CN217278938U - A real-time detection system for slag drop based on area array lidar - Google Patents
A real-time detection system for slag drop based on area array lidar Download PDFInfo
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- 239000002893 slag Substances 0.000 title claims abstract description 104
- 238000011897 real-time detection Methods 0.000 title claims abstract description 17
- 239000003245 coal Substances 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims description 4
- 239000013049 sediment Substances 0.000 claims 1
- 238000002485 combustion reaction Methods 0.000 abstract description 10
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
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- 239000000284 extract Substances 0.000 description 1
- 239000003546 flue gas Substances 0.000 description 1
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Abstract
本实用新型公开了一种基于面阵激光雷达的落渣实时检测系统,该系统包括:面阵激光雷达,所述面阵激光雷达正对炉内落渣的掉落通道,用于通过煤粉炉的观测孔,录制炉内落渣的掉落轨迹视频;数据线,用于连接面阵激光雷达和数据终端,从而将面阵激光雷达获取到的视频传输到数据终端上;数据终端,用于接收数据线传输过来的面阵激光雷达所获取到的视频信息,并通过落渣实时检测子系统,指导煤粉炉根据落渣掉落频率和大小优化运行状态。该系统能实时对煤粉炉内落渣的情况进行监控,为煤粉炉内燃烧和控制提供较强的依据,降低了大落渣掉落对于设备的安全隐患,从而提升了煤粉炉的安全可靠性并实现生活煤粉炉发电厂的清洁高效利用。
The utility model discloses a real-time detection system for slag falling based on area array laser radar. The system comprises: area array laser radar, the area array laser radar is facing the falling channel of falling slag in the furnace, and is used for passing coal powder The observation hole of the furnace records the falling trajectory video of the slag in the furnace; the data cable is used to connect the area array laser radar and the data terminal, so as to transmit the video obtained by the area array laser radar to the data terminal; It receives the video information obtained by the area array laser radar transmitted by the data line, and guides the pulverized coal furnace to optimize the operation state according to the frequency and size of the falling slag through the real-time detection subsystem of the falling slag. The system can monitor the situation of slag falling in the pulverized coal furnace in real time, provide a strong basis for combustion and control in the pulverized coal furnace, reduce the potential safety hazards of large slag falling to the equipment, and improve the performance of the pulverized coal furnace. Safe and reliable and realize the clean and efficient utilization of domestic pulverized coal furnace power plants.
Description
技术领域technical field
本实用新型涉及煤粉炉焚烧技术领域,具体地说,涉及一种基于面阵激光雷达的落渣实时检测系统。The utility model relates to the technical field of pulverized coal furnace incineration, in particular to a real-time detection system for slag falling based on area array laser radar.
背景技术Background technique
煤粉炉是以煤粉为燃料的锅炉设备。它具有燃烧迅速、完全、容量大、效率高、适应煤种广,便于控制调节等优点。煤粉炉的燃烧特点是燃料随空气一起进入燃烧室,并在悬浮状态下燃烧。The pulverized coal furnace is a boiler equipment that uses pulverized coal as fuel. It has the advantages of rapid and complete combustion, large capacity, high efficiency, adaptability to a wide range of coal types, and easy control and adjustment. The combustion characteristic of the pulverized coal furnace is that the fuel enters the combustion chamber with the air and burns in a suspended state.
煤粉锅炉炉膛水冷壁及屏上结渣是一种普遍现象,同时炉内结渣会使受热面的传热能力降低,造成炉膛出口烟温升高,锅炉效率降低。结渣严重时,大块渣落下可能会砸坏炉底水冷壁或阻塞排渣口,造成锅炉灭火停炉,甚至发生安全事故。Slag formation on the water wall and on the screen of the pulverized coal boiler furnace is a common phenomenon. At the same time, the slagging in the furnace will reduce the heat transfer capacity of the heating surface, resulting in an increase in the flue gas temperature at the furnace outlet and a decrease in boiler efficiency. When the slagging is serious, the falling of large pieces of slag may smash the water wall at the bottom of the furnace or block the slag discharge port, causing the boiler to extinguish the fire and stop the furnace, or even cause a safety accident.
