A dust accumulation monitoring method and related device for dust hopper of bag filter

Abstract

The present application discloses a dust accumulation monitoring method and related device for the ash hopper of a bag-type dust collector, the method includes: establishing a spatial three-dimensional coordinate system based on the ash hopper of the bag-type dust collector, obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of two ultrasonic rangefinders, driving the probe of the ultrasonic rangefinder to rotate, when the ultrasonic rangefinder transmits an ultrasonic signal and receives the reflected ultrasonic signal, determining the observation distance and the rotation angle to calculate the coordinates of the measuring point detected by the ultrasonic rangefinder, and constructing a three-dimensional model diagram of the ash hopper dust accumulation of the bag-type dust collector ash hopper based on the coordinates of all measuring points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation of the bag-type dust collector ash hopper in real time. It can be seen that by real-time modeling of the ash hopper dust accumulation of the bag-type dust collector ash hopper, the operator can view the ash accumulation thickness of the ash hopper in real time, so that the ash accumulation in the ash hopper can be discovered and cleaned early to ensure the safe operation of the boiler.

Description

Technical Field

[0001] The present application relates to the field of monitoring technology, and more specifically, to a dust accumulation monitoring method and related device for a dust hopper of a bag filter. Background Art

[0002] With the continuous improvement of environmental protection requirements, waste incineration power generation has been widely used as an effective waste resource utilization and environmental protection technology. The wide range of waste sources and complex and variable composition make the fly ash generated by waste incineration unstable and sticky, which often leads to ash blockage in the ash hopper of the bag filter.

[0003] In order to avoid air leakage in the flue, the bag filter must remain sealed, which makes it impossible for operators to directly monitor the operating conditions in the bag hopper during operation, and it is difficult to detect the ash accumulation in the hopper in time, and it is impossible to carry out targeted cleaning. The process from ash accumulation to ash blockage in the ash hopper is a progressive process. It is easier to clean the ash in the early stage, but as the ash accumulation increases, the cleaning difficulty gradually increases. When the ash hopper is blocked, it takes a lot of manpower and material resources to clean it, and after the ash hopper is blocked, the bag bin needs to be isolated for ash cleaning, which seriously affects the operation of the boiler.

[0004] Currently, there are three main ways to manually monitor the ash hopper: installing a rotary paddle level switch, measuring the temperature of the ash discharge valve, and checking the negative pressure of the ash hopper through the hand hole above the ash discharge valve. However, in actual use, the ash hopper level switch often fails or misreports, and power plants basically do not refer to the signal of the rotary paddle level switch. The latter two methods have serious hysteresis, and the inspection is only effective when the ash hopper is blocked for a period of time. It is difficult to detect the ash hopper blockage in time, and it is difficult to meet the effective monitoring needs of the ash hopper accumulation.

[0005] How to monitor the ash hopper of the bag-type dust collector in real time, promptly detect the accumulation of ash in the ash hopper of the bag-type dust collector, clean up the accumulated ash as soon as possible, and ensure the safe operation of the boiler is an issue that needs attention. Summary of the invention

[0006] In view of the above problems, the present application provides a dust accumulation monitoring method and related devices for the ash hopper of a bag filter, so as to timely detect the dust accumulation in the ash hopper of the bag filter, clean the dust as soon as possible, and ensure the safe operation of the boiler.

[0007] In order to achieve the above objectives, the specific plan is proposed as follows:

[0008] A dust accumulation monitoring method for a hopper of a bag dust collector is applied to a hopper dust accumulation monitoring system, wherein the hopper dust accumulation monitoring system comprises a bag dust collector hopper and two ultrasonic rangefinders, wherein the bag dust collector hopper is an inverted quadrangular pyramid structure, and the two ultrasonic rangefinders are located on the upper bottom surface of the bag dust collector hopper;

[0009] The method includes:

[0010] Based on the bag filter hopper, a three-dimensional spatial coordinate system is established;

[0011] Obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the ash hopper of the bag-type dust collector;

[0012] Driving the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal;

[0013] Calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space;

