KR20170036488A - Boiler tube diagnosis apparatus - Google Patents

Boiler tube diagnosis apparatus Download PDF

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KR20170036488A
KR20170036488A KR1020150135719A KR20150135719A KR20170036488A KR 20170036488 A KR20170036488 A KR 20170036488A KR 1020150135719 A KR1020150135719 A KR 1020150135719A KR 20150135719 A KR20150135719 A KR 20150135719A KR 20170036488 A KR20170036488 A KR 20170036488A
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boiler
boiler tube
position coordinates
diagnostic
unit
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Korean (ko)
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이의택
이종민
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한국전력공사
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
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    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/06—Energy or water supply
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection

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Abstract

The present invention relates to a radio transmitter for transmitting a signal; A controller for detecting the position of the drone using the signal transmitted from each of the radio transmitters, collecting diagnostic information about the boiler tube while flying inside the boiler furnace using the position coordinates of the drone, ; And a diagnostic server receiving the diagnosis information and the dron position coordinates from the drones and outputting the diagnosis information corresponding to the dron position coordinates.

Description

[0001] BOILER TUBE DIAGNOSIS APPARATUS [0002]

The present invention relates to a boiler tube diagnostic apparatus, and more particularly, to a boiler tube diagnostic apparatus for diagnosing a boiler tube using a drones.

In order to check the boiler tubes in the thermal power plant, it is necessary to stop the boiler and then to start up the boiler and to raise the scaffold and to install the light. The 500MW thermal power plant boiler is so large as to be 100 meters high, so it takes a lot of time to install and dismantle scaffolds and lights. In addition, site inspectors are exposed to hazardous and harsh environments because they have to work in a dark, dusty boiler furnace, climbing up a scaffold to a high place. Such a boiler tube inspection method has a problem that the time required to prepare for inspection is longer than the inspection time, and if an accident occurs, it leads to a large-scale human accidents, which causes a disruption to the preventive maintenance of the power plant.

In addition, 500MW-class standard coal-fired boilers are very large, 100 meters in height and tens of meters in length, respectively, so that two to three inspectors are limited in checking the tubes in all boilers, And the parts where the problem such as bulging or rupture occurred in the past or in the past have been examined.

Inspection of the boiler tube starts with visual inspection. If it is judged that there is a problem with the tube after checking with the naked eye, thickness measurement inspection, nondestructive inspection, sampling inspection, etc. are performed according to the kind of problem. Depending on the results of these tests, the operator is instructed to take appropriate measures, such as welding, boiler tube replacement, etc. The boiler tube inspection circle shoots the state of the boiler tube with a personal cell phone camera or a dedicated camera. In this case, the position of the tube where the photograph was taken must be separately written, and the data must be transferred to the computer by the operator Is not systematically implemented.

In order to solve these problems in terms of stability, time constraints, and management aspects, the scaffold installation method has been improved by lowering the steel strips and steel strips at the upper part of the boiler, but this method still requires much preparation time for inspection. Recently, a robot has been developed to ascend and descend through a boiler tube, but there has been an inconvenience that the inspector has to manually attach the robot to the tube.

The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2004-0020361 (Mar. 03, 2004) entitled " Electromagnetic Guided Ultrasonic Transducer Detachment Mechanism for Boiler Tube Flaw Detection Mobile Robot ".

It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to provide a steam boiler for a steam boiler, And to provide a boiler tube diagnostic device capable of operating the boiler tube.

According to an aspect of the present invention, there is provided a boiler tube diagnosis apparatus comprising: a wireless transmitter for transmitting a signal; A controller for detecting the position of the drone using the signal transmitted from each of the radio transmitters, collecting diagnostic information about the boiler tube while flying inside the boiler furnace using the position coordinates of the drone, ; And a diagnostic server receiving the diagnosis information and the dron position coordinates from the drones and outputting the diagnosis information corresponding to the dron position coordinates.

The dron according to the present invention includes: a position coordinate detector for detecting the dron position coordinates in a boiler furnace using intensity of a signal transmitted from each of the radio transmitters; A diagnostic information collecting unit collecting the diagnostic information about the boiler tube; A flight module for controlling the fuselage to fly inside the boiler furnace; And a controller for collecting the diagnostic information through the diagnostic information collecting unit while controlling flight of the moving body using the coordinates of the dron position detected by the position coordinate detecting unit through the flight module, And transferring the collected diagnosis information and the position coordinates of the drone to the diagnosis server.

