JP6278038B2 - Combustion management system for heat treatment equipment - Google Patents

Description

  The present invention relates to a combustion management system for heat treatment equipment.

  As a heating method for heat treatment equipment used in a steel production process, a direct-fire type and an indirect type heating method are known. The direct-fired heating method is often employed in heat treatment equipment such as a non-oxidation furnace and an alloy furnace. In contrast, the indirect heating method is often employed for heat treatment equipment such as an annealing furnace. For example, the number of radiant tubes (radiant tubes), which are indirect heating devices used in annealing furnaces such as continuous annealing lines (Continuous Annealing Line: CAL) and continuous galvanizing lines (Continuous Galvanizing Line: CGL), is one. Dozens to hundreds per furnace.

  In order to appropriately heat-treat the steel material passing through the heat treatment facility, it is necessary that the combustion state of the burner that heats the heat treatment facility is healthy. From such a background, a technique for determining the combustion state of the burner has been proposed.

  Specifically, Patent Document 1 describes a technique for determining the combustion state of a burner of a non-oxidizing furnace. Specifically, in the technique described in Patent Document 1, the emissivity of the steel strip on the outlet side of the reduction furnace that passes next to the non-oxidizing furnace approaches 0.5, and the primary pressures of the fuel gas and air of each burner When the deviation from the standard pressure begins to approach 5%, it is determined that the burner combustion state may be abnormal, and when it exceeds these values, it is determined that the burner combustion state is abnormal.

  Patent Document 2 describes a technique for determining the combustion state of a burner provided in a radiant tube of an annealing furnace. Specifically, the technique described in Patent Document 2 describes a technique for determining the burner combustion state based on the preheated air temperature and exhaust gas temperature of the burner and, in some cases, the primary pressure of the fuel gas.

Japanese Patent No. 4159028 JP 2011-12928 A

  However, since the technique described in Patent Document 1 employs the emissivity of the steel strip on the reduction furnace exit side as a parameter for determining the abnormality of the combustion state of the burner provided in the non-oxidation furnace, it is indirectly This is a simple determination method, and loss of the steel strip that has passed through the reduction furnace is inevitable. Even if the deviation of the primary pressure from the standard pressure approaches 5%, it cannot always be determined that the burner is in an abnormal combustion state. This is because even if the primary pressure deviates from the standard pressure for some reason, the combustion state of the burner may be balanced in a healthy state.

  In addition, the technique described in Patent Document 2 generally uses two temperature measuring devices (for preheating air temperature measurement and exhaust gas temperature measurement) for all the burners of radiant tubes of several hundred per annealing furnace. ) And one pressure measuring instrument (for measuring the primary pressure of the fuel gas), a large initial investment and maintenance cost, and a periodic inspection of the measuring instrument are required. For this reason, it is difficult to say that the technique described in Patent Document 2 is realistic, and the combustion state of the burner cannot be directly determined as in the technique described in Patent Document 1.

  The present invention has been made in view of the above-described problems, and its purpose is to perform heat treatment capable of directly and accurately determining the combustion state of a burner provided in a heat treatment facility without requiring much labor and cost. It is to provide a combustion management system for equipment.

  A combustion management system for a heat treatment facility according to the present invention includes a self-propelled inspection device that inspects a combustion state of a burner provided in the heat treatment facility, and the self-propelled inspection device includes outdoor or indoor positioning technology and self-position recognition. Using a technology, a travel unit that travels the apparatus main body to the vicinity of the burner to be inspected, the apparatus main body acquires quantitative information of the combustion exhaust gas of the burner, and the burner based on the acquired quantitative information An inspection unit for determining the soundness of the combustion state is provided.

  According to the combustion management system for a heat treatment facility according to the present invention, in the above invention, the inspection unit compares the acquired quantitative information with the quantitative information of the combustion exhaust gas when the combustion state of the burner is healthy. The quantitative information includes information on the oxygen concentration and carbon monoxide concentration in the combustion exhaust gas and the temperature of the combustion exhaust gas.

  In the combustion management system for heat treatment equipment according to the present invention, in the above invention, the apparatus main body connects the suction means for sucking the combustion exhaust gas to the exhaust gas outlet provided in the exhaust gas piping of the burner, and the suction means sucks the suction gas by the suction means. A suction mechanism for supplying the exhausted combustion exhaust gas to the inspection unit, and an inspection part for inspecting the fuel exhaust gas is inserted into an exhaust gas inspection port provided in the exhaust gas pipe of the burner, and the inspection result of the inspection part is displayed on the inspection unit And the opening degree of the flow control valve for adjusting the flow rate of the fuel gas and / or combustion air supplied to the burner according to the combustion state of the burner determined by the inspection unit. And an adjusting mechanism.

