Unmanned aerial vehicle-based autonomous inspection in desulfurization tower and control method and device thereof

Abstract

The application provides a kind of unmanned aerial vehicle based self-inspection in desulfurization tower and its control method and device, belongs to unmanned aerial vehicle inspection field, the control method includes: obtaining and identifying image information, judge whether current inspection position is preset detection point;If yes, then from detection strategy database corresponding to the detection strategy of current inspection position is acquired;According to detection strategy control unmanned aerial vehicle inspection action and the operation of desulfurization tower internal structure work.The inspection method includes: control unmanned aerial vehicle in desulfurization tower internal primary flight, collect laser radar information, and generate global map and path planning result;Control unmanned aerial vehicle according to path planning result secondary flight, and control unmanned aerial vehicle inspection action and the operation of desulfurization tower internal structure in secondary flight process, to collect inspection data.Through the method provided by the application, the inspection efficiency of desulfurization tower can be significantly improved, and the economic loss caused by inspection can be greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle inspection, in particular, to a desulfurization tower internal autonomous inspection control method based on an unmanned aerial vehicle, a desulfurization tower internal autonomous inspection method based on an unmanned aerial vehicle, a desulfurization tower internal autonomous inspection control device based on an unmanned aerial vehicle, a ground control device, a computer readable storage medium and a desulfurization tower internal autonomous inspection system based on an unmanned aerial vehicle. BACKGROUND

[0002] In the inspection work of thermal power plants, the inspection of the thermal power desulfurization tower has always been the focus and difficulty of the inspection work. The thermal power desulfurization tower is a device for removing sulfur dioxide in the flue gas of a thermal power plant, and can also treat wastewater and waste residue to meet environmental protection requirements. Through the treatment of the thermal power desulfurization tower, the pollution discharge of the thermal power plant is effectively controlled, which is of great significance to improving the environmental quality. The thermal power desulfurization tower is a structure similar to a cylinder, which is made of carbon steel, with a diameter of 15-20 meters and a height of 40-50 meters, and has a spray layer, a slurry pool, a stirrer and other structures inside. Each spray layer is composed of a main trunk, a plurality of branch trunks, and hundreds of spray pipes and nozzles connected to the branch trunks. The slurry is uniformly distributed to each nozzle through the distribution of the spray pipes, and is sprayed out of the nozzle to fully contact with the reverse flowing flue gas to absorb harmful substances in the flue gas. During the annual unit shutdown and maintenance, the absorption tower needs to be maintained synchronously, and the inner wall corrosion resistant layer and other structures in the tower need to be inspected during maintenance.

[0003] Traditional manual inspection needs to gradually build a tens of meters high scaffold, and the manual inspection area is inspected by artificial climbing, which not only consumes a lot of manpower and financial resources, but also causes personal safety hazards to the maintenance personnel during high-altitude operation on the simple scaffold. However, the closed, dark and satellite signal rejection environment characteristics of the desulfurization tower make it difficult to apply the existing satellite navigation and visual navigation inspection methods in the tower, which brings difficulties to the research and development of autonomous inspection equipment.

[0004] Therefore, how to improve the work efficiency and inspection coverage of the desulfurization tower, while reducing the risk and labor cost, is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0005] In view of the technical problem that the desulfurization tower is difficult to apply unmanned aerial vehicles to realize autonomous inspection in the prior art, the present application provides a desulfurization tower internal autonomous inspection method and device based on an unmanned aerial vehicle, which can realize the autonomous inspection of the thermal power desulfurization tower, significantly improve the inspection efficiency of the desulfurization tower, and greatly reduce the economic loss caused by the inspection.

[0006] To achieve the above object, the application provides a control method for autonomous inspection in a desulfurization tower based on a UAV, which comprises the following steps: determining whether the current inspection position of the UAV is a preset detection point during the inspection; obtaining a detection strategy corresponding to the current inspection position of the UAV from a detection strategy database if it is determined that the current inspection position of the UAV is a preset detection point, wherein the detection strategy database comprises at least one preset detection point and a detection strategy corresponding to each preset detection point; and controlling the inspection action of the UAV and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV.

[0007] In an exemplary embodiment of the application, the determination of whether the current inspection position of the UAV is a preset detection point can comprise: obtaining image information captured by the UAV during the inspection; identifying the image information captured by the UAV during the inspection to determine the current inspection position of the UAV; and comparing the current inspection position of the UAV with the preset detection point to determine whether the current inspection position of the UAV is a preset detection point.

[0008] In an exemplary embodiment of the application, the preset detection point can comprise an inner wall of an absorption tower, and the control of the inspection action of the UAV and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV can comprise: obtaining the number of times of absorption tower inner wall detection by the UAV if it is determined that the current inspection position of the UAV is an absorption tower inner wall; determining whether the number of times of absorption tower inner wall detection by the UAV is the first time in the current control period; controlling the UAV to take a photo of the absorption tower inner wall according to a preset inspection route if it is determined that the number of times of absorption tower inner wall detection by the UAV is the first time in the current control period; obtaining the position information of the UAV, the position information of a preset agitator and the position information of a wind pipe if it is determined that the number of times of absorption tower inner wall detection by the UAV is not the first time in the current control period; determining whether the current position of the UAV is within the range of a preset agitator or within the range of a wind pipe; and controlling the operation of the preset agitator or the wind pipe and the movement and photographing of the UAV within the range of the preset agitator or the wind pipe if it is determined that the current position of the UAV is within the range of the preset agitator or within the range of the wind pipe.