The diagnostic information collecting unit of the present invention includes a case formed to correspond to an outer shape of the boiler tube; A photographing unit installed in the case and photographing the boiler tube to acquire image information; An illumination unit installed in the case and illuminating the boiler tube; And a non-destructive inspection unit installed in the case and performing nondestructive inspection on the boiler tube to obtain nondestructive inspection information.

The photographing unit of the present invention is characterized in that a plurality of the photographing units are provided in the case, and the boiler tubes are photographed from different directions.

The distance detection unit may further include a distance sensing unit for sensing a distance to the boiler tube, wherein the control unit calculates a distance between the body and the boiler tube based on a distance between the body and the boiler tube sensed by the distance sensing unit Is maintained at a predetermined check distance or more.

The control unit continuously collects image information about the boiler tube while moving from a predetermined initial coordinate to an end coordinate through the flight module using the dron position coordinates detected by the position coordinate detector. .

The controller moves to a predetermined check coordinate through the flight module using the dragon position coordinates detected by the position coordinate detector to detect at least one of image information and nondestructive inspection information about the boiler tube in the check coordinates And collecting one.

The diagnostic server of the present invention includes a drones control module for setting a diagnostic information collection mode for collecting the diagnostic information and for starting and stopping the drones according to the diagnostic information collection mode; And a diagnostic module for receiving and outputting the diagnosis information collected by the drones and the dron position coordinates according to a diagnostic information collection mode of the drones control module.

The diagnostic module of the present invention may include a first storage unit for storing the diagnosis information and the dron position coordinates received from the drones; A second storage unit for mapping and mapping boiler position coordinates modeled in three dimensions; A matching unit for matching the diagnosis information and the boiler diagram based on the dron position coordinates and the boiler position coordinates respectively stored in the first storage unit and the second storage unit; And an output unit for outputting the diagnosis information, the boiler diagram, and the boiler position coordinates according to the matching result of the matching unit.

The present invention is characterized by further comprising a terminal for setting a diagnostic information collection mode for collecting the diagnostic information for collecting the diagnostic information and for starting and stopping the drones according to the diagnostic information collection mode.

The present invention is further characterized by a terminal for receiving and outputting the diagnosis information corresponding to the dron position coordinates from the diagnosis server.

The present invention can greatly shorten the boiler tube diagnosis time, and can perform the unplanned check quickly.

The present invention enables the diagnosis source to check the tube status of each position displayed on the boiler drawing through a computer or a mobile device without the diagnostic source entering the boiler for diagnosis of the boiler tube.

Since the present invention can centrally manage history data of each position and time of the boiler tube state, it is possible to effectively grasp the change of the tube state through comparison with past data.

The present invention can intensively manage the damage area of the boiler tube, shortening the period of planned preventive maintenance, and greatly reducing the possibility of human accidents, thereby contributing to the reduction of power generation cost.

1 is a conceptual diagram of a boiler tube diagnostic apparatus according to an embodiment of the present invention.
2 is a block diagram of a drone according to an embodiment of the present invention.
3 is a perspective view of a diagnostic information collecting unit according to an embodiment of the present invention.
4 is a diagram illustrating an example of collecting diagnostic information using a diagnostic information collection unit according to an embodiment of the present invention.
5 is a block diagram of a diagnostic server according to an embodiment of the present invention.
6 is a diagram illustrating an example of a user interface for setting a full scanning mode according to an embodiment of the present invention.
7 is a diagram illustrating a user interface for setting an inspection mode according to an embodiment of the present invention.
8 is a diagram illustrating a user interface for outputting diagnostic information according to an exemplary embodiment of the present invention.
9 is a flowchart illustrating an operation of the boiler tube diagnostic apparatus according to an embodiment of the present invention.

Hereinafter, a boiler tube diagnosing apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a conceptual diagram of a boiler tube diagnostic apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram of a drone according to an embodiment of the present invention. 5 is a block diagram of a diagnostic server according to an embodiment of the present invention. FIG. 5 is a block diagram of a diagnostic server according to an embodiment of the present invention. 6 is a view illustrating an example of a user interface for setting a full scanning mode according to an embodiment of the present invention, FIG. 7 is a diagram illustrating a user interface for setting an inspection mode according to an embodiment of the present invention, 1 is a diagram illustrating a user interface for outputting diagnostic information according to an embodiment of the present invention.

Referring to FIG. 1, a boiler tube diagnostic apparatus according to an exemplary embodiment of the present invention includes a wireless transmitter 100, a drones 200, a diagnostic server 300, and a terminal 400.

A plurality of wireless transmitters (100) are installed in the boiler furnace to transmit signals. The signal sent by the wireless transmitter 100 is used by the drone 200 to detect three-dimensional position coordinates in the boiler furnace. The installation position of the wireless transmitter 100 may be installed at various positions according to the structure and size of the boiler furnace, but a total of eight may be installed at each corner of the boiler furnace.

The drones 200 detect their positional coordinates, that is, the position coordinates of the drone, using the signals transmitted from each of the wireless transmitters 100, And transmits the detected diagnosis information and the position coordinates of the drone to the diagnostic server 300 or the terminal 400. The diagnostic server 300 or the terminal 400 receives the diagnosis information and the drone position coordinates. In this case, the drones 200 fly along the target coordinates set according to the diagnostic information collection mode based on the dron position coordinates. In this process, the boiler tube 11 is diagnosed and the diagnosis information is diagnosed To the server (300) or the terminal (400). Here, the diagnostic information collection mode and target coordinates will be described later.

Referring to FIG. 2, the drone 200 includes a dragon position coordinate detector 210, a diagnostic information collector 220, a distance detector 230, a flight module 240, and a controller 250.

The dronion position coordinate detection unit 210 detects the dron position coordinates in the boiler furnace using the intensity of the signal transmitted from each of the wireless transmitters 100. [

The diagnostic information collecting unit 220 collects diagnostic information about the boiler tube 11, for example, image information about the boiler tube 11 and non-destructive inspection information, and includes a photographing unit 221, an illuminating unit 222, Nondestructive inspection section 223.

The photographing unit 221, the illuminating unit 222 and the non-destructive inspection unit 223 are installed in the case 224 so as to collect various diagnostic information about the boiler tube 11.

Referring to FIG. 3, the case 224 may be formed in a parabolic shape corresponding to the outer shape of the boiler tube 11. Therefore, the photographing unit 221, the illuminating unit 222, and the non-destructive testing unit 223 can be installed at various positions at which the diagnostic information can be obtained.

The photographing unit 221 photographs the boiler tube 11 and transmits the photographed image information to the control unit 250 so that the boiler tube 11 can be photographed in various positions and directions. For example, as shown in FIG. 3, the photographing unit 221 may include three photographing units for photographing the front and left and right sides of the boiler tube 11.

The illumination unit 222 is provided in a one-to-one correspondence with the photographing unit 221 and illuminates the boiler tube 11 so that the photographing unit 221 can photograph the front and left and right sides of the boiler tube 11, So as to acquire image information of appropriate brightness with respect to the brightness. In addition, the illumination unit 222 may be installed in the case 224 in various ways.

The nondestructive inspection unit 223 is installed in the case 224 to perform a nondestructive inspection for the close inspection of the boiler tube 11 and transmits the nondestructive inspection information according to the nondestructive inspection to the control unit 250.

The distance sensing unit 230 senses the distance between the body of the drone 200 and the boiler tube 11. The distance sensing unit 230 may be installed at the center of the case 224 as shown in FIG. The distance sensing unit 230 is installed at the center of the case 224 and senses the distance to the boiler tube 11 so that the drone 200 can acquire image information and non-destructive inspection information from the boiler tube 11 .

The flight module 240 causes the control unit 250 to fly and land the body of the dron 200 in response to the control signal. The flight module 240 may include an engine (not shown) that generates power necessary for flight and a propeller (not shown) that rotates using the power of the engine. In addition, the flight module 240 may include an altitude sensor (not shown) for measuring the altitude of the body to maintain the altitude of the UAV, an obstacle sensor (not shown) for detecting the obstacle on the flight path, And a gyro sensor (not shown) for sensing the posture of the body so that the body can maintain a stable posture.

The control unit 250 collects diagnostic information through the diagnostic information collection unit 220 while controlling the flight using the dragon position coordinates detected by the dragon position coordinate detection unit 210 through the flight module 240, ).

That is, the controller 250 detects the drone position coordinates through the drone position coordinate detector 210, calculates the target coordinates according to the predetermined diagnostic information collection mode, and compares the target coordinates and the drone position coordinates in real time Thereby flying the body through the flight module 240. At this time, according to the distance from the boiler tube 11 sensed through the distance sensing unit 230, the boiler tube 11 is maintained at a predetermined check distance or more.

Here, the check distance is the distance between the boiler tube 11 and the drone 200 suitable for diagnosing the boiler tube 11. For example, the check distance may be set to 2m or the like. Here, the check distance may be set differently according to the diagnostic information collection mode.

In addition, the target coordinates may be set according to the above-described diagnostic information collection mode. When the diagnostic information collection mode is the full scanning mode, the target coordinates correspond to all the coordinates from the initial coordinate to the end coordinate. If the diagnostic information collection mode is the inspection mode, Coordinates.

The full scanning mode is a mode for collecting a whole image of the boiler tube 11. In the full scanning mode, the control unit 250 controls the flight module 240 based on the detected dragon position coordinates through the dragon position coordinate detection unit 210 to fly the body from the initial coordinates to the end coordinates. The control unit 250 performs photographing using the middle photographing unit 221 and the illuminating unit 222 among the parabolic case 224 in order to acquire the entire image information of the boiler tube 11, (230) is used to shoot the boiler tube (11) at a check distance.

The inspection mode is a mode for precisely monitoring the boiler tube 11 at a specific position in real time. In the inspection mode, the controller 250 controls the flight module 240 based on the detected drone position coordinates through the drone position coordinate detector 210 to move the body to the inspection coordinates, and the distance detector 230 Captures an image in real time through the photographing unit 221, and transmits the captured image to the diagnosis server 300 in a state where it is stopped at the position based on the distance from the detected boiler tube 11. At this time, the control unit 250 may perform the nondestructive inspection through the nondestructive inspection unit 223 and transmit the nondestructive inspection to the diagnostic server 300.

The diagnostic server 300 receives the diagnostic information and the drone position coordinates from the drone 200 and outputs diagnostic information for each drone position coordinate.

The diagnostic server 300 includes a drone control module 310 and a diagnostic module 320.

The drones control module 310 sets the diagnostic information collection mode to collect diagnostic information and starts and stops the drones 200 according to the diagnostic information collection mode. The drones control module 311 and the image processing unit 312 .

The drones control unit 311 sets the diagnostic information collection mode and controls the drones 200 by receiving a start command and a stop command for the flight of the drones 200 from the user. In addition, the drones control unit 311 sets a diagnostic information collection mode of the drones 200, and controls the flight of the drones 200 and the collection of the diagnostic information based thereon.

The image processing unit 312 processes image information transmitted in real time from the inspection mode mode drondon 200 and outputs the image information through the output unit 324 described later. In this case, the image processing unit 312 outputs the image information in 3D (Dimension), and allows the user to check the stereoscopic image using the VR (Virtual Reality) virtual reality equipment.

The diagnosis module 320 receives and outputs the diagnostic information and the dron position coordinates collected by the drones 200 according to the diagnostic information collection mode of the drones control module 310. The diagnostic module 320 includes a first storage unit 321, A storage unit 322, a matching unit 323, and an output unit 324.

The first storage unit 321 stores the diagnostic information received from the drones 200 and the dron position coordinates.

The second storage unit 322 maps the boiler diagram modeled in three dimensions and the boiler position coordinates and stores the coordinates.

The matching unit 323 matches the diagnosis information with the boiler diagram based on the drone position coordinates and the boiler position coordinates stored in the first storage unit 321 and the second storage unit 322, respectively. That is, the matching unit 323 detects and matches the dron position coordinates and the boiler position coordinates respectively stored in the first storage unit 321 and the second storage unit 322, and generates diagnosis information and boiler drawing .

The output unit 324 outputs the diagnostic information matched by the matching unit 323, the boiler drawing, and the boiler position coordinates as described above. The output unit 324 outputs the image information received from the image processing unit 312 in real time. In this case, when the user selects the boiler position coordinate, the output unit 324 displays the point corresponding to the boiler position coordinate on the boiler drawing, and also displays the diagnostic information matched with the boiler position coordinate.

The terminal 400 transmits various control commands of the user to the drones 200 or the diagnosis server 300 and receives the position information of the drones 200 and the diagnosis information from the drones 200 or the diagnosis server 300 Output.

That is, the terminal 400 sets a diagnostic information collection mode, receives a start command and a stop command for the flight of the drones 200 from the user, controls the drones 200, .

In addition, the terminal 400 may output diagnostic information for each dron position coordinate from the diagnostic server 300.

6, when the full scanning mode is selected in the dron control menu, the terminal 400 activates the start command and the stop command button so that the user can control the drones 200, A boiler full image acquisition progress rate, a work progress time, and a battery remaining amount of the drones 200 may be displayed.

Referring to FIG. 7, when the inspection mode is selected in the control menu of the drone 200, the terminal 400 activates the corresponding button so that the user inputs the check coordinates desired to be checked in detail in the three-dimensional coordinates of the X, Y, and Z axes . In addition, the terminal 400 can perform nondestructive inspection of a specific position with the user selection option in the inspection mode.

Referring to FIG. 8, when the tube diagnosis menu is selected, the terminal 400 maps the image information acquired by the drone 200 in the full scanning mode to a three-dimensionally modeled boiler diagram and boiler position coordinates. In addition, the terminal 400 outputs the corresponding image according to the position coordinates selected by the user and the image acquisition date.

For reference, the information displayed through the terminal 400 may be displayed through the diagnostic server 300 as well.

Hereinafter, the operation of the boiler tube diagnosing apparatus according to an embodiment of the present invention will be described in detail with reference to FIG.

9 is a flowchart illustrating an operation of the boiler tube diagnostic apparatus according to an embodiment of the present invention.

Referring to FIG. 9, first, the diagnostic information collection mode is set by the terminal 400 or the diagnostic server 300.

At this time, the controller 250 determines whether the full scanning mode is set by the terminal 400 or the diagnosis server 300 (S10). If the full scanning mode is set, the controller 250 controls the terminal 400, It is determined whether a start command is transmitted from the controller 300 (S20).

When the start command is transmitted from the terminal 400 or the diagnosis server 300, the controller 250 detects the dron position coordinates through the dron position coordinate detector 210 and determines the position of the flight module 240 To move to the initial coordinates according to the full scanning mode (S30).

The control unit 250 turns on the illumination unit 222 in step S40 and controls the photographing unit 221 to fly along the copper line determined from the initial coordinates to collect diagnostic information and transmit the diagnostic information to the diagnostic server 300 This process is repeated until a stop command is transmitted from the terminal 400 or the diagnosis server 300 or the end coordinates set in the full scanning mode are reached (S50, S60).

When the stop command is transmitted from the terminal 400 or the diagnostic server 300 or reaches the end coordinates set in the full scanning mode, the controller 250 turns off the illumination unit 222 (S140). And moves to the landing coordinates (S150).

The first storage unit 321 of the diagnosis server 300 stores the diagnostic information and the location information of the drone 200 received from the drones 200. The matching unit 323 stores the location information of the first storage unit 321 The diagnosis information and the boiler diagram are matched based on the position information of the drones 200 and the boiler position coordinates respectively stored in the second storage unit 322 and the diagnostic information, the boiler drawings and the boiler position coordinates are output through the output unit 324 .

If the inspection mode is selected as a result of the determination in step S10, the controller 250 determines whether a start command is transmitted from the terminal 400 or the diagnosis server 300 in step S70. At this time, when a start command is input from the terminal 400 or the diagnosis server 300, the controller 250 detects the dron position coordinates through the dron position coordinate detector 210, and based on the detected dron position coordinates, (240) and moves to the inspection coordinates according to the inspection mode (S80).

The control unit 250 turns on the lighting unit 222 in step S90 and detects the distance between the moving body and the boiler tube 11 through the distance sensing unit 230, The distance adjusts the checking distance (S100).

At this time, when the distance between the body and the boiler tube 11 becomes a check distance, the controller 250 controls the flight module 240 to maintain the current position coordinates (S110), and the diagnosis information collecting unit 220 And collects diagnostic information and transmits it to the diagnosis server 300 (S120).

The controller 250 determines whether a stop command is input from the terminal 400 or the diagnosis server 300 in step S130. If the stop command is input, the controller 250 turns off the illumination unit 222 (S140), and controls the flight module 240 to move the body to the landing coordinates (S150). That is, the control unit 250 collects the diagnostic information until the stop command corresponding to the check distance is input and transmits the collected diagnostic information to the diagnostic server 300.

The first storage unit 321 of the diagnostic server 300 stores the diagnostic information and the drone position coordinates received from the drones 200. The matching unit 323 stores the coordinates of the first storage unit 321, The boiler diagram and the boiler diagram are matched based on the drone position coordinates and the boiler position coordinates stored in the boiler 322, respectively, and the diagnostic information, the boiler drawings, and the boiler position coordinates can be output through the output unit 324. In addition, the output unit 324 of the diagnostic server 300 may output the image information in real time.

In addition, the terminal 400 may receive and output diagnostic information, boiler drawings, and boiler position coordinates from the diagnostic server 300.

As described above, the present embodiment can greatly shorten the diagnosis time of the boiler tube, and can perform the unplanned check quickly.

In addition, the present embodiment allows the diagnosis source to check the tube status of each position displayed on the boiler drawing through a computer or a mobile device or the like without the diagnostic source entering the boiler 10 for diagnosing the boiler tube.

In addition, since the present embodiment can centrally manage the history data of each position and time of the boiler tube state, it is possible to effectively grasp the change of the tube state through comparison with past data.

In addition, the present embodiment can intensively manage the damaged portion of the boiler tube 11, which can shorten the planned preventive maintenance period and greatly reduce the possibility of human casualties, thereby contributing to the reduction of power generation cost.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: Boiler
11: Boiler tube
100: wireless transmitter
200: Drones
210: Drone position coordinate detector
220: diagnostic information collecting unit
221:
222:
223: Non-destructive inspection section
224: Case
230: Distance detection unit
240: Flight module
250:
300: Diagnostic server
310: Drone control module
311: Drone control
312:
320: diagnostic module
321: First storage unit
322:
323:
324: Output section
400: terminal

Claims (11)