  In the combustion management system for heat treatment equipment according to the present invention, in the above invention, the apparatus main body is capable of detaching the suction mechanism, the charging mechanism, and the adjusting mechanism at a tip position, and is capable of moving the tip position. A moving mechanism is provided.

  The combustion management system for heat treatment equipment according to the present invention is characterized in that, in the above invention, the inspection unit has a function of notifying a person in charge of an inspection result and a function of recording the inspection result in an information processing device.

  According to the combustion management system for heat treatment equipment according to the present invention, the combustion state of the burner provided in the heat treatment equipment can be determined directly and accurately without requiring much labor and cost.

Drawing 1 is a mimetic diagram showing composition of an annealing furnace which is a candidate for inspection of a self-propelled inspection device which is one embodiment of the present invention. FIG. 2 is a schematic diagram showing the configuration of the radiant tube shown in FIG. FIG. 3 is a block diagram showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. FIG. 4 is an external view showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. FIG. 5 is a diagram showing an example of the relationship between the set air ratio and the oxygen concentration in the combustion exhaust gas when the burner is in a healthy combustion state. FIG. 6 is a diagram showing a configuration of a combustion management system for a heat treatment facility based on a historical trend including a self-propelled inspection apparatus according to an embodiment of the present invention.

The combustion management system for a heat treatment facility according to the present invention includes a self-propelled inspection device that inspects the combustion state of a burner provided in an annealing furnace that is a heat treatment facility. Hereinafter, a self-propelled inspection apparatus according to an embodiment of the present invention will be described with reference to the drawings.
[Configuration of annealing furnace]
First, with reference to FIG. 1, the structure of the annealing furnace which is a test object of the self-propelled inspection apparatus which is one embodiment of the present invention will be described.

  Drawing 1 is a mimetic diagram showing composition of an annealing furnace which is a candidate for inspection of a self-propelled inspection device which is one embodiment of the present invention. As shown in FIG. 1, an annealing furnace 1 that is an inspection object of a self-propelled inspection apparatus according to an embodiment of the present invention is a radiant tube furnace provided in a cold rolling / surface treatment factory. The radiant tube furnace is provided with a plurality of radiant tubes 10 arranged along the sheet passing direction of a steel plate to be processed, and a plurality of floor decks (in this example, for operation management and facility maintenance). 5 floors) are installed outside the furnace body. In the present embodiment, 30 radiant tubes 10 are provided on both walls of the radiant tube furnace at intervals of 1 m, and 300 in the annealing furnace 1 as a whole (= 30 (lines) × 2 (both walls) × 5 (floor)). It has been.

  The self-propelled inspection apparatus according to an embodiment of the present invention autonomously moves to each floor deck using an elevator 2 provided in the annealing furnace 1 or a staircase (not shown) and exits from the entry side of the radiant tube furnace. The combustion state of the burner of the radiant tube 10 is inspected in order while moving toward the side.

[Configuration of radiant tube]
Next, the configuration of the radiant tube 10 will be described with reference to FIG.

  FIG. 2 is a schematic diagram showing the configuration of the radiant tube shown in FIG. As shown in FIG. 2, the radiant tube 10 is constituted by a pipe curved in a substantially W shape, and both ends thereof are fixed so as to be located outside the furnace wall 11 of the radiant tube furnace. A burner 12 and a recuperator 13 are attached to the end 10a and the end 10b of the radiant tube 10, respectively.

  The burner 12 includes a pilot burner 12a, a main burner 12b, a combustion cylinder 12c, and a viewing window 12d. The pilot burner 12a includes a fuel gas pipe (not shown) for supplying fuel gas, a combustion air pipe (not shown) for supplying combustion air, a fuel gas supplied from the fuel gas pipe, and a combustion air supplied from the combustion air pipe. And an ignition device (not shown) that ignites the mixed gas to generate an ignition seed.

  The main burner 12b includes a fuel gas pipe (not shown) that supplies fuel gas into the combustion cylinder 12c. The mixed gas of the fuel gas supplied into the combustion cylinder 12c and the combustion air in the combustion cylinder 12c is burned by the seed fire generated by the pilot burner 12a to form a flame (combustion flame). The inside of the radiant tube 10 is heated by bright flame radiation by the flame in the combustion cylinder 12c and forced convection by the combustion exhaust gas, and the inside of the radiant tube furnace and the steel plate S are heated by radiant heat radiated from the outer surface of the radiant tube 10. Is done. The flame in the combustion cylinder 12 c can be visually recognized from the observation window 12 d provided at the end 10 a of the radiant tube 10.

  The flow rate of the fuel gas supplied to the main burner 12b is a flow rate adjustment valve 16, a shutoff valve 17, and an individual flow control valve provided in a pipe 15 connecting the main burner 12b and the fuel gas main pipe 14 through which the fuel gas flows. It is controlled by controlling the opening degree of 18. The pipe 15 is provided with an orifice flow meter 19 for measuring the flow rate of the fuel gas.

  The recuperator 13 collects the exhaust heat of the combustion exhaust gas discharged from the combustion cylinder 12c, and preheats the combustion air supplied into the combustion cylinder 12c via the preheating air pipe 20 using the recovered exhaust heat. . By using the exhaust heat of the combustion exhaust gas for preheating the combustion air supplied into the combustion cylinder 12c, the thermal efficiency of the radiant tube furnace can be improved. The combustion exhaust gas is discharged outside the furnace through the exhaust gas pipe 21. The exhaust gas pipe 21 is provided with an exhaust gas inspection port 21a into which inspection parts for inspecting combustion exhaust gas can be inserted, and an on-off valve (exhaust gas extraction port) 22 for sampling the combustion exhaust gas. Although the recuperator 13 has illustrated the thing of a double tube structure, it is not restricted to this, A single tube may be sufficient.

  The flow rate of the combustion air supplied to the recuperator 13 is a flow rate adjusting valve 25, a shutoff valve 26, and an individual flow provided in a pipe 24 connecting the recuperator 13 and the combustion air main pipe 23 through which the combustion air flows. It is controlled by controlling the opening degree of the valve 27. The pipe 24 is provided with an orifice flow meter 28 for measuring the flow rate of the combustion air.

[Configuration of self-propelled inspection device]
Next, with reference to FIG.3 and FIG.4, the structure of the self-propelled inspection apparatus which is one Embodiment of this invention is demonstrated.

  FIG. 3 is a block diagram showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. 4A to 4C are external views showing a configuration of a self-propelled inspection apparatus according to an embodiment of the present invention. As shown in FIG. 3, the self-propelled inspection apparatus 100 according to an embodiment of the present invention includes an apparatus main body 110, a traveling unit 120, a suction mechanism 130, a charging mechanism 140, and an adjustment mechanism 150.

  The apparatus main body 110 includes a first position estimation unit 111, a second position estimation unit 112, an inspection unit 113, an information storage unit 114, and a control unit 115 as main components.

  The first position estimation unit 111 includes a communication device 111a and an arithmetic processing device 111b. The communication device 111a is a device that performs information communication with a plurality of signal sources installed in an area where there is no clear landmark around. As a signal source with which the communication device 111a performs information communication, when the self-propelled inspection device 100 is located indoors, an indoor position measurement system (iGPS) transmitter or other ultra wideband wireless communication (UWB: Ultra) Examples thereof include a visible light communication device using a wireless signal transmission source such as Wide Band) and a light source such as an LED. Further, when the self-propelled inspection device 100 is located outdoors, a signal source of a satellite navigation system (GPS) can be used in addition to these signal sources.

  The arithmetic processing device 111b is a device that calculates position information of the self-propelled inspection device 100 using a result of information communication with the signal source by the communication device 111a. Specifically, when an iGPS transmitter is used as a signal source, the iGPS transmitter emits a rotating fan beam (fan beam). The rotating fan beam may be a laser fan beam or other light emitting means. The communication device 111a receives the rotating fan beam emitted from the iGPS transmitter, and can grasp the relative positions from the plurality of iGPS transmitters. At this time, the rotating fan beam is deviated by a predetermined angle, and the coordinate value, that is, the position or height of the communication device 111a that receives the rotating fan beam can be measured. The information received by the communication device 111a is sent to the arithmetic processing device 111b, and the arithmetic processing device 111b calculates the position information of the device main body 110, that is, the self-propelled inspection device 100 according to the principle of triangulation. For details of iGPS, see, for example, US Pat. No. 6,501,543.

  When the self-propelled inspection device 100 is located outdoors, the arithmetic processing device 111b uses the result of information communication with the GPS signal source in a range where the communication device 111a can receive a signal from the GPS signal source. The position information of the self-propelled inspection apparatus 100 is calculated. In addition, it is difficult for the communication device 111a in the vicinity of the facility to receive a signal from the GPS signal source. However, the arithmetic processing device 111b is connected to the iGPS transmitter within a range in which the signal from the iGPS transmitter can be received. The position information of the self-propelled inspection apparatus 100 may be calculated using the result of the information communication.

  The second position estimation unit 112 includes a communication device 112a, an arithmetic processing device 112b, and a sensor 112c. The communication device 112a is a device that performs information communication with a stop target position on a route in an inspection operation of the annealing furnace 1 and a signal source that is installed at a place where travel is obstructed. As the target stop position, each burner position on each floor deck can be exemplified. As the obstacles to progress, there are areas, stairs, steps where it is difficult for the communication device 111a of the first position estimating unit 111 to perform information communication with the signal source, such as shadows of equipment, narrow roads, and areas with a lot of dust and water vapor. An area where the floor surface is not flat can be exemplified.

  The communication device 112a is a device that communicates with a stop target position, an entrance and an exit of a progress obstacle location, and a signal source arranged at a key point in the progress obstacle location. Examples of means for performing communication of information by the communication device 112a include an RFID (Radio Frequency IDentification) device and a laser communication device.

  The sensor 112c is a device that acquires data necessary for the self-propelled inspection device 100 to estimate its own position. Examples of the sensor 112c include a CCD camera for image processing, an infrared camera, and a laser range sensor. The data acquired by the sensor 112c is processed by the arithmetic processing unit 112b in order to estimate the position of the self-propelled inspection apparatus 100.

  The arithmetic processing unit 112b estimates the position information of the self-propelled inspection device 100 using the data acquired by the sensor 112c. Specifically, the arithmetic processing unit 112b calculates the position of the self-propelled inspection device 100 from the image and distance data acquired by the sensor 112c, and matches the map information with the position of the self-propelled inspection device 100. presume. The arithmetic processing unit 112b recognizes communication information performed by the communication device 112a with a signal source installed at a key point in the progress hindrance location and a specific shape in the progress hindrance location, and appropriately performs a self-propelled inspection device. You may make it reflect in calculation of 100 positions. In addition, the arithmetic processing unit 112b estimates the position of the self-propelled inspection apparatus 100 by recognizing equipment included in the captured image by processing an image captured by the imaging apparatus provided in the apparatus main body 110. May be.

  The inspection unit 113 is a device that performs the inspection work of the annealing furnace 1 in accordance with the inspection information 114 d including information related to the inspection items of the annealing furnace 1 stored in the information storage unit 114. Specifically, the inspection unit 113 is configured by a device that acquires quantitative information of the combustion exhaust gas flowing through the exhaust gas pipe 21 and inspects the health of the combustion state of the burner 12 based on the acquired quantitative information. Yes. As quantitative information of the combustion exhaust gas, oxygen concentration, carbon monoxide concentration and temperature of the combustion exhaust gas can be exemplified. The inspection unit 113 inspects the soundness of the combustion state of the burner 12 to be inspected according to the inspection information 114d, and associates the information about the burner 12 to be inspected with the information about the inspection result and stores the information in the information storage unit 114.

  The information storage unit 114 includes map information 114a, route information 114b, destination information 114c, inspection information 114d, information necessary for inspection work of the annealing furnace 1 by the self-propelled inspection apparatus 100, such as inspection result / history information 114e, Information on the inspection result is stored. The map information 114a includes the identification information of the annealing furnace 1 and its position information. The course information 114b includes information regarding the movement path of the self-propelled inspection apparatus 100 in the inspection work of the annealing furnace 1. The destination information 114c includes information regarding the identification information of the annealing furnace 1 that performs the inspection work by the inspection unit 113. The inspection information 114d includes information related to inspection items for each annealing furnace 1. The inspection result / history information 114e includes information on the inspection result of the annealing furnace 1 by the inspection unit 113 and information on the history of the route along which the self-propelled inspection device 100 has moved.

  The control unit 115 is constituted by an arithmetic processing device, and controls the operation of the self-propelled inspection device 100 as a whole. Specifically, the control unit 115 switches the means for acquiring the position information of the self-propelled inspection device 100 between the first position estimating unit 111 and the second position estimating unit 112, and acquired the self-propelled inspection device. The apparatus main body 110 is caused to travel along a predetermined route by controlling the traveling unit 120 based on the map information 114a, the route information 114b, and the destination information 114c stored in the position information 100 and the information storage unit 114. At the same time, the inspection unit 113 is controlled on the basis of the inspection information 114d to inspect the combustion state of the burner 12 to be inspected.

  For example, the control unit 115 receives the signal from a predetermined signal source (entrance-side signal source) provided on the entrance side of the progress obstacle location at the second position estimation unit 112 at the timing of the self-propelled inspection device 100. The means for acquiring the position information is switched from the first position estimating unit 111 to the second position estimating unit 112. And the control part 115 of the self-propelled inspection apparatus 100 is the timing which the 2nd position estimation part 112 received the signal from the predetermined | prescribed signal source (exit side signal source) provided in the exit side of the advancing trouble location. The means for acquiring the position information is switched from the second position estimating unit 112 to the first position estimating unit 111.

  In addition, when the means for acquiring the position information of the self-propelled inspection apparatus 100 is switched from the first position estimating unit 111 to the second position estimating unit 112, the second position estimating unit 112 starts from the entrance-side signal source. It is desirable to obtain information about. Examples of the information related to the progress obstacle location include the height and number of steps of the staircase when the progress obstacle location is a staircase, and the width and length of the narrow street when the progress obstacle location is a narrow road. . By acquiring information related to the progress obstacle location, the self-propelled inspection apparatus 100 can pass through the progress obstacle location safely and reliably.

  The traveling unit 120 is a device that causes the apparatus main body 110 to travel in accordance with a control signal from the control unit 115. Examples of the traveling device include a crawler type traveling device and a four-wheel carriage provided with crawler belts in the left and right positions as shown in FIGS. 4 (a) to 4 (c). If it is included, it is difficult to move on a four-wheel carriage. Therefore, a crawler type traveling device is generally used to check the combustion state of the burner 12 of the annealing furnace 1 that has a plurality of floors and uses stairs to move between the floors. It is assumed that the adoption of is reasonable.

  Returning to FIG. The suction mechanism 130 is a mechanism that connects one end of a suction hose that sucks combustion exhaust gas to the on-off valve 22 provided in the exhaust gas pipe 21 in accordance with a control signal from the control unit 115. The other end of the suction hose is connected to the inspection unit 113. The suction mechanism 130 supplies the combustion exhaust gas flowing through the exhaust gas pipe 21 into the inspection unit 113 via the suction hose by switching the on-off valve 22 from the closed state to the open state. The inspection unit 113 may include a sensor such as a gas analysis sensor that detects the oxygen concentration and carbon monoxide concentration of the combustion exhaust gas and a thermocouple thermometer that detects the temperature of the combustion exhaust gas as an inspection component.

  The charging mechanism 140 is a mechanism that inserts an inspection component that acquires quantitative information of combustion exhaust gas into the exhaust gas inspection port 21 a provided in the exhaust gas pipe 21 in accordance with a control signal from the control unit 115. Examples of the inspection component include a gas analysis sensor that detects the oxygen concentration and carbon monoxide concentration of the combustion exhaust gas, and a sensor such as a thermocouple thermometer that detects the temperature of the combustion exhaust gas.

  The adjustment mechanism 150 adjusts the flow rate of the fuel gas or combustion air supplied to each burner 12 by controlling the opening degree of the individual flow control valves 18 and 27 according to the control signal from the control unit 115. This is a mechanism for adjusting the combustion state of each burner 12. The adjustment mechanism 150 has a shape capable of gripping / restraining a handle or lever that adjusts the opening degree of the individual flow control valves 18 and 27, and has a function of rotating the handle or lever while gripping / restraining.

  As shown in FIGS. 4A to 4C, the inspection unit 113 attaches and detaches the sensor 112c, the suction mechanism 130, the charging mechanism 140, and the adjustment mechanism 150 to the tip position 113a, and sets the tip position 113a to an arbitrary position. A moving mechanism 113b such as an arm mechanism that can be moved is provided. As a result, for example, by recognizing the surrounding shape using a laser range sensor as the sensor 112c, the inspection unit 113 can detect the on-off valve 22, the exhaust gas inspection port 21a, and the individual flow control valve 18 provided in the exhaust gas pipe 21. 27, the suction mechanism 130 or the charging mechanism 140 can be moved to a predetermined position and fixed. Then, the combustion state of the burner 12 can be adjusted by adjusting the opening degree of the individual flow regulating valves 18 and 27 by the adjusting mechanism 150. The sensor 112c, the suction mechanism 130, the charging mechanism 140, and the adjustment mechanism 150 may be mounted on the self-propelled inspection apparatus 100 and sequentially replaced. Also good.