[0014] Based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, a three-dimensional model diagram of dust accumulation in the ash hopper of the bag-type dust collector is constructed to allow the operator to monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

[0015] Optionally, based on the bag filter hopper, a spatial three-dimensional coordinate system is established, including:

[0016] A three-dimensional spatial coordinate system is established with the center of the lower bottom surface of the bag filter hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

[0017] Optionally, each ultrasonic rangefinder is mounted on a two-degree-of-freedom servo, and each ultrasonic rangefinder includes an ultrasonic rangefinder module and a single-chip microcomputer timer;

[0018] When the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, determining the observation distance of the ultrasonic rangefinder and the rotation angle of the probe thereof comprises:

[0019] When the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, the high level time calculated by the single chip microcomputer timer of the ultrasonic rangefinder is obtained after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave;

[0020] half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound is used as the observed distance of the ultrasonic rangefinder;

[0021] According to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder, the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder are determined.

[0022] Optionally, the calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space includes:

[0023] Use the following formula to calculate the horizontal coordinate of the measurement point detected by each ultrasonic rangefinder:

[0024]

[0025] in, is the horizontal coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder, is the observation distance of the ultrasonic rangefinder, is the horizontal rotation angle of the probe of the ultrasonic rangefinder, is the vertical rotation angle of the probe of the ultrasonic rangefinder;

[0026] The following formula is used to calculate the ordinate and vertical coordinate of the measuring point detected by each ultrasonic rangefinder based on the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder:

[0027]

[0028] in, is the ordinate of the measuring point detected by the ultrasonic rangefinder, is the ordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the vertical coordinate of the measuring point detected by the ultrasonic rangefinder, is the vertical coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space.

[0029] Optionally, the method further includes:

[0030] Obtaining the no-load distance detected by each ultrasonic rangefinder in its target direction when the dust hopper of the bag filter is free of dust accumulation;

[0031] When the probe of each ultrasonic rangefinder rotates to the target direction, the distance difference between the observed distance of the ultrasonic rangefinder in the target direction and the no-load distance is calculated;

[0032] If the distance difference of each ultrasonic rangefinder is greater than a preset distance threshold, an alarm is issued to remind the operator to clean up the accumulated dust.

[0033] A dust accumulation monitoring device for a hopper of a bag dust collector is applied to a hopper dust accumulation monitoring system, wherein the hopper dust accumulation monitoring system comprises a bag dust collector hopper and two ultrasonic rangefinders, wherein the bag dust collector hopper is an inverted quadrangular pyramid structure, and the two ultrasonic rangefinders are located on the upper bottom surface of the bag dust collector hopper;

[0034] The device includes:

[0035] A three-dimensional coordinate system establishing unit, used for establishing a spatial three-dimensional coordinate system based on the dust hopper of the bag filter;

[0036] A rangefinder coordinate determination unit, used to obtain the size data of the dust hopper of the bag filter, and determine the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the dust hopper of the bag filter;

[0037] An observation data determination unit, used to drive the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal;

[0038] A measuring point coordinate calculation unit, used to calculate the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space;

[0039] The dust accumulation three-dimensional model diagram construction unit is used to construct a dust accumulation three-dimensional model diagram of the ash hopper of the bag-type dust collector based on the coordinates of all measurement points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

[0040] Optionally, the three-dimensional coordinate system establishing unit includes:

[0041] The three-dimensional coordinate system establishment subunit is used to establish a spatial three-dimensional coordinate system with the center of the lower bottom surface of the bag filter hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

[0042] Optionally, each ultrasonic rangefinder is mounted on a two-degree-of-freedom servo, and each ultrasonic rangefinder includes an ultrasonic rangefinder module and a single-chip microcomputer timer;

[0043] The observation data determination unit comprises:

[0044] A high-level time calculation unit is used to drive the probe of each ultrasonic rangefinder to rotate, and when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, obtains the high-level time calculated by the single-chip microcomputer timer of the ultrasonic rangefinder after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave;

[0045] an observation distance calculation unit, used for taking half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound as the observation distance of the ultrasonic rangefinder;

[0046] The rotation angle determination unit is used to determine the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder according to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder.

[0047] Optionally, the measuring point coordinate calculation unit includes:

[0048] The first formula calculation unit is used to calculate the horizontal coordinate of each measuring point detected by the ultrasonic rangefinder using the following formula:

[0049]

[0050] in, is the horizontal coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder, is the observation distance of the ultrasonic rangefinder, is the horizontal rotation angle of the probe of the ultrasonic rangefinder, is the vertical rotation angle of the probe of the ultrasonic rangefinder;

[0051] The second formula calculation unit is used to calculate the ordinate and vertical coordinate of the measuring point detected by each ultrasonic rangefinder based on the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder using the following formula:

[0052]

[0053] in, is the ordinate of the measuring point detected by the ultrasonic rangefinder, is the ordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the vertical coordinate of the measuring point detected by the ultrasonic rangefinder, is the vertical coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space.

[0054] Optionally, the device further comprises:

[0055] An empty-load distance acquisition unit, used for acquiring an empty-load distance detected by each ultrasonic rangefinder in its target direction when the dust hopper of the bag filter is free of dust accumulation;

[0056] A distance difference calculation unit, used for calculating the distance difference between the observed distance of each ultrasonic rangefinder in the target direction and the no-load distance when the probe of each ultrasonic rangefinder rotates to the target direction;

[0057] The alarm unit is used to give an alarm to remind the operator to clean up the dust if the distance difference of each ultrasonic rangefinder is greater than a preset distance threshold.

[0058] A dust accumulation monitoring device for a dust hopper of a bag filter, comprising a memory and a processor;

[0059] The memory is used to store programs;

[0060] The processor is used to execute the program to implement the various steps of the dust accumulation monitoring method for the dust hopper of the bag filter as described above.

[0061] A storage medium stores a computer program, which, when executed by a processor, implements the various steps of the dust accumulation monitoring method for a dust hopper of a bag filter as described above.

[0062] By means of the above technical scheme, the present application establishes a spatial three-dimensional coordinate system based on the ash hopper of the bag-type dust collector, obtains the size data of the ash hopper of the bag-type dust collector, determines the coordinates of the two ultrasonic rangefinders, drives the probe of the ultrasonic rangefinder to rotate, and when the ultrasonic rangefinder transmits an ultrasonic signal and receives the reflected ultrasonic signal, determines the observation distance and the rotation angle to calculate the coordinates of the measuring points detected by the ultrasonic rangefinder, and constructs a three-dimensional model diagram of the ash hopper dust accumulation of the bag-type dust collector ash hopper based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation of the bag-type dust collector ash hopper in real time. It can be seen that by real-time modeling of the ash hopper dust accumulation of the bag-type dust collector ash hopper, the operator can view the ash accumulation thickness of the ash hopper in real time, so that the ash accumulation in the ash hopper can be discovered and cleaned early to ensure the safe operation of the boiler. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0064] Figure 1 A schematic diagram of the external structure of a dust hopper of a bag filter provided in an embodiment of the present application;

[0065] Figure 2 A schematic diagram of an ultrasonic rangefinder provided in an embodiment of the present application being arranged on an ash hopper of a bag filter;

[0066] Figure 3 A schematic diagram of a process for implementing dust accumulation monitoring of a dust hopper of a bag filter provided in an embodiment of the present application;

[0067] Figure 4 A schematic diagram of the grid division of a dust hopper of a bag filter provided in an embodiment of the present application;

[0068] Figure 5 A three-dimensional model diagram of dust accumulation in a hopper of a bag filter provided in an embodiment of the present application;

[0069] Figure 6 A schematic diagram of the structure of a device for realizing dust accumulation monitoring of a dust hopper of a bag filter provided in an embodiment of the present application;

[0070] Figure 7 A schematic diagram of the structure of a device for monitoring dust accumulation in a hopper of a bag filter provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0072] The present application scheme can be implemented based on a terminal with data processing capabilities, and the terminal can be a hopper dust accumulation monitoring system. Specifically, the hopper dust accumulation monitoring system can include a bag filter hopper and two ultrasonic rangefinders. The bag filter hopper is an inverted quadrangular pyramid structure, such as Figure 1 As shown, the bottom surface with a larger area is the upper bottom surface, and the bottom surface with a smaller area is the lower bottom surface. Two ultrasonic rangefinders can be located on the upper bottom surface of the dust hopper of the bag filter.

[0073] Furthermore, the two ultrasonic rangefinders can be located at two end points of one of the diagonals of the upper bottom surface, such as Figure 2 As shown, Figure 2 The middle number A1 indicates the installation position of the ultrasonic rangefinder, and the number A2 indicates the wall surface of the hopper of the bag filter.

[0074] Furthermore, the ultrasonic rangefinder located at the end point of the upper bottom surface can be installed on a two-degree-of-freedom servo, the horizontal direction servo of the two-degree-of-freedom servo can adjust the probe of the ultrasonic rangefinder to rotate in the horizontal direction, and the vertical direction servo of the two-degree-of-freedom servo can adjust the probe of the ultrasonic rangefinder to rotate in the vertical direction.

[0075] Next, combine Figure 3 The dust accumulation monitoring method of the bag filter hopper of the present application may include the following steps:

[0076] Step S110: establishing a three-dimensional spatial coordinate system based on the dust hopper of the bag filter.

[0077] Specifically, the upper and lower bottom surfaces of the bag-type dust collector hopper can be regular quadrilaterals. For the convenience of calculation, a three-dimensional spatial coordinate system can be established with the center of the lower bottom surface of the bag-type dust collector hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

[0078] Step S120, obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the ash hopper of the bag-type dust collector.

[0079] Examples include Figure 4 , the figure shows the grid division of the side of the bag dust collector hopper, the size of each grid is 500mm, the upper bottom surface of the bag dust collector hopper is a regular quadrilateral with a side length of 4000mm, the lower bottom surface is a regular quadrilateral with a side length of 400mm, and the height of the bag dust collector hopper is 4000mm. After setting the coordinate origin at the center of the lower bottom surface, the coordinates of the two ultrasonic rangefinders are and .

[0080] Step S130: driving the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal.

[0081] Specifically, the ultrasonic rangefinder may include an ultrasonic rangefinder module and a single-chip timer. The ultrasonic rangefinder module parameters are: operating voltage: DC-5V; static current: less than 2mA; level output: high 5V; level output: bottom 0V; sensing angle: no more than 15 degrees; detection distance: 2cm-450cm; high precision: up to 0.2cm; module pins: The HC-SR04 module has 4 pins, namely Vcc, Trig (control end), Echo (receiving end), and GND; VCC and GND are connected to a 5V power supply, Trig (control end) controls the ultrasonic signal emitted, and Echo (receiving end) receives the reflected ultrasonic signal. The ranging process of the ultrasonic rangefinder is: the single-chip pin triggers the Trig ranging and gives a high-level signal of at least 10us; the ultrasonic rangefinder module automatically sends 8 40khz square waves and automatically detects whether there is a signal returned; if there is a signal returned, a high level is output through Echo, and the single-chip timer is used to calculate the duration of the high level; and then the observed distance is calculated through the high level time.

[0082] The rotation angle of the probe of the ultrasonic rangefinder can be obtained based on the horizontal offset and vertical offset of the two-degree-of-freedom servo.

[0083] Step S140, calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of space.

[0084] It can be understood that after determining the position of the observation point, the observation direction and the observation distance, the specific position of the measurement point can be determined. Therefore, the coordinates of the measurement point detected by the ultrasonic rangefinder can be calculated based on the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of space.

[0085] Step S150: construct a three-dimensional model diagram of dust accumulation in the ash hopper of the bag filter based on the coordinates of all measurement points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation in the ash hopper of the bag filter in real time.

[0086] Specifically, Figure 5 As shown in the figure, in the three-dimensional model diagram of dust accumulation in the ash hopper, the ash hopper of the bag filter without dust accumulation can be used as the background to better present the dust accumulation situation. Figure 5 In the figure, the unit of the coordinate axis is mm, and different colors can represent different distances observed by the ultrasonic rangefinder.

[0087] The dust accumulation monitoring method of the bag-type dust collector hopper provided in this embodiment establishes a spatial three-dimensional coordinate system based on the bag-type dust collector hopper, obtains the size data of the bag-type dust collector hopper, determines the coordinates of two ultrasonic rangefinders, drives the probe of the ultrasonic rangefinder to rotate, and when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, determines the observation distance and the rotation angle to calculate the coordinates of the measuring point detected by the ultrasonic rangefinder, and constructs a three-dimensional model diagram of the dust accumulation in the hopper of the bag-type dust collector hopper based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation of the bag-type dust collector hopper in real time. It can be seen that by real-time modeling of the dust accumulation in the hopper of the bag-type dust collector hopper, the operator can view the dust accumulation thickness and other conditions in real time, so that the dust accumulation in the hopper can be discovered and cleaned early to ensure the safe operation of the boiler.

[0088] In some embodiments of the present application, considering providing the operator with dust accumulation information of the dust hopper of the bag filter more conveniently and quickly, an automatic alarm can be given when the dust hopper accumulates to a certain extent to prompt the operator to clean the dust. Based on this, the dust accumulation monitoring method of the dust hopper of the bag filter provided by the present application can also include:

[0089] S1. Obtain the no-load distance detected by each ultrasonic rangefinder in its target direction when the dust hopper of the bag filter is not dusty.

[0090] Specifically, the target direction may indicate the direction in which the ultrasonic rangefinder is aimed at a preset point on the dust hopper of the bag filter. The preset point on the dust hopper of the bag filter may be as follows: Figure 4 The grid lines intersect as shown, then the unloaded distance detected by the ultrasonic rangefinder in its target direction is:

[0091]

[0092] Among them, the coordinates of the ultrasonic rangefinder are , the preset point coordinates are , It is the no-load distance detected by the ultrasonic rangefinder in the direction of the preset point.

[0093] S2. When the probe of each ultrasonic rangefinder rotates to its target direction, the distance difference between the observed distance of the ultrasonic rangefinder in the target direction and the no-load distance is calculated.

[0094] It can be understood that when the ultrasonic rangefinder observes in the same observation direction, when its observation distance is different from the no-load distance (or the observation distance is less than the no-load distance), it means that there is dust accumulation on the ash hopper of the bag filter. The greater the distance difference, the greater the dust accumulation thickness, and vice versa.

[0095] S3. If the distance difference of each ultrasonic rangefinder is greater than a preset distance threshold, an alarm is issued to remind the operator to clean up the accumulated dust.

[0096] Specifically, the preset distance threshold may indicate that the thickness of dust accumulation on the dust hopper of the bag filter is defined as a threshold of severity.

[0097] It is understandable that when the dust accumulation thickness reaches a certain level, if the distance difference is greater than the preset distance threshold, it indicates that the dust accumulation on the ash hopper of the bag filter is serious. At this time, the alarm device can be activated to remind the operator to clean up the dust accumulation to avoid affecting the normal operation of the boiler.

[0098] In some embodiments of the present application, the process of determining the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal mentioned in the above embodiment is further introduced, and the process may include:

[0099] S1. When the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, the high level time calculated by the single chip microcomputer timer of the ultrasonic rangefinder is obtained after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave.

[0100] Specifically, the ultrasonic ranging module automatically sends 8 40khz square waves and automatically detects whether there is a signal returned. When the square wave encounters the wall or dust accumulation of the bag filter hopper, a signal is returned and a high level is output through Echo. The microcontroller timer is used to calculate the duration of the high level.

[0101] S2. Half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound is used as the observation distance of the ultrasonic rangefinder.

[0102] The time calculation formula for ultrasonic wave from emission to return is: .

[0103] S3. Determine the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder according to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder.

[0104] In some embodiments of the present application, the above step S140 is introduced, and the process of calculating the coordinates of the measuring point detected by the ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space is introduced. The process may include:

[0105] S1. Calculate the horizontal coordinate of each measuring point detected by the ultrasonic rangefinder using the following formula:

[0106]

[0107] in, is the horizontal coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of space, is the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder, is the observation distance of the ultrasonic rangefinder, is the horizontal rotation angle of the probe of the ultrasonic rangefinder, It is the vertical rotation angle of the probe of the ultrasonic rangefinder.

[0108] It is understandable that the horizontal rotation angle , is the ordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of space, The vertical coordinate of the measuring point detected by the ultrasonic rangefinder. , is the vertical coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of space, It is the vertical coordinate of the measuring point detected by the ultrasonic rangefinder.

[0109] Based on this, according to the straight-line distance relationship between two points in space:

[0110]

[0111] S2. Calculate the ordinate and vertical coordinate of the measuring point detected by each ultrasonic rangefinder based on the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder using the following formula:

[0112]

[0113] It is understandable that after the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder is determined, the horizontal rotation angle can be adjusted according to the horizontal rotation angle. and vertical rotation angle , and combined with the horizontal rotation angle and vertical rotation angle , calculate the vertical coordinate of the measuring point and the vertical coordinates of the measuring points .

[0114] The following is a description of a device for monitoring dust accumulation in a bag filter provided in an embodiment of the present application. The device for monitoring dust accumulation in a bag filter described below and the method for monitoring dust accumulation in a bag filter described above can be referenced to each other.

[0115] See also Figure 6 , Figure 6A schematic diagram of the structure of a device for monitoring dust accumulation in a bag filter disclosed in an embodiment of the present application.

[0116] like Figure 6 As shown, the device may include:

[0117] A three-dimensional coordinate system establishing unit 11 is used to establish a spatial three-dimensional coordinate system based on the dust hopper of the bag filter;

[0118] The rangefinder coordinate determination unit 12 is used to obtain the size data of the dust hopper of the bag filter, and determine the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the dust hopper of the bag filter;

[0119] The observation data determination unit 13 is used to drive the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal;

[0120] A measuring point coordinate calculation unit 14, used to calculate the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space;

[0121] The dust accumulation three-dimensional model diagram construction unit 15 is used to construct a dust accumulation three-dimensional model diagram of the ash hopper of the bag-type dust collector based on the coordinates of all measurement points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

[0122] Optionally, the three-dimensional coordinate system establishing unit includes:

[0123] The three-dimensional coordinate system establishment subunit is used to establish a spatial three-dimensional coordinate system with the center of the lower bottom surface of the bag filter hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

[0124] Optionally, each ultrasonic rangefinder is mounted on a two-degree-of-freedom servo, and each ultrasonic rangefinder includes an ultrasonic rangefinder module and a single-chip microcomputer timer;

[0125] The observation data determination unit comprises:

[0126] A high-level time calculation unit is used to drive the probe of each ultrasonic rangefinder to rotate, and when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, obtains the high-level time calculated by the single-chip microcomputer timer of the ultrasonic rangefinder after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave;

[0127] an observation distance calculation unit, used for taking half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound as the observation distance of the ultrasonic rangefinder;

[0128] The rotation angle determination unit is used to determine the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder according to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder.

[0129] Optionally, the measuring point coordinate calculation unit includes:

[0130] The first formula calculation unit is used to calculate the horizontal coordinate of each measuring point detected by the ultrasonic rangefinder using the following formula:

[0131]

[0132] in, is the horizontal coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder, is the observation distance of the ultrasonic rangefinder, is the horizontal rotation angle of the probe of the ultrasonic rangefinder, is the vertical rotation angle of the probe of the ultrasonic rangefinder;

[0133] The second formula calculation unit is used to calculate the ordinate and vertical coordinate of the measuring point detected by each ultrasonic rangefinder based on the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder using the following formula:

[0134]

[0135] in, is the ordinate of the measuring point detected by the ultrasonic rangefinder, is the ordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the vertical coordinate of the measuring point detected by the ultrasonic rangefinder, is the vertical coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space.