[0009] In an example embodiment of the present application, the preset detection points can include: spray layer nozzles; and the controlling of the inspection action of the UAV and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV can include: in a case where it is determined that the current inspection position of the UAV is a spray layer nozzle, acquiring a static photo of each spray layer nozzle and UAV position information; controlling the spray layer nozzle corresponding to the current position of the UAV according to the UAV position information; and in a spraying process of the spray layer nozzle corresponding to the current position of the UAV, controlling the UAV to acquire image information of the spray layer nozzle in the spraying process at a preset photographing position.

[0010] In an example embodiment of the present application, the preset detection points can include: spray layer girders; and the controlling of the inspection action of the UAV and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV can include: in a case where it is determined that the current inspection position of the UAV is a spray layer girder, acquiring girder knocking coordinates; controlling the UAV to knock the spray layer girder according to the girder knocking coordinates and acquire knocking sound and image information in the knocking process.

[0011] The second aspect of the present application provides a UAV-based autonomous inspection method for a desulfurization tower, which comprises the following steps: controlling a UAV to perform a first flight in a desulfurization tower to collect laser radar information required for constructing a map; constructing a global map of the desulfurization tower by a SLAM algorithm according to the laser radar information required for constructing the map; performing path planning by a global hybrid A* motion planning algorithm according to the global map of the desulfurization tower and generating a path planning result; controlling the UAV to perform a second flight in the desulfurization tower according to the path planning result, and in the second flight process, controlling the inspection action of the UAV and the operation of the internal structure of the desulfurization tower by the UAV-based autonomous inspection control method for a desulfurization tower as described above to collect inspection data.

[0012] The third aspect of the present application provides a UAV-based autonomous inspection control device for a desulfurization tower, which comprises: a judgment module configured to judge whether a current inspection position of a UAV is a preset detection point in an inspection process; a detection strategy acquisition module configured to acquire a detection strategy corresponding to the current inspection position of the UAV from a detection strategy database in a case where it is determined that the current inspection position of the UAV is the preset detection point, wherein the detection strategy database comprises at least one preset detection point and a detection strategy corresponding to each preset detection point; and a control module configured to control the inspection action of the UAV and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV.

[0013] The fourth aspect of the present application provides a ground control device, which comprises a processor and a memory, and at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the one or more processors to make the processor execute the unmanned aerial vehicle-based autonomous inspection control method in a desulfurization tower.

[0014] The fifth aspect of the present application provides a computer readable storage medium, which stores at least one program code, and the program code is loaded and executed by the processor to make the computer execute the unmanned aerial vehicle-based autonomous inspection control method in a desulfurization tower.

[0015] The sixth aspect of the present application provides an unmanned aerial vehicle-based autonomous inspection system in a desulfurization tower, which comprises an unmanned aerial vehicle, a tower control device and a ground control device as described above; the unmanned aerial vehicle is provided with a multi-sensing acquisition unit, a flight controller and an on-board controller, wherein the multi-sensing acquisition unit is used to acquire surrounding environment information of the unmanned aerial vehicle, and at least comprises a laser radar, a laser ranging sensor, an IMU sensor and a camera module; the flight controller is used to control the flight state of the unmanned aerial vehicle; the on-board controller is used to send the surrounding environment information transmitted by the multi-sensing acquisition unit and the flight state information transmitted by the flight controller to the ground control device, and is also used to transmit the control instructions sent by the ground control device to the flight controller and the multi-sensing acquisition unit; the tower control device is arranged in the desulfurization tower and is used to control the running state of the internal structure of the desulfurization tower; and the ground control device is communicatively connected with the on-board controller and the tower control device, respectively, and is used to generate instructions for controlling the inspection action of the unmanned aerial vehicle and the running work of the internal structure of the desulfurization tower according to the surrounding environment information transmitted by the unmanned aerial vehicle.

[0016] In another exemplary embodiment of the present application, a knocking device can be arranged on the unmanned aerial vehicle to knock the internal structure of the desulfurization tower.

[0017] Through the technical solutions provided by the present application, the present application has at least the following technical effects:

[0018] (1) The present application formulates specific detection strategies for the desulfurization tower inspection requirements, and can perform detailed detection on the parts to be detected, so as to realize complete detection of the desulfurization closed space;

[0019] (2) The present application can realize autonomous inspection of the thermal power desulfurization tower, and can significantly improve the inspection efficiency of the desulfurization tower and greatly reduce the economic loss caused by the inspection.

[0020] Other features and advantages of the present application will be described in detail in the subsequent specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are included to provide a further understanding of embodiments of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain embodiments of the application, but do not limit embodiments of the application. In the drawings:

[0022] Figure 1 A flowchart of a desulfurization tower autonomous inspection control method based on a UAV provided by an embodiment of the application is shown in the figure.

[0023] Figure 2 A structure diagram of an absorption tower interior provided by an embodiment of the application is shown in the figure.

[0024] Figure 3 A flowchart of a desulfurization tower autonomous inspection method based on a UAV provided by an embodiment of the application is shown in the figure.

[0025] Figure 4 A structure diagram of a desulfurization tower autonomous inspection control device based on a UAV provided by an embodiment of the application is shown in the figure.

[0026] Figure 5 A structure diagram of a ground control device provided by an embodiment of the application is shown in the figure.

[0027] Explanation of reference signs

[0028] 1 - flue gas outlet, 2 - demister, 3 - spray layer, 4 - spray zone, 5 - cooling zone, 6 - slurry circulating pump, 7 - oxidizing air pipe, 8 - agitator, 9 - slurry, 10 - flue gas inlet, 11 - spray pipe, 12 - demister cleaning nozzle, 101 - judgment module, 102 - detection strategy acquisition module, 103 - control module, 201 - processor, 202 - memory. DETAILED DESCRIPTION

[0029] The specific embodiments of the embodiments of the application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the application, and are not used to limit the embodiments of the application.

[0030] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0031] In the present application, "first", "second", etc. are only for convenience of description and distinction, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be direct connection, or indirect connection, it can be wired connection, or wireless connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the prior art, the area to be inspected in the desulfurization tower is often checked by artificial climbing, which not only consumes manpower and financial resources, but also leads to very low inspection efficiency of the desulfurization tower. In addition, since the traditional artificial inspection needs to gradually build a scaffold of tens of meters high, and the high-altitude operation on the simple scaffold is also easy to cause personal safety hazards to the maintenance personnel.

[0034] Considering that the prior art cannot realize the autonomous inspection of the thermal power desulfurization tower, the present application proposes a desulfurization tower autonomous inspection method based on unmanned aerial vehicle and a control method thereof. The control method forms a specific detection strategy according to the characteristics of the desulfurization tower, such as internal sealing, darkness and satellite signal denial, and can perform detailed detection on the parts to be detected in the tower, so as to realize complete detection of the desulfurization sealed space. In addition, the autonomous inspection method realizes the autonomous positioning and path planning of the unmanned aerial vehicle in the tower by using three-dimensional laser SLAM technology and navigation planning technology, and controls the work of the device in the thermal power desulfurization tower and the work of the unmanned aerial vehicle in the working process of the thermal power desulfurization tower by using the control method provided by the present application, thereby realizing the autonomous inspection of the thermal power desulfurization tower. Compared with the thermal power desulfurization tower inspection method in the prior art, the present application can significantly improve the inspection efficiency of the desulfurization tower and greatly reduce the economic loss caused by the inspection.

[0035] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments.

[0036] The embodiment of the present application provides a desulfurization tower autonomous inspection control method based on unmanned aerial vehicle, as shown in Figure 1 The autonomous inspection control method comprises the following steps:

[0037] Step S101, in the inspection process, it is judged whether the current inspection position of the unmanned aerial vehicle is a preset detection point.

[0038] Step S102, in the case where it is determined that the current inspection position of the unmanned aerial vehicle is the preset detection point, the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle is obtained from the detection strategy database.

[0039] The detection strategy database includes at least one preset detection point and a detection strategy corresponding to each preset detection point.

[0040] In step S103, the unmanned aerial vehicle is controlled to perform an inspection action and an operation of the internal structure of the desulfurization tower according to a detection strategy corresponding to a current inspection position of the unmanned aerial vehicle.

[0041] Further, in a possible implementation, the process of determining whether the current inspection position of the unmanned aerial vehicle is a preset inspection point in step S101 can include, but is not limited to, the following sub-steps S1011-S1013.

[0042] In sub-step S1011, image information captured by the unmanned aerial vehicle during the inspection is obtained.

[0043] In sub-step S1012, the image information captured by the unmanned aerial vehicle during the inspection is recognized to determine the current inspection position of the unmanned aerial vehicle.

[0044] In sub-step S1013, the current inspection position of the unmanned aerial vehicle is compared with the preset detection point to determine whether the current inspection position of the unmanned aerial vehicle is the preset detection point.

[0045] Of course, the present application is not limited thereto, and other techniques or methods capable of determining the current inspection position of the unmanned aerial vehicle can also be applied to the inspection control method of the present embodiment. For example, during the inspection of the unmanned aerial vehicle, whether the current position of the unmanned aerial vehicle matches the preset inspection point can be determined by using a global positioning system (GPS) or other positioning techniques. The unmanned aerial vehicle can use the positioning device carried thereon to determine the current position, and compare it with the preset inspection point. If the positions match, it can be determined that the unmanned aerial vehicle has reached the preset inspection point.

[0046] It should be noted that the internal structure of the desulfurization absorption tower is as shown in Figure 2 Generally, the maintenance work of the thermal power absorption tower is mainly to check the anticorrosive layer of the inner wall and other structures in the tower. Therefore, when the unmanned aerial vehicle is used for autonomous inspection, it is necessary to ensure that the inspection area of the unmanned aerial vehicle covers the inner wall and other structures that need to be detected, and different detection strategies are formulated for different structures in different areas, so as to achieve detailed detection of the parts that need to be detected.

[0047] For example, the inspection area of the thermal power absorption tower can include the inner wall of the absorption tower, i.e. Figure 2The red box in the figure is the area that needs to be inspected, and the area is the area where the tower wall has 3-4 mixers and air pipes, and the inspection needs to ensure that the inner wall and the mixers and air pipes in the inner wall are covered.

