Method and system for measuring thickness of boiler tube wall

Abstract

The invention relates to the technical field of intelligent thickness measurement of boiler tube walls, and discloses a thickness measurement method and system for boiler tube walls, and the method comprises the steps: obtaining thickness measurement data obtained through the measurement of an electromagnetic ultrasonic thickness measurement probe, and the thickness measurement data comprises a thickness measurement point; establishing a three-dimensional model of the boiler to be detected, responding to a detection area selection instruction, and performing real-time positioning on the electromagnetic ultrasonic thickness measuring probe by using a laser radar positioning device in a detection area to obtain positioning data; and inputting the thickness measurement data and the positioning data into a data management device, associating the thickness measurement data with the positioning data, marking the real-time position of a thickness measurement point in the three-dimensional model, and determining the thickness of the thickness measurement point. Automatic thickness measurement of the boiler tube wall is achieved, data support is provided for anti-abrasion and anti-explosion detection of the boiler, the working intensity of detection personnel is relieved, potential defects are checked, and long-period safe and stable operation of a unit is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent thickness measurement for boiler tube walls, and particularly to a thickness measurement method and system for boiler tube walls. Background Art

[0002] During the operation of thermal power plant units, boilers play an irreplaceable role in aspects such as power production and heat supply guarantee. To ensure the safe and stable operation of the units, boiler anti-wear and explosion-proof detection is a key task in equipment detection. Thickness measurement of boiler metal pipes, as a crucial link in boiler anti-wear and explosion-proof detection, timely and accurately measuring the thickness of boiler metal pipes provides a basis for boiler safety condition assessment and maintenance strategy formulation, and is of great significance for ensuring the safe and stable operation of boilers.

[0003] Traditional methods for measuring the thickness of boiler metal pipes require grinding the pipe surface to expose the metal, applying a coupling agent, using thickness measurement equipment to measure the thickness, and manually recording data. However, limited by existing detection means, this thickness measurement method has no data on the position of the thickness measurement points and consumes a large amount of labor, resulting in a detection rate of less than 10% for in-furnace pipes and less than 15% for out-of-furnace pipes during the maintenance period, and about 20 man-hours of detection and grinding per furnace during the annual maintenance period. Summary of the Invention

[0004] In view of this, the present invention provides a thickness measurement method and system for boiler tube walls to solve the problems in the prior art that coupling agent needs to be applied and data needs to be manually recorded for boiler tube wall thickness measurement.

[0005] In a first aspect, the present invention provides a thickness measurement method for boiler tube walls, which is applied to a thickness measurement device for boiler tube walls. The device includes an electromagnetic ultrasonic thickness measurement probe, a lidar positioning device, and a data management device. The electromagnetic ultrasonic thickness measurement probe is installed on the boiler tube wall to be measured. The method includes:

[0006] Obtain thickness measurement data measured by the electromagnetic ultrasonic thickness measurement probe. The thickness measurement data includes thickness measurement points;

[0007] Build a three-dimensional model of the boiler to be measured. In response to a detection area selection instruction, use the lidar positioning device to perform real-time positioning on the electromagnetic ultrasonic thickness measurement probe within the detection area to obtain positioning data;

[0008] Input the thickness measurement data and the positioning data into the data management device, associate the thickness measurement data and the positioning data, mark the real-time position of the thickness measurement points in the three-dimensional model, and determine the thickness of the thickness measurement points.

[0009] The present invention measures by using an electromagnetic ultrasonic thickness measurement probe, which can measure the thickness without grinding the surface to be measured and without applying a coupling agent. By establishing a three-dimensional model of the boiler to be measured, within the detection area, a lidar positioning device is used to perform real-time positioning on the electromagnetic ultrasonic thickness measurement probe, and the thickness measurement data and positioning data are input into a data management device for association. The real-time position of the thickness measurement point is marked in the three-dimensional visualization model to determine the thickness of the thickness measurement point, realizing automatic thickness measurement of the boiler pipe wall, providing data support for boiler anti-wear and explosion-proof detection, reducing the work intensity of detection personnel, facilitating the investigation of more potential defects, and ensuring the long-term safe and stable operation of the unit.

[0010] In an optional embodiment, the electromagnetic ultrasonic thickness measurement probe is connected with a telescopic device. The telescopic device includes a telescopic rod. Obtaining the thickness measurement data measured by the electromagnetic ultrasonic thickness measurement probe includes:

[0011] In response to the telescopic rod control operation instruction, controlling the telescopic rod to extend or contract until the electromagnetic ultrasonic thickness measurement probe moves to a preset measurement position;

[0012] Controlling the electromagnetic ultrasonic thickness measurement probe to measure at the preset measurement position to obtain the thickness measurement data.

[0013] The present invention solves the problem of detecting the pipe walls in high, far and narrow spaces in areas that are difficult for manual access by setting a telescopic rod on the electromagnetic ultrasonic thickness measurement probe and controlling the telescopic rod to extend or contract.

[0014] In an optional embodiment, establishing a three-dimensional model of the boiler to be measured includes:

[0015] Using a lidar positioning device to emit a laser beam and calculating the distance information between each measurement point and the pipe wall of the boiler to be measured;

[0016] Converting the distance information between each measurement point and the pipe wall of the boiler to be measured into spatial coordinate information, and establishing a three-dimensional model of the boiler to be measured based on the spatial coordinate information.

[0017] The present invention emits a laser beam by using a lidar positioning device, obtains the laser beam emitted by the lidar positioning device, converts it into spatial coordinate information, and establishes a three-dimensional model of the boiler to be measured, thereby facilitating the marking of thickness measurement points using the boiler three-dimensional visualization model.

[0018] In an optional embodiment, performing real-time positioning on the electromagnetic ultrasonic thickness measurement probe by using a lidar positioning device in the detection area includes:

[0019] Using a lidar positioning device to obtain the environmental data in the detection area and select the heated surface to be detected;

[0020] Use the navigation and positioning algorithm to real-time locate the electromagnetic ultrasonic thickness measurement probe on the heated surface to be detected, and mark the real-time position of the electromagnetic ultrasonic thickness measurement probe in the 3D model to form the movement trajectory of the electromagnetic ultrasonic thickness measurement probe.

[0021] In the present invention, on the heated surface to be detected, the navigation and positioning algorithm built in the lidar positioning device is used to real-time locate the electromagnetic ultrasonic thickness measurement probe, so as to mark the real-time position of the electromagnetic ultrasonic thickness measurement probe, realize the positioning of the electromagnetic ultrasonic thickness measurement probe, form the movement trajectory of the electromagnetic ultrasonic thickness measurement probe, and realize the dynamic positioning of the electromagnetic ultrasonic thickness measurement probe.

[0022] In an alternative embodiment, the telescopic device further includes an image acquisition device and a fill light, and the method further includes:

[0023] In response to the video acquisition instruction, control the fill light to turn on, and control the image acquisition device to acquire the video data of the thickness measurement point according to the preset shooting angle;

[0024] Associate the video data with the thickness measurement data and store them in the data management device.

[0025] In the present invention, by controlling the image acquisition device to acquire the video data of the thickness measurement point according to the preset shooting angle, it supports the viewing of the video screen.

[0026] In an alternative embodiment, after determining the thickness of the thickness measurement point, the method further includes:

[0027] Judge whether the thickness of the thickness measurement point is within the preset thickness range;

[0028] If the thickness of the thickness measurement point is not within the preset thickness range, control the image acquisition device to acquire the video data at the thickness measurement point;

[0029] Associate the video data with the boiler number to be measured corresponding to the video data, the video data acquisition time, the detection area, and the thickness measurement position, and store them in the data management device.

[0030] In the present invention, when the thickness of the thickness measurement point is not within the preset thickness range, control the image acquisition device to acquire the video data at the thickness measurement point, so that the inspection personnel can confirm the maintenance in time. Associate the boiler number to be measured corresponding to the video data, the video data acquisition time, the detection area, and the thickness measurement position with the video data and store them, which is convenient for the inspection personnel to retrieve the historical data for analysis.

[0031] In an alternative embodiment, the method further includes:

[0032] Receive the detection task, and extract the boiler number to be measured and the detection area from the detection task;

[0033] Screen the thickness measurement data corresponding to the boiler number to be measured and the detection area from the data management device, and generate a detection report corresponding to the detection task using the screened thickness measurement data.

[0034] The present invention generates a detection report corresponding to the detection task to facilitate the detection personnel to export the detection report, query historical detection reports, etc.

[0035] In a second aspect, the present invention provides a thickness measurement system for a boiler pipe wall, the system comprising:

[0036] An acquisition module for acquiring thickness measurement data measured by an electromagnetic ultrasonic thickness measurement probe, the thickness measurement data including thickness measurement points;

[0037] A positioning module for establishing a three-dimensional model of the boiler to be measured, and in response to a detection area selection instruction, performing real-time positioning on the electromagnetic ultrasonic thickness measurement probe within the detection area using a lidar positioning device to obtain positioning data;

[0038] A thickness measurement module for inputting the thickness measurement data and the positioning data into the data management device, associating the thickness measurement data and the positioning data, marking the real-time position of the thickness measurement points in the three-dimensional model, and determining the thickness of the thickness measurement points.

[0039] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, which are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the thickness measurement method for a boiler pipe wall according to the first aspect or any corresponding embodiment thereof.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the thickness measurement method for a boiler pipe wall according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 is a flowchart of a thickness measurement method for a boiler pipe wall according to an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of a thickness measurement data display interface according to an embodiment of the present invention;

[0044] Figure 3 is a structural block diagram of a thickness measurement system for a boiler tube wall according to an embodiment of the present invention;

[0045] Figure 4 is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Specific Embodiments

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] According to an embodiment of the present invention, an embodiment of a thickness measurement method for a boiler tube wall is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0048] In this embodiment, a thickness measurement method for a boiler tube wall is provided, which is applied to a thickness measurement device for a boiler tube wall. The device includes an electromagnetic ultrasonic thickness measurement probe, a lidar positioning device, and a data management device. The electromagnetic ultrasonic thickness measurement probe is installed on the boiler tube wall to be measured. Figure 1 is a flowchart of a thickness measurement method for a boiler tube wall according to an embodiment of the present invention, as Figure 1 shown. The process includes the following steps:

[0049] Step S101, obtain thickness measurement data measured by the electromagnetic ultrasonic thickness measurement probe.

[0050] In the embodiment of the present invention, traditional piezoelectric ultrasonic detection equipment uses piezoelectric materials to generate piezoelectric effects and receive ultrasonic waves, and measures the thickness of the tube wall through characteristics such as the propagation of ultrasonic waves in the boiler tube wall. However, traditional piezoelectric ultrasonic detection equipment has high requirements for the surface of the metal to be measured, and a coupling agent needs to be applied to the surface to be measured. The coupling agent and the coupling effect directly affect the measurement effect, and at the same time, uncertain factors such as the influence of metal non-destructive testing are increased.

[0051] In order to meet the thickness measurement requirements in a narrow area, the embodiment of the present invention uses a small electromagnetic ultrasonic thickness measuring probe, which is used to measure the thickness of steel, steel alloy tubes / plates / rods, etc., aluminum, aluminum alloy tubes / plates / rods, etc. The electromagnetic ultrasonic thickness measuring probe has the characteristics of low requirements on the detection surface, no need to polish the pipe wall surface, no need to apply coupling agent, and high detection accuracy. It can penetrate the coating directly through paint, varnish, anti-corrosion layer, enamel, plastic, etc. to measure the thickness, and supports 3mm lift to detect the wall thickness. The maximum distance between the electromagnetic ultrasonic thickness measuring probe and the measured surface can reach 4mm. The thickness measurement data is measured and the thickness measurement data includes the thickness measurement point. The thickness measurement data supports viewing on the data management device.

[0052] The following is an explanation of the technical parameters of the electromagnetic ultrasonic thickness measurement probe:

[0053] Thickness measurement: 0.04mm for range 1.5-100mm (steel, stainless steel), 0.1mm for range 100-200mm (steel, stainless steel);

[0054] Working gap / lift-off: room temperature permanent magnetic probe ≤4mm, room temperature pulse probe ≤1mm;

[0055] Measuring non-verticality: ±25;

[0056] Communication interface: USB2.0, WIFI;

[0057] Excitation frequency: 3.0~3.9MHz;

[0058] Measurement speed: 16 to 1 times / s;

[0059] Minimum curvature diameter of the test object surface: ≥6mm;

[0060] Sound velocity range: 1000~9999m / s, adjustment increment 1m / s;

[0061] Normal temperature pulse probe: pulse electromagnet, magnetic suction force ≈0N, round φ30×height 44mm, weight ≤60g, line length 0.8m;

[0062] Normal temperature permanent magnetic probe: weak permanent magnet, magnetic adsorption force ≤15N, round φ30×height 44mm, weight ≤80g, line length 0.8m;

[0063] Working temperature: Normal temperature probe -10~+60℃.

[0064] Step S102, building a three-dimensional model of the boiler to be tested, and in response to the detection area selection instruction, using a laser radar positioning device to perform real-time positioning of the electromagnetic ultrasonic thickness measuring probe in the detection area to obtain positioning data.

[0065] In an embodiment of the present invention, according to the drawings of the boiler to be measured, a three-dimensional visualization model is made. The inspector selects an area, and in response to the detection area selection instruction triggered by the inspector, the electromagnetic ultrasonic thickness measurement probe is positioned in real time within the detection area. The lidar positioning device is built with a navigation positioning algorithm, and can realize the real-time positioning of the electromagnetic ultrasonic thickness measurement probe according to the detection area selected by the inspector and the current location, and obtain positioning data.

[0066] Step S103: Input the thickness measurement data and the positioning data into the data management device, associate the thickness measurement data and the positioning data, mark the real-time position of the thickness measurement point in the three-dimensional model, and determine the thickness of the thickness measurement point.

[0067] In an embodiment of the present invention, the thickness measurement data and the positioning data are transmitted to the data management device through a data real-time transmission system, which supports two transmission methods: offline and online. In the offline state, the data is automatically saved to the terminal device, and after accessing the internal network, it supports data synchronization to the data management device. In the online state and when accessing the internal network, the data is directly stored in the data management device.

[0068] The data management device is implemented through data management software. The data management software is used to store, analyze, view, export, and visually display data. The thickness measurement data display interface is as Figure 2 shown, displaying the equipment (boiler number to be measured), pipe wall material, detection area, location, and remarks. The thickness measurement data and the positioning data are associated, the real-time position of the thickness measurement point is marked in the three-dimensional visualization model, and the thickness of the thickness measurement point is determined. Finally, the thickness measurement detection efficiency is increased to more than 80%, and 100% online centralized management of the thickness measurement data is realized, eliminating the need for manual transcription and reducing subsequent maintenance work.

[0069] The thickness measurement method for the boiler pipe wall provided in this embodiment uses an electromagnetic ultrasonic thickness measurement probe for measurement, realizing thickness measurement without polishing the measured surface and without applying a coupling agent. By establishing a three-dimensional model of the boiler to be measured, within the detection area, a lidar positioning device is used to position the electromagnetic ultrasonic thickness measurement probe in real time. The thickness measurement data and the positioning data are input into the data management device for association, and the real-time position of the thickness measurement point is marked in the three-dimensional visualization model to determine the thickness of the thickness measurement point, realizing automatic thickness measurement of the boiler pipe wall, providing data support for boiler anti-wear and explosion-proof detection, reducing the work intensity of inspectors, facilitating the detection of more potential defects, and ensuring the long-term safe and stable operation of the unit.

[0070] In this embodiment, a thickness measurement method for the boiler pipe wall is provided. The process includes the following steps:

[0071] Step S201: Obtain the thickness measurement data measured by the electromagnetic ultrasonic thickness measurement probe.

[0072] Specifically, an electromagnetic ultrasonic thickness measurement probe is connected with a telescopic device. The telescopic device includes a telescopic rod. The above-mentioned step S201 includes:

[0073] Step S2011, in response to the telescopic rod control operation instruction, control the telescopic rod to extend or contract until the electromagnetic ultrasonic thickness measurement probe moves to a preset measurement position.

[0074] Step S2012, control the electromagnetic ultrasonic thickness measurement probe to perform measurement at the preset measurement position to obtain thickness measurement data.

[0075] In the embodiment of the present invention, due to the complex distribution of the internal pipes of the boiler, the electromagnetic ultrasonic thickness measurement probe cannot directly reach some pipe positions, and the telescopic rod can extend the detection area that the electromagnetic ultrasonic thickness measurement probe can detect. The detector operates to control the telescopic rod. In response to the operation instruction of the detector to control the telescopic rod, control the telescopic rod to extend or contract. The length of the telescopic rod in the contracted state is not less than 1 meter, and the length in the fully extended state is not less than 2 meters.

[0076] If the pipe to be measured is at a high place or a far place in the boiler to be measured, then control the telescopic rod to extend. If the pipe to be measured is in a narrow space, then control the telescopic rod to contract until the electromagnetic ultrasonic thickness measurement probe moves to a preset measurement position. After the electromagnetic ultrasonic thickness measurement probe moves to the preset measurement position, automatically trigger the measurement function of the electromagnetic ultrasonic thickness measurement probe to perform measurement and obtain thickness measurement data.

[0077] Specifically, the folding rod is made of aviation aluminum tube material, which can meet the on-site use strength and quality control. The folding rod is composed of four sections. The handle length is 27 cm. The extension rod part can be customized in various sizes, including three sizes: 55 cm, 95 cm, and 130 cm. Specifically, it can be selected according to the actual use situation. The length in the folded state is 40 cm, which is convenient to carry.

[0078] By setting a telescopic rod on the electromagnetic ultrasonic thickness measurement probe and controlling the telescopic rod to extend or contract, the problem of detecting the pipe walls in high places, far places, and narrow spaces in areas that are difficult for humans to reach is solved.

[0079] Step S202, establish a three-dimensional model of the boiler to be measured. In response to the detection area selection instruction, use a lidar positioning device to perform real-time positioning on the electromagnetic ultrasonic thickness measurement probe within the detection area to obtain positioning data.

[0080] Specifically, establishing the three-dimensional model of the boiler to be measured in the above-mentioned step S202 includes:

[0081] Step S2021, use a lidar positioning device to emit laser beams and calculate the distance information between each measurement point and the pipe wall of the boiler to be measured.

[0082] In step S2022, the distance information between each measurement point and the boiler wall to be measured is converted into spatial coordinate information, and a three-dimensional model of the boiler to be measured is established based on the spatial coordinate information.

[0083] In an embodiment of the present invention, the lidar positioning device emits a laser beam, which is reflected by the boiler wall to be measured. The lidar positioning device receives the emitted light, and calculates the distance information between each measurement point and the boiler wall to be measured according to the emission time and speed of the laser beam. Using the radar coordinate system, with the installation position of the lidar positioning as the origin, the positive front of the radar as the positive x-axis direction, the positive left of the radar as the positive y-axis direction, and the positive top of the radar as the positive z-axis direction, the distance information between each measurement point and the boiler wall to be measured is converted into coordinate information in three-dimensional space. Using a three-dimensional modeling algorithm, a three-dimensional model of the boiler to be measured is established, providing a basic framework for thickness measurement point positioning and the like.

[0084] By using the lidar positioning device to emit a laser beam, it is obtained that the lidar positioning device emits a laser beam, which is converted into spatial coordinate information to establish a three-dimensional model of the boiler to be measured, thereby facilitating the marking of thickness measurement points using the boiler three-dimensional visualization model.

[0085] Specifically, establishing the three-dimensional model of the boiler to be measured in step S202 above includes:

[0086] In step S2023, the lidar positioning device is used to obtain the environmental data in the detection area and select the detection heating surface.

[0087] In step S2024, the electromagnetic ultrasonic thickness measurement probe is real-time positioned on the detection heating surface using a navigation positioning algorithm, and the real-time position of the electromagnetic ultrasonic thickness measurement probe is marked in the three-dimensional model, forming the movement trajectory of the electromagnetic ultrasonic thickness measurement probe.

[0088] In an embodiment of the present invention, the lidar positioning device continuously emits laser beams to the detection area, calculates the distance information through the round-trip time of the laser beam, and forms the environmental data of the detection area through a large amount of distance information. After obtaining the environmental data, the detection personnel select the detection heating surface according to the actual detection requirements. The lidar positioning device is built-in with a navigation positioning algorithm, which is used to real-time position the electromagnetic ultrasonic thickness measurement probe on the detection heating surface, mark the real-time position of the electromagnetic ultrasonic thickness measurement probe in the three-dimensional model according to the positioning data, and the marking method can be a marking point or a marking image, etc. Connect the positions of the electromagnetic ultrasonic thickness measurement probe to form the movement trajectory of the electromagnetic ultrasonic thickness measurement probe.

[0089] By real-time positioning the electromagnetic ultrasonic thickness measurement probe on the detection heating surface using the navigation positioning algorithm built in the lidar positioning device to mark the real-time position of the electromagnetic ultrasonic thickness measurement probe, the electromagnetic ultrasonic thickness measurement probe is positioned, and the movement trajectory of the electromagnetic ultrasonic thickness measurement probe is formed to realize the dynamic positioning of the electromagnetic ultrasonic thickness measurement probe.

[0090] The telescopic device further includes an image acquisition device and a fill light. Among them, the image acquisition device includes a high-definition touch monitor and a high-definition camera. The high-definition touch monitor is an integrated machine for high-definition video recording and thickness measurement monitoring. The integrated machine for high-definition video recording and thickness measurement monitoring is a four-in-one coaxial high-definition video recording and display integrated machine, which is compatible with various coaxial high-definition specifications such as TVI (Transport Video Interface), AHD (Analog High Definition), CVI (Composite Video Interface), and CVBS (Composite Video Blanking and Synchronization). It can be arbitrarily connected to FHD TVI, AHD, CVI, CVBS, and audio signals, supports the serial port 485 / 232 protocol, and can not only realize independent high-definition monitoring and recording locally, but also be used for high-definition monitoring operations inside the boiler. The high-definition camera is a 5-million-pixel high-definition small camera with an adjustable angle, equipped with a fill light, and is capable of detecting coking, corrosion, damage, and large cracks on the outer surface of the pipe wall. The detection process and data can be viewed in real time, and photos, videos, and thickness measurement values can be taken.

[0091] In some alternative embodiments, the method further includes:

[0092] Step S203, in response to a video acquisition instruction, control the fill light to turn on, and control the image acquisition device to collect video data of the thickness measurement point according to a preset shooting angle.

[0093] Step S204, associate the video data with the thickness measurement data and store them in the data management device.

[0094] In the embodiment of the present invention, an image acquisition device, that is, a small camera, is installed near the electromagnetic ultrasonic thickness measurement probe. During thickness measurement, in order to obtain photos and video images at the thickness measurement point, the detection personnel trigger a video acquisition instruction. Since the light in some pipelines is relatively dim, in order to capture video images of coking, corrosion, damage, and large cracks on the outer surface of the pipe wall, control the fill light to turn on. The angle of the image acquisition device can be adjusted, and real-time video images can be viewed. Preset the shooting angle of the image acquisition device, and control the image acquisition device to collect video data of the thickness measurement point. The thickness measurement data reflects the thickness of the thickness measurement point, and the video data reflects the surface condition of the pipeline at the thickness measurement point. Associate the video data with the thickness measurement data for later playback and tracking to more accurately judge the condition of the boiler pipe wall.

[0095] Control the image acquisition device to collect video data of the thickness measurement point according to a preset shooting angle to support video image viewing.

[0096] Step S205: Input the thickness measurement data and positioning data into the data management device, associate the thickness measurement data and positioning data, mark the real-time position of the thickness measurement points in the 3D model, and determine the thickness of the thickness measurement points.

[0097] For details, please refer to Figure 1 Step S103 of the illustrated embodiment, which will not be elaborated here.

[0098] In some optional embodiments, the method further includes:

[0099] Step S206: Determine whether the thickness of the thickness measurement points is within a preset thickness range.

[0100] Step S207: If the thickness of the thickness measurement points is not within the preset thickness range, control the image acquisition device to acquire the video data at the thickness measurement points.

[0101] Step S208: Associate the video data with the corresponding boiler number to be measured, the video data acquisition time, the detection area, the thickness measurement position, and store them in the data management device.

[0102] In the embodiments of the present invention, the detection personnel preset a reasonable thickness range according to the parameters, operation data, etc. of the boiler to be measured. The preset thickness range is an important basis for judging whether the boiler pipe wall is safe. Determine whether the thickness of the measured thickness measurement points is within the preset thickness range. When the thickness of the thