Boiler expansion identification method and device based on boiler digital twin system

Abstract

The present application proposes a boiler expansion identification method and device based on a boiler digital twin system, the method comprising: constructing a boiler digital twin system; setting a camera including an adjustable laser rangefinder at a fixed position where the boiler expansion dead point can be photographed, and mapping the fixed position to the system; determining a three-dimensional area to be identified in the system and selecting multiple measuring points, calculating the theoretical distance of each measuring point from the fixed position; photographing an image of the boiler, and determining the actual position of each measuring point based on the mapping relationship between the projection on the plane in the three-dimensional area and the image; adjusting the laser rangefinder according to the actual position of the measuring point, measuring the actual distance of each measuring point, and the twin system calculating the expansion degree of each measuring point according to the theoretical distance and actual distance of each measuring point. The method intelligently identifies the expansion degree of the boiler based on the digital twin system and the image recognition algorithm, and improves the efficiency and accuracy of boiler expansion identification.

Description

Technical Field

[0001] The present application relates to the technical field of boiler equipment detection, and in particular to a boiler expansion identification method and device based on a boiler digital twin system. Background Art

[0002] At present, in order to ensure the normal operation of power plant boilers, it is necessary to detect boiler expansion. In the related technology, the commonly used detection equipment is a boiler expansion indicator, which uses the principle of thermal expansion and contraction to detect whether the power plant boiler is expanded and deformed and the degree of expansion and deformation.

[0003] Among them, the structure of the boiler expansion indicator is usually composed of a fixed connecting part, a freely retractable indicator and a corresponding scale plate. It is generally installed on the steam pipes, headers, steel structures and other components in the high-temperature boiler. Its working principle is: the fixed connecting part is fixed to the outer wall of the equipment in the boiler. When the equipment expands, the indicator is driven to move on the scale plate through the connecting part. The staff can check the equipment during inspection to determine the expansion and displacement of the boiler components.

[0004] However, in actual applications, a boiler generally has more than 20 boiler expanders distributed in various locations in the boiler room. During manual inspection, it is necessary to climb to various locations in the boiler room to visually observe the expansion and deformation of the expanders, and then manually record and enter them into the system. This method has low recognition efficiency, and the results obtained by manual observation of the expanders are affected by factors such as the observation location and the observer's estimation ability, which may lead to deviations in the recognition results. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the first purpose of this application is to propose a boiler expansion identification method based on a boiler digital twin system. The method is based on the digital twin system and an image recognition algorithm, and intelligently identifies the expansion degree of the boiler according to the measuring point coordinates and the measured data of the laser rangefinder, thereby improving the efficiency and accuracy of boiler expansion identification.

[0007] The second objective of this application is to propose a boiler expansion identification device based on a boiler digital twin system.

[0008] A third object of the present application is to provide a non-transitory computer-readable storage medium.

[0009] To achieve the above-mentioned purpose, the first aspect of the present application proposes a boiler expansion identification method based on a boiler digital twin system, comprising the following steps:

[0010] Constructing a digital twin system of the boiler in a normal state, and determining a coordinate system corresponding to the digital twin system;

[0011] A camera is arranged at a fixed position where the expansion dead point of the boiler can be photographed, and the fixed position is mapped to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is arranged on the camera;

[0012] Determine a three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from a fixed position;

[0013] The real-time image of the boiler is captured by the camera, and the positions of the multiple measuring points on the real-time image are determined based on the mapping relationship between the projection on the plane in the three-dimensional area of ​​the boiler and the image captured by the camera, and the actual positions of the multiple measuring points on the boiler are determined according to the positions on the real-time image;

[0014] The laser rangefinder is adjusted according to the actual positions of the multiple measuring points, the actual distance of each measuring point is measured by the laser rangefinder, and the expansion degree of each measuring point is calculated by the digital twin system according to the theoretical distance and actual distance of each measuring point.

[0015] Optionally, in one embodiment of the present application, determining the three-dimensional area of ​​the boiler to be identified in the digital twin system includes: capturing a normal image of the boiler in a normal state through the camera, and performing image recognition on the normal image to determine the expansion dead point in the normal image; aligning the image and the expansion dead point in the system, and projecting the normal image in the digital twin system based on the shooting angle of the camera and the fixed position to determine the three-dimensional area corresponding to the normal image in the digital twin system.

[0016] Optionally, in one embodiment of the present application, the camera also includes: a 5G module. After the normal image of the boiler is captured by the camera, it also includes: transmitting the normal image to the AI ​​video platform through the 5G module, and calling a preset image recognition algorithm for image recognition; after the actual distance of each of the measuring points is measured respectively by the laser rangefinder, it also includes: transmitting the actual distance of each of the measuring points to the digital twin system through the 5G module.

[0017] Optionally, in one embodiment of the present application, the selecting of multiple measuring points in the three-dimensional area of ​​the boiler includes: dividing the portion of the plane formed by the y-axis and z-axis of the coordinate system in the three-dimensional area of ​​the boiler into multiple square areas, wherein the side length of each of the square areas is the same; taking the midpoint of each of the square areas as the measuring point; and respectively calculating the theoretical distance of each measuring point from a fixed position includes: calculating the theoretical distance corresponding to each measuring point according to the coordinates of each measuring point in the coordinate system and the coordinates of the fixed position.

[0018] Optionally, in one embodiment of the present application, adjusting the laser rangefinder according to the actual positions of the multiple measuring points includes: adjusting the ranging angle of the laser rangefinder according to the actual position of any measuring point on the boiler so that the laser rangefinder is facing any measuring point.

[0019] Optionally, in one embodiment of the present application, after calculating the expansion degree of each measuring point, it also includes: based on the expansion degree of each measuring point, judging whether the expansion condition of each measuring point meets the requirements; according to the expansion judgment result and coordinates of each measuring point, displaying the corresponding color in real time at each measuring point position in the digital twin system.

[0020] To achieve the above-mentioned purpose, the second aspect of the present application proposes a boiler expansion identification device based on a boiler digital twin system, comprising the following modules:

[0021] A construction module is used to construct a digital twin system of the boiler in a normal state and determine a coordinate system corresponding to the digital twin system;

[0022] A setting module, used for setting a camera at a fixed position for photographing the expansion dead point of the boiler, and mapping the fixed position to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is provided on the camera;

[0023] A calculation module, used to determine a three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from a fixed position;

[0024] a determination module, configured to capture a real-time image of the boiler through the camera, determine positions of the plurality of measuring points on the real-time image based on a mapping relationship between a projection on a plane in a three-dimensional region of the boiler and the image captured by the camera, and determine actual positions of the plurality of measuring points on the boiler according to the positions on the image;

[0025] The identification module is used to adjust the laser rangefinder according to the actual positions of the multiple measuring points, measure the actual distance of each measuring point respectively through the laser rangefinder, and calculate the expansion degree of each measuring point according to the theoretical distance and actual distance of each measuring point through the digital twin system.

[0026] In order to implement the above-mentioned embodiments, the third aspect of the present application also proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the boiler expansion identification method based on the boiler digital twin system described in the above-mentioned first aspect is implemented.

[0027] The technical solution provided by the embodiment of the present application brings at least the following beneficial effects: the present application pre-builds a digital twin system for the boiler, and the digital twin system can be used to calculate the relevant data of expansion identification more accurately. Then the position of the measuring point is calculated according to the image recognition algorithm, and the laser rangefinder is adjusted according to the position of the measuring point for actual measurement. The expansion degree is then calculated according to the coordinates of the measuring point and the measured data of the laser rangefinder. Therefore, the present application can intelligently identify the expansion degree of the boiler based on the digital twin system, image recognition algorithm and 5G data transmission technology, and only needs to take the image of the boiler by the camera for identification, avoiding climbing the boiler, saving manpower consumed in the identification process, and improving the efficiency and convenience of boiler expansion identification. And based on image recognition to determine the coordinates, the expansion degree is calculated by the twin system, avoiding errors caused by naked eye observation and manual estimation in the identification process, and improving the accuracy of boiler expansion identification. The present application can also display the real-time screen of the expansion degree on the model according to the calculation results of the twin model, improving the direct hanging and timeliness of the display of the recognition results.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0030] Figure 1 A flow chart of a boiler expansion identification method based on a boiler digital twin system proposed in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the principle of boiler expansion identification based on a boiler digital twin system proposed in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of the structure of a boiler expansion identification device based on a boiler digital twin system proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] A boiler expansion identification method and device based on a boiler digital twin system proposed in an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0035] Figure 1 A flow chart of a boiler expansion identification method based on a boiler digital twin system proposed in an embodiment of the present application is shown in FIG. Figure 1 The method comprises the following steps:

[0036] Step S101, construct a digital twin system of the boiler in a normal state, and determine the coordinate system corresponding to the digital twin system.

[0037] Among them, the digital twin system is a simulation process that makes full use of multi-dimensional data such as physical models, sensor update data and operation history data. The digital twin system can complete the mapping of physical devices in the computer virtual space. The digital twin model can more conveniently perform relevant analysis and calculations on the physical devices, thereby reflecting the entire life cycle process of the corresponding physical devices.

[0038] Specifically, before the boiler expansion identification is performed, the present application pre-builds and calls a boiler digital twin system, which is an accurate digital twin model for the boiler to be identified, and the digital twin system is a system corresponding to a normal boiler that has not yet expanded. The boiler digital twin system can be constructed according to the construction method of the digital twin system in the relevant technology.

[0039] After building the digital twin system of the boiler, the coordinate origin of the digital twin system is determined based on the system construction data and the boiler entity data, and the x-axis, y-axis and z-axis of the digital twin system are determined based on the entity layout direction, and then the coordinate system corresponding to the digital twin system is determined.

[0040] Step S102, setting a camera at a fixed position that can capture the expansion dead point of the boiler, and mapping the fixed position to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is set on the camera.

[0041] The expansion dead point is a fixed position of the boiler during the expansion process, that is, the dead point position on the boiler will not expand. The fixed position is a certain position in the surrounding area of ​​the expansion dead point of the boiler to ensure that the expansion dead point can be photographed. This application uses the fixed position as a reference point used in the expansion identification calculation process.

[0042] Specifically, the present application sets a camera at the fixed position, and uses the camera to capture images including the expansion dead point, so as to facilitate subsequent expansion recognition based on the captured images and the fixed position. The camera is a movable camera, on which an adjustable laser rangefinder is integrated, and the emission angle and position of the laser rangefinder in three-dimensional space are adjustable.

[0043] Furthermore, the present application also performs corresponding mapping in the constructed boiler digital twin system according to the fixed position in reality and the setting mode of the camera, and integrates the fixed position coordinates into the boiler digital twin system. That is, based on the positional relationship between the fixed position where the camera is placed in reality and the boiler, the corresponding fixed position is determined in the boiler digital twin system according to the same positional relationship, and the coordinates of the virtual fixed position in the coordinate system of the digital twin system are determined.

[0044] Step S103: determine the three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from the fixed position.

[0045] Specifically, in the digital twin system, the three-dimensional area for expansion identification is determined according to actual needs, and multiple measuring points for detecting the degree of expansion are selected in the three-dimensional area. Since the digital twin system currently reflects the boiler in a normal state, the distance between the multiple measuring points in the three-dimensional area of ​​the boiler and the fixed position is the theoretical distance between each measuring point and the fixed position before expansion occurs, which can be calculated based on normal data.

[0046] In one embodiment of the present application, a three-dimensional area of ​​the boiler to be identified is determined in the digital twin system, including: capturing a normal image of the boiler in a normal state through a camera, performing image recognition on the normal image, and determining the expansion dead point in the normal image; aligning the image and the expansion dead point in the system, projecting the normal image in the digital twin system based on the shooting angle and fixed position of the camera, and determining the three-dimensional area corresponding to the normal image in the digital twin system.

[0047] Specifically, in this embodiment, the three-dimensional area to be identified is determined by taking an image with a camera. First, a normal image of the boiler when no expansion occurs is taken by a camera, and the taken image is transmitted to the boiler digital twin system for image recognition to determine the expansion dead point in the image. Then, anchoring is performed by the position of the identified dead point of the boiler, that is, aligning the dead point position in the image with the dead point position generated in the digital twin system, so that the dead point position in the system is consistent with the actual position. Then, according to the picture taken by the camera, the coordinates of the fixed position in the digital twin system are used as the starting point, and the projected in the digital twin system at the determined angle when the camera takes the image, and the three-dimensional area of ​​the boiler to be measured contained in the image is generated in the digital twin system.

[0048] Among them, the camera in this embodiment also includes a 5G module. After taking a normal image of the boiler through the camera, it also includes: transmitting the normal image to the AI ​​video platform through the 5G module, and calling a preset image recognition algorithm for image recognition.