[0048] Further, the inspection area of the thermal power absorption tower can also include the spray pipe nozzles on the basis of covering the inner wall of the absorption tower, that is Figure 2 The area corresponding to reference numeral 11 in the figure, the layer structure is a plurality of parallel branch pipes extending from a main pipe, and a plurality of nozzles are distributed on the branch pipes. When inspecting, each nozzle needs to be checked to determine its blockage.

[0049] In addition, the inspection area of the thermal power absorption tower can also include the spray pipe girder on the basis of covering the inner wall of the absorption tower and the spray layer nozzles. The spray layer girder is a metal girder located in the middle of the spray layer and serves to support the entire spray layer. It is generally a cuboid structure with four upper and lower left and right faces covered by a corrosion-resistant layer. The inspection content mainly includes the corrosion of the corrosion-resistant layer and the corrosion of the girder.

[0050] Further, in a possible implementation, when the unmanned aerial vehicle inspection area is the inner wall of the absorption tower, the corresponding detection strategy can include: if the current detection number is the first time (i.e. the first time of this round of inspection), the inner wall of the absorption tower should be photographed to determine the corrosion condition of the inner wall of the absorption tower; if the current detection number is not the first time (for example, the second time, the third time, etc. of this round of inspection), it should be judged whether the unmanned aerial vehicle is just in the range of a certain mixer or air pipe, if so, the mixer or air pipe near the unmanned aerial vehicle should be photographed to determine the corrosion condition of the mixer or air pipe, if not, the unmanned aerial vehicle inspection route should be re-planned so that the unmanned aerial vehicle reaches the range of a certain mixer or air pipe, until the unmanned aerial vehicle covers all the mixers or air pipes in the inner wall of the absorption tower.

[0051] Therefore, when the preset detection point is set as the inner wall of the absorption tower, the process of controlling the unmanned aerial vehicle inspection action and the operation of the desulfurization tower internal structure in step S103 according to the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle can include but is not limited to the following sub-steps S1031A-S1036A.

[0052] Sub-step S1031A, in the case where it is determined that the current inspection position of the unmanned aerial vehicle is the inner wall of the absorption tower, the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is obtained.

[0053] Sub-step S1032A, judging whether the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is the first time in the current control period.

[0054] Sub-step S1033A, in the case of determining that the number of detection of the inner wall of the absorption tower by the UAV is the first time in the current control period, controlling the UAV to take a photo of the inner wall of the absorption tower according to the preset inspection route.

[0055] Sub-step S1034A, in the case of determining that the number of detection of the inner wall of the absorption tower by the UAV is not the first time in the current control period, obtaining the position information of the UAV, the preset agitator position information and the wind pipe position information.

[0056] Sub-step S1035A, judging whether the current position of the UAV is in the range of the preset agitator or the range of the wind pipe.

[0057] Sub-step S1036A, in the case of determining that the current position of the UAV is in the range of the preset agitator or the range of the wind pipe, controlling the preset agitator or the wind pipe to work, and controlling the UAV to move and take a photo in the range of the preset agitator or the range of the wind pipe.

[0058] Further, in another possible implementation, when the UAV inspection area is the spray nozzle, the corresponding detection strategy can include: first, a static photo of each spray layer nozzle should be taken by the UAV, and then a dynamic photo of each spray layer nozzle in the spraying process should be taken by the UAV, so as to determine the blockage of each spray layer nozzle. In addition, when spraying, a prohibited area should be set for each nozzle, which is an area that the UAV is not allowed to approach during spraying, mainly to prevent the UAV from being splashed by the liquid sprayed by the spraying device.

[0059] Thus, when the preset detection point is set as the spray layer nozzle, in step S103, the process of controlling the UAV inspection action and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the UAV can include but is not limited to the following sub-steps S1031B-S1033B.

[0060] Sub-step S1031B, in the case of determining that the current inspection position of the UAV is the spray layer nozzle, obtaining the static photo of each spray layer nozzle and the position information of the UAV.

[0061] Sub-step S1032B, controlling the spray layer nozzle corresponding to the current position of the UAV to work according to the position information of the UAV.

[0062] Sub-step S1033B, in the spraying process of the spray layer nozzle corresponding to the current position of the UAV, controlling the UAV to obtain the image information of the spray layer nozzle in the spraying process at a preset photo position.

[0063] Further, in another possible implementation, when the unmanned aerial vehicle inspects the spray pipe girder, the corresponding detection strategy can include that the unmanned aerial vehicle should knock the spray layer girder, collect the knocking sound and the knocking image during the knocking process, and determine the corrosion condition of the girder and the corrosion condition of the girder.

[0064] Thus, when the preset detection point is set as the spray layer girder, in step S103, the process of controlling the unmanned aerial vehicle to inspect and the operation of the internal structure of the desulfurization tower can include but is not limited to the following sub-steps S1031C-S1032C according to the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle.

[0065] In sub-step S1031C, the girder knocking coordinates are obtained when it is determined that the current inspection position of the unmanned aerial vehicle is the spray layer girder.