煤粉炉内结渣后落渣会对设备造成严重影响,获取准确的渣块大小和落渣位置对于炉内燃烧控制和降低安全隐患有着重要意义。国内结渣和落渣的检测系统通常利用安装在水冷壁上的热流计对结渣造成的热流变化对其进行监控诊断或者采用安装在不同位置的红外成像仪测量水冷壁表面的辐射发射率,直接反映壁面的结渣状况,但这样的系统存在着误差大、应用条件苛刻、限制条件多等缺陷。现有系统只能获得炉膛结渣的趋势,无法获得实时结渣的位置和大小等关键信息,而现场运行人员往往仅依据运行经验判断落渣位置与大小,因此在现阶段的研究中,缺少一个能够有效对落渣的位置与大小进行实时检测检测的系统。After slagging in the pulverized coal furnace, slag falling will have a serious impact on the equipment. Obtaining accurate slag block size and slag falling position is of great significance to control combustion in the furnace and reduce potential safety hazards. Domestic detection systems for slagging and slagging usually use the heat flow meter installed on the water wall to monitor and diagnose the heat flow change caused by the slagging, or use infrared imagers installed at different positions to measure the radiation emissivity of the surface of the water wall. It directly reflects the slagging condition of the wall, but such a system has defects such as large errors, harsh application conditions, and many restrictive conditions. The existing system can only obtain the trend of slagging in the furnace, but cannot obtain key information such as the position and size of real-time slagging, and field operators often judge the position and size of slag only based on operating experience. A system that can effectively detect the position and size of slag in real time.
实用新型内容Utility model content
本实用新型的目的是提供一种基于面阵激光雷达的落渣实时检测系统,解决现有技术中普通工业相机无法捕捉落渣图像和煤粉炉落渣无法实时检测的问题。The purpose of the utility model is to provide a real-time detection system for slag falling based on area array laser radar, which solves the problems in the prior art that common industrial cameras cannot capture images of falling slag and that falling slag from pulverized coal furnace cannot be detected in real time.
为了实现上述目的,本实用新型采用以下技术方案实现:In order to achieve the above object, the utility model adopts the following technical solutions to realize:
一种基于面阵激光雷达的落渣实时检测系统,包括:A real-time detection system for slag slag based on area array lidar, comprising:
面阵激光雷达,所述的面阵激光雷达正对炉内落渣的掉落通道,用于通过煤粉炉的观测孔,录制炉内落渣的掉落轨迹视频;Area array laser radar, the area array laser radar is facing the falling channel of the slag falling in the furnace, and is used to record the falling track video of the falling slag in the furnace through the observation hole of the pulverized coal furnace;
数据线,用于连接面阵激光雷达和数据终端,从而将面阵激光雷达获取到的视频传输到数据终端上;The data cable is used to connect the area array lidar and the data terminal, so as to transmit the video obtained by the area array lidar to the data terminal;
数据终端,用于接收数据线传输过来的面阵激光雷达所获取到的视频信息,并通过落渣实时检测子系统,指导煤粉炉根据落渣掉落频率和大小优化运行状态。The data terminal is used to receive the video information obtained by the area array lidar transmitted by the data line, and guide the pulverized coal furnace to optimize the operation state according to the frequency and size of the falling slag through the real-time detection subsystem of the falling slag.