[Control method of self-propelled inspection equipment]
Next, a control method of the self-propelled inspection apparatus 100 will be described.

  When inspecting the soundness of the combustion state of the burner 12 of the annealing furnace 1 by using the self-propelled inspection apparatus 100, first, the worker self-propelled inspection provides information necessary for performing the inspection work. The information is input to the information storage unit 114 of the device 100. Next, when the input of information is completed, the self-propelled inspection device 100 moves toward the inspection target device or facility using the first position estimation unit 111.

  As described above, the self-propelled inspection device 100 can recognize the self-position by communicating with the surrounding signal sources via the first position estimating unit 111. Thereby, the self-propelled inspection apparatus 100 autonomously moves toward each floor of the annealing furnace 1 while referring to the map information 114a and the course information 114b stored in the information storage unit 114 while confirming the self-position. .

  Since the information storage unit 114 stores information on the obstacles such as narrow roads, stairs, and steps existing in the route toward each floor of the annealing furnace 1, the self-propelled inspection device 100 can detect the surrounding signals. Through communication with the source, it is possible to recognize that it has approached the obstacle. Then, when the second position estimating unit 112 receives a signal from the entrance-side signal source of the travel obstacle location, the self-propelled inspection device 100 determines that the travel obstacle location is approached, and obtains position information. The first position estimating unit 111 is switched to the second position estimating unit 112 for passing through the travel obstacle, and the second position estimating unit 112 is used to approach the burner 12 to be inspected.

  As a means by which the second position estimating unit 112 estimates the position of the self-propelled inspection apparatus 100 at the travel obstacle, for example, a SLAM (Simultaneous Localization and Mapping) technique can be exemplified. By using the SLAM technology, it is possible to create an environmental map of the progress obstacle location based on the image data or the data acquired by the sensor 112c and at the same time move the progress obstacle location while estimating the position of the self-propelled inspection apparatus 100. it can. Note that the environmental map obtained by the SLAM technology can be used in the next and subsequent inspection work, and is updated as needed for each inspection work. Further, as the second position estimation unit 112, not only the SLAM technique but another guidance method, for example, a method of recognizing a guidance sign installed in advance and moving according to the recognized guidance sign may be used. . Alternatively, a magnetic tape or the like is installed on the movement route of the self-propelled inspection apparatus 100, and the sensor 112c moves while detecting the magnetic tape. Further, the self-propelled inspection apparatus 100 is on a track such as a rail. You may use the method of moving. Depending on the case, a method may be used in which a conspicuous color tape or the like is placed on the moving route of the self-propelled inspection apparatus 100 or a conspicuous color paint is applied and the sensor 112c moves while recognizing an image.

  In addition, when the entrance of the travel obstacle location can be clearly recognized, the entrance-side signal source may not be provided. In this case, a method such as recognizing a characteristic mark or the like indicating the shape of a characteristic facility in the vicinity of the progress obstacle location or an entrance of the progress obstacle location installed in the vicinity of the entrance by an image processing technique can be considered. Note that the characteristic facilities, marks, and the like are stored as part of the map information 114a and the route information 114b. Each burner 12 may be provided with an RFID tag or the like individually. The self-propelled inspection device 100 receives a signal from the RFID tag, stops in front of the burner 12, and obtains information on the burner 12. Is possible. When arriving at the burner 12 to be inspected, the self-propelled inspection device 100 is provided in the exhaust gas pipe 21 by recognizing the surrounding shape by a laser range sensor attached to the tip position 113a of the moving mechanism 113b. The positions of the on-off valve 22 and the exhaust gas inspection port 21a can be accurately grasped. Thereafter, for example, using the suction mechanism 130, one end of the suction hose of the suction mechanism 130 is connected to the on-off valve 22 provided in the exhaust gas pipe 21, and the on-off valve 22 is switched from the closed state to the open state. The combustion exhaust gas in the exhaust gas pipe 21 is supplied to the inspection unit 113 through the suction hose.

  The inspection unit 113 measures and records quantitative information of the combustion exhaust gas supplied from the suction mechanism 130. The inspection unit 113 may measure and record quantitative information of the combustion exhaust gas by inserting an inspection component into the exhaust gas inspection port 21 a provided in the exhaust gas pipe 21 using the charging mechanism 140. And the test | inspection part 113 determines whether the combustion state of the burner 12 is healthy by comparing with the quantitative information of combustion exhaust gas when the combustion state of the burner 12 is a healthy state. For example, FIG. 5 is a diagram showing the relationship between the set air ratio and the oxygen concentration in the combustion exhaust gas when a gaseous fuel having a certain composition burns in a radiant tube burner obtained by combustion calculation. Generally, the set air ratio is often set within a range of about 1.10 to 1.20 in consideration of combustion safety that does not generate unburned gas such as carbon monoxide and energy saving of fuel, At that time, if the combustion is as calculated, the oxygen concentration in the combustion exhaust gas is about 1.7 to 3.1%. The inspection unit 113 reads the relationship between the set air ratio of the burner and the oxygen concentration in the combustion combustion exhaust gas as shown in FIG. 5 from the information storage unit 114, and the target oxygen concentration corresponding to the set air ratio and the measured actual oxygen By comparing the concentration, it is determined whether or not the burner 12 is in a healthy combustion state.

  When it is determined that the burner 12 is not in a healthy state, for example, when the oxygen concentration in the combustion exhaust gas is 0% and carbon monoxide is generated, the amount of combustion air supplied is increased. On the other hand, the fuel gas amount is excessive, and the air ratio is 1 or less, which is a gas-rich incomplete combustion state. As a result, in some cases, the generated carbon monoxide may be reignited in the exhaust gas system, which may damage surrounding equipment and devices. In addition, if carbon monoxide that is generated leaks to the outside from any part of the exhaust gas system, it may cause gas poisoning to humans. There must be. On the other hand, when the oxygen concentration in the combustion exhaust gas is higher than necessary, for example, exceeding 4%, the supplied combustion air amount is excessive with respect to the fuel gas amount, and the air ratio becomes 1.3 or more. It is an air-rich combustion state. As a result, excessive fuel gas is consumed to raise the temperature of excess combustion air, so that it is desirable that the combustion state be corrected promptly from the viewpoint of energy saving.

  Therefore, the control unit 115 controls the adjustment mechanism 150 while adjusting the quantitative information of the combustion exhaust gas, thereby adjusting the flow rate of the fuel gas and the combustion air supplied to the burner 12, thereby Adjust so that the combustion state of is healthy. When the combustion state is gas rich, first, the adjustment mechanism 150 opens the valve opening degree of the individual flow regulating valve 27 of the combustion air to make it temporarily air rich. Thereafter, the oxygen concentration in the combustion exhaust gas is within the range of 1.7 to 3.1%, that is, the range of the combustion air ratio is 1.10 to 1.20, while gradually reducing the valve opening degree of the individual flow control valve 27. Adjust to fit inside. Further, if the combustion air ratio reaches only less than the target air ratio even if the valve opening degree of the individual flow control valve 27 is fully opened for some reason, the fuel gas remains with the valve opening degree of the individual flow control valve 27 being fully open. The oxygen concentration in the combustion exhaust gas is within the range of 1.7 to 3.1%, that is, the combustion air ratio is within the range of 1.10 to 1.20, while the valve opening of the individual flow control valve 18 is gradually reduced. Adjust to enter.

  However, if the valve opening degree of the individual flow control valve 18 for fuel gas is too small, the flame itself is blown out by the combustion air, and unburned fuel gas may flow out to the exhaust gas system, which is dangerous. For this reason, a certain threshold value is set for the valve opening degree of the individual flow control valve 18, and when the valve opening degree falls below the threshold value, the burner 12 is stopped from the viewpoint of ensuring safety, that is, the individual flow control valve. It is preferable that both the valve openings of the 18 and the individual flow control valve 27 are zero. Further, when the combustion state is air rich, it is confirmed that the valve opening of the individual flow control valve 18 is equal to or greater than the threshold value, and then the oxygen in the combustion exhaust gas is gradually reduced while the valve opening of the individual flow control valve 27 is gradually reduced. The concentration is adjusted to be within a range of 1.7 to 3.1%, that is, a combustion air ratio is within a range of 1.10 to 1.20. The inspection unit 113 stores the inspection result in the information storage unit 114 as inspection result / history information 114e.

  When moving to the next burner 12 to be inspected after completion of the inspection work, the self-propelled inspection device 100 moves toward the burner 12 to be inspected using the information stored in the information storage unit 114, When the inspection work of all the burners 12 to be inspected is completed, the work returns to the base.