[0066] In sub-step S1032C, the unmanned aerial vehicle is controlled to knock the spray layer girder according to the girder knocking coordinates, and the knocking sound and the image information during the knocking process are obtained.

[0067] In a specific implementation, the autonomous inspection control method described above can be executed by an electronic device, which can be a server, a terminal, or any device with processing function.

[0068] In addition, the implementation environment of the embodiment includes at least one terminal and a server, and the method is executed on the terminal or the server respectively. The terminal and the server can be connected in communication to realize the interactive transmission of information.

[0069] The terminal can be any electronic product that can interact with a user through a keyboard, a touchpad, a touch screen, voice interaction, or the like, such as a PC (Personal Computer), a PPC (Pocket Personal Computer), a tablet computer, and the like.

[0070] The server can be a server, a server cluster composed of multiple servers, a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Networks), and basic cloud computing services such as big data and artificial intelligence platforms.

[0071] The embodiment of the application also provides an autonomous inspection method for a desulfurization tower based on an unmanned aerial vehicle, as shown in the figure. Figure 3 The autonomous inspection method includes the following steps:

[0072] Step S201, control the unmanned aerial vehicle to fly in the desulfurization tower for the first time, and collect the laser radar information required for constructing the map during the first flight.

[0073] Step S202, construct the global map of the desulfurization tower according to the laser radar information required for constructing the map through the SLAM algorithm.

[0074] Step S203, plan the path according to the global map of the desulfurization tower through the global hybrid A* motion planning algorithm, and generate the path planning result.

[0075] Step S204, control the unmanned aerial vehicle to fly in the desulfurization tower for the second time according to the path planning result, and control the unmanned aerial vehicle to perform the inspection action and the operation of the internal structure of the desulfurization tower during the second flight to collect the inspection data by using the unmanned aerial vehicle-based autonomous inspection control method in the desulfurization tower.

[0076] Here, it should be noted that the purpose of the first flight of the unmanned aerial vehicle is to obtain the environmental information of the desulfurization tower, so as to construct the global map of the desulfurization tower, thereby facilitating the subsequent inspection work. The purpose of the second flight of the unmanned aerial vehicle is to find the preset detection point in the desulfurization tower, and to detect the desulfurization tower according to the detection strategy corresponding to the preset detection point.

[0077] The entire autonomous inspection process of the unmanned aerial vehicle is realized by the on-board controller carried on the unmanned aerial vehicle and the ground control device located at the ground end. The ground control device and the on-board controller (or on-board computer) communicate in real time through a local area network to control and supervise the operation of the aerial inspection device in real time.

[0078] When the first flight starts, the ground control device located at the ground end sends a control instruction for the first flight to the on-board controller. After receiving the instruction, the on-board controller controls the unmanned aerial vehicle to fly and controls the sensing devices (such as cameras, laser radars, etc.) to collect the flight data during the flight. After the first flight of the unmanned aerial vehicle ends, the flight data such as laser radar transmitted by the unmanned aerial vehicle during the construction of the map is transmitted to the on-board controller. The on-board controller can process the data such as laser radar and IMU, construct the global map of the desulfurization tower through the SLAM algorithm, and plan the path according to the global map of the desulfurization tower. Of course, the on-board controller can also choose to transmit the data such as laser radar and IMU to the ground control device located at the ground end to complete the construction of the global map and the path planning through the ground control device.

[0079] When the secondary flight starts, the ground control device sends a secondary flight control instruction to the airborne controller, and after the airborne controller receives the instruction, the unmanned aerial vehicle is controlled to fly according to the path planning result, and the image information taken during the secondary flight is transmitted to the ground control device of the ground end in real time. After the ground control device receives the image information during the secondary flight, the preset detection points are confirmed through data processing, and the detection strategy and detection control instruction corresponding to the preset detection points are sent to the airborne controller, and the corresponding device on the unmanned aerial vehicle is controlled to complete the detection of the inside of the desulfurization tower. In addition, in order to better complete the detection work of the inside of the thermal power desulfurization tower, the ground control device also generates a running control instruction and sends it to the internal structure of the desulfurization tower at the preset detection point to control the device inside the thermal power desulfurization tower.

[0080] The embodiment of the application also provides an unmanned aerial vehicle-based autonomous inspection system in a desulfurization tower, which comprises an unmanned aerial vehicle, a tower control device and a ground control device.

[0081] Specifically, the unmanned aerial vehicle is provided with a multi-sensing acquisition unit, a flight controller and an airborne controller. The multi-sensing acquisition unit is used to acquire surrounding environment information of the unmanned aerial vehicle during flight of the unmanned aerial vehicle, thereby forming multi-element inspection data. For example, the multi-sensing acquisition unit can comprise a laser radar, a laser ranging sensor, an IMU sensor and a camera module. The flight controller is used to control the flight state of the unmanned aerial vehicle according to a flight control instruction. The airborne controller is used to send the surrounding environment information transmitted by the multi-sensing acquisition unit and the flight state information transmitted by the flight controller to the ground control device, and the airborne controller is also used to transmit the control instruction sent by the ground control device to the flight controller and the multi-sensing acquisition unit.

