JP7154716B2 - Furnace inspection device and furnace inspection method - Google Patents

Description

The present invention relates to a furnace interior inspection apparatus and a furnace interior inspection method for inspecting the state of the interior of various industrial furnaces, for example, various devices such as a radiant tube burner provided in the furnace. In particular, even if the temperature inside the furnace is not significantly lowered, it is possible to easily inspect the various positions and deformations of various devices such as the furnace wall and the radiant tube burner installed inside the furnace. It is characterized by

Conventionally, when various industrial furnaces continue to be used, in order to perform maintenance of the industrial furnaces, the conditions inside the furnaces, for example, various devices such as radiant tube burners provided in the furnaces are inspected. I'm trying

In order to inspect the state inside the furnace in this way, conventionally, the operation of the industrial furnace is stopped, the temperature inside the furnace is lowered to a temperature at which a person can enter, and in this state, a person enters the furnace. I was trying to inspect various devices such as the radiant tube burner provided in the.

However, it takes a long time to lower the temperature inside the furnace to a temperature where a person can enter, and it is difficult for a person to inspect various devices such as a radiant tube burner installed in the furnace. It is troublesome and dangerous, and it takes an extremely long time to raise the temperature inside the furnace to the specified temperature after inspecting and performing maintenance on various devices, which reduces work efficiency. I had a problem with it getting really bad.

For this reason, in recent years, when inspecting the state inside the vertical furnace, as shown in Patent Document 1, an omnidirectional camera and an antenna that transmits an image of the narrow part inside the vertical furnace taken by the omnidirectional camera and a lighting device, a winch for winding up and lowering a winch wire for raising and lowering the imaging device, and an image processing device for correcting image distortion of a transmitted image, and the winch , a rotation control device for controlling the rotation speed and stop position of the rotation drive device is provided, and when the winch wire is fed into the vertical furnace, the struts and guide supports arranged near the top opening of the vertical furnace are used. Over time, there has been proposed a structure that avoids the structure located directly below the above-mentioned furnace top opening.

Here, in the device disclosed in Patent Document 1, an imaging device equipped with an omnidirectional camera, an antenna for transmitting an image of a narrow part in a vertical furnace captured by the omnidirectional camera, and an illumination device is attached to a winch wire. In this state, the winch wire is hoisted or lowered by the winch to raise or lower the imaging device, and the omnidirectional camera provided in this imaging device is transmitted from the antenna to the image processing device, and the image distortion of the transmitted image is corrected by the image processing device.

However, in the technique disclosed in Patent Document 1, the imaging device is raised and lowered by winding up or lowering the winch wire with the winch while avoiding the structure arranged directly below the furnace top opening. In order to check the state inside the furnace, the operation is troublesome and takes time, and a blind spot is created from directly below the opening. In order to correct the image distortion of the transmitted image in this image processing device, the time and cost for performing such image processing are high, and the entire furnace interior cannot be accurately displayed. It was also very difficult to inspect.

JP 2018-105530 A

An object of the present invention is to solve the various problems described above when inspecting the state of the interior of various industrial furnaces, for example, various devices such as a radiant tube burner provided in the furnace. It is.

That is, the present invention provides a method for inspecting the state of the interior of an industrial furnace, for example, various devices such as a radiant tube burner provided in the furnace, without significantly lowering the temperature in the furnace. It is an object of the present invention to easily inspect various positions and deformation states of various devices such as a radiant tube burner provided in a furnace.

In order to solve the problems described above, in the reactor interior inspection device according to the present invention, in the reactor interior inspection device for inspecting the state inside the reactor, a rotary wing type unmanned small flying vehicle that flies inside the reactor has a A controller that is equipped with a camera for inspecting and is provided with a plurality of temperature measuring instruments, and controls the rotation speed of each rotor blade in the rotary wing type unmanned small aircraft based on the temperature measured by the temperature measuring instruments. was established. Here, as the rotary wing type unmanned small flying object, a drone, which is a heat-resistant flying robot using titanium or the like having excellent heat resistance for the flying object body, rotary wings, etc., can be used.

In the furnace interior inspection apparatus, it is preferable to use an infrared thermography capable of measuring temperatures over a wide range as the temperature measuring device. Further, when a plurality of temperature measuring devices are provided on a rotary wing type unmanned small aircraft, they can be provided on the upper surface, the lower surface and a plurality of side surfaces of the aircraft.

Then, in the above-mentioned furnace inspection device, based on the temperature measured by each of the above-mentioned temperature measuring instruments, the change in air density at a predetermined position in the furnace is calculated, and based on this result, the controller To control the number of revolutions of each rotor blade. In this way, the buoyancy and the like of the rotary wing small unmanned flying object can be appropriately controlled, and the rotary wing small unmanned flying object can be flown toward a predetermined position in the reactor.

In the furnace inspection method for inspecting the condition inside the furnace using the above-described furnace inspection device, the above-described rotary blade type furnace is provided with a camera for inspecting the inside of the furnace and a plurality of temperature measuring instruments. Based on the temperature measured by each temperature measuring device in the unmanned small aircraft, the controller controls the rotation speed of each rotor in the rotary wing small unmanned aircraft while the rotary wing small unmanned aircraft is flown to a predetermined position in the furnace, and the state inside the furnace is inspected through the camera provided on the rotary wing type unmanned small flying vehicle.

Like the apparatus for inspecting the inside of a furnace according to the present invention, a rotary wing type unmanned small flying vehicle that flies inside the furnace is equipped with a camera for inspecting the inside of the furnace and is provided with a plurality of temperature measuring instruments. If a controller is provided to control the number of rotations of each rotor blade in the rotary wing type unmanned small aircraft based on the measured temperature, there is no need for a person to enter the furnace, and the temperature inside the furnace can be adjusted to a certain level. Even in a high state, the controller determines the rotation speed of each rotor in the rotary wing small aircraft based on the temperature measured by each temperature measuring device in the rotary wing small aircraft as described above. While controlling , the rotary wing small unmanned aircraft is flown to a predetermined position in the reactor in a stable flight state, and the state inside the reactor is observed through the camera provided on the rotary wing small unmanned aircraft. be able to inspect.

In addition, if the rotary wing type unmanned small flying vehicle is flown and the state inside the reactor is inspected through a camera provided on the rotary wing type unmanned small flying vehicle as in the apparatus for inspecting the inside of the reactor according to the present invention. Compared to the one disclosed in Patent Document 1, operations such as movement of the orientation and position of the camera for inspecting the state in the furnace are simplified, and the need for correction of image distortion by the image processing device is reduced. In addition, accurate inspection of the entire furnace can be easily performed.

BRIEF DESCRIPTION OF THE DRAWINGS In the embodiment of this invention, the use condition of the industrial furnace which inspects is shown, (A) is cross-sectional explanatory drawing of a front side, (B) is cross-sectional explanatory drawing of a plane side. In the above embodiment, the rotary wing type unmanned small flying vehicle used to fly in the furnace and inspect the inside of the industrial furnace is shown, (A) is a schematic perspective view, (B) is a schematic It is a top view. FIG. 4 is a schematic explanatory diagram of a controller for controlling the rotary wing type unmanned small aircraft in the embodiment; In the above embodiment, when inspecting the interior of the reactor using the rotary wing small unmanned aircraft, the rotary wing small unmanned aircraft is operated by the controller to fly the rotary wing small unmanned aircraft inside the reactor. It is a cross-sectional explanatory view of the front side showing a state in which it is turned on. In the above embodiment, when inspecting the interior of the reactor using the rotary wing small unmanned aircraft, the rotary wing small unmanned aircraft is operated by the controller to fly the rotary wing small unmanned aircraft inside the reactor. It is a cross-sectional explanatory view on the plane side showing the state of heating, and the radiant tube burner provided on one furnace wall is indicated by a dashed line for the sake of convenience. In the above embodiment, when inspecting the interior of the reactor using the rotary wing small unmanned aircraft, the rotary wing small unmanned aircraft is operated by the controller to fly the rotary wing small unmanned aircraft inside the reactor. It is a cross-sectional explanatory view of the side surface side showing a state in which it is turned on. In the above embodiment, the rotary wing small unmanned air vehicle is operated by a controller, and the state of a specific radiant tube burner in the furnace is inspected through a camera provided on the rotary wing small unmanned aircraft. It is a partial explanatory view shown.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A furnace interior inspection apparatus and a furnace interior inspection method according to embodiments of the present invention will be specifically described below with reference to the accompanying drawings. The in-furnace inspection apparatus and in-furnace inspection method according to the present invention are not limited to those shown in the following embodiments, and can be modified as appropriate without changing the gist of the invention.

In this embodiment, as an industrial furnace for inspecting the interior of the furnace, as shown in FIGS. The metal strip 1 thus introduced into the furnace 10 is passed through a plurality of bottom rollers 12 provided at the bottom inside the furnace 10 and a plurality of top rollers 13 provided at the top inside the furnace 10. They are laid over one another and run, and are led out of the furnace 10 through the lead-out port 14 on the other end side of the furnace 10 .

Further, in this embodiment, the metal strip 1 introduced into the furnace 10 as described above is sequentially stretched over a plurality of bottom rollers 12 and a plurality of top rollers 13 provided in the furnace 10. In order to heat the traveling metal strip 1 in the furnace 10 when traveling, U-shaped portions projecting from the outside of the furnace 10 into the furnace 10 on both sides of the traveling metal strip 1 A plurality of radiant tube burners 15 are provided in the running direction of the metal strip 1 with a required interval therebetween.

