be grouped by category and customization for group display and polling.
In addition, when the scale of the main plant of the boiler is large, sometimes, one inspection robot 10 cannot inspect a plant with a large area, a plurality of inspection robots 10 can be arranged, at this time, data interaction of the inspection system of the power plant is more frequent, in order to improve data interaction efficiency, as shown in fig. 3, a base station can be arranged, one base station can correspond to a plurality of inspection robots 10, the inspection robots 10 and the monitoring center 30 can perform data interaction through the base station, the monitoring center 30 can be understood as a server side, and the number of the base stations is arranged in a plurality according to data interaction requirements.
Specifically, the base station is in butt joint with the plurality of inspection robots 10, the base station is in wireless signal connection with the plurality of inspection robots 10 and the monitoring center 30 respectively, so that large-scale data interaction is completed, wireless transmission is achieved, and data can be transmitted back in real time.
When the monitoring center 30 is a server, the monitoring center 30 further includes an application service module, the application service module is electrically connected to the processing module, and the final data of the processing module is stored in the application service module.
The monitoring module is mainly responsible for acquiring original data from a front-end hardware system; the processing module is mainly responsible for classification statistics, storage and analysis of the original data; in the processing module, the normalized data is stored in a database of the application service module and is reserved as historical data; the processing module transmits the final data to the display module or transmits the final data to the alarm module when the data are abnormal.
Of course, the data can be directly transmitted through the application service module, the application service module stores the data and simultaneously distributes the data to an expert analysis system and an alarm analysis system (alarm module) which are electrically connected with the application service module, each system processes the required data according to the own business logic, and the data returns to the application service after a result is generated so as to be displayed to a final user or trigger alarm.
The display module is directly oriented to an operator, and displays various information of the system, such as videos, detection data, maps, alarm information and the like, to the operator through a display screen of the user side, and the information can be displayed to the operator in the forms of list view, graph display, curve display, historical record query, historical data analysis, data export and the like.
The boiler main building (steam turbine main building) is embodied on the display screen in a three-dimensional form, and by combining the position information sent by the inspection robot 10, the three-dimensional scene of an inspection site can be clearly and intuitively presented for operators, and meanwhile, the real-time video shot by the position of the inspection robot 10, the reading of a meter and the position state of a valve are displayed.
The design of the three-dimensional model of the boiler and the steam turbine and the design of the three-dimensional display picture are provided by a power plant and do not belong to the design part of the embodiment. The power plant inspection system only provides a software interface, has a software docking function with the three-dimensional display system, and can acquire information acquired by all sensors, analysis processing results, video information and picture information and display the acquired information in a three-dimensional picture by the three-dimensional display software.
The embodiment of the utility model provides a power plant inspection system, it can remove in the power plant and patrol and examine to patrol and examine robot 10, fixed point detection module 20 establishes on stating that the equipment of examining of power plant is examined to the fixed point, a corresponding information for the equipment of examining is examined in the fixed point detection, surveillance center 30 respectively with patrol and examine robot 10 and fixed point detection module 20 signal connection, a detection instruction is sent to patrolling and examining robot 10 and fixed point detection module 20 respectively, and the information of patrolling and examining robot 10 and fixed point detection module 20 collection is received and handled. Through will remove to patrol and examine and detect the combination with the fixed point, accord with the on-the-spot actual demand of patrolling and examining of production conscientiously, can solve tower boiler and patrol and examine a difficult problem, combine big data and internet of things, realize intelligent fortune dimension, promote fortune dimension efficiency, carry out real time monitoring to the equipment in the main power house, realize equipment trouble early warning.
The power plant inspection system provided by the embodiment of the utility model has the advantages that the inspection robot 10 can be used for intelligent inspection and auxiliary manual inspection, so that the change of a boiler inspection mode is fundamentally realized, the labor intensity of operators is reduced, and the accident rate is reduced; by monitoring the actual operation states of the main plant of the boiler and other production areas in real time, problems can be found as early as possible, and the safe operation of the unit is further improved; through an intelligent power plant inspection system, in combination with an image recognition technology, various pressure meters, thermometers, oil level gauges and the like are recognized, overrun alarm is performed, equipment fault early warning is achieved, and production safety is guaranteed; through the intelligent power plant inspection system, each table image is digitalized, so that a foundation can be laid for data analysis, and equipment diagnosis is facilitated.
Example two
As shown in fig. 4, the embodiment of the utility model provides a control method of power plant inspection system uses foretell power plant inspection system, include:
s100: the monitoring center 30 sends the inspection command to the inspection robot 10 and the fixed point detection module 20, respectively.
After receiving the inspection instruction, the inspection robot 10 and the fixed point detection module 20 respectively start to perform inspection work.
S110: the monitoring center 30 receives the information collected by the inspection robot 10 and the fixed point detection module 20, respectively.
The inspection robot 10 and the fixed point detection module 20 perform inspection work, and feed back the acquired inspection information to the monitoring center 30.
S120: the collected information is processed to obtain a processing result.
The monitoring center 30 receives the polling information and processes the polling information. Specifically, in the processing procedure, the acquired information is compared with a preset threshold, and when the acquired information is out of the range of the preset threshold, the acquired information is indicated to be abnormal, and the monitoring center 30 outputs an alarm signal.
The collected information includes data information or image information, and may further include indicator light identification (indicator light of the device), position state identification (position state of the valve, position state of the switch, etc.), sound identification (sound decibel size identification), and the like.
And when the acquired information is image information, comparing the characteristic points of the image information with the characteristic points of the preset image.
The equipment is often provided with dial plates such as a pointer meter, a liquid level meter, an oil level meter and the like, and numerical values cannot be directly obtained during identification of the dial plates, and are indirectly obtained through comparison of characteristic points of images.
For example, when the detected object is a dial, the camera aligns the lens with the dial and takes a picture through automatic focusing, then feeds the picture back to the monitoring center 30, the monitoring center 30 performs contour extraction on the taken picture, draws the minimum range and the maximum range of the dial and the characteristic graph of the pointer, and obtains the reading information of the dial by calculating the angle between the characteristic and the range characteristic of the pointer.
When the collected information is a numerical value, the numerical value can be directly obtained, and the numerical value is compared with a preset numerical value.
The specific identification process is as follows: acquiring a picture of a field meter/valve position → identifying the meter reading/valve position by software → judging whether to alarm according to the meter needle threshold value set by the monitoring center 30 or the normal state (on/off) of the valve.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A power plant inspection system, comprising:
the inspection robot is used for moving inspection in the power plant;
the fixed-point detection module is arranged on the equipment to be detected of the power plant and is used for detecting corresponding information of the equipment to be detected in the power plant at a fixed point;
and the monitoring center is in signal connection with the inspection robot and the fixed point detection module respectively, and is used for sending detection instructions to the inspection robot and the fixed point detection module respectively, and receiving and processing the information collected by the inspection robot and the fixed point detection module.
2. The power plant inspection system according to claim 1, wherein the inspection robot is provided with a controller, and a laser radar, a camera, a temperature sensor, a sound detection module and a charging interface module which are electrically connected with the controller respectively.
3. The power plant inspection system according to claim 1, wherein the fixed point detection module includes a fixed point temperature sensor, a vibration sensor, an image collector and a sound collector for respectively collecting temperature, vibration, image and working noise decibels of the equipment.
4. The power plant inspection system according to claim 1, wherein the monitoring center includes a monitoring module, a processing module and a display module, the monitoring module is in signal connection with the inspection robot and the fixed point detection module respectively, and is configured to receive information collected by the inspection robot and the fixed point detection module respectively;
the processing module is electrically connected with the monitoring module and is used for processing the acquired information;
the display module is electrically connected with the processing module and used for displaying the data of the processing module.
5. The power plant inspection system according to claim 4, wherein the monitoring center is further provided with an application service module electrically connected with the processing module for storing data of the processing module.
6. The power plant inspection system according to claim 5, wherein the monitoring center is further provided with an alarm module, and the alarm module is electrically connected with the processing module or the application service module.
7. The power plant inspection system according to claim 5, further comprising a base station, wherein the base station is docked with a plurality of inspection robots, and the base station is in wireless signal connection with the plurality of inspection robots and the monitoring center respectively.
8. A power plant inspection system according to claim 2, wherein the inspection robot is further provided with a safety radar electrically connected to the controller for detecting obstacles.
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| CN201921953651.7U CN210605473U (en) | 2019-11-12 | 2019-11-12 | Power plant inspection system |
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| CN201921953651.7U CN210605473U (en) | 2019-11-12 | 2019-11-12 | Power plant inspection system |
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| CN210605473U true CN210605473U (en) | 2020-05-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863001A (en) * | 2021-01-19 | 2021-05-28 | 中国工商银行股份有限公司 | Power distribution room patrol inspection method, device and system |
| CN112966552A (en) * | 2021-01-29 | 2021-06-15 | 山东信通电子股份有限公司 | Routine inspection method and system based on intelligent identification |
| CN115171360A (en) * | 2022-09-02 | 2022-10-11 | 国网山东省电力公司费县供电公司 | Combined type electric power plant area alarm system, alarm platform and use method |
-
2019
- 2019-11-12 CN CN201921953651.7U patent/CN210605473U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863001A (en) * | 2021-01-19 | 2021-05-28 | 中国工商银行股份有限公司 | Power distribution room patrol inspection method, device and system |
| CN112966552A (en) * | 2021-01-29 | 2021-06-15 | 山东信通电子股份有限公司 | Routine inspection method and system based on intelligent identification |
| CN115171360A (en) * | 2022-09-02 | 2022-10-11 | 国网山东省电力公司费县供电公司 | Combined type electric power plant area alarm system, alarm platform and use method |
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