[0082] The tower control device is arranged in the desulfurization tower and is used to control the running state of the internal structure of the desulfurization tower. It should be noted that the number of tower control devices can be one, that is, one tower control device is used to control the running of all structure devices at the preset detection points in the tower. Of course, the number of tower control devices can be multiple, that is, multiple tower control devices correspond to multiple structure devices at the preset detection points in the tower one by one, and each tower control device only controls the running of one structure device at the preset detection point in the tower.

[0083] The ground control device can be located in a ground control console, and the ground control device is in communication connection with the airborne controller and the tower internal control device respectively, and is used to generate instructions for controlling the unmanned aerial vehicle to patrol and the operation of the internal structure of the desulfurization tower according to the surrounding environment information transmitted by the unmanned aerial vehicle. For example, the ground control device can determine the detection strategy of the current patrol position according to the patrol data collected by the multi-sensing acquisition unit and the unmanned aerial vehicle position information during the unmanned aerial vehicle patrol process, and generate relevant control instructions for controlling the unmanned aerial vehicle patrol action and the operation of the internal structure of the desulfurization tower according to the detection strategy. Of course, the ground control device can also construct a global map of the internal structure of the desulfurization tower by using the SLAM algorithm according to the surrounding environment information collected by the multi-sensing acquisition unit during the initial flight of the unmanned aerial vehicle, and generate the path planning result required in the subsequent patrol process.

[0084] For example, the unmanned aerial vehicle body used in the embodiment of the present application can be a four-rotor unmanned aerial vehicle, which is composed of an X-shaped carbon fiber frame with a wheelbase of 680mm, a multi-line rotating laser radar, an inertial measurement unit, a motor, an electronic speed controller, a battery, a camera module, a video transmission module, a single-line laser ranging sensor, a propeller protection device, an on-board computer and a flight controller. Among them, the motor, the battery and the electronic speed controller form a power unit, which can provide a load capacity of more than 13KG for the unmanned aerial vehicle. The multi-line laser radar, the inertial measurement unit and the single-line laser ranging sensor form a perception unit, which can collect environmental information of the unmanned aerial vehicle for SLAM and navigation planning. The on-board computer and the flight controller form a control unit, which is used to control the movement of the unmanned aerial vehicle and the operation of the perception algorithm. The camera module and the video transmission module form a visual acquisition unit, the camera module is used to acquire visual inspection information, and the video transmission module is used to transmit the acquired visual information to the ground control device in real time.

[0085] The flight controller is provided with an aerial patrol system for controlling the flight state of the unmanned aerial vehicle. The flight controller and the on-board computer communicate with each other through the MAVLINK protocol, the on-board computer transmits control instructions containing real-time position and path planning results to the flight controller, the flight controller completes the closed-loop control of the unmanned aerial vehicle according to the position information obtained by SLAM and the attitude feedback of its own IMU (inertial measurement unit) sensor, and reports its own state information to the on-board computer through the MAVLINK protocol for the operation of the next control cycle.

[0086] When the unmanned aerial vehicle flies for the first time, the multi-line rotary laser radar carried on the unmanned aerial vehicle collects surrounding environment data in real time and transmits the data to the on-board computer, in addition, the inertial measurement unit transmits the collected IMU data to the on-board computer, and the single-line laser ranging sensor transmits the collected single-line ground laser ranging data to the on-board computer. The on-board computer sends the fused laser radar data, IMU data and single-line ground laser ranging data to the ground control device, the ground control device pre-processes the collected sensor data, and performs high-precision real-time positioning and map construction through the SLAM algorithm, and generates path planning results required for subsequent inspection according to the constructed map.

[0087] When the unmanned aerial vehicle flies for the second time, the unmanned aerial vehicle transmits the photographed real-time image information to the ground control device through the image transmission module, the ground control device determines the detection strategy corresponding to the current inspection position by recognizing the image information, and generates instructions for controlling the inspection action of the unmanned aerial vehicle and the operation of the internal structure of the desulfurization tower according to the detection strategy. After the on-board controller receives the control instructions sent by the ground control device, the unmanned aerial vehicle performs the inspection work according to the detection strategy, and the control device located in the desulfurization tower receives the control instructions sent by the ground control device, and controls the operation of the device structure in the desulfurization tower.

[0088] The embodiment of the present application also provides an unmanned aerial vehicle-based autonomous inspection control device in a desulfurization tower, as shown in the figure, the autonomous inspection control device comprises a judgment module 101, a detection strategy acquisition module 102 and a control module 103. Figure 4

[0089] The judgment module 101 is used for recognizing the image information photographed by the unmanned aerial vehicle in the inspection process, and judging whether the current inspection position of the unmanned aerial vehicle is a preset detection point.

[0090] The detection strategy acquisition module 102 is used for acquiring the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle from the detection strategy database in the case that it is determined that the current inspection position of the unmanned aerial vehicle is a preset detection point. The detection strategy database comprises at least one preset detection point and the detection strategy corresponding to each preset detection point.

[0091] The control module 103 is used for controlling the inspection action of the unmanned aerial vehicle and the operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle.

[0092] ​Further, the judging module can include an image obtaining sub-module, an image recognizing sub-module and a comparison judging sub-module. The image obtaining sub-module is configured to obtain image information captured by the unmanned aerial vehicle during the inspection. The image recognizing sub-module is configured to recognize the image information captured by the unmanned aerial vehicle during the inspection, and determine the current inspection position of the unmanned aerial vehicle. The comparison judging sub-module is configured to compare the current inspection position of the unmanned aerial vehicle with the preset detection point, and judge whether the current inspection position of the unmanned aerial vehicle is the preset detection point.

[0093] It should be noted that the above-mentioned device is used to achieve its functions, and the above-mentioned division of each functional module is only used as an example. In actual application, the above-mentioned functions can be completed by different functional modules according to the needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the device provided in the above embodiments and the method provided in the above embodiments belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be repeated here.

[0094] The embodiment of the present application also provides a ground control device, as shown in the figure, the ground control device includes a processor 201 and a memory 202, the memory has at least one computer program, the at least one computer program is loaded and executed by one or more processors, so that the processor realizes the unmanned aerial vehicle based desulfurization tower internal autonomous inspection control method in the above embodiment. Figure 5

[0095] Of course, the ground control device can also have a wired or wireless network interface, a keyboard and an input and output interface, etc. in order to input and output, and the ground control device can also include other components for realizing the functions of the device, which will not be repeated here.

[0096] The embodiment of the present application also provides a computer readable storage medium, the computer readable storage medium has at least one program code, the program code is loaded and executed by the processor, so that the computer realizes the unmanned aerial vehicle based desulfurization tower internal autonomous inspection control method in the above embodiment.

[0097] ​Optionally, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk and an optical disc data storage device, etc. Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment methods can be completed by a program instructing the relevant hardware, the program is stored in a storage medium, and the program includes a plurality of instructions for enabling a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disc or an optical disc, and various media capable of storing program codes.

[0098] The preferred embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the specific details in the above-described embodiments. Within the technical concept of the present application, various simple modifications can be made to the technical solutions of the present application, and these simple modifications all belong to the protection scope of the present application.

[0099] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present application will not further describe various possible combinations.

[0100] In addition, various different embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the present application, and it should also be considered as disclosed content of the present application.

Claims

1. A method for autonomous inspection control in a desulfurization tower based on a UAV, characterized in that, The control method comprises: In the inspection process, it is judged whether the current inspection position of the unmanned aerial vehicle is a preset inspection point, and the preset inspection point comprises an inner wall of an absorption tower, a nozzle of a spraying layer, and a girder of the spraying layer; In a case where it is determined that the current inspection position of the unmanned aerial vehicle is the preset inspection point, a detection strategy corresponding to the current inspection position of the unmanned aerial vehicle is acquired from a detection strategy database, wherein the detection strategy database comprises at least one preset inspection point and a detection strategy corresponding to each preset inspection point; According to the detection strategy corresponding to the current inspection position of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to perform an inspection action and an operation work of an internal structure of the desulfurization tower, comprising: In a case where it is determined that the current inspection position of the unmanned aerial vehicle is the inner wall of the absorption tower, the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is acquired; it is judged whether the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is the first time in a current control period; in a case where it is determined that the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is the first time in the current control period, the unmanned aerial vehicle is controlled to take a photo of the inner wall of the absorption tower according to a preset inspection route; in a case where it is determined that the number of times of detection of the unmanned aerial vehicle on the inner wall of the absorption tower is not the first time in the current control period, position information of the unmanned aerial vehicle, position information of a preset stirrer, and position information of a wind pipe are acquired; it is judged whether the current position of the unmanned aerial vehicle is in a range of the preset stirrer or in a range of the wind pipe; in a case where it is determined that the current position of the unmanned aerial vehicle is in the range of the preset stirrer or in the range of the wind pipe, the preset stirrer or the wind pipe is controlled to work, and the unmanned aerial vehicle is controlled to move in the range of the preset stirrer or in the range of the wind pipe and take a photo; In a case where it is determined that the current inspection position of the unmanned aerial vehicle is the nozzle of the spraying layer, a static photo of each nozzle of the spraying layer and position information of the unmanned aerial vehicle are acquired; the nozzle corresponding to the current position of the unmanned aerial vehicle is controlled to work according to the position information of the unmanned aerial vehicle; in the spraying process of the nozzle corresponding to the current position of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to acquire image information of the nozzle of the spraying layer in the spraying process at a preset photo position; when spraying, a prohibited area is set for each nozzle; In a case where it is determined that the current inspection position of the unmanned aerial vehicle is the girder of the spraying layer, girder knocking coordinates are acquired; the unmanned aerial vehicle is controlled to knock the girder of the spraying layer according to the girder knocking coordinates, and knocking sound and image information in the knocking process are acquired.

2. The method of claim 1, wherein the method further comprises: The judgment of whether the current inspection position of the unmanned aerial vehicle is the preset inspection point comprises: Acquiring image information taken by the unmanned aerial vehicle in the inspection process; Identifying the image information taken by the unmanned aerial vehicle in the inspection process to determine the current inspection position of the unmanned aerial vehicle; Comparing the current inspection position of the unmanned aerial vehicle with the preset inspection point to judge whether the current inspection position of the unmanned aerial vehicle is the preset inspection point.

