An intelligent inspection and quality inspection robot for biomass storage

Abstract

The present invention relates to an intelligent inspection and quality inspection robot for biomass material warehouse, comprising: a biomass material warehouse crane, a sliding guide rail platform, an intelligent inspection and quality inspection robot and a mobile hanging rail; the two ends of the sliding guide rail platform are respectively connected to the guide grooves on both sides of the biomass material warehouse crane, and the sliding guide rail platform is slidably connected to the mobile hanging rail; the intelligent inspection and quality inspection robot is provided with a control platform, and the control platform is respectively provided with a three-dimensional measurement module, a gas detection module, a temperature measurement module, a positioning module and an intelligent monitoring module. The beneficial effects of the present invention are: effectively solving the remote monitoring, all-round temperature monitoring and early warning, and all-round gas detection and early warning of areas that cannot be reached by manual inspection, and realizing dynamic material warehouse safety management; effectively replacing the manual fuel quality inspection of biomass material warehouses, especially part of agricultural and forestry waste material warehouses; realizing dynamic inventory management and scheduling of biomass material warehouse fuel.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control technology, and specifically is an intelligent inspection and quality inspection robot for biomass material warehouses; the present invention is suitable for biomass direct-fired power plants that generate electricity by burning garbage, agricultural and forestry waste or sludge and are equipped with a traveling crane in the biomass material warehouse. Background Art

[0002] The biomass material warehouse is a key security area of ​​a biomass direct-fired power plant that generates electricity by incinerating garbage, agricultural and forestry waste, or sludge. Agricultural and forestry waste itself is a flammable substance. During the long-term stacking process, accompanied by microbial fermentation, organic matter decomposition, etc., local temperatures are often too high, causing spontaneous combustion of agricultural and forestry waste. Therefore, conventional agricultural and forestry waste direct-fired power plants need to regularly monitor the temperature of biomass material warehouse stacks, and install smoke detectors in the warehouse for fire security detection of agricultural and forestry waste material warehouses. The garbage warehouse of a garbage power plant periodically stores domestic garbage. Once the garbage storage cycle becomes longer, a large amount of odorous gas and flammable gas will be generated. If no attention is paid to supervision, once the combustible gas concentration exceeds the standard, a fire accident will occur. The sludge warehouse of a sludge incineration power plant also has this problem. Therefore, combustible gas detectors are generally installed at high places in the garbage warehouse or sludge warehouse for combustible gas concentration detection.

[0003] However, as biomass feed warehouses are generally designed to have a large capacity, the installed smoke detectors or combustible gas detectors cannot ensure full coverage, and are generally installed at a high position, making it impossible to accurately monitor the safety of the feed warehouse during actual operation; in some biomass direct-fired power plants, when smoke detectors or combustible gas detectors go off, the situation on site is already quite urgent; therefore, how to improve the safety inspection of biomass feed warehouses is an issue that biomass direct-fired power plants urgently need to address.

[0004] At the same time, biomass direct-fired power plants that generate electricity by incinerating garbage, agricultural and forestry waste, or sludge generally need to carry out weighing and quality inspection of biomass entering and leaving the plant; for example, an agricultural and forestry waste material warehouse needs to arrange 3 to 5 people at the same time to conduct quality inspection of vehicles entering the factory and dispatch material warehouses; on the one hand, it increases the labor cost of biomass direct-fired power plants, and on the other hand, the use of manual quality inspection and dispatch management alone will inevitably lead to mistakes or misjudgments. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an intelligent inspection and quality inspection robot for a biomass material warehouse.

[0006] The intelligent inspection and quality inspection robot for biomass material warehouse comprises: a biomass material warehouse crane, a sliding guide rail platform, an intelligent inspection and quality inspection robot and a mobile hanging rail; the two ends of the sliding guide rail platform are respectively connected to the guide grooves on both sides of the biomass material warehouse crane, and the sliding guide rail platform is slidably connected to the mobile hanging rail; the intelligent inspection and quality inspection robot is provided with a control platform, and the control platform is respectively provided with a three-dimensional measurement module, a gas detection module, a temperature measurement module, a positioning module and an intelligent monitoring module; the control platform is connected to the mobile hanging rail through a telescopic connecting rod, and the movement of the gas detection module in the space is mainly completed by the actuator (telescopic connecting rod) and the control platform.

[0007] Preferably, the three-dimensional measurement module, the gas detection module, the temperature measurement module, the positioning module and the intelligent monitoring module are arranged on four sides of the control platform.

[0008] Preferably, the three-dimensional measurement module is a 3D camera (structured light camera, binocular camera or TOF camera), the gas detection module is a gas detector, the temperature measurement module is a temperature measuring thermocouple, the positioning module is a positioning camera, and the intelligent monitoring module is a monitoring camera; the mobile hanging rail is a sliding hanging rail with a control motor; the temperature measuring thermocouple is an armored thermocouple with an outer steel pipe (T-type, E-type, N-type, S-type and other thermocouples), which ensures the rigidity of the thermocouple temperature measuring section when inserted into the biomass fuel stack during temperature measurement, and the temperature measuring range of the temperature measuring thermocouple is within 0-60°C; the positioning camera is a QR code positioning camera, and QR code plates are affixed to the walls or main body of the biomass material warehouse to realize real-time positioning of the intelligent inspection and quality inspection robot during automatic movement; the monitoring camera is a conventional industrial monitoring camera, and its main function is to monitor and film the biomass material yard 24 hours a day to realize remote monitoring; the 3D camera, gas detector, positioning camera, and monitoring camera can be fine-tuned on the control platform as needed.

[0009] Preferably, in high-precision measurement scenarios, a three-dimensional laser radar is installed on the side of the control platform for auxiliary measurement to ensure sufficient detection field of view.

[0010] Preferably, the control platform includes a power supply module, a control circuit board, a sensor, an audible and visual alarm device, a wireless transmission device, etc.

[0011] Preferably, in an agricultural and forestry waste material warehouse, the gas detection module uses a conventional smoke detector to detect the triggering alarm when a fire accident occurs in the agricultural and forestry waste material warehouse; in a garbage warehouse or a sludge warehouse, the gas detection module uses an explosion-proof fixed combustible gas detector, which includes a catalytic combustible gas detector or an infrared optical combustible gas detector, which is used to detect the triggering alarm when the combustible gas content in the warehouse exceeds the standard.

[0012] The working method of the intelligent inspection and quality inspection robot for biomass material storage includes the following steps:

[0013] Step 1: The control platform controls the movement of the sliding guide platform, the mobile hanging rail, the three-dimensional measurement module and the positioning module to conduct a full-scale inspection and quality inspection of the biomass material warehouse;

[0014] Step 2: The positioning module identifies the QR code plates on the walls or main surfaces around the biomass material warehouse to perform real-time positioning of the intelligent inspection and quality inspection robot during automatic movement. The control platform analyzes and judges the information monitored by the three-dimensional measurement module, gas detection module, temperature measurement module, positioning module and intelligent monitoring module and issues corresponding warnings or alarms.

[0015] Preferably, step 1 specifically comprises the following steps:

[0016] Step 1.1, the control platform controls the sliding guide platform to move the intelligent inspection and quality inspection robot forward or backward, and the control platform controls the mobile hanging rail to slide left and right along the sliding guide platform to move the intelligent inspection and quality inspection robot left or right; the control platform controls the mobile hanging rail to rise or fall to make the intelligent inspection and quality inspection robot rise or fall;

[0017] Step 1.2: Use the 3D measurement module and intelligent monitoring module to perform real-time volume scanning and measurement of biomass transport vehicles, video recording of fuel types, and photography of vehicle license plates. Obtain transport weight and fuel type online through the control platform and perform vehicle identification to instantly complete fuel quality inspection. Track and manage transport vehicles, transport fuels, and transport weights over a long period of time to promptly detect abnormalities such as changes in transport fuels, significant changes in transport weights, and vehicle replacements, to ensure accurate quality inspection of biomass and tracking and control of fuel transportation.

