JP2021004712A - Combustion position detection method in stoker-type garbage incinerator, combustion control method in stoker-type garbage incinerator, and combustion control device of stoker-type garbage incinerator - Google Patents
Combustion position detection method in stoker-type garbage incinerator, combustion control method in stoker-type garbage incinerator, and combustion control device of stoker-type garbage incinerator Download PDFInfo
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本発明は、ストーカ式移動火格子を備え、ごみを搬送しながら焼却するごみ焼却炉の火格子上のごみの燃焼位置検出方法及びストーカ式ごみ焼却炉の燃焼制御装置に関し、詳しくは、投入されたごみを搬送しながら焼却処理するストーカ式の焼却炉内に設置した映像手段で撮影したストーカ上で燃えているごみの映像を、一定時間ごとに画像として抽出し、抽出した画像を画像処理装置で読み込み、前記画像を処理し燃焼位置を検出し、適正位置と前記実際に燃えているごみの燃焼位置が離れていた場合に適正位置と燃焼位置の距離によってストーカのごみ送り速度を制御するストーカ式ごみ焼却炉の燃焼制御方法及びストーカ式ごみ焼却炉の燃焼制御装置に関する。 The present invention is provided with a stoker-type mobile grate, and details of a method for detecting the combustion position of waste on the grate of a waste incinerator that incinerates while transporting waste and a combustion control device for the stoker-type waste incinerator are introduced. An image of burning garbage on a stoker taken by a video means installed in a stoker-type incinerator that incinerates while transporting the garbage is extracted as an image at regular intervals, and the extracted image is used as an image processing device. Read with, process the image, detect the combustion position, and control the waste feed speed of the stalker by the distance between the appropriate position and the combustion position when the appropriate position and the combustion position of the actually burning waste are separated. The present invention relates to a combustion control method for a type waste incinerator and a combustion control device for a stoker type waste incinerator.
一般に、ストーカ式のごみ焼却炉１では、図６に示すように、ごみ供給ホッパ２よりクレーン（図示しない）にて燃焼室３に投入されたごみ４は、プッシャー５に押されストーカ６で搬送されながら燃焼し、燃焼したごみは最終的には灰となって、灰シュート７から排出される。
前記ストーカ６は、投入されたごみを乾燥させる乾燥段６ａ、乾燥したごみが着火し燃焼する燃焼段６ｂ、燃焼段で燃焼させたごみを完全に灰化する後燃焼段６ｃの合計三つの区間で構成されている。
なお、ごみ焼却炉１の下からごみ燃焼用の一次空気量が空気送風機８によりごみ焼却炉１へ供給される。
ごみは、燃焼段６ｂの中央付近では火炎を上げて盛んに燃え、後部ではほぼ灰化する。この火炎を上げて盛んに燃えている領域は、燃焼位置９と呼ばれる。燃焼位置９は、ストーカ６のごみ送り速度が適正であれば燃焼段６ｂに現れるが、ストーカ６のごみ送り速度が遅いと乾燥段６ａに現れ、ストーカのごみ送り速度が速いと後燃焼段６ｃに現れる。燃焼位置９が乾燥段６ａに現れた場合は、ごみの急激燃焼による炉体の損耗が発生してしまう。一方で、燃焼位置９が後燃焼段６ｃに現れた場合はごみの未燃炭素の割合が増え、熱しゃく減量が増加する。
上記の燃焼過程において炉内の適切な位置でごみを燃焼させるため、ストーカ式ごみ焼却炉内における火炎部（燃焼部）を燃焼位置として検出し、ごみの燃焼位置を制御するに際し、ごみ焼却炉内部をＩＴＶカメラにより撮像した炉内画像を撮影し、画像処理装置により、炉内画像の明るさ分布の傾向を利用して、火炎部のみを抽出するための２値化しきい値を求め、この２値化しきい値により火炎部の領域を抽出して燃焼位置を検出している。（特許文献１）
Generally, in the stoker-type waste incinerator 1, as shown in FIG. 6, the waste 4 thrown into the combustion chamber 3 by a crane (not shown) from the waste supply hopper 2 is pushed by the pusher 5 and conveyed by the stoker 6. It burns while being burned, and the burned garbage finally becomes ash and is discharged from the ash chute 7.
The stoker 6 has a total of three sections: a drying stage 6a for drying the input waste, a combustion stage 6b for igniting and burning the dried waste, and a post-combustion stage 6c for completely incinerating the waste burned in the combustion stage. It is composed of.
The amount of primary air for combustion of waste is supplied to the waste incinerator 1 by the air blower 8 from below the waste incinerator 1.
Garbage burns vigorously by raising a flame near the center of the combustion stage 6b, and almost incinerates at the rear. The region where the flame is raised and is actively burning is called the combustion position 9. The combustion position 9 appears in the combustion stage 6b if the dust feeding speed of the stoker 6 is appropriate, appears in the drying stage 6a if the dust feeding speed of the stoker 6 is slow, and appears in the drying stage 6a if the dust feeding speed of the stoker is high, and the post-combustion stage 6c if the dust feeding speed of the stoker is high. Appears in. When the combustion position 9 appears in the drying stage 6a, the furnace body is worn due to the rapid combustion of waste. On the other hand, when the combustion position 9 appears in the post-combustion stage 6c, the proportion of unburned carbon in the waste increases, and the heat loss increases.
