UAV Inspection System Based on Power Plant Boiler

Abstract

The present invention discloses an unmanned aerial vehicle (UAV) inspection system based on a power plant boiler, which relates to the technical field of UAVs. When there are dust or water vapor anomalies in a certain area, the UAV can only display an anomaly signal and cannot display the specific location of the corresponding area, resulting in a high degree of difficulty for operators in maintenance. At the same time, due to the complex internal environment of the boiler room, it is easy to cause data fluctuations in the corresponding equipment, resulting in misjudgment of the inspected data. By processing different changed parameters and transmitting the processing results to the control unit, the inspection effect can be improved, and external personnel can quickly reach the designated inspection area according to the corresponding signal for maintenance. When monitoring and processing equipment data, a monitoring period is defined, and based on the change in the value within the monitoring period and the duration of the continuous change, the equipment anomaly is judged, which can fully improve the accuracy of equipment anomaly determination and avoid misjudgment caused by data fluctuations.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and specifically relates to an unmanned aerial vehicle inspection system based on a power plant boiler. Background Art

[0002] Inspection of the heating surfaces inside the power plant boiler has always been a highly dangerous operation. Taking a 600MW coal-fired π-shaped boiler as an example, the furnace is surrounded by a water-cooled wall, a wall-enclosing heating surface, a bottom cold ash hopper, and a fully sealed metal structure at the furnace top. The furnace is 19558mm * 16940.5mm wide, the furnace top elevation is 73000mm, and the depth of the horizontal flue is 8548mm. It is composed of an extended part of the water-cooled wall and an extended part of the rear flue gas well, and the final reheater and final superheater are arranged inside. Therefore, when inspecting the power plant boiler house, a corresponding unmanned aerial vehicle inspection system needs to be used for inspection.

[0003] The application embodiment with the patent publication number CN113313852A relates to an unmanned aerial vehicle inspection system. The system includes: a central station, a management background, a third-party system, and an unmanned aerial vehicle; the central station is electrically connected to the management background, the third-party system, and the unmanned aerial vehicle respectively; the central station is used to obtain the basic data of the object to be inspected from the third-party system, generate an inspection task based on the basic data, send the inspection task to the unmanned aerial vehicle, and control the unmanned aerial vehicle to execute the inspection task; the management background is used to create a permission account for the central station, authenticate the target account accessing the central station, establish an association relationship between the unmanned aerial vehicle and the inspection equipment, and manage the equipment ledger of the inspection equipment; the third-party system is used to store the basic data of the objects to be inspected in the power system; the unmanned aerial vehicle is used to receive the inspection task and execute the inspection task based on the flight instruction issued by the central station to complete the inspection of the object to be inspected. This system improves the inspection efficiency and safety of the unmanned aerial vehicle.

[0004] During the inspection of the boiler house by the existing unmanned aerial vehicle inspection system, due to the large internal area of the boiler house, when there is dust or water vapor abnormality in a certain area, the unmanned aerial vehicle can only display an abnormal signal and cannot display the specific location of the corresponding area, resulting in a high degree of difficulty for the operator to maintain. At the same time, due to the complex internal environment of the boiler house, it is easy to cause data fluctuations in the corresponding equipment, resulting in misjudgment of the inspected data. When the maintenance personnel arrive at the designated equipment, the equipment is in a normal state, resulting in the maintenance personnel making a wasted trip. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; for this purpose, the present invention proposes an unmanned aerial vehicle (UAV) inspection system based on a power plant boiler, which is used to solve the technical problem that when there is dust or water vapor anomaly in a certain area, the UAV can only display an anomaly signal and cannot display the specific location of the corresponding area, resulting in a relatively high difficulty for operators to maintain. At the same time, due to the complex internal environment of the boiler room, it is easy to cause data fluctuations in the corresponding equipment, thus causing misjudgment of the inspected data.

[0006] To achieve the above object, according to an embodiment of the first aspect of the present invention, an unmanned aerial vehicle inspection system based on a power plant boiler is proposed, which includes a boiler room parameter acquisition terminal, an inspection parameter acquisition terminal, a parameter processing center, and a display terminal;

[0007] The parameter processing center includes a boiler room zoning unit, an inspection parameter analysis unit, a control unit, a storage unit, and a signal generation unit;

[0008] The boiler room parameter acquisition terminal is used to acquire the overall area parameter of the boiler room and transmit the acquired overall area parameter to the parameter processing center;

[0009] The inspection parameter acquisition terminal is used to acquire the inspection data recorded during the UAV inspection process and transmit the real-time acquired inspection data to the parameter processing center;

[0010] The boiler room zoning unit inside the parameter processing center divides the corresponding boiler room to be inspected according to the preset setting parameters, so that the boiler room to be inspected is divided into several inspection areas;

[0011] The inspection parameter analysis unit receives the acquired inspection data, and according to the received inspection data, pre-acquires the dust data and water vapor data in front of different equipment, analyzes such data to check whether there is an anomaly in different inspection areas, then extracts the corresponding equipment data from the inspection data, obtains the change parameters of such time periods through multiple groups of equipment data at different time periods, and transmits the processing results to the control unit after processing different change parameters;

[0012] The control unit receives the processing results, obtains the corresponding preset parameters from the storage unit, compares the processing results with the preset parameters to obtain a comparison result, and generates different transmission signals through the signal generation unit, which are then displayed on the display terminal.

[0013] Preferably, the specific method for the boiler room zoning unit to divide the boiler room to be inspected is as follows:

[0014] Mark the preset setting parameters as X1×Y1, where the specific values of X1 and Y1 are determined by the operator himself, and the units of X1 and Y1 are meters;

[0015] Divide the area of the furnace room to be inspected into several inspection areas according to preset setting parameters, and mark them as XJ i , where i represents different inspection areas, and i = 1, 2,..., n.

[0016] Preferably, the specific method for the inspection parameter analysis unit to analyze the dust data and water vapor data in front of different devices is as follows:

[0017] Mark the dust data in front of different devices as FC k-i Then mark the water vapor data in front of different devices as SQ k-i , where k represents different devices and i represents different inspection areas;

[0018] Adopt BDC k-i = FC k-i × C1 + SQ k-i × C2 to obtain the comparison reference value BDC k-i , where both C1 and C2 are preset fixed coefficient factors. By marking the i value, multiple groups of comparison reference values BDC k-i belonging to the same inspection area are averaged to obtain the mean value to be processed JZ i , and the mean value to be processed JZ i after processing is transmitted into the control unit.

[0019] Preferably, the specific method for the inspection parameter analysis unit to process different change parameters is as follows:

[0020] Mark the device data belonging to different devices obtained from the inspection as SB k-t , where the device data is the corresponding operating parameter value, where k represents different devices and t represents different time points, where t = 1, 2,..., m, and the interval period between each time point is the inspection duration of the UAV;

[0021] By marking the k value, obtain the change parameter GB between the device data at different time points of the same device k-o , where o is the interval period between two adjacent groups of time points, and o = 1, 2,..., m - 1;

[0022] Transmit several groups of processed change parameters GB k-o into the control unit.

[0023] Preferably, the specific method for the control unit to process the mean value to be processed JZ i is as follows:

[0024] The mean value to be processed JZ iCompare with the preset parameter YS1, where the preset parameter YS1 is provided by the storage unit. When JZ i <YS1, it means that this inspection area is in a normal state, and the area normal signal is generated by the signal generation unit. On the contrary, it means that this inspection area is in an abnormal state, and the area abnormal signal is generated by the signal generation unit;

[0025] Bundle the corresponding area normal signal or area abnormal signal with the marker i and transmit it to the display terminal for display for external personnel to view.

[0026] Preferably, the specific manner in which the control unit processes the changed parameter GB k-o is as follows:

[0027] Define the monitoring period T, where T generally takes a value of 2h. Compare the changed parameter GB of the control unit k-o with the preset parameter YS2, where the preset parameter YS2 is provided by the storage unit. When GB k-o <YS2, no marking is performed. On the contrary, the corresponding changed parameter GB k-o is marked as the warning parameter;

[0028] Obtain the average value of the warning parameters of different devices and mark it as CBJ k and the number of occurrences, and mark it as CIS k ;

[0029] Use GJC k =CBJ k ×C3 + CIS k ×C4 to obtain the alarm parameter value GJC belonging to different devices k . Compare the alarm parameter value GJC k with the preset parameter YS3. The specific comparison method is: when GJC k <YS3, no processing is performed. On the contrary, it means that this device is in an abnormal state, and the device abnormal signal is generated by the signal generation unit.