  FIGS. 6A and 6B are diagrams showing a configuration of a combustion management system for a heat treatment facility based on a historical trend including a self-propelled inspection apparatus according to an embodiment of the present invention. As shown in FIG. 6 (a), after returning to the base, the self-propelled inspection device 100 uses the information stored in the information storage unit 114 by wireless communication such as Wi-Fi (registered trademark). The data is immediately sent to the PC, terminal, etc., and transferred and stored in the database of the external PC 200. As a result, the person in charge O can immediately know the inspection result, and if the database is accessed, the combustion management / equipment management of the same burner 12 by the medium- to long-term historical trend as shown in FIG. 6B. Can be used for future state prediction and repair plans. In the historical trend, when the current inspection value or the predicted inspection value predicted in the future falls below or exceeds the set threshold value, it is better to alert the person in charge with an alarm or the like.

  As is clear from the above description, the self-propelled inspection device 100 according to one embodiment of the present invention uses the device main body 110, the outdoor or indoor positioning technology, and the self-position recognition technology to inspect the device main body 110. The apparatus main body 110 acquires quantitative information of the combustion exhaust gas of the burner 12 and the soundness of the combustion state of the burner 12 based on the acquired quantitative information. Therefore, the combustion state of the burner 12 provided in the annealing furnace 1 can be determined directly and accurately without requiring much labor and cost.

  The embodiment to which the invention made by the present inventors is applied has been described above, but the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention. That is, other embodiments, examples, operational techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Annealing furnace 2 Elevator 10 Radiant tube 11 Furnace wall 12 Burner 12a Pilot burner 12b Main burner 12c Combustion cylinder 12d Viewing window 13 Recuperator 14 Fuel gas main pipe 15 Piping 16 Flow control valve 17 Shut-off valve 18 Individual flow control valve 19 Orifice Flow meter 20 Preheated air piping 21 Exhaust gas piping 21a Exhaust gas inspection port 22 On-off valve (exhaust gas outlet)
23 Combustion air main pipe 24 Piping 25 Flow control valve 26 Shut-off valve 27 Individual flow control valve 28 Orifice flow meter 100 Self-propelled inspection device 110 Main body 111 First position estimation unit 112 Second position estimation unit 113 Inspection unit 114 Information storage Part 115 Control part 120 Traveling part 130 Suction mechanism 140 Loading mechanism 150 Adjustment mechanism S Steel plate

Claims (5)

A self-propelled inspection device that inspects the combustion state of the burner provided in the heat treatment facility
The self-propelled inspection device uses an outdoor or indoor positioning technology and a self-position recognition technology to travel the device main body to the vicinity of the burner to be inspected , a stop target position on the travel route, and a travel obstacle location. A position estimation unit that estimates the position of the apparatus body using a communication apparatus that performs information communication with an installed signal source ,
The apparatus main body includes an inspection unit that acquires quantitative information of the combustion exhaust gas of the burner and determines the soundness of the combustion state of the burner based on the acquired quantitative information. Management system.   The inspection unit determines the soundness of the combustion state of the burner by comparing the acquired quantitative information with the quantitative information of the combustion exhaust gas when the combustion state of the burner is healthy, and the quantitative information includes The combustion management system for heat treatment equipment according to claim 1, comprising information on oxygen concentration and carbon monoxide concentration in combustion exhaust gas and temperature of combustion exhaust gas.   The apparatus main body is connected to a suction means for sucking the combustion exhaust gas to an exhaust gas outlet provided in the exhaust gas piping of the burner, and a suction mechanism for supplying the combustion exhaust gas sucked by the suction means to the inspection unit; An injecting mechanism for inspecting the fuel exhaust gas is inserted into an exhaust gas inspection port provided in an exhaust gas pipe of the burner, and an inspecting part outputs an inspection result to the inspecting unit, and the burner determined by the inspecting unit And an adjustment mechanism for controlling the opening of a flow regulating valve for adjusting the flow rate of the fuel gas and / or combustion air supplied to the burner according to the combustion state of the fuel. The combustion management system for heat treatment equipment described in 1.   4. The heat treatment according to claim 3, wherein the apparatus main body includes a moving mechanism that can attach and detach the suction mechanism, the charging mechanism, and the adjustment mechanism at a tip position, and that can move the tip position. Equipment combustion management system.   5. The heat treatment facility according to claim 1, wherein the inspection unit includes a function of notifying a person in charge of an inspection result and a function of recording the inspection result in an information processing device. Combustion management system.

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