When inspecting the state of each radiant tube burner 15 and the like provided in the furnace 10 as described above, in this embodiment, as shown in FIGS. The small flying object 20 is a heat-resistant flying robot using a flying object main body 21 and four rotor blades 22 extending diagonally from the flying object main body 21, etc., using titanium or the like having excellent heat resistance. Using a certain drone, an infrared thermography camera is mounted on the lower surface 21c of the flying body 21 as a heat-resistant camera 23 for inspecting the radiant tube burner 15 and the like in the furnace 10, and although it is not clear in the figure, Four side surfaces 21a, an upper surface 21b, and a lower surface 21c of the aircraft main body 21 are provided with temperature measuring devices 24 for measuring the temperature in a wide range around the flying rotary wing type unmanned small aircraft 20. An infrared thermistor is provided.

Here, the number and positions of the temperature measuring devices 24 provided on the rotary wing small unmanned aircraft 20 are not particularly limited. It is only necessary to measure the temperature at an appropriate position around the wing-type unmanned small aircraft 20, calculate the air density, and control the rotation speed of each rotor 22 in accordance with the calculated air density. .

In this embodiment, when the rotary wing small unmanned aircraft 20 is controlled by the controller 30 as shown in FIG. The image obtained and the temperature at each position measured by each temperature measuring device 24 are output to the monitor 31 or the like provided in the controller 30, and the image thus output and the temperature at each position are output. Based on the air density and the like, an operating lever 32 provided on the controller 30 controls the number of rotations of each rotor 22 in the rotary wing small unmanned aircraft 20 to determine the position of the rotary wing small unmanned aircraft 20. and the direction of the camera 23 are operated.

Here, when the inside of the furnace 10 is inspected, the operation of the furnace 10 is stopped and the temperature inside the furnace 10 is lowered, but the residual heat during operation causes the temperature to fluctuate. Therefore, if the number of revolutions of each rotor 22 remains unchanged, the density of the air will decrease in high temperature areas, and the lift force will be insufficient, causing the rotary wing type unmanned small flying vehicle 20 to descend. The reverse phenomenon occurs, and the flight of the rotary wing type unmanned small aircraft 20 becomes unstable.

Therefore, the traveling direction of the rotary wing type unmanned small flying object 20 is detected in advance by the temperature measuring device 24, the air density is calculated, and the lift is automatically controlled by the rotation speed of each rotary wing 22 according to the calculated air density. The controller 30 has a function of stabilizing the flight of the winged unmanned small aircraft 20 . Note that this function may be provided in the aircraft main body 21 of the rotary wing type unmanned small aircraft 20 .

Then, based on the image output to the monitor 31 or the like, the air density at each position due to the temperature at each position, etc., the operation lever 32 of the controller 30 is operated, and as shown in FIGS. The rotary wing type unmanned small flying vehicle 20 is flown in the furnace 10, for example, as shown in FIG. The camera 23 mounted on the wing type unmanned small flying vehicle 20 captures the state of the radiant tube burner 15 at a predetermined position, etc. by the camera 23 provided on the rotary wing type unmanned small flying vehicle 20. The above-mentioned monitor 31 is made to output, and the state of the radiant tube burner 15, etc. are checked.

By repeating this operation, the condition of each radiant tube burner 15 and the like provided in the furnace 10 is inspected. have them exchanged.

Reference Signs List 1: Metal strip 10: Furnace 11: Inlet 12: Bottom roller 13: Top roller 14: Outlet 15: Radiant tube burner 20: Rotary wing type unmanned small aircraft 21: Aircraft main body 21a: Side 21b: Upper surface 21c: Lower surface 22 : Rotary blade 23 : Camera 24 : Temperature measuring device 30 : Controller 31 : Monitor 32 : Operation lever

Claims (4)

In a furnace interior inspection device for inspecting the state inside a furnace, a rotary wing type unmanned small aircraft that flies inside the furnace is equipped with a camera for inspecting the inside of the furnace and is provided with a plurality of temperature measuring instruments, wherein the temperature measuring instrument a controller for controlling the number of rotations of the rotor blades of the rotary wing small unmanned aircraft based on the temperature measured by Furnace inspection device. 2. A furnace inspection apparatus according to claim 1, wherein an infrared thermography capable of measuring temperatures over a wide range is used as said temperature measuring device. 3. In the furnace interior inspection apparatus according to claim 1 or claim 2, based on the temperature measured by each temperature measuring device, a change in air density at a predetermined position in the furnace is calculated, and based on the result 1. A furnace inspection device, wherein the controller controls the rotation speed of each rotor blade. A method for inspecting the inside of a furnace by using the apparatus for inspecting the inside of a furnace according to any one of claims 1 to 3, wherein a camera for inspecting the inside of the furnace is mounted and a plurality of temperature measuring instruments are installed. Based on the temperature measured by each temperature measuring device in the rotary wing type unmanned small aircraft provided with A reactor interior inspection method characterized by flying the rotary wing type unmanned small flying vehicle to a predetermined position in the reactor and inspecting the state inside the reactor through the camera provided on the rotary wing type unmanned small flying vehicle. .

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