[0030] Preferably, the signal generation unit generates different types of signals and transmits the generated signals to the display terminal for display;

[0031] The display terminal displays the generated device abnormal signal and area abnormal signal for external personnel to view.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows: obtaining the overall area parameters of the furnace room, dividing the furnace room area into several inspection areas according to the obtained area, then receiving the obtained inspection data, and according to the received inspection data, pre-obtaining the dust data and water vapor data in front of different devices, and analyzing such data to check whether there are abnormalities in different inspection areas, and then extracting the corresponding device data from the inspection data, obtaining the change parameters of such time periods through multiple groups of device data at different time periods, and by processing different change parameters, transmitting the processing results to the control unit, which can improve the inspection effect and enable external personnel to quickly reach the specified inspection area according to the corresponding signal for maintenance processing;

[0033] When monitoring and processing device data, a monitoring period is defined, and according to the change of the value within the monitoring period and the continuous change duration, the device abnormality is judged. This judgment method can fully improve the accuracy of device abnormality judgment and avoid misjudgment caused by data fluctuations, thus facilitating external personnel to perform device maintenance processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the principle framework of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0035] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 1 , this application provides an unmanned aerial vehicle inspection system based on a power plant boiler, including a furnace room parameter acquisition end, an inspection parameter acquisition end, a parameter processing center, and a display terminal;

[0037] The output end of the furnace room parameter acquisition end is electrically connected to the input end of the parameter processing center, the output end of the inspection parameter acquisition end is electrically connected to the input end of the parameter processing center, and the output end of the parameter processing center is electrically connected to the input end of the display terminal;

[0038] The parameter processing center includes a furnace room zoning unit, an inspection parameter analysis unit, a control unit, a storage unit, and a signal generation unit;

[0039] The furnace room zoning unit and the inspection parameter analysis unit are both electrically connected to the input end of the control unit, the control unit is bidirectionally connected to the storage unit, and the control unit is electrically connected to the input end of the signal generation unit;

[0040] The furnace room parameter acquisition end is used to acquire the overall area parameter of the furnace room and transmit the acquired overall area parameter to the parameter processing center;

[0041] The inspection parameter acquisition end is used to acquire the inspection data recorded during the drone inspection and transmit the real-time acquired inspection data to the parameter processing center;

[0042] The furnace room zoning unit inside the parameter processing center divides the corresponding furnace room to be inspected according to the preset setting parameters, so that the furnace room to be inspected is divided into several inspection areas. The specific division method is as follows:

[0043] Mark the preset setting parameter as X1×Y1, where the specific values of X1 and Y1 are determined by the operator himself, and the units of X1 and Y1 are meters;

[0044] Through the preset setting parameter, the area of the furnace room to be inspected is divided into several inspection areas and marked as XJ i , where i represents different inspection areas, and i = 1, 2,..., n, and the working equipment numbers inside the inspection area are recorded. Specifically, different inspection areas include multiple groups of different working equipment, and the working equipment numbers have been stored in the corresponding storage unit in advance.

[0045] The inspection parameter analysis unit receives the acquired inspection data, and according to the received inspection data, acquires the dust data and water vapor data in front of different equipment in advance, analyzes this kind of data to check whether there are abnormalities in different inspection areas, then extracts the corresponding equipment data from the inspection data, and obtains the change parameters of this time period through multiple groups of equipment data at different times. By processing different change parameters, the processing result is transmitted to the control unit. The specific method for analyzing the dust data and water vapor data in front of different equipment is as follows:

[0046] Mark the dust data in front of different equipment as FC k-i Then mark the water vapor data in front of different equipment as SQ k-i , where k represents different equipment and i represents different inspection areas;

[0047] Adopt BDC k-i =FC k-i ×C1+SQ k-i ×C2 to obtain the comparison parameter value BDC k-i , where C1 and C2 are both preset fixed coefficient factors. By marking the i value, the multiple comparison parameter values BDC k-i belonging to the same inspection area are averaged to obtain the mean value to be processed JZi The processed mean value to be processed, JZ, i is transmitted into the control unit;

[0048] Moreover, the specific method for the inspection parameter analysis unit to process different change parameters is as follows:

[0049] Mark the device data belonging to different devices obtained from the inspection as SB k-t , where the device data is the corresponding operating parameter value, where k represents different devices, t represents different time points, where t = 1, 2,..., m, and the time interval for each time point is the inspection duration of the UAV;

[0050] By marking the k value, obtain the change parameter GB between the device data of the same device at different time points k-o , where o is the time interval between two adjacent groups of time points, and o = 1, 2,..., m - 1;

[0051] Transmit several groups of processed change parameters GB k-o into the control unit.

[0052] The control unit receives the mean value JZ to be processed i and the change parameter GB k-o , and obtains the corresponding preset parameters from the storage unit. According to the comparison result, different transmission signals are generated by the signal generation unit and displayed in the display terminal. Among them, the specific method for processing the mean value JZ to be processed is as follows: i The specific method for processing is as follows:

[0053] Compare the mean value JZ to be processed i with the preset parameter YS1, where the preset parameter YS1 is provided by the storage unit. When JZ i < YS1, it means that this inspection area is in a normal state, and a regional normal signal is generated by the signal generation unit. Otherwise, it means that this inspection area is in an abnormal state, and a regional abnormal signal is generated by the signal generation unit;

[0054] Bundle the corresponding regional normal signal or regional abnormal signal with the mark i and transmit it to the display terminal for display for external personnel to view.

[0055] Among them, the specific method for the control unit to process the change parameter GB k-o is as follows:

[0056] For the limited monitoring period T, where T generally takes a value of 2h, compare the change parameter GB of the control unit k-o with the preset parameter YS2, where the preset parameter YS2 is provided by the storage unit. When GB k-o<YS2, without any marking. On the contrary, the corresponding change parameter GB k-o is marked as a warning parameter;

[0057] Obtain the mean value of the warning parameters of different devices and mark it as CBJ k , and the number of occurrences, and mark it as CIS k ;

[0058] Adopt GJC k = CBJ k ×C3 + CIS k ×C4 to obtain the warning parameter value GJC belonging to different devices k , and compare the warning parameter value GJC k with the preset parameter YS3. The specific comparison method is: when GJC k <YS3, no processing is performed. On the contrary, it means that this device is in an abnormal state, and a device abnormal signal is generated through the signal generation unit;

[0059] The signal generation unit generates different types of signals and transmits the generated signals to the display terminal for display;

[0060] The display terminal displays the generated device abnormal signal and area abnormal signal for external personnel to view.

[0061] Some of the data in the above formula are calculated by removing the dimension and taking their numerical values. The formula is obtained by software simulation of a large amount of collected data to get a formula closest to the actual situation; the preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0062] The working principle of the present invention: First, obtain the overall area parameter of the furnace room. According to the obtained area, divide the furnace room area into several inspection areas, then receive the obtained inspection data, and according to the received inspection data, obtain the dust data and water vapor data in front of different devices in advance, and analyze such data to check whether there are abnormalities in different inspection areas, and then extract the corresponding device data from the inspection data. Through multiple sets of device data at different time periods, obtain the change parameters of such time periods, and through processing different change parameters, transmit the processing results to the control unit;

[0063] The control unit receives the mean value to be processed and the change parameters, obtains the corresponding preset parameters from the storage unit, and according to the comparison result, generates different transmission signals through the signal generation unit and displays them in the display terminal. External operators can receive the signals and perform different types of processing according to the received signals.

[0064] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An unmanned aerial vehicle inspection system based on a power plant boiler, characterized in that, It includes a furnace room parameter acquisition terminal, a patrol inspection parameter acquisition terminal, a parameter processing center, and a display terminal; The parameter processing center includes a furnace room zoning unit, a patrol inspection parameter analysis unit, a control unit, a storage unit, and a signal generation unit; The furnace room parameter acquisition terminal is used to acquire the overall area parameter of the furnace room and transmit the acquired overall area parameter into the parameter processing center; The patrol inspection parameter acquisition terminal is used to acquire the patrol inspection data recorded during the drone patrol inspection and transmit the real-time acquired patrol inspection data into the parameter processing center; The furnace room zoning unit inside the parameter processing center divides the corresponding furnace room to be patrolled according to the preset set parameters, so that the furnace room to be patrolled is divided into several patrol inspection areas. The specific method is as follows: Mark the preset set parameters as X1×Y1, where the specific values of X1 and Y1 are determined by the operator himself, and the units of X1 and Y1 are meters; Divide the area of the furnace room to be inspected into several inspection areas according to the preset setting parameters, and label them as XJ i , where i represents different inspection areas, and i = 1, 2,..., n; The patrol inspection parameter analysis unit receives the acquired patrol inspection data, and according to the received patrol inspection data, acquires the dust data and water vapor data in front of different devices in advance, analyzes such data to check whether there are abnormalities in different patrol inspection areas, and then extracts the corresponding device data from the patrol inspection data. Through multiple groups of device data in different time periods, the change parameters of such time periods are obtained. By processing different change parameters, the processing results are transmitted into the control unit. The specific method is as follows: Mark the dust data in front of different devices as FC k-i and mark the water vapor data in front of different devices as SQ k-i , where k represents different devices and i represents different inspection areas; Adopt BDC k-i = FC k-i × C1 + SQ k-i × C2 to obtain the comparison parameter value BDC k-i , where both C1 and C2 are preset fixed coefficient factors. By marking the i value, multiple groups of comparison parameter values BDC k-i belonging to the same inspection area are averaged to obtain the mean value to be processed JZ i , and the processed mean value to be processed JZ i is transmitted to the control unit; Mark the device data belonging to different devices obtained from the inspection as SB k-t , where the device data is the corresponding operating parameter value, where k represents different devices, t represents different time points, where t = 1, 2,..., m, and the time interval for each time point is the inspection duration of the UAV; By marking the k value, the change parameter GB between device data at different time points of the same device is obtained k-o , where o is the interval period between two adjacent groups of time points, and o = 1, 2,..., m - 1; Transmit several groups of changed parameters GB obtained by processing k-o to the control unit; The control unit receives the processing results, obtains the corresponding preset parameters from the storage unit, compares the processing results with the preset parameters to obtain a comparison result, generates different transmission signals through the signal generation unit, and displays them in the display terminal.

2. The drone inspection system based on a power plant boiler according to claim 1, characterized in that The control unit processes the mean value JZ to be processed i The specific processing method is as follows: The mean value JZ to be processed i is compared with a preset parameter YS1, where the preset parameter YS1 is provided by a storage unit. When JZ i < YS1, it means that this inspection area is in a normal state, and a normal area signal is generated by a signal generation unit. Otherwise, it means that this inspection area is in an abnormal state, and an abnormal area signal is generated by the signal generation unit; Bundle the corresponding area normal signal or area abnormal signal with the label i and transmit it to the display terminal for display for external personnel to view.

3. The drone inspection system based on a power plant boiler according to claim 2, wherein The control unit processes the changed parameter GB k-o The specific method is as follows: Define the monitoring period T, where T generally takes a value of 2h, and change the parameter GB of the control unit k-o Compare it with the preset parameter YS2, where the preset parameter YS2 is provided by the storage unit. When GB k-o < YS2, no marking is performed. Otherwise, the corresponding changed parameter GB k-o is marked as a warning parameter; Obtain the mean of the warning parameters of different devices and label it as CBJ k , and the number of occurrences, and label it as CIS k ; Adopt GJC k = CBJ k × C3 + CIS k × C4 to obtain the alarm parameter value GJC belonging to different devices k , compare the alarm parameter value GJC k with the preset parameter YS3. The specific comparison method is as follows: when GJC k < YS3, no processing is performed. On the contrary, it means that this device is in an abnormal state, and a device abnormal signal is generated through the signal generation unit.

4. The unmanned aerial vehicle inspection system based on a power plant boiler according to claim 3, wherein, The signal generation unit generates different types of signals and transmits the generated signals to the display terminal for display; The display terminal displays the generated device abnormal signal and area abnormal signal for external personnel to view.

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