3. A method for autonomous inspection in a desulfurization tower based on a UAV, characterized in that, The autonomous inspection method comprises: Controlling the unmanned aerial vehicle to perform initial flight in the desulfurization tower to collect laser radar information required for constructing a map; According to the laser radar information required for constructing the map, a global map of the desulfurization tower is constructed through a SLAM algorithm; According to the global map of the desulfurization tower, path planning is performed through a global hybrid A* motion planning algorithm, and a path planning result is generated; The unmanned aerial vehicle flies in the desulfurization tower according to the path planning result, and in the secondary flight process, the unmanned aerial vehicle is controlled to perform patrol actions and operation of the internal structure of the desulfurization tower by using the unmanned aerial vehicle-based autonomous patrol control method in any one of claims 1-2 to collect patrol data.

4. An unmanned aerial vehicle based autonomous inspection control device in a desulfurization tower, characterized in that, The control device comprises: a judgment module configured to determine whether the current patrol position of the unmanned aerial vehicle is a preset detection point during the patrol process, the preset detection point comprising an inner wall of the absorption tower, a nozzle of the spray layer, and a girder of the spray layer; a detection strategy acquisition module configured to acquire a detection strategy corresponding to the current patrol position of the unmanned aerial vehicle from a detection strategy database if it is determined that the current patrol position of the unmanned aerial vehicle is a preset detection point, wherein the detection strategy database comprises at least one preset detection point and a detection strategy corresponding to each preset detection point; a control module configured to control patrol actions of the unmanned aerial vehicle and operation of the internal structure of the desulfurization tower according to the detection strategy corresponding to the current patrol position of the unmanned aerial vehicle, comprising: if it is determined that the current patrol position of the unmanned aerial vehicle is the inner wall of the absorption tower, acquiring the number of times of detection of the inner wall of the absorption tower by the unmanned aerial vehicle, determining whether the number of times of detection of the inner wall of the absorption tower by the unmanned aerial vehicle is the first time in the current control period, controlling the unmanned aerial vehicle to take a photo of the inner wall of the absorption tower according to a preset patrol route if it is determined that the number of times of detection of the inner wall of the absorption tower by the unmanned aerial vehicle is the first time in the current control period, and acquiring position information of the unmanned aerial vehicle, position information of a preset stirrer, and position information of a wind pipe if it is determined that the number of times of detection of the inner wall of the absorption tower by the unmanned aerial vehicle is not the first time in the current control period, determining whether the current position of the unmanned aerial vehicle is within a range of the preset stirrer or within a range of the wind pipe, and controlling the preset stirrer or the wind pipe to work and controlling the unmanned aerial vehicle to move and take a photo in the range of the preset stirrer or in the range of the wind pipe if it is determined that the current position of the unmanned aerial vehicle is within the range of the preset stirrer or within the range of the wind pipe; if it is determined that the current patrol position of the unmanned aerial vehicle is the nozzle of the spray layer, acquiring a static photo of each nozzle of the spray layer and position information of the unmanned aerial vehicle, controlling the nozzle of the spray layer corresponding to the current position of the unmanned aerial vehicle to work according to the position information of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to acquire image information of the nozzle of the spray layer in the spraying process at a preset photo position in the spraying process of the nozzle of the spray layer corresponding to the current position of the unmanned aerial vehicle, and setting a prohibited area for each nozzle during spraying; if it is determined that the current patrol position of the unmanned aerial vehicle is the girder of the spray layer, acquiring a girder knocking coordinate, and controlling the unmanned aerial vehicle to knock the girder of the spray layer according to the girder knocking coordinate and acquire knocking sound and image information in the knocking process.

5. A ground control device, characterized by The ground control device comprises a processor and a memory, and at least one computer program is stored in the memory, the at least one computer program is loaded and executed by one or more processors to enable the processor to perform the unmanned aerial vehicle-based autonomous patrol control method in any one of claims 1-2.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one program code, which is loaded and executed by the processor to enable the computer to execute the unmanned aerial vehicle-based autonomous inspection control method in a desulfurization tower according to any one of claims 1-2.

7. An autonomous inspection system for desulfurization towers based on unmanned aerial vehicles (UAVs), characterized in that, The autonomous inspection system comprises an unmanned aerial vehicle, a tower control device, and the ground control device according to claim 5. The unmanned aerial vehicle is provided with a multi-sensing acquisition unit, a flight controller, and an on-board controller, wherein the multi-sensing acquisition unit is used to acquire surrounding environment information of the unmanned aerial vehicle, and at least comprises a laser radar, a laser ranging sensor, an IMU sensor, and a camera module; the flight controller is used to control the flight state of the unmanned aerial vehicle; the on-board controller is used to send the surrounding environment information transmitted by the multi-sensing acquisition unit and the flight state information transmitted by the flight controller to the ground control device, and is also used to transmit the control instructions sent by the ground control device to the flight controller and the multi-sensing acquisition unit; The tower control device is arranged in the desulfurization tower and is used to control the running state of the internal structure of the desulfurization tower. The ground control device is communicatively connected to the on-board controller and the tower control device, respectively, and is used to generate instructions for controlling the inspection action of the unmanned aerial vehicle and the running work of the internal structure of the desulfurization tower according to the surrounding environment information transmitted by the unmanned aerial vehicle.

8. The UAV-based autonomous inspection system of desulfurization tower internals of claim 7, wherein, The unmanned aerial vehicle is provided with a knocking device for knocking the internal structure of the desulfurization tower.

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