[0049] Specifically, the embodiment of the present application also uses 5G network transmission technology to transmit data that needs to be interacted during the identification process. The 5G module transmits the image captured by the camera to the preset AI video platform via the 5G private network in the power plant, and calls the image recognition algorithm developed for the boiler expansion indicator in the AI ​​video platform for identification, and identifies the boiler image information including the expansion dead point.

[0050] Furthermore, a measuring point is selected in the three-dimensional area of ​​the boiler. The three-dimensional area of ​​the boiler can be divided into a plurality of sub-areas, and a measuring point is selected at the same position in each sub-area. In one embodiment of the present application, a plurality of measuring points are selected in the three-dimensional area of ​​the boiler, including: dividing the portion of the plane formed by the y-axis and the z-axis of the coordinate system in the three-dimensional area of ​​the boiler into a plurality of square areas, wherein the side lengths of each of the square areas are the same; and taking the midpoint of each square area as a measuring point.

[0051] For example, the intersection of the plane formed by the y-axis and z-axis of the digital twin system coordinate system (referred to as the yz-axis plane) and the three-dimensional area of ​​the boiler is taken as the research object, and the yz-axis plane part in the three-dimensional area is divided into n 10cm*10cm sub-areas, and the midpoint of each area is selected as the measuring point, then n measuring points can be generated, namely measuring points Ai (i=1,2,3,...,n). Among them, n can be determined in combination with actual factors such as the area of ​​the area and the recognition accuracy requirements.

[0052] Furthermore, the theoretical distance of each measuring point from the fixed position is calculated respectively, including: calculating the theoretical distance corresponding to each measuring point according to the coordinates of each measuring point in the coordinate system and the coordinates of the fixed position. Specifically, since the coordinates of each measuring point in the digital twin system are known, and the coordinates of the fixed position in the digital twin system are known, the distance of each measuring point from the fixed position can be calculated in turn according to the coordinates of the two using the distance formula, that is, Di (i = 1, 2, 3, ..., n).

[0053] Step S104, capturing a real-time image of the boiler through a camera, determining positions of a plurality of measuring points on the real-time image based on a mapping relationship between a projection on a plane in a three-dimensional area of ​​the boiler and the image captured by the camera, and determining actual positions of the plurality of measuring points on the boiler based on the positions on the real-time image.

[0054] Specifically, the above steps S101 to S103 may be pre-executed steps before expansion identification. After expansion occurs in actual operation of the boiler, the current real-time image of the boiler is captured by a camera. Based on the mapping relationship between the projection of the measuring point on the plane where the measuring point is located in the three-dimensional area of ​​the boiler and the image captured by the camera, the position of each measuring point on the real-time image is determined, and then based on the corresponding relationship between the image captured by the camera and the physical equipment of the boiler, the actual positions of multiple measuring points on the boiler are determined according to the positions on the real-time image.

[0055] For example, in the above embodiment, when the midpoint of the sub-area of ​​the yz-axis plane is used as the measuring point, the position of each measuring point on the real-time image is determined according to the mapping relationship between the projection on the yz-axis plane and the image taken by the camera, and then subsequent laser ranging is performed based on the position of each measuring point on the real-time image.

[0056] Step S105, adjusting the laser rangefinder according to the actual positions of the multiple measuring points, measuring the actual distance of each measuring point respectively by the laser rangefinder, and calculating the expansion degree of each measuring point according to the theoretical distance and actual distance of each measuring point by the digital twin system.

[0057] Specifically, the laser rangefinder is adjusted according to the actual position of each measuring point on the boiler, and the distance between each measuring point and the laser rangefinder is measured by the corresponding adjusted laser rangefinder, which is the actual distance between the measuring point and the fixed position after expansion. Then, the expansion degree of each measuring point is calculated by the digital twin system according to the theoretical distance and actual distance calculated in the above step S103.

[0058] In one embodiment of the present application, adjusting the laser rangefinder according to the actual positions of the plurality of measuring points includes: adjusting the ranging angle of the laser rangefinder according to the actual position of any measuring point on the boiler so that the laser rangefinder faces any measuring point. In this embodiment, the laser rangefinder is adjusted according to the position of the measuring point, and the distance is measured according to the actual position of each measuring point after expansion, so as to ensure that the distance measured by the laser rangefinder is the real distance between each measuring point and the fixed position, thereby improving the accuracy of the laser ranging.

[0059] Furthermore, after measuring the actual distance of each measuring point by a laser rangefinder, the method further includes: transmitting the actual distance of each measuring point to the digital twin system through a 5G module. That is, according to the way in which the 5G module transmits images in the above embodiment, the distance of each measuring point measured by the laser rangefinder is transmitted to the digital twin system through a 5G private network, and the actual distance number is recorded as DRi (i=1, 2, 3, ..., n).

[0060] Furthermore, the difference between the theoretical distance and the actual distance of each measuring point is calculated in the digital twin system, and the difference is the expansion degree of each measuring point. That is, the expansion degree of the corresponding measuring point is calculated by the following formula:

[0061] Ei=DRi-Di(i=1,2,3,...,n).

[0062] Therefore, the data of each measuring point is substituted into the above formula in turn to obtain the expansion degree of n measuring points.

[0063] In one embodiment of the present application, after calculating the expansion degree of each measuring point, it also includes: based on the expansion degree of each measuring point, judging whether the expansion condition of each measuring point meets the requirements; according to the expansion judgment result and coordinates of each measuring point, displaying the corresponding color in real time at each measuring point position in the digital twin system.

[0064] Specifically, the built digital twin model can be displayed on a display screen pre-configured for the digital twin system, and the displayed digital twin model can be adjusted in real time according to the measured positions of each measuring point, and the position of each measuring point on the model can be adjusted according to the position change of the measuring point. The expansion recognition result of each measuring point can also be displayed on the display screen to intuitively distinguish the measuring points whose expansion degree meets the requirements and those that do not meet the requirements.

[0065] For example, the allowable expansion threshold is determined according to the application scenario of the boiler, and the calculated expansion degree Ei of each measuring point is compared with the expansion threshold. If the expansion degree of a certain measuring point is 0 or less than the expansion threshold, it is determined that the measuring point meets the requirements. If it is greater than the expansion threshold, it is determined that the expansion degree of the measuring point exceeds the standard and does not meet the requirements. Then, at each measuring point position in the digital twin model, the measuring points that meet the requirements are displayed in green, and the measuring points that do not meet the requirements are displayed in red.

[0066] The overall process of the boiler expansion identification method of this application is as follows Figure 2 As shown, for the boiler entity 10, the camera 20 is used to capture an image, and a specific three-dimensional observation area is located in the digital twin model 30 according to the captured image. After selecting the measuring point in the model, the position of the measuring point in the real-time captured image is determined according to the mapping relationship, and then the laser distance measurement is performed on the corresponding measuring point in the boiler entity based on the position of the measuring point in the image. After the distance measurement data is sent to the digital twin system to calculate the expansion degree, it is displayed on the display screen 40.

[0067] In summary, the boiler expansion identification method based on the boiler digital twin system of the embodiment of the present application pre-builds the boiler digital twin system, and the digital twin system can be used to calculate the relevant data of expansion identification more accurately. Then the measuring point position is calculated according to the image recognition algorithm, and the laser rangefinder is adjusted according to the measuring point position for actual measurement. The expansion degree is then calculated based on the measuring point coordinates and the measured data of the laser rangefinder. Therefore, the method is based on the digital twin system, image recognition algorithm and 5G data transmission technology, and can intelligently identify the expansion degree of the boiler. It only needs to take the image of the boiler by the camera for identification, avoid climbing the boiler, save manpower consumed in the identification process, and improve the efficiency and convenience of boiler expansion identification. And based on image recognition to determine the coordinates, the expansion degree is calculated by the twin system, avoiding the errors caused by the naked eye observation and manual estimation in the identification process, and improving the accuracy of boiler expansion identification. The method can also display the real-time screen of the expansion degree on the model according to the calculation results of the twin model, which improves the direct hanging and timeliness of the display of the recognition results.

[0068] In order to implement the above embodiments, the present application also proposes a boiler expansion identification device based on a boiler digital twin system. Figure 3 A schematic diagram of the structure of a boiler expansion identification device based on a boiler digital twin system proposed in an embodiment of the present application.

[0069] like Figure 3 As shown, the device includes: a construction module 100, a setting module 200, a calculation module 300, a determination module 400 and an identification module 500.

[0070] Among them, the construction module 100 is used to construct a digital twin system of the boiler in a normal state and determine the coordinate system corresponding to the digital twin system.

[0071] The setting module 200 is used to set a camera at a fixed position for photographing the expansion dead point of the boiler, and map the fixed position to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is set on the camera.

[0072] The calculation module 300 is used to determine the three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from the fixed position.

[0073] The determination module 400 is used to capture a real-time image of the boiler through a camera, determine the positions of multiple measuring points on the real-time image based on the mapping relationship between the projection on the plane in the three-dimensional area of ​​the boiler and the image captured by the camera, and determine the actual positions of the multiple measuring points on the boiler according to the positions on the image.

[0074] The identification module 500 is used to adjust the laser rangefinder according to the actual positions of the multiple measuring points, measure the actual distance of each measuring point respectively through the laser rangefinder, and calculate the expansion degree of each measuring point according to the theoretical distance and actual distance of each measuring point through the digital twin system.

[0075] In one embodiment of the present application, the determination module 400 is specifically used to: capture a normal image of the boiler in a normal state through a camera, and perform image recognition on the normal image to determine the expansion dead point in the normal image; align the image and the expansion dead point in the system, and project the normal image in the digital twin system based on the shooting angle and fixed position of the camera to determine the three-dimensional area corresponding to the normal image in the digital twin system.

[0076] In one embodiment of the present application, the device also includes a 5G transmission module, which is specifically used to: transmit normal images to the AI ​​video platform so as to call a preset image recognition algorithm for image recognition; and transmit the actual distance of each measuring point to the digital twin system.

[0077] In one embodiment of the present application, the calculation module 300 is specifically used to: divide the part of the plane formed by the y-axis and z-axis of the coordinate system in the three-dimensional area of ​​the boiler into multiple square areas, wherein the side length of each square area is the same; use the midpoint of each of the square areas as the measuring point; and calculate the theoretical distance corresponding to each measuring point based on the coordinates of each measuring point in the coordinate system and the coordinates of the fixed position.

[0078] In one embodiment of the present application, the identification module 500 is specifically used to: adjust the distance measuring angle of the laser rangefinder according to the actual position of any measuring point on the boiler, so that the laser rangefinder faces the any measuring point.

[0079] In one embodiment of the present application, the identification module 500 is also used to: determine whether the expansion of each measuring point meets the requirements based on the expansion degree of each measuring point; and display the corresponding color in real time at each measuring point position in the digital twin system according to the expansion judgment result and coordinates of each measuring point.

[0080] In summary, the boiler expansion identification device based on the boiler digital twin system of the embodiment of the present application pre-builds the boiler digital twin system, and the digital twin system can be used to calculate the relevant data of expansion identification more accurately. Then the measuring point position is calculated according to the image recognition algorithm, and the laser rangefinder is adjusted according to the measuring point position for actual measurement. The expansion degree is then calculated based on the measuring point coordinates and the measured data of the laser rangefinder. Thus, the device can intelligently identify the expansion degree of the boiler based on the digital twin system, image recognition algorithm and 5G data transmission technology. It only needs to take the image of the boiler by the camera for identification, avoiding climbing the boiler, saving manpower consumed in the identification process, and improving the efficiency and convenience of boiler expansion identification. And based on image recognition to determine the coordinates, the expansion degree is calculated by the twin system, avoiding errors caused by naked eye observation and manual estimation in the identification process, and improving the accuracy of boiler expansion identification. The device can also display the real-time screen of the expansion degree on the model according to the calculation results of the twin model, improving the direct hanging and timeliness of the display of the recognition results.

[0081] In order to implement the above-mentioned embodiments, the present invention also proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the boiler expansion identification method based on the boiler digital twin system described in the embodiment of the first aspect of the present application is implemented.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, if schematic expressions of the above terms are used in multiple embodiments or examples, it does not mean that these embodiments or examples are the same. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0083] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0085] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0086] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0087] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0088] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0089] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A boiler expansion identification method based on a boiler digital twin system, characterized in that: The following steps are involved: Constructing a digital twin system of the boiler in a normal state, and determining a coordinate system corresponding to the digital twin system; A camera is arranged at a fixed position where the expansion dead point of the boiler can be photographed, and the fixed position is mapped to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is arranged on the camera; Determine a three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from a fixed position; The real-time image of the boiler is captured by the camera, and the positions of the multiple measuring points on the real-time image are determined based on the mapping relationship between the projection on the plane in the three-dimensional area of ​​the boiler and the image captured by the camera, and the actual positions of the multiple measuring points on the boiler are determined according to the positions on the real-time image; The laser rangefinder is adjusted according to the actual positions of the multiple measuring points, the actual distance between each measuring point and the adjusted laser rangefinder is measured by the laser rangefinder, and the expansion degree of each measuring point is calculated by the digital twin system according to the theoretical distance and actual distance of each measuring point.

2. The boiler expansion identification method according to claim 1, characterized in that: Determining the three-dimensional area of ​​the boiler to be identified in the digital twin system includes: Using the camera to capture a normal image of the boiler in a normal state, and performing image recognition on the normal image to determine the expansion dead point in the normal image; Align the image and the expansion dead point in the system, project the normal image in the digital twin system based on the shooting angle of the camera and the fixed position, and determine the three-dimensional area corresponding to the normal image in the digital twin system.

3. The boiler expansion identification method according to claim 2, characterized in that: The camera further includes: a 5G module, and after the normal image of the boiler is captured by the camera, further includes: The normal image is transmitted to the AI ​​video platform through the 5G module, and a preset image recognition algorithm is called to perform image recognition; After respectively measuring the actual distance between each of the measuring points and the adjusted laser rangefinder by the laser rangefinder, the method further includes: The actual distance of each measuring point is transmitted to the digital twin system through the 5G module.

4. The boiler expansion identification method according to claim 1, characterized in that: The selecting of a plurality of measuring points in the three-dimensional area of ​​the boiler comprises: Divide the portion of the plane formed by the y-axis and the z-axis of the coordinate system in the three-dimensional area of ​​the boiler into a plurality of square areas, wherein the side lengths of each of the square areas are the same; Taking the midpoint of each of the square areas as the measuring point; The step of respectively calculating the theoretical distance between each measuring point and the fixed position comprises: The theoretical distance corresponding to each measuring point is calculated according to the coordinates of each measuring point in the coordinate system and the coordinates of the fixed position.

5. The boiler expansion identification method according to claim 1, characterized in that: The step of adjusting the laser rangefinder according to the actual positions of the plurality of measuring points comprises: The distance measuring angle of the laser distance meter is adjusted according to the actual position of any measuring point on the boiler so that the laser distance meter faces the any measuring point.

6. The boiler expansion identification method according to claim 1, characterized in that: After calculating the expansion degree of each measuring point, the method further includes: Based on the expansion degree of each measuring point, judging whether the expansion condition of each measuring point meets the requirements; According to the expansion judgment result and coordinates of each measuring point, the corresponding color is displayed in real time at the position of each measuring point in the digital twin system.

7. A boiler expansion identification device based on a boiler digital twin system, characterized in that: include: A construction module is used to construct a digital twin system of the boiler in a normal state and determine a coordinate system corresponding to the digital twin system; A setting module, used for setting a camera at a fixed position for photographing the expansion dead point of the boiler, and mapping the fixed position to the digital twin system to determine the corresponding coordinates, wherein an adjustable laser rangefinder is provided on the camera; A calculation module, used to determine a three-dimensional area of ​​the boiler to be identified in the digital twin system, select multiple measuring points in the three-dimensional area of ​​the boiler, and calculate the theoretical distance of each measuring point from a fixed position; a determination module, configured to capture a real-time image of the boiler through the camera, determine positions of the plurality of measuring points on the real-time image based on a mapping relationship between a projection on a plane in a three-dimensional region of the boiler and the image captured by the camera, and determine actual positions of the plurality of measuring points on the boiler according to the positions on the image; The identification module is used to adjust the laser rangefinder according to the actual positions of the multiple measuring points, measure the actual distance between each of the measuring points and the adjusted laser rangefinder through the laser rangefinder, and calculate the expansion degree of each of the measuring points according to the theoretical distance and the actual distance of each of the measuring points through the digital twin system.

8. The boiler expansion identification device according to claim 7, characterized in that: The determining module is specifically used for: Using the camera to capture a normal image of the boiler in a normal state, and performing image recognition on the normal image to determine the expansion dead point in the normal image; Align the image and the expansion dead point in the system, project the normal image in the digital twin system based on the shooting angle of the camera and the fixed position, and determine the three-dimensional area corresponding to the normal image in the digital twin system.

9. The boiler expansion identification device according to claim 8, characterized in that: Also includes: 5G transmission module, the 5G transmission module is specifically used for: Transmitting the normal image to the AI ​​video platform so as to call a preset image recognition algorithm for image recognition; The actual distance of each of the measuring points is transmitted to the digital twin system.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the boiler expansion identification method based on the boiler digital twin system as described in any one of claims 1 to 6 is implemented.

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