In order to burn the waste at an appropriate position in the furnace in the above combustion process, the flame part (combustion part) in the stoker type waste incinerator is detected as the combustion position, and when controlling the combustion position of the waste, the waste incinerator An image of the inside of the furnace captured by an ITV camera is taken, and an image processing device is used to obtain a binarization threshold value for extracting only the flame part by using the tendency of the brightness distribution of the image inside the furnace. The combustion position is detected by extracting the area of the flame part by the binarization threshold value. (Patent Document 1)
上記の焼却炉内部をＩＴＶカメラにより撮像した炉内画像を画像処理装置により、炉内画像の明るさ分布の傾向を利用して、火炎部のみを抽出するための２値化しきい値を求め、この２値化しきい値により火炎部の領域を抽出して燃焼位置を検出する方法では、可視光で焼却炉内の炎の明るさは測定するが、その場合、燃焼位置から離れた場所で燃焼している箇所がある場合は、その箇所の明るさを検知してしまい、燃焼位置の決定が困難となる。また、炉内で飛灰が舞い上がった際、舞い上がった飛灰によって可視光がさえぎられてしまう。
赤外線カメラで炉内画像を撮影した場合、温度を測定しているため、温度差から燃焼領域を区別できる。また、炉内で飛灰が舞い上がった際も、温度を測定しているため、炉内の観察は継続可能である。しかし、壁近傍の温度は、壁からの輻射熱の影響を受けるため、燃焼位置の決定が困難となる。
また、焼却施設の運転員が焼却炉に設置された撮影手段により撮影された映像を一定時間ごとに目視で確認し、燃焼位置が適正位置から離れた場合に、ストーカ速度（ごみの送り速度）を手動で調整し、燃焼位置を適正位置に戻していた。しかし、投入されたごみの組成（元素比率、発熱量比率や水分比率）が変動した際は、作業員の目視によるストーカ速度の調整だけでは、対応が遅れていた。
Using the image processing device to obtain the binarization threshold value for extracting only the flame part by using the tendency of the brightness distribution of the incinerator image using the image processing device for the incinerator image captured by the ITV camera inside the incinerator. In the method of detecting the combustion position by extracting the area of the flame part by this binarization threshold, the brightness of the flame in the incinerator is measured with visible light, but in that case, the combustion is performed at a place away from the combustion position. If there is a spot where it is, the brightness of that spot will be detected, making it difficult to determine the combustion position. In addition, when the fly ash soars in the furnace, the visible light is blocked by the soaring fly ash.
When the image inside the furnace is taken with an infrared camera, the temperature is measured, so the combustion region can be distinguished from the temperature difference. In addition, even when fly ash soars in the furnace, the temperature is measured, so observation inside the furnace can be continued. However, since the temperature near the wall is affected by the radiant heat from the wall, it is difficult to determine the combustion position.
In addition, the operator of the incinerator visually checks the images taken by the photographing means installed in the incinerator at regular intervals, and when the combustion position deviates from the appropriate position, the stoker speed (garbage feeding speed). Was manually adjusted to return the combustion position to the proper position. However, when the composition of the input waste (elemental ratio, calorific value ratio, water ratio) fluctuates, the response was delayed only by adjusting the stalking speed visually by the worker.
本発明は、かかる観点に鑑みてなされたもので、ストーカ式ごみ焼却炉において、焼却炉内で燃えているごみを撮影手段で撮影した映像を一定時間ごとに画像として抽出し、画像処理を施して燃焼位置を検出し、燃焼位置を常に適正位置に保持するようにストーカ速度を調整しごみ送り速度を制御することで、ごみの急激燃焼による炉体の損耗や、ごみの不完全燃焼による熱しゃく減量の増加（灰中の未燃炭素の増加）を防止するストーカ式ごみ焼却炉における燃焼位置検出方法、ストーカ式ごみ焼却炉における燃焼制御方法及びストーカ式ごみ焼却炉の燃焼制御装置を提供することを目的とするものである。 The present invention has been made in view of this viewpoint. In a stoker-type waste incinerator, an image of burning waste in the incinerator taken by a photographing means is extracted as an image at regular intervals and subjected to image processing. By detecting the combustion position and adjusting the stalker speed so that the combustion position is always maintained at the proper position and controlling the waste feed speed, the furnace body is worn due to rapid combustion of waste and heat due to incomplete combustion of waste. Provided are a method for detecting a combustion position in a stoker-type waste incinerator, a combustion control method in a stoker-type waste incinerator, and a combustion control device for a stoker-type waste incinerator to prevent an increase in depletion (increase in unburned carbon in ash). The purpose is to do that.
本発明者らは上記課題を下記の手段により解決した。
〈１〉投入されたごみを搬送しながら焼却するストーカ式ごみ焼却炉（１）のストーカの燃焼段（６ｂ）におけるごみを撮影する撮影手段（１０）を備え、前記撮影手段（１０）により撮影した燃焼段（６ｂ）で燃えているごみの映像を画像として抽出し、該抽出された画像（２０）に基づいて前記燃焼段（６ｂ）上の燃えきり位置を検出すストーカ式ごみ焼却炉における燃焼位置検出方法であって、
前記画像（２０）を縦横のグリッド線（２１）で格子状の複数のマス（２２〜２６）に区分けし、
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、
各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重みづけ後の輝度値を求め、
各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、
ごみが火炎をあげて盛んに燃焼しているストーカ上の燃焼位置（２９）を検出することを特徴とするストーカ式ごみ焼却炉における燃焼位置検出方法。
〈２〉投入されたごみを搬送しながら焼却するストーカ式ごみ焼却炉（１）のストーカの燃焼段（６ｂ）におけるごみを撮影する撮影手段（１０）を備え、前記撮影手段（１０）により撮影した燃焼段（６ｂ）で燃えているごみの映像を画像として抽出し、該抽出された画像（２０）を縦横のグリッド線（２１）で格子状の複数のマス（２２〜２６）に区分けし、
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、
各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重みづけ後の輝度値を求め、
各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、
ごみが火炎をあげて盛んに燃えているストーカ上の燃焼位置（２９）を検出し、前記画像（２０）に表示された適正位置（２８）と燃焼位置（２９）とが離れていた場合、前記燃焼位置（２９）の位置と、該燃焼位置（２９）と適正位置（２８）との距離が格子のマス目で何マス分離れているかによって、ストーカのごみ送り速度を現在の速度に対してどれだけ増減させるのかをあらかじめ設定しておき、該設定した速度の増減度合いによって、自動で燃焼位置（２９）を適正位置（２８）と一致するようストーカのごみ送り速度を制御することを特徴とするストーカ式ごみ焼却炉の燃焼制御方法。
The present inventors have solved the above problems by the following means.
<1> An imaging means (10) for photographing the waste in the combustion stage (6b) of the stoker of the stoker-type waste incinerator (1) that incinerates the charged waste while transporting it is provided, and the photographing means (10) is used for photographing. In a stoker-type waste incinerator that extracts an image of waste burning in the combustion stage (6b) as an image and detects the burnout position on the combustion stage (6b) based on the extracted image (20). It is a combustion position detection method
The image (20) is divided into a plurality of grid-like cells (22 to 26) by vertical and horizontal grid lines (21).
Weighting is performed according to the position of each grid-like mass (22 to 26) divided by the grid line (21).
Obtain the weighted brightness value in consideration of the weighting of each cell from the measured brightness value of each cell (22 to 26).
Calculate the average value of the weighted brightness values in one horizontal row or one vertical row of each cell (22 to 26).
A method for detecting a combustion position in a stoker-type waste incinerator, which comprises detecting a combustion position (29) on a stoker in which garbage raises a flame and is actively burning.
<2> An imaging means (10) for photographing the waste in the combustion stage (6b) of the stoker of the stoker-type waste incinerator (1) that incinerates the charged waste while being conveyed is provided, and the photographing means (10) is used for photographing. The image of the garbage burning in the combustion stage (6b) was extracted as an image, and the extracted image (20) was divided into a plurality of grid-like cells (22 to 26) by vertical and horizontal grid lines (21). ,
Weighting is performed according to the position of each grid-like mass (22 to 26) divided by the grid line (21).
Obtain the weighted brightness value in consideration of the weighting of each cell from the measured brightness value of each cell (22 to 26).
Calculate the average value of the weighted brightness values in one horizontal row or one vertical row of each cell (22 to 26).
When the combustion position (29) on the stoker where the garbage is burning with flames is detected and the proper position (28) and the combustion position (29) displayed in the image (20) are separated from each other. Depending on how many squares the distance between the combustion position (29) and the proper position (28) is separated by the grid grid, the dust feed speed of the stoker is set relative to the current speed. The feature is that the amount of increase / decrease is set in advance, and the dust feed speed of the stoker is automatically controlled so that the combustion position (29) matches the appropriate position (28) according to the degree of increase / decrease of the set speed. Combustion control method for the stoker-type waste incinerator.
〈３〉投入されたごみを搬送しながら焼却するストーカ式ごみ焼却炉（１）のストーカの燃焼段（６ｂ）におけるごみを撮影する撮影手段（１０）と、
前記撮影手段（１０）により撮影した燃焼段（６ｂ）で燃えているごみの映像を画像（２０）として抽出し、該抽出された画像（２０）に縦横のグリッド線（２１）で格子状の複数のマス（２２〜２６）に区分けし、
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重みづけ後の輝度値を求め、各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、燃焼位置（２９）を検出し、前記燃焼位置（２９）を画像（２０）上に表示する画像処理装置（１１）と、適正位置（２８）と前記画像処理装置（１１）により得られた画像（２０）に表示された前記燃焼位置（２９）との位置を比較して、該距離に対応して設定した速度の増減度合いによって、自動で燃焼位置（２９）を適正位置（２８）と一致するようストーカの送り速度を制御する制御装置とからなることを特徴とするストーカ式ごみ焼却炉の燃焼制御装置。
<3> Photographing means (10) for photographing the waste in the combustion stage (6b) of the stoker of the stoker-type waste incinerator (1) that incinerates the charged waste while transporting it.
An image of garbage burning in the combustion stage (6b) taken by the photographing means (10) is extracted as an image (20), and the extracted image (20) is grid-like with vertical and horizontal grid lines (21). Divide into multiple squares (22-26)
Weighting is performed according to the position of each cell (22 to 26) in a grid pattern divided by the grid line (21), and the actual brightness value of each cell (22 to 26) is weighted. The considered brightness value after weighting is obtained, the average value of the weighted brightness values in one horizontal row or one vertical row of each mass (22 to 26) is calculated, the combustion position (29) is detected, and the combustion position is described. The image processing device (11) displaying (29) on the image (20), and the combustion position (29) displayed on the proper position (28) and the image (20) obtained by the image processing device (11). ), And a control device that automatically controls the feed speed of the stalker so that the combustion position (29) matches the appropriate position (28) according to the degree of increase or decrease in the speed set corresponding to the distance. A combustion control device for a stoker-type waste incinerator, which is characterized by being composed of.
本発明のストーカ式ごみ焼却炉における燃焼位置検出方法及びストーカ式ごみ焼却炉の燃焼制御装置によれば、ストーカ式の焼却炉内に設置した映像手段で撮影したストーカ上で燃えているごみの映像を一定時間ごとに画像として抽出し、抽出した画像を画像処理装置で読み込み、前記画像を処理し燃焼位置を検出し、適正位置と前記実際に燃えているごみの燃焼位置が離れていた場合、燃焼位置を常に適正位置に保持するように該距離に対応して設定した速度の増減度合いによって、ストーカ速度を調整しごみ送り速度を制御することで、ごみの急激燃焼による炉体の損耗やごみの不完全燃焼による熱しゃく減量の増加（ごみの未燃炭素割合の増加）を防止することができる。 According to the combustion position detection method in the stoker-type waste incinerator and the combustion control device of the stoker-type waste incinerator of the present invention, an image of the waste burning on the stoker taken by the image means installed in the stoker-type incinerator. Is extracted as an image at regular intervals, the extracted image is read by an image processing device, the image is processed to detect the burning position, and when the proper position and the burning position of the actually burning garbage are separated from each other, By adjusting the stalker speed and controlling the waste feed speed according to the degree of increase / decrease in the speed set according to the distance so that the combustion position is always maintained at the proper position, the furnace body is worn or the waste is damaged due to the rapid combustion of the waste. It is possible to prevent an increase in the amount of heat loss (increase in the unburned carbon ratio of waste) due to incomplete combustion.
本発明に係るごみ焼却炉の自動燃焼制御方法を実施するための形態を、実施例の図に基づいて説明する。
なお、従来技術と同等の、若しくは相当する機能を有する要素には同一の符号を付し、これらの説明については一部省略する。
図１は本発明の実施の形態によるごみ焼却炉の概略図、図２は撮影手段の設置位置の例を表す図、図３は、炉内画像において燃焼位置を求める方法を説明する図、図４はストーカのごみ送り速度の調整方法の説明図である。
図１のように、１０の燃焼段６ｂの上部に設置した炉内を撮影する撮影手段で赤外線カメラを用いることで、可視カメラでは判別できない、燃焼位置を判別することができる。
１１は撮影手段１０で撮影された画像を処理する画像処理装置、１２はストーカの速度を制御する制御装置である。
図１を参照してこの焼却炉における焼却炉へのごみ投入から該ごみが焼却されるまでの流れを説明する。
ごみ供給ホッパ２よりクレーン（図示しない）にて焼却炉１に投入されたごみ４はごみ燃焼室３に入りプッシャー５により押され乾燥段６ａへ移動し、該乾燥段６ａ上で乾燥されながら燃焼段６ｂへ移動し、燃焼段６ｂで燃焼され、後燃焼段６ｃへ移動し燃焼し灰となり、焼却炉１の灰シュート７より排出される。
上記焼却炉１に投入されごみ４が燃焼室３で燃焼され灰となり焼却炉外へ排出される過程において、焼却炉１に設けた撮影手段１０は、ストーカ６の燃焼段６ｂで燃焼されているごみの燃焼状態を撮影しその撮影画像は画像処理装置１１に取り込まれる。
図２において、ａ〜ｅは撮影手段（ＩＴＶカメラ）の設置位置の例を表し、ａはストーカの直上、ｂはごみの進行方向の前側の上（または上壁）、ｃはごみの進行方向の後側の上（または上壁）、ｄはごみの進行方向から見て右側の横壁、ｅはごみの進行方向から見て左側の横壁に設置する場合である。
A mode for implementing the automatic combustion control method of the waste incinerator according to the present invention will be described with reference to the figures of Examples.
Elements having the same or equivalent functions as those in the prior art are designated by the same reference numerals, and some of these descriptions will be omitted.
FIG. 1 is a schematic view of a waste incinerator according to an embodiment of the present invention, FIG. 2 is a diagram showing an example of an installation position of a photographing means, and FIG. 3 is a diagram and a diagram illustrating a method of obtaining a combustion position in an image inside the furnace. FIG. 4 is an explanatory diagram of a method of adjusting the dust feed speed of the stoker.
As shown in FIG. 1, by using an infrared camera as a photographing means for photographing the inside of the furnace installed above the combustion stage 6b of 10, it is possible to determine the combustion position which cannot be determined by the visible camera.
Reference numeral 11 denotes an image processing device that processes an image captured by the photographing means 10, and reference numeral 12 denotes a control device that controls the speed of the stalker.
The flow from the introduction of waste into the incinerator to the incineration of the waste in this incinerator will be described with reference to FIG.
The waste 4 thrown into the incinerator 1 by a crane (not shown) from the waste supply hopper 2 enters the waste combustion chamber 3, is pushed by the pusher 5, moves to the drying stage 6a, and burns while being dried on the drying stage 6a. It moves to the stage 6b, is burned in the combustion stage 6b, moves to the post-combustion stage 6c, burns and becomes ash, and is discharged from the ash chute 7 of the incinerator 1.
In the process of being put into the incinerator 1 and the garbage 4 being burned in the combustion chamber 3 to become ash and discharged to the outside of the incinerator, the photographing means 10 provided in the incinerator 1 is burned in the combustion stage 6b of the stoker 6. The burning state of the waste is photographed, and the photographed image is taken into the image processing apparatus 11.
In FIG. 2, a to e represent an example of the installation position of the photographing means (ITV camera), a is directly above the stalker, b is above the front side (or upper wall) of the dust traveling direction, and c is the dust traveling direction. When installed on the rear upper side (or upper wall), d is the side wall on the right side when viewed from the direction of dust travel, and e is the side wall on the left side when viewed from the direction of dust travel.
以下の説明は、炉内画像における燃焼位置を求める方法の一例であり、これに限定されるものではない。図３に示すように、画像処理装置に取り込まれた前記撮影画像２０は、縦横（縦：ごみの進行方向、横：ごみの進行方向の直角方向）のグリッド線２１で５×５の格子状のマス２２〜２６に区分けされる。２８はストーカ６の燃焼段６ｂにおける適正位置、２９は燃焼位置である。前記適正位置とは、前記燃焼段６ｂにおいて前記ごみが炉体の損耗や熱しゃく減量の増加を起こすことなく燃焼する位置である。焼却炉の大小、撮影手段１０の設置位置、撮影手段の向き等によりそれぞれ異なることから焼却炉を稼働させ撮影手段１０でストーカ６の燃焼段６ｂで燃焼しているごみの燃焼状態を撮影しその撮影画像に基づいて適正位置を決めている。 The following description is an example of a method for obtaining a combustion position in an image in a furnace, and is not limited to this. As shown in FIG. 3, the captured image 20 captured in the image processing apparatus has a grid line 21 in the vertical and horizontal directions (vertical: the direction in which the dust travels, horizontal: the direction perpendicular to the direction in which the dust travels) in a 5 × 5 grid pattern. It is divided into squares 22 to 26. Reference numeral 28 is an appropriate position in the combustion stage 6b of the stoker 6, and 29 is a combustion position. The proper position is a position where the waste burns in the combustion stage 6b without causing wear of the furnace body or an increase in heat reduction. Since the size of the incinerator differs depending on the size of the incinerator, the installation position of the photographing means 10, the orientation of the photographing means, etc., the incinerator is operated and the photographing means 10 photographs the combustion state of the waste burning in the combustion stage 6b of the stoker 6. The proper position is determined based on the captured image.
画像処理装置においては、前記縦横のグリッド線２１で５×５の格子状のマス２２〜２６に区分けされた各マスの炉内温度を輝度で表す。このとき、可視カメラの場合、燃焼位置から離れた箇所で燃焼している箇所があった場合、検知する炎の明るさが分散するので、炎の明るさを輝度で表すことでは燃焼位置の判定が正確にできない。
赤外線カメラの場合、炎の生じる場所に関係なく、温度を検出して燃焼状態を適確に把握できる。しかしながらごみの進行方向に向かって両端に近いマスは焼却炉内の両側の壁から反射する輻射熱の影響を受けるため炉内温度を正確に測定することが困難である。一方中央のマスは焼却炉内の両側の壁から反射する輻射熱の影響を受けにくいので炉内温度を正確に測定することができる。
In the image processing apparatus, the temperature in the furnace of each of the 5 × 5 grid-shaped cells 22 to 26 divided by the vertical and horizontal grid lines 21 is represented by the brightness. At this time, in the case of a visible camera, if there is a burning part away from the burning position, the brightness of the detected flame is dispersed. Therefore, the combustion position can be determined by expressing the brightness of the flame by the brightness. Can't be accurate.
In the case of an infrared camera, the temperature can be detected and the combustion state can be accurately grasped regardless of the place where the flame is generated. However, it is difficult to accurately measure the temperature inside the incinerator because the masses near both ends in the direction of dust travel are affected by the radiant heat reflected from the walls on both sides of the incinerator. On the other hand, the central mass is not easily affected by the radiant heat reflected from the walls on both sides of the incinerator, so the temperature inside the incinerator can be measured accurately.
そこで、各マスの位置に応じて重みづけをして、両端に近いマスの輝度の重みづけを軽くし、中央に近いマスの輝度の重みづけを重くして、横列の各マスの輝度の平均値を算出する等の方法で、ごみが火炎をあげて盛んに燃えている状態とみなした所定輝度以上となるストーカ上の燃焼位置を判断する。
例えば、図３においてごみの進行方向に向かって後端の横一列のマス２２において、実施例のように画像を５×５のマスに区切った場合、一段目のマスの輝度の実測値が全て１００とした場合、例えば、左から右に向かって重みづけを０．２→０．４→０．７→０．４→０．２とした場合は、重みづけした後の輝度は、左から右に向かって２０→４０→７０→４０→２０となりその横一列の平均値は、３８となる。
このように中央のマス２２ａの重みづけを０．７とし実測の輝度値を０．７倍、中央のマスの両隣のマス２２ｂの重みづけを０．４とし実測の輝度値を０．４倍、両端に近いマス２２ｃの重みづけを０．２とし実測の輝度値を０．２倍し横一列の平均値を出す。
上記の例においては、重みづけを左右対称としたが、必ずしもそうする必要はなく、ＩＴＶカメラの設置位置を炉内のごみの進行方向の前側の上（または上壁）でごみの進行方向から見て右寄り（ｂ’）に設置するような場合は、右寄りの横壁から反射する輻射熱の影響が強いので、この影響を緩和するため、例えば、左から右に向かって重みづけを０．１→０．３→０．４→０．６→０．５とした場合は、重みづけした後の輝度は、左から右に向かって１０→３０→４０→６０→５０となりその横一列の平均値は、３８となる。
このように左側に近いマス２２ｃの重みづけを０．１とし実測の輝度値を０．１倍、その隣のマス２２ｂの重みづけを０．３とし実測の輝度値を０．３倍、その隣のマス２２ａの重みづけを０．４とし実測の輝度値を０．４倍、その隣のマス２２ｂの重みづけを０．６とし実測の輝度値を０．６倍、その隣のマス２２ｃの重みづけを０．５とし実測の輝度値を０．５倍し横一列の平均値を出す。
Therefore, weighting is performed according to the position of each cell, the weighting of the brightness of the cells near both ends is lightened, and the weighting of the brightness of the cells near the center is increased, and the average brightness of each cell in the row is averaged. By a method such as calculating a value, the combustion position on the stoker whose brightness is equal to or higher than the predetermined brightness, which is considered to be a state in which the garbage raises a flame and is actively burning, is determined.
For example, in FIG. 3, when the image is divided into 5 × 5 squares as in the embodiment in the squares 22 in a horizontal row at the rear end toward the traveling direction of the dust, all the measured values of the brightness of the squares in the first stage are all. When it is set to 100, for example, when the weighting is 0.2 → 0.4 → 0.7 → 0.4 → 0.2 from left to right, the brightness after weighting is from the left. To the right, 20 → 40 → 70 → 40 → 20, and the average value in the horizontal row is 38.
In this way, the weight of the central cell 22a is 0.7, the measured brightness value is 0.7 times, and the weight of the cells 22b on both sides of the center cell is 0.4, and the measured brightness value is 0.4 times. , The weight of the squares 22c near both ends is set to 0.2, and the measured brightness value is multiplied by 0.2 to obtain the average value in a horizontal row.
In the above example, the weighting is symmetrical, but it is not always necessary to set the ITV camera on the front side (or upper wall) of the dust in the furnace from the direction of the dust. When installing on the right side (b'), the effect of radiant heat reflected from the side wall on the right side is strong, so in order to mitigate this effect, for example, the weighting is 0.1 → from left to right. When 0.3 → 0.4 → 0.6 → 0.5, the brightness after weighting is 10 → 30 → 40 → 60 → 50 from left to right, and the average value in the horizontal row. Is 38.
In this way, the weight of the square 22c near the left side is 0.1, the measured brightness value is 0.1 times, the weight of the next square 22b is 0.3, and the measured brightness value is 0.3 times. The weight of the adjacent square 22a is 0.4, the measured brightness value is 0.4 times, the weight of the adjacent square 22b is 0.6, the measured brightness value is 0.6 times, and the adjacent square 22c The weighting of is 0.5, and the measured brightness value is multiplied by 0.5 to obtain the average value in a horizontal row.