[0018] Preferably, step 2 specifically comprises the following steps:

[0019] Step 2.1, the three-dimensional measurement module obtains accurate biomass fuel volume data by three-dimensional modeling of the biomass material warehouse, realizing accurate biomass material yard inventory management and material yard intelligent scheduling; the three-dimensional measurement module obtains accurate positioning data, volume measurement data and fuel characterization difference data by three-dimensional modeling of the biomass material warehouse driving, and establishes a dynamic database to realize accurate biomass fuel quality inspection management; when the inventory of each material warehouse changes in real time due to differences in feed quantity, the material warehouse with smaller inventory is obtained by measuring the real-time inventory data, and the feedback is fed back to the control platform, and the control platform feeds back the information that the fuel supply is about to be insufficient to the management personnel, and the management personnel conduct real-time scheduling of the transport vehicles, giving priority to replenishing the material warehouse with smaller inventory, so as to realize the partitioned dynamic inventory management and accurate scheduling of the biomass material warehouse;

[0020] Step 2.2, when the gas detection module detects that the fire smoke or combustible gas exceeds the standard, the control platform immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room, warning that the combustible gas concentration in the biomass material warehouse exceeds the standard and that ventilation or emergency fire fighting is required in time;

[0021] Step 2.3, when the temperature measurement module detects that the temperature of the biomass stack exceeds the limit, the control platform immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room, prompting the designated stack to be promptly unloaded to eliminate the fire hazard;

[0022] Step 2.4: The biomass warehouse is remotely monitored through 24-hour surveillance video by the intelligent monitoring module (high-definition night vision digital camera). When the intelligent monitoring module detects the presence of personnel or animals in the working area, the control platform immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room, warning the personnel or animals to evacuate as soon as possible.

[0023] The beneficial effects of the present invention are:

[0024] 1. Using the driving of biomass material warehouse to construct intelligent inspection and quality inspection robots can effectively solve the remote monitoring, all-round temperature monitoring and early warning, all-round gas detection and early warning of areas that cannot be reached by manual inspection, and realize dynamic intelligent material warehouse safety management;

[0025] 2. It can effectively replace manual fuel quality inspection in biomass material warehouses, especially agricultural and forestry waste material warehouses, save labor costs for power plants, and minimize manual errors and misjudgments.

[0026] 3. Intelligent inspection and quality inspection robots can also be used to achieve dynamic inventory management and intelligent scheduling of biomass storage fuels, ensuring the timeliness of unit fuel supply, uniformity of storage area distribution, and timeliness of fuel turning and drying.

[0027] 4. By adjusting the functional module configuration, it can adapt to the biomass material storage scenarios of different power plants such as garbage direct-fired power plants, agricultural and forestry waste direct-fired power plants or sludge direct-fired power plants to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of an intelligent inspection and quality inspection robot for biomass material storage;

[0029] Explanation of the reference numerals: biomass material warehouse crane 1, sliding guide rail platform 2, intelligent inspection and quality inspection robot 3, 3D camera 4, gas detector 5, temperature measuring thermocouple 6, positioning camera 7, monitoring camera 8, control platform 9, mobile hanging rail 10. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with embodiments. The description of the following embodiments is only used to help understand the present invention. It should be noted that for ordinary persons in the art, without departing from the principle of the present invention, the present invention can also be modified in some ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0031] Embodiment 1:

[0032] like Figure 1 As shown, an intelligent inspection and quality inspection robot for a biomass material warehouse comprises: a biomass material warehouse crane 1, a sliding guide rail platform 2, an intelligent inspection and quality inspection robot 3 and a mobile hanging rail 10; the two ends of the sliding guide rail platform 2 are respectively connected to the guide grooves on both sides of the biomass material warehouse crane 1, and the sliding guide rail platform 2 is slidably connected to the mobile hanging rail 10; a control platform 9 is provided on the intelligent inspection and quality inspection robot 3, and a 3D camera 4 (structured light camera, binocular camera or TOF camera), a gas detector 5, a temperature measuring thermocouple are provided on the four sides of the control platform 9. 6 (armored thermocouple of outer steel pipe: T-type, E-type, N-type, S-type and other thermocouples), positioning camera 7 (QR code positioning camera) and monitoring camera 8 (conventional industrial monitoring camera); control platform 9 is connected to mobile hanging rail 10 (sliding hanging rail with control motor) through telescopic connecting rod, and the movement of gas detection module in space is mainly completed by actuator (telescopic connecting rod) and control platform 9; in high-precision measurement occasions, a three-dimensional laser radar is also installed on the side of control platform 9 for auxiliary measurement to ensure sufficient detection field of view. The movement of intelligent inspection and quality inspection robot 3 mainly relies on biomass dry material storage crane 1.

[0033] Embodiment 2:

[0034] Taking the agricultural and forestry waste direct-fired power plant as an example, we first need to understand the number of material warehouses in the agricultural and forestry waste material yard, the size of the material warehouse, the configuration of the driving vehicle, the configuration of the smoke detector, the safety risk points, the manual quality inspection mode, the temperature measurement cycle of the manual fuel stack, the type of fuel, the daily inventory management mode and other information.

[0035] Taking a 30MW agricultural and forestry waste direct-fired power plant as an example, there are four biomass dry material warehouses, two of which are large biomass material warehouses equipped with cranes (116 meters long, 66 meters wide, and 12 meters high); the power station's material warehouses are equipped with fire alarm systems including smoke detectors, and the temperature of the material yard stacks is tested twice in the morning and afternoon every day; at present, except for electronic weighing in and out of the factory, fuel quality inspection is carried out manually, and the work content includes fuel type identification, fuel volume measurement and impurity content estimation; inventory management includes the blending of different fuels, scheduling of unloading warehouses, and fuel turning and drying rotation. After research and analysis, the biomass warehouse of the agricultural and forestry waste direct-fired power plant can be equipped with two intelligent patrol and quality inspection robots; in addition to the core control platform, the main configuration modules include three-dimensional measurement module, gas detection module, temperature measurement module, positioning module, and intelligent monitoring module, which can realize the dynamic inventory management, unmanned patrol, real-time safety monitoring, intelligent scheduling, intelligent quality inspection and other functions of the biomass warehouse. During operation, the positioning accuracy of the intelligent patrol and quality inspection robots can reach ±5cm, and the peak volume measurement accuracy of the biomass warehouse stacking can reach 5%. At the same time, real-time inventory analysis, reporting and safety warning of the storage capacity biomass can be realized, and timely and accurate storage area scheduling plans can be provided.

Claims

1. A working method of an intelligent inspection and quality inspection robot for a biomass material warehouse, characterized in that: include: A biomass material storage crane (1), a sliding guide rail platform (2), an intelligent inspection and quality inspection robot (3) and a mobile hanging rail (10); the two ends of the sliding guide rail platform (2) are respectively connected to the guide grooves on both sides of the biomass material storage crane (1), and the sliding guide rail platform (2) is slidably connected to the mobile hanging rail (10); a control platform (9) is provided on the intelligent inspection and quality inspection robot (3), and a three-dimensional measurement module, a gas detection module, a temperature measurement module, a positioning module and an intelligent monitoring module are respectively provided on the control platform (9); the control platform (9) is connected to the mobile hanging rail (10) via a telescopic connecting rod; the following steps are included: Step 1, the control platform (9) controls the movement of the sliding guide platform (2), the movable hanging rail (10), the three-dimensional measurement module and the positioning module to conduct a full-scale inspection and quality inspection of the biomass material warehouse; Step 2: The positioning module identifies the QR code plates on the walls or main body of the biomass material warehouse to perform real-time positioning of the intelligent inspection and quality inspection robot (3) during automatic movement, and the control platform (9) analyzes and judges the information monitored by the three-dimensional measurement module, the gas detection module, the temperature measurement module, the positioning module and the intelligent monitoring module and issues corresponding warnings or alarms; Step 1 specifically includes the following steps: Step 1.1, the control platform (9) controls the sliding guide platform (2) to move the intelligent inspection and quality inspection robot (3) forward or backward, and the control platform (9) controls the movable hanging rail (10) to slide left and right along the sliding guide platform (2) to move the intelligent inspection and quality inspection robot (3) left or right; the control platform (9) controls the movable hanging rail (10) to rise or fall to make the intelligent inspection and quality inspection robot (3) rise or fall; Step 1.2: Use the three-dimensional measurement module and the intelligent monitoring module to scan and measure the volume of the biomass transport vehicle in real time, take photos of the fuel type and the vehicle license plate of the biomass transport vehicle; obtain the transport weight and fuel type online through the control platform (9) and identify the biomass transport vehicle; and conduct long-term tracking and management of the biomass transport vehicle, transport fuel and transport weight; Step 2 specifically includes the following steps: Step 2.1, the three-dimensional measurement module obtains the volume data of biomass fuel by three-dimensionally modeling the biomass material warehouse; the three-dimensional measurement module obtains accurate positioning data, volume measurement data and fuel characterization difference data by three-dimensionally modeling the biomass material warehouse driving (1), and establishes a dynamic database; when the inventory of each material warehouse changes in real time due to the difference in feed amount, the material warehouse with smaller inventory is obtained by measuring the real-time inventory data, and the data is fed back to the control platform (9), and the control platform (9) feeds back the information that the fuel supply is about to be insufficient to the management personnel; Step 2.2, when the gas detection module detects fire smoke or excessive combustible gas, the control platform (9) immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room to warn that the combustible gas concentration in the biomass material warehouse exceeds the standard; Step 2.3, when the temperature measurement module detects that the temperature of the biomass stack exceeds the limit, the control platform (9) immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room, prompting the designated stack to be promptly unloaded; Step 2.4: The biomass material warehouse is remotely monitored by monitoring the camera through the intelligent monitoring module. When the intelligent monitoring module detects the presence of personnel or animals in the operation area, the control platform (9) immediately issues an audible and visual alarm on site after receiving the sensor signal and simultaneously sends an alarm signal to the power plant control room, warning the personnel or animals to evacuate as soon as possible.

2. The working method of the intelligent inspection and quality inspection robot for biomass material storage according to claim 1 is characterized in that: The three-dimensional measurement module, the gas detection module, the temperature measurement module, the positioning module and the intelligent monitoring module are arranged on four sides of the control platform (9).

3. The working method of the intelligent inspection and quality inspection robot for biomass material storage according to claim 1 is characterized in that: The three-dimensional measurement module is a 3D camera (4), the gas detection module is a gas detector (5), the temperature measurement module is a temperature measuring thermocouple (6), the positioning module is a positioning camera (7), and the intelligent monitoring module is a monitoring camera (8); the movable hanging rail (10) is a sliding hanging rail with a control motor; the temperature measuring thermocouple (6) is an armored thermocouple with an outer steel pipe, and the temperature measuring range of the temperature measuring thermocouple (6) is within 0 to 60° C.; the positioning camera (7) is a QR code positioning camera, and the walls or main body of the biomass material warehouse are affixed with QR code plates; and the monitoring camera (8) is an industrial monitoring camera.

4. The working method of the intelligent inspection and quality inspection robot for biomass material storage according to claim 1 is characterized in that: In the case of high-precision measurement, a three-dimensional laser radar is also installed on the side of the control platform (9).

5. The working method of the intelligent inspection and quality inspection robot for biomass material storage according to claim 1 is characterized in that: The control platform (9) comprises a power supply module, a control circuit board, a sensor, an audible and visual alarm device, and a wireless transmission device.

6. The working method of the intelligent inspection and quality inspection robot for biomass material storage according to claim 1 is characterized in that: In agricultural and forestry waste material storage, the gas detection module uses a smoke detector; in a garbage material storage or sludge material storage, the gas detection module uses an explosion-proof fixed combustible gas detector, which includes a catalytic combustible gas detector or an infrared optical combustible gas detector.

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