[0136] Optionally, the device further comprises:

[0137] An empty-load distance acquisition unit, used for acquiring an empty-load distance detected by each ultrasonic rangefinder in its target direction when the dust hopper of the bag filter is free of dust accumulation;

[0138] A distance difference calculation unit, used for calculating the distance difference between the observed distance of each ultrasonic rangefinder in the target direction and the no-load distance when the probe of each ultrasonic rangefinder rotates to the target direction;

[0139] The alarm unit is used to give an alarm to remind the operator to clean up the dust if the distance difference of each ultrasonic rangefinder is greater than a preset distance threshold.

[0140] The device for monitoring dust accumulation in the dust hopper of a bag filter provided in the embodiment of the present application can be applied to equipment for monitoring dust accumulation in the dust hopper of a bag filter, such as a dust hopper dust accumulation monitoring system. Figure 7 The hardware structure diagram of the dust accumulation monitoring device of the bag filter hopper is shown. Figure 7 The hardware structure of the dust accumulation monitoring device for the dust hopper of the bag filter may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0141] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0142] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0143] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0144] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0145] Based on the dust hopper of the bag filter, a three-dimensional spatial coordinate system is established;

[0146] Obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the ash hopper of the bag-type dust collector;

[0147] Driving the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal;

[0148] Calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space;

[0149] Based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, a three-dimensional model diagram of dust accumulation in the ash hopper of the bag-type dust collector is constructed to allow the operator to monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

[0150] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0151] The embodiment of the present application further provides a storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0152] Based on the dust hopper of the bag filter, a three-dimensional spatial coordinate system is established;

[0153] Obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the ash hopper of the bag-type dust collector;

[0154] Driving the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal;

[0155] Calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space;

[0156] Based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, a three-dimensional model diagram of dust accumulation in the ash hopper of the bag-type dust collector is constructed to allow the operator to monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

[0157] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0158] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0159] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can refer to each other.

[0160] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for monitoring dust accumulation in a dust hopper of a bag filter, characterized in that: Applied to a ash hopper dust accumulation monitoring system, the ash hopper dust accumulation monitoring system comprises a bag dust collector ash hopper and two ultrasonic rangefinders, the bag dust collector ash hopper is an inverted quadrangular pyramid structure, and the two ultrasonic rangefinders are located on the upper bottom surface of the bag dust collector ash hopper; The method includes: Based on the bag filter hopper, a three-dimensional spatial coordinate system is established; Obtaining the size data of the ash hopper of the bag-type dust collector, and determining the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the ash hopper of the bag-type dust collector; Driving the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal; Calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space; Based on the coordinates of all the measuring points detected by the two ultrasonic rangefinders, a three-dimensional model diagram of dust accumulation in the ash hopper of the bag-type dust collector is constructed to allow the operator to monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

2. The method according to claim 1, characterized in that Based on the bag filter hopper, a three-dimensional spatial coordinate system is established, including: A three-dimensional spatial coordinate system is established with the center of the lower bottom surface of the bag filter hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

3. The method according to claim 1, characterized in that Each ultrasonic rangefinder is installed on a two-degree-of-freedom servo, and each ultrasonic rangefinder includes an ultrasonic rangefinder module and a single-chip microcomputer timer; When the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, determining the observation distance of the ultrasonic rangefinder and the rotation angle of the probe thereof comprises: When the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, the high level time calculated by the single chip microcomputer timer of the ultrasonic rangefinder is obtained after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave; half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound is used as the observed distance of the ultrasonic rangefinder; According to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder, the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder are determined.

4. The method according to claim 3, characterized in that The method of calculating the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space includes: Use the following formula to calculate the horizontal coordinate of the measurement point detected by each ultrasonic rangefinder: in, is the horizontal coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder, is the observation distance of the ultrasonic rangefinder, is the horizontal rotation angle of the probe of the ultrasonic rangefinder, is the vertical rotation angle of the probe of the ultrasonic rangefinder; The following formula is used to calculate the ordinate and vertical coordinate of the measuring point detected by each ultrasonic rangefinder based on the horizontal coordinate of the measuring point detected by the ultrasonic rangefinder: in, is the ordinate of the measuring point detected by the ultrasonic rangefinder, is the ordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space, is the vertical coordinate of the measuring point detected by the ultrasonic rangefinder, is the vertical coordinate of the ultrasonic rangefinder in the three-dimensional coordinate system of the space.

5. The method according to any one of claims 1 to 4, characterized in that: Also includes: Obtaining the no-load distance detected by each ultrasonic rangefinder in its target direction when the dust hopper of the bag filter is free of dust accumulation; When the probe of each ultrasonic rangefinder rotates to the target direction, the distance difference between the observed distance of the ultrasonic rangefinder in the target direction and the no-load distance is calculated; If the distance difference of each ultrasonic rangefinder is greater than a preset distance threshold, an alarm is issued to remind the operator to clean up the accumulated dust.

6. A dust accumulation monitoring device for a dust hopper of a bag filter, characterized in that: Applied to a ash hopper dust accumulation monitoring system, the ash hopper dust accumulation monitoring system comprises a bag dust collector ash hopper and two ultrasonic rangefinders, the bag dust collector ash hopper is an inverted quadrangular pyramid structure, and the two ultrasonic rangefinders are located on the upper bottom surface of the bag dust collector ash hopper; The device includes: A three-dimensional coordinate system establishing unit, used for establishing a spatial three-dimensional coordinate system based on the dust hopper of the bag filter; A rangefinder coordinate determination unit, used to obtain the size data of the dust hopper of the bag filter, and determine the coordinates of the two ultrasonic rangefinders in the three-dimensional coordinate system of the space according to the size data and the positions of the two ultrasonic rangefinders in the dust hopper of the bag filter; An observation data determination unit, used to drive the probe of each ultrasonic rangefinder to rotate, so as to determine the observation distance of the ultrasonic rangefinder and the rotation angle of the probe when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal; A measuring point coordinate calculation unit, used to calculate the coordinates of the measuring point detected by each ultrasonic rangefinder according to the rotation angle of the probe of each ultrasonic rangefinder, the observation distance of the ultrasonic rangefinder, and the coordinates of the ultrasonic rangefinder in the three-dimensional coordinate system of the space; The dust accumulation three-dimensional model diagram construction unit is used to construct a dust accumulation three-dimensional model diagram of the ash hopper of the bag-type dust collector based on the coordinates of all measurement points detected by the two ultrasonic rangefinders, so that the operator can monitor the dust accumulation condition of the ash hopper of the bag-type dust collector in real time.

7. The device according to claim 6, characterized in that The three-dimensional coordinate system establishing unit comprises: The three-dimensional coordinate system establishment subunit is used to establish a spatial three-dimensional coordinate system with the center of the lower bottom surface of the bag filter hopper as the coordinate origin, the lower bottom surface as the reference plane of the x-axis and the y-axis, and the vertical direction as the z-axis direction.

8. The device according to claim 6, characterized in that Each ultrasonic rangefinder is installed on a two-degree-of-freedom servo, and each ultrasonic rangefinder includes an ultrasonic rangefinder module and a single-chip microcomputer timer; The observation data determination unit comprises: A high-level time calculation unit is used to drive the probe of each ultrasonic rangefinder to rotate, and when the ultrasonic rangefinder transmits an ultrasonic signal and receives a reflected ultrasonic signal, obtains the high-level time calculated by the single-chip microcomputer timer of the ultrasonic rangefinder after the ultrasonic ranging module of the ultrasonic rangefinder transmits an ultrasonic square wave; an observation distance calculation unit, used for taking half of the result of multiplying the high level time of the ultrasonic rangefinder by the speed of sound as the observation distance of the ultrasonic rangefinder; The rotation angle determination unit is used to determine the horizontal rotation angle and the vertical rotation angle of the probe of the ultrasonic rangefinder according to the adjustment offset of the two-degree-of-freedom steering gear of the ultrasonic rangefinder.

9. A dust accumulation monitoring device for a dust hopper of a bag filter, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the dust accumulation monitoring method for the ash hopper of the bag filter as described in any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the dust accumulation monitoring method for a hopper of a bag filter dust collector as described in any one of claims 1 to 5 is implemented.

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