同様に後端から先端の横一列のマス（２２〜２６）において、それぞれ各マスに重みづけをし、各マスの温度の測定値に重みづけを掛けて各横一列の輝度の平均値を算出し、ごみが火炎を上げて盛んに燃えているストーカ上の燃焼位置を特定する。
例えば、上記重みづけ後の平均値が１００のところを適正位置とした場合に、前記５個の横一列の重みづけ後の平均値が、図３の画像において上から３０、６０、９０、１２０、１５０と仮定した場合、下から２段目と３段目のマスの間の位置が適正位置となる。
本発明の実施形態においては、画像を５×５のマスで区切ったが、焼却炉の大きさによって燃焼線の適切な区分方法が異なるため、３×３〜９×９までのマスとしても良い。
なお、図においては後燃焼段６ｃ側からみて２つ目のグリッド線２１ｂの位置が前記の画像処理の結果特定された燃焼位置２９である。
上記は、横一列の重みづけ後の平均値等に基づいてストーカ上の燃焼位置を判断する場合であるが、ＩＴＶカメラがごみの進行方向から見て右側の横壁（ｄ）や左側の横壁（ｅ）に設置している場合は、縦一列の重みづけ後の平均値等に基づいてストーカ上の燃焼位置を判断する。
Similarly, in the squares (22 to 26) in a horizontal row from the rear end to the tip, each square is weighted, and the measured value of the temperature of each square is weighted to calculate the average value of the brightness in each horizontal row. Then, identify the burning position on the stalker where the garbage raises the flame and burns vigorously.
For example, when the place where the average value after weighting is 100 is set as an appropriate position, the average value after weighting of the five horizontal rows is 30, 60, 90, 120 from the top in the image of FIG. , 150, the position between the squares in the second and third stages from the bottom is the proper position.
In the embodiment of the present invention, the image is divided by 5 × 5 squares, but since the appropriate classification method of the combustion line differs depending on the size of the incinerator, the squares may be 3 × 3 to 9 × 9. ..
In the figure, the position of the second grid line 21b when viewed from the post-combustion stage 6c side is the combustion position 29 specified as a result of the image processing.
The above is the case where the combustion position on the stalker is determined based on the average value after weighting in a horizontal row, but the ITV camera sees the right side wall (d) and the left side wall (d) when viewed from the direction of dust travel. If it is installed in e), the combustion position on the stalker is determined based on the average value after weighting in a vertical row.
図４はストーカのごみ送り速度の調整方法の説明図である。
本発明の実施形態においては、前記撮影手段１０で炉内のごみの燃焼状態を撮影した映像を一定時間ごとに画像として抽出し、前記画像処理を施す。
図４におけるグリッド線２１ａ〜２１ｆは、それぞれ燃焼位置２９であり、例えば画像処理を施された画像２０において燃焼位置２９がグリッド線２１ａに位置するときは、適正位置２８に対して２マス分ごみ送り速度が速いことを表し、グリッド線が２１ｂに位置するときは、適正位置２８に対して１マス分ごみ送り速度が速いことを表している。
また、燃焼位置２９がグリッド線２１ｃに位置するときは、適正位置２８と燃焼位置２９が一致しており、適切なごみ送り速度であることを表している。
FIG. 4 is an explanatory diagram of a method of adjusting the dust feed speed of the stoker.
In the embodiment of the present invention, an image obtained by photographing the combustion state of dust in the furnace by the photographing means 10 is extracted as an image at regular time intervals, and the image processing is performed.
The grid lines 21a to 21f in FIG. 4 are the combustion positions 29, respectively. For example, when the combustion position 29 is located at the grid line 21a in the image processed image 20, 2 squares of dust is generated with respect to the appropriate position 28. It means that the feed speed is high, and when the grid line is located at 21b, it means that the waste feed speed is high by one square with respect to the proper position 28.
Further, when the combustion position 29 is located on the grid line 21c, the appropriate position 28 and the combustion position 29 coincide with each other, indicating that the waste feed rate is appropriate.
逆に、燃焼位置２９がグリッド線２１ｄに位置しているときは、適正位置２８に対して１マス分ごみ送り速度が遅いことを表し、グリッド線２１ｅに位置するときは、適正位置２８に対して２マス分ごみ送り速度が遅いことを表し、グリッド線２１ｆに位置するときは、適正位置２８に対して３マス分ごみ送り速度が遅いことを表している。
上記のように、前記画像２０から両者の位置を比較し、適正位置２８と燃焼位置２９が離れていた場合、離れている距離が格子のマス目で何マス分離れているかによって、ストーカのごみ送り速度を現在の速度に対してどれだけ増減させるのかをあらかじめ設定しておき、該設定した速度の増減度合いによって、自動で燃焼位置２９を適正位置と一致するよう制御する。
例えば、燃焼位置がグリッド線２１ａに位置するときは、ストーカを送る速度をｅ％遅くし、グリッド線２１ｂに位置するときは、ストーカを送る速度をｄ％遅くし、燃焼位置がグリッド線２１ｄに位置するときは、ストーカを送る速度をｃ％速くし、グリッド線２１ｅに位置するときは、ストーカを送る速度をｂ％速くし、グリッド線２１ｆに位置するときは、ストーカを送る速度をａ％速くして、ストーカのごみ送り速度を調整する。
このように適正位置２８と燃焼位置２９とが一致するようストーカのごみ送り速度を制御する。
なお、図４の場合は、燃焼位置２９が適正位置よりも後燃焼段６ｃ側であるグリッド線２１ｂにあるため、ストーカのごみ送り速度をｄ％遅くする。
On the contrary, when the combustion position 29 is located on the grid line 21d, it means that the waste feed rate is slower than the proper position 28 by one square, and when it is located on the grid line 21e, it means that the waste feed rate is slower than the proper position 28. It means that the dust feed speed is slow by 2 squares, and when it is located on the grid line 21f, it means that the dust feed speed is slow by 3 squares with respect to the proper position 28.
As described above, when the positions of both are compared from the image 20 and the proper position 28 and the combustion position 29 are separated, the stalker's waste depends on how many squares the separated distance is separated by the grid grid. How much the feed rate is increased or decreased with respect to the current speed is set in advance, and the combustion position 29 is automatically controlled to match the appropriate position according to the degree of increase or decrease of the set speed.
For example, when the combustion position is located on the grid line 21a, the speed of sending the stalker is slowed by e%, and when it is located on the grid line 21b, the speed of sending the stalker is slowed by d%, and the burning position is set to the grid line 21d. When it is located, the speed of sending the stalker is increased by c%, when it is located on the grid line 21e, the speed of sending the stalker is increased by b%, and when it is located on the grid line 21f, the speed of sending the stalker is increased by a%. Make it faster and adjust the stalker's garbage feed rate.
In this way, the dust feed rate of the stoker is controlled so that the proper position 28 and the combustion position 29 coincide with each other.
In the case of FIG. 4, since the combustion position 29 is on the grid line 21b on the rear combustion stage 6c side of the proper position, the dust feed speed of the stoker is slowed by d%.
図５は、本発明の実施の形態によるストーカのごみ送り速度の調整方法の流れを説明するためのフローチャート図である。
焼却炉運転中に撮影手段１０で炉内のごみの燃焼状態を撮影する（ステップ１）
撮影した映像を画像として抽出し、画像処理装置に取り込み、画像処理し処理後の画像を制御装置に送る。（ステップ２）
・取り込んだ画像を複数本のグリッド線で格子状に複数のマスに区分する。（ステップ２−１）
・各マスにその各マスの位置に応じて重みづけをする。（ステップ２−２）
・各マスの輝度の実測の輝度値と各マスの位置に応じた重みづけに基づいて、重みづけ後の輝度を求める。（ステップ２−３）。
・横列ごとに横一列のマスの重みづけ後の輝度の平均値を求め、燃焼位置を特定し画像に燃焼位置と適正位置を表示する。（ステップ２−４）
上記処理後の画像を制御装置に送る。（ステップ２−５）
画像処理装置から送られた燃焼位置が表示された画像に基づいてストーカのごみ送り速度を制御する。（ステップ３）。
・適正位置と燃焼位置を比較し、（ステップ３−１）
・適正位置と燃焼位置が同じ位置になるようにストーカのごみ送り速度の増減割合を決定し、（ステップ３−２）
・増減割合に応じてストーカのごみ送り速度を制御する。（ステップ３−３）
FIG. 5 is a flowchart for explaining a flow of a method of adjusting a dust feeding speed of a stoker according to an embodiment of the present invention.
While the incinerator is in operation, the photographing means 10 photographs the combustion state of the dust in the furnace (step 1).
The captured image is extracted as an image, captured in an image processing device, image-processed, and the processed image is sent to a control device. (Step 2)
-The captured image is divided into multiple cells in a grid pattern with multiple grid lines. (Step 2-1)
-Weight each square according to the position of each square. (Step 2-2)
-The brightness after weighting is obtained based on the measured brightness value of the brightness of each square and the weighting according to the position of each square. (Step 2-3).
-For each row, find the average value of the brightness after weighting the cells in a horizontal row, specify the burning position, and display the burning position and the appropriate position on the image. (Step 2-4)
The image after the above processing is sent to the control device. (Step 2-5)
The dust feed rate of the stalker is controlled based on the image showing the combustion position sent from the image processing device. (Step 3).
-Compare the proper position and the combustion position (step 3-1).
・ Determine the rate of increase / decrease in the waste feed rate of the stalker so that the proper position and the combustion position are the same (step 3-2).
-Control the waste feed speed of the stalker according to the rate of increase / decrease. (Step 3-3)
このようにストーカのごみ送り速度の制御は、例えば図４の画像処理を施された画像において燃焼位置がグリッド線２１ａに位置するときは、適正位置２８に対して２マス分（ごみ送り速度がｅ％早い）ごみ送り速度が速いため、ストーカのごみ送り速度をｅ％遅くする。
そして、燃焼位置がグリッド線２１ｃに位置するときは、適正位置２８と燃焼位置２９が一致していてごみ送り速度が適切であるためストーカを同じ送り速度で維持する。
また、燃焼位置がグリッド線２１ｄに位置するときは、適正位置２８に対して１マス分（送り速度がｃ％遅い）ごみ送り速度が遅いため、ストーカの送り速度をｃ％速くし、グリッド線２１ｅに位置するときは、ごみ送り速度をｂ％、グリッド線２１ｆに位置するときは、ごみ送り速度をａ％速くする。
In this way, the control of the dust feed rate of the stalker is, for example, when the combustion position is located on the grid line 21a in the image processed in FIG. 4 , the dust feed rate is 2 squares with respect to the appropriate position 28 (the dust feed rate is (E% faster) Since the garbage feeding speed is fast, the garbage feeding speed of the stalker is reduced by e%.
When the combustion position is located on the grid line 21c, the proper position 28 and the combustion position 29 coincide with each other, and the waste feed rate is appropriate, so that the stalker is maintained at the same feed rate.
When the combustion position is located on the grid line 21d, the waste feed speed is slow by one square (the feed speed is c% slower) than the proper position 28, so the stalker feed speed is increased by c% and the grid line. When it is located at 21e, the dust feed speed is increased by b%, and when it is located at the grid line 21f, the waste feed speed is increased by a%.
次のごみが投入され、該ごみのごみ質や重さ等が変化する場合、前記ごみの燃焼位置も変化するため、ごみを投入する都度燃焼位置を特定しそれに応じて、ストーカのごみ送り速度を増減させる制御をする。
以上のステップを繰り返し行い炉内で燃焼しているごみの燃焼位置に応じてごみ送り速度を制御する。
When the next garbage is thrown in and the quality and weight of the garbage change, the combustion position of the garbage also changes. Therefore, the combustion position is specified each time the garbage is thrown in, and the stalker's garbage feed rate is changed accordingly. Is controlled to increase or decrease.
By repeating the above steps, the waste feed rate is controlled according to the combustion position of the waste burning in the furnace.