A wireless transmitter for transmitting a signal;
A controller for detecting the position of the drone using the signal transmitted from each of the radio transmitters, collecting diagnostic information about the boiler tube while flying inside the boiler furnace using the position coordinates of the drone, ; And
And a diagnosis server which receives the diagnosis information and the dron position coordinates from the dron and outputs the diagnosis information corresponding to the dron position coordinates. 2. The apparatus of claim 1, wherein the drones
A position coordinate detector for detecting the position of the drone in the boiler chamber using the intensity of the signal transmitted from each of the radio transmitters;
A diagnostic information collecting unit collecting the diagnostic information about the boiler tube;
A flight module for controlling the fuselage to fly inside the boiler furnace; And
Collecting the diagnostic information through the diagnostic information collecting unit while controlling flight of the body using the dron position coordinates detected by the position coordinate detecting unit through the flight module, detecting the dron position coordinates from which the diagnostic information is collected And a controller for transmitting the collected diagnosis information and the position coordinates of the drone to the diagnosis server. 3. The apparatus of claim 2, wherein the diagnostic information collecting unit
A case formed to correspond to an outer shape of the boiler tube;
A photographing unit installed in the case and photographing the boiler tube to acquire image information;
An illumination unit installed in the case and illuminating the boiler tube; And
And a non-destructive inspection unit installed in the case and performing nondestructive inspection on the boiler tube to obtain nondestructive inspection information. 4. The boiler tube diagnostic apparatus according to claim 3, wherein the photographing section is provided with a plurality of the photographing sections, and photographs the boiler tubes in different directions. The boiler according to claim 2, further comprising a distance sensing unit for sensing a distance from the boiler tube, wherein the control unit controls the distance between the body and the boiler tube based on the distance between the body and the boiler tube, And the distance is maintained at a predetermined check distance or more. [3] The apparatus of claim 2, wherein the control unit continuously collects image information about the boiler tube while moving from a predetermined initial coordinate to an end coordinate through the flight module using the dron position coordinates detected by the position coordinate detector. The boiler tube diagnosing apparatus comprising: 3. The method according to claim 2, wherein the control unit moves to a predetermined check coordinate through the flight module using the dron position coordinates detected by the position coordinate detection unit to detect image information on the boiler tube and non-destructive inspection Information of the boiler tube is collected. The system according to claim 1, wherein the diagnosis server
A drones control module for setting a diagnostic information collection mode for collecting the diagnostic information, and for starting and stopping the drones according to the diagnostic information collection mode; And
And a diagnostic module for receiving and outputting the diagnosis information and the dron position coordinates collected by the dron according to the diagnosis information collection mode of the dron control module. 9. The system of claim 8, wherein the diagnostic module
A first storage unit for storing the diagnosis information and the dron position coordinates received from the drones;
A second storage unit for mapping and mapping boiler position coordinates modeled in three dimensions;
A matching unit for matching the diagnosis information and the boiler diagram based on the dron position coordinates and the boiler position coordinates respectively stored in the first storage unit and the second storage unit; And
And an output unit for outputting the diagnosis information, the boiler drawing, and the boiler position coordinates according to the matching result of the matching unit. The apparatus according to claim 1, further comprising a terminal for setting a diagnostic information collection mode for collecting the diagnostic information to collect the diagnostic information, and for starting and stopping the drones according to the diagnostic information collection mode A boiler tube diagnostic device. The boiler tube diagnostic apparatus according to claim 1, further comprising a terminal for receiving and outputting the diagnosis information corresponding to the drone position coordinates from the diagnosis server.
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KR101845796B1 (en) * 2017-11-16 2018-04-05 사단법인 한국선급 A virtual reality-based management method combining drone inspection information
CN108545208A (en) * 2018-04-20 2018-09-18 国电锅炉压力容器检验中心 A kind of inspection unmanned plane, controller and control method
CN108791880A (en) * 2018-05-04 2018-11-13 国电锅炉压力容器检验中心 A kind of pressure vessel inspection unmanned plane
CN108875971A (en) * 2018-06-14 2018-11-23 广东电网有限责任公司 Device context diagnostic method, device, the diagnosis helmet and diagnosis server
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101845796B1 (en) * 2017-11-16 2018-04-05 사단법인 한국선급 A virtual reality-based management method combining drone inspection information
CN108545208A (en) * 2018-04-20 2018-09-18 国电锅炉压力容器检验中心 A kind of inspection unmanned plane, controller and control method
CN108791880A (en) * 2018-05-04 2018-11-13 国电锅炉压力容器检验中心 A kind of pressure vessel inspection unmanned plane
CN108875971A (en) * 2018-06-14 2018-11-23 广东电网有限责任公司 Device context diagnostic method, device, the diagnosis helmet and diagnosis server
KR101970012B1 (en) * 2018-09-20 2019-04-18 주식회사 미래기술 System for structure safety test using drone
KR20200067743A (en) * 2018-11-02 2020-06-12 광주과학기술원 Fish net surveillance apparatus using Remotely-Operated underwater Vehicle, controlling method of the same
KR20200067286A (en) * 2018-12-03 2020-06-12 한국가스안전공사 3D scan and VR inspection system of exposed pipe using drone
CN110040250A (en) * 2019-04-24 2019-07-23 河南趣航科技有限公司 A kind of thermal power plant boiler interior detection unmanned vehicle system and its control method
JP2021081161A (en) * 2019-11-22 2021-05-27 三菱パワー株式会社 Boiler inside inspection method
CN111609990A (en) * 2020-04-24 2020-09-01 国网河北省电力有限公司电力科学研究院 Boiler cold-state dynamic field test method based on unmanned aerial vehicle
KR102221237B1 (en) * 2020-06-12 2021-03-03 에스큐엔지니어링(주) System for monitoring degraded steel facility using subminiature drone

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