上述技术方案中,进一步地,所述的落渣实时检测子系统,包括:图像获取模块,灰度处理模块,二值化处理模块,落渣频率计算模块,连通域大小计算模块,报警模块;In the above technical solution, further, the described slag falling real-time detection subsystem includes: an image acquisition module, a grayscale processing module, a binarization processing module, a slag falling frequency calculation module, a connected domain size calculation module, and an alarm module;
所述的图像获取模块用于从落渣的掉落轨迹视频中每秒抽取一帧落渣图像;所述的灰度处理模块与图像获取模块相连,用于对获取的落渣图像进行灰度化处理得到灰度图;所述的二值化处理模块与灰度处理模块相连,用于灰度图进行二值化处理得到二值化图像;所述的落渣频率计算模块与二值化处理模块相连,用于对二值化图像中的连通域进行个数统计,从而获得图中落渣的个数并计算出落渣频率;所述的连通域大小计算模块与二值化处理模块相连,用于计算二值化图像中各个连通域的大小;所述的报警模块与连通域大小计算模块和落渣频率计算模块相连,用于在连通域大小和落渣频率超出安全阈值时发出安全指令。The image acquisition module is used for extracting one frame of slag falling image per second from the falling track video of the slag falling; The binarization processing module is connected with the grayscale processing module, and is used to perform the binarization processing on the grayscale image to obtain a binarized image; the slag falling frequency calculation module is connected with the binarization The processing module is connected, and is used to count the number of connected domains in the binarized image, so as to obtain the number of slag falling in the image and calculate the frequency of falling slag; the connected domain size calculation module and the binarization processing module connected, used to calculate the size of each connected domain in the binarized image; the alarm module is connected with the connected domain size calculation module and the slag falling frequency calculation module, and is used to send out when the connected domain size and the slag falling frequency exceed the safety threshold. safety instructions.
进一步地,通过在在煤粉炉上设置一个观察窗口,利用面阵激光雷达采集落渣下落通道视频,所述图像获取模块从视频中提取所述的落渣图像。由于煤粉炉炉渣掉落处存在大量未燃尽火焰,普通工业相机无法捕捉落渣下落图像,因此选用面阵激光雷达穿透火焰捕捉到落渣下落轨迹。Further, by setting an observation window on the pulverized coal furnace, the area array laser radar is used to collect the video of the falling slag falling channel, and the image acquisition module extracts the slag falling image from the video. Since there are a large number of unburned flames where the slag of the pulverized coal furnace falls, ordinary industrial cameras cannot capture the image of the falling slag, so the area array lidar is used to capture the falling trajectory of the falling slag through the flame.
进一步地,二值化处理模块处理得到的二值化图像中,落渣与拍摄背景的颜色差异使得二值化图上呈现出多处代表落渣的连通域。二值化处理模块将图像由灰度图变为二值化图像时设置的阈值为80。Further, in the binarized image processed by the binarization processing module, the color difference between the slag falling and the shooting background causes the binarization image to present multiple connected domains representing the falling slag. The threshold set when the binarization processing module changes the image from a grayscale image to a binarized image is 80.
进一步地,所述的落渣频率计算模块中,统计某帧图像的连通域个数为N,落渣频率η=N/1,其单位为HZ。Further, in the slag falling frequency calculation module, the number of connected domains of a certain frame of image is counted as N, the slag falling frequency η=N/1, and its unit is HZ.
进一步地,所述的连通域大小计算模块用于计算连通域的大小,所述连通域的大小Sn通过统计某一个连通域内的像素点总和得到,其中n=1,2,3…k。Further, the connected domain size calculation module is used to calculate the size of the connected domain. The size of the connected domain S n is obtained by counting the sum of the pixels in a certain connected domain, where n=1, 2, 3...k.
进一步地,落渣大小的安全连通域阈值为Ssa,当Sn>Ssa时,报警模块发出落渣掉落危险指令。落渣频率的安全阈值为1/40,当落渣频率超出安全阈值后,报警模块也会发出发出落渣掉落危险指令。Further, the threshold value of the safe connectivity domain of the size of the slag is S sa , and when Sn > S sa , the alarm module issues a slag falling danger instruction. The safety threshold of the slag falling frequency is 1/40. When the slag falling frequency exceeds the safety threshold, the alarm module will also issue a slag falling danger command.
本实用新型提供的基于面阵激光雷达的落渣实时检测系统,通过面阵激光雷达对煤粉炉中的落渣大小和频率进行实时检测,实时优化煤粉炉的燃烧控制并降低煤粉炉的安全隐患,从而提高煤粉炉燃烧的高效与安全。The slag falling real-time detection system based on the area array laser radar provided by the utility model can detect the size and frequency of falling slag in the pulverized coal furnace in real time through the area array laser radar, optimize the combustion control of the pulverized coal furnace in real time and reduce the Therefore, the efficiency and safety of pulverized coal furnace combustion can be improved.
与现有技术相比,本实用新型的有益之处在于:Compared with the prior art, the benefits of the present utility model are:
本实用新型的基于面阵激光雷达的落渣实时检测系统,通过实时获得每帧图像落渣连通域的大小和数量,最终得到煤粉炉落渣的大小和掉落频率。由于煤粉炉炉渣掉落处存在大量火焰,普通工业相机无法捕捉落渣图像,面阵激光雷达则可用于穿透火焰捕捉到落渣下落轨迹。基于面阵激光雷达的落渣实时检测系统相较现场运行人员根据炉内监控画面判断,更具有实时性和精确性,其能够高效和准确的计算落渣频率并发出大落渣掉落的危险提醒,能实现对煤粉炉的稳定燃烧的监控,使得煤粉炉燃烧更加高效清洁和安全可靠。The slag falling real-time detection system based on the area array laser radar of the utility model obtains the size and quantity of the slag falling connected area of each frame image in real time, and finally obtains the size and falling frequency of the slag falling from the pulverized coal furnace. Because there are a lot of flames where the slag falls from the pulverized coal furnace, ordinary industrial cameras cannot capture the image of the slag, and the area array lidar can be used to penetrate the flame to capture the falling trajectory of the slag. The real-time detection system of slag falling based on area array lidar is more real-time and accurate than the on-site operators based on the monitoring screen in the furnace. It can efficiently and accurately calculate the frequency of falling slag and issue the danger of large falling slag. Reminder, it can realize the monitoring of the stable combustion of the pulverized coal furnace, making the combustion of the pulverized coal furnace more efficient, clean, safe and reliable.
附图说明Description of drawings
图1为本实用新型实施例中面阵激光雷达安装在煤粉炉上的示意图;1 is a schematic diagram of an area array laser radar installed on a pulverized coal furnace in an embodiment of the present utility model;
图2为本实用新型实施例中基于面阵激光雷达的落渣实时检测系统的检测流程图。FIG. 2 is a detection flow chart of a real-time detection system for slag falling based on an area array laser radar in an embodiment of the present invention.
具体实施方式Detailed ways
为使本实用新型的目的、技术方案和优点更加清楚,以下结合实施例及其附图对本实用新型作进一步说明。显然,所描述的实施例是本实用新型的一部分实施例,而不是全部的实施例。基于所描述的实施例,本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例,都属于本实用新型保护的范围。In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described below with reference to the embodiments and the accompanying drawings. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
实施例Example
参见图1,本实施例的煤粉炉包括:煤粉炉炉膛1、工控机7、数据线6、面阵激光雷达5、落渣通道2和漏渣斗3。煤粉炉炉膛1中的落渣通过落渣通道2落入楼渣斗3,面阵激光雷达5安装在落渣通道2的中部。通过面阵激光雷达5来捕捉的落渣掉落视频,将采集的视频通过数据线6输入含有落渣实时检测子系统的工控机7中,得到最终的落渣频率与落渣大小。下落的落渣4通过落渣通道2最终堆积在漏渣斗3中。Referring to FIG. 1 , the pulverized coal furnace in this embodiment includes: a furnace 1 of the pulverized coal furnace, an
参见图2,落渣实时检测子系统在被调用时,执行以下步骤:Referring to Figure 2, when the slag falling real-time detection subsystem is called, the following steps are performed:
步骤S100:每秒获取一帧面阵固态激光雷达传感器捕捉的落渣图像。Step S100 : acquiring one frame of slag falling images captured by the area array solid-state lidar sensor per second.
步骤S200:将相应的BGR三通道火焰图像转换为单通道的灰度图。Step S200: Convert the corresponding BGR three-channel flame image into a single-channel grayscale image.
步骤S300:将步骤S200得到的灰度图像通过将图像二值化的方法,得到仅有像素值0和255的二值化图像。Step S300 : the grayscale image obtained in step S200 is binarized to obtain a binarized image with only pixel values of 0 and 255.
步骤S400:将步骤S300得到的图像,统计二值化图像连通域个数总和N,获得图中落渣的个数并计算出落渣频率η=N/1(HZ)。Step S400: Count the sum N of connected domains of the binarized image for the image obtained in step S300, obtain the number of slag falling in the figure, and calculate the slag falling frequency η=N/1(HZ).
步骤S500:统计某一个连通域内的像素点总和Sn,得到各个连通域的大小,其中n=1,2,3…k。Step S500: Count the sum S n of the pixels in a certain connected domain to obtain the size of each connected domain, where n=1, 2, 3...k.
步骤S600:检测落渣大小的安全连通域阈值为Ssa,当Sn>Ssa时,系统发出落渣掉落危险指令。检测落渣频率的安全阈值为1/40,当落渣频率η>1/40时,系统也会发出发出落渣掉落危险指令。Step S600 : the threshold value of the safety connectivity domain for detecting the size of the falling slag is S sa , and when Sn > S sa , the system issues a slag falling danger instruction. The safety threshold for detecting the slag falling frequency is 1/40. When the slag falling frequency η>1/40, the system will also issue a slag falling danger command.
综上所述,本实施例利用面阵激光雷达得到煤粉炉落渣的图像信息,并基于每1s获取的一帧实时落渣图片,通过连通域大小、个数统计等一系列图像处理方法,最终,获得煤粉炉内的炉渣大小及掉落频率,并能够获得大落渣掉落时的危险提醒。最终,本实用新型解决了煤粉炉发电厂无法实时获得炉内落渣的大小和频率等问题,能实时对煤粉炉内落渣的情况进行监控,为煤粉炉内燃烧和控制提供较强的依据,降低了大落渣掉落对于设备的安全隐患,从而提升了煤粉炉的安全可靠性并实现生活煤粉炉发电厂的清洁高效利用。采用本系统较人工经验估算循环倍率,具有高效、快捷、准确、能实时更新等优点,能实现煤粉炉的落渣实时监测。To sum up, in this embodiment, the area array laser radar is used to obtain the image information of the slag falling from the pulverized coal furnace, and based on a real-time slag falling picture obtained every 1s, a series of image processing methods such as connected domain size and number statistics are used. , and finally, the size and falling frequency of the slag in the pulverized coal furnace can be obtained, and the danger warning when the large falling slag falls can be obtained. Finally, the utility model solves the problem that the size and frequency of slag falling in the pulverized coal furnace cannot be obtained in real time in the power plant of the pulverized coal furnace, and can monitor the situation of the slag falling in the pulverized coal furnace in real time, which provides a better comparison for the combustion and control in the pulverized coal furnace. The strong basis reduces the potential safety hazard caused by large slag falling to the equipment, thereby improving the safety and reliability of the pulverized coal furnace and realizing the clean and efficient utilization of the domestic pulverized coal furnace power plant. Compared with manual experience, this system is used to estimate the cycle magnification, which has the advantages of high efficiency, fastness, accuracy, and real-time update, and can realize real-time monitoring of slag falling from the pulverized coal furnace.
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