１ ごみ焼却炉
２ ごみ供給ホッパ
３ ごみ燃焼室
４ ごみ
５ プッシャー
６ ストーカ
７ 灰シュート
８ 空気送風機
９ 燃焼位置
１０ 撮影手段
１１ 画像処理装置
１２ 制御装置
２０ 画像
２１ グリッド線
２２〜２６ マス
２８ 適正位置
２９ 燃焼位置
1 Garbage incinerator 2 Garbage supply hopper 3 Garbage combustion chamber 4 Garbage 5 Pusher 6 Stoker 7 Ash chute 8 Air blower 9 Combustion position 10 Shooting means 11 Image processing device 12 Control device 20 Image 21 Grid line 22 to 26 Mass 28 Appropriate position 29 Burning position
Claims (3)
前記画像（２０）を縦横のグリッド線（２１）で格子状の複数のマス（２２〜２６）に区分けし、
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、
各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重みづけ後の輝度値を求め、
各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、
ごみが火炎をあげて盛んに燃えているストーカ上の燃焼位置（２９）を検出すること
を特徴とするストーカ式ごみ焼却炉における燃焼位置検出方法。 It is provided with a photographing means (10) for photographing the waste in the combustion stage (6b) of the stoker of the stoker type waste incinerator (1) which incinerates the charged waste while transporting it, and the combustion stage photographed by the photographing means (10) A method for detecting a combustion position in a stoker-type waste incinerator that extracts an image of the waste burning in (6b) as an image and detects a combustion position on the combustion stage (6b) based on the extracted image (20). And
The image (20) is divided into a plurality of grid-like cells (22 to 26) by vertical and horizontal grid lines (21).
Weighting is performed according to the position of each grid-like mass (22 to 26) divided by the grid line (21).
Obtain the weighted brightness value in consideration of the weighting of each cell from the measured brightness value of each cell (22 to 26).
Calculate the average value of the weighted brightness values in one horizontal row or one vertical row of each cell (22 to 26).
A method for detecting a combustion position in a stoker-type waste incinerator, which comprises detecting a combustion position (29) on a stoker in which garbage raises a flame and is actively burning.
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、
各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重みづけ後の輝度値を求め、
各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、
ごみが火炎をあげて盛んに燃えているストーカ上の燃焼位置（２９）を検出し、前記画像（２０）に表示された適正位置（２８）と燃焼位置（２９）とが離れていた場合、
前記燃焼位置（２９）の位置と、該燃焼位置（２９）と適正位置（２８）との距離が格子のマス目で何マス分離れているかによって、ストーカのごみ送り速度を現在の速度に対してどれだけ増減させるのかをあらかじめ設定しておき、
該設定した速度の増減度合いによって、自動で燃焼位置（２９）を適正位置（２８）と一致するようストーカのごみ送り速度を制御すること
を特徴とするストーカ式ごみ焼却炉の燃焼制御方法。 It is provided with a photographing means (10) for photographing the waste in the burning stage (6b) of the stoker of the stoker type waste incinerator (1) that incinerates the charged waste while transporting it, and the combustion stage photographed by the photographing means (10). The image of the burning garbage in (6b) is extracted as an image, and the extracted image (20) is divided into a plurality of grid-like cells (22 to 26) by vertical and horizontal grid lines (21).
Weighting is performed according to the position of each grid-like mass (22 to 26) divided by the grid line (21).
Obtain the weighted brightness value in consideration of the weighting of each cell from the measured brightness value of each cell (22 to 26).
Calculate the average value of the weighted brightness values in one horizontal row or one vertical row of each cell (22 to 26).
When the combustion position (29) on the stalker where the garbage is burning with flames is detected and the proper position (28) and the combustion position (29) displayed in the image (20) are separated from each other.
Depending on how many squares the distance between the combustion position (29) and the proper position (28) is separated by the grid, the stalker's waste feed rate is set relative to the current speed. Set in advance how much to increase or decrease
A combustion control method for a stoker-type waste incinerator, characterized in that the waste feed speed of the stoker is automatically controlled so that the combustion position (29) coincides with the appropriate position (28) according to the degree of increase / decrease in the set speed.
前記撮影手段（１０）により撮影した燃焼段（６ｂ）で燃えているごみの映像を画像（２０）として抽出し、該抽出された画像（２０）に縦横のグリッド線（２１）で格子状の複数のマス（２２〜２６）に区分けし、
該グリッド線（２１）で区分けされた格子状の各マス（２２〜２６）の位置に応じて重みづけをして、各マス（２２〜２６）の実測の輝度値に各マスの重みづけを考慮した重み付け後の輝度値を求め、各マス（２２〜２６）の横一列又は縦一列の重みづけ後の輝度値の平均値を算出し、燃焼位置（２９）を検出し、
前記燃焼位置（２９）を画像（２０）上に表示する画像処理装置（１１）と、適正位置（２８）と前記画像処理装置（１１）により得られた画像（２０）に表示された前記燃焼位置（２９）との位置を比較して、該距離に対応して設定した速度の増減度合いによって、自動で燃焼位置（２９）を適正位置（２８）と一致するようストーカの送り速度を制御する制御装置からなることを特徴とするストーカ式ごみ焼却炉の燃焼制御装置。 Photographing means (10) for photographing the waste in the combustion stage (6b) of the stoker of the stoker-type waste incinerator (1) that incinerates the charged waste while transporting it.
An image of garbage burning in the combustion stage (6b) taken by the photographing means (10) is extracted as an image (20), and the extracted image (20) is grid-like with vertical and horizontal grid lines (21). Divide into multiple squares (22-26)
Weighting is performed according to the position of each grid-like mass (22 to 26) divided by the grid line (21), and the actual brightness value of each mass (22 to 26) is weighted. The considered brightness value after weighting is obtained, the average value of the weighted brightness values of each cell (22 to 26) in a horizontal row or a vertical row is calculated, and the combustion position (29) is detected.
The combustion device (11) displaying the combustion position (29) on the image (20), and the combustion displayed on the proper position (28) and the image (20) obtained by the image processing device (11). The position is compared with the position (29), and the feed speed of the stalker is automatically controlled so that the combustion position (29) matches the appropriate position (28) according to the degree of increase / decrease in the speed set corresponding to the distance. A combustion control device for a stoker-type waste incinerator, which is characterized by consisting of a control device.
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| JPS61143617A (en) * | 1984-12-14 | 1986-07-01 | Kawasaki Heavy Ind Ltd | Method of controlling combustion in refuse incinerator |
| JPH109546A (en) * | 1996-06-24 | 1998-01-16 | Kubota Corp | Detection of position of burning out in stoker type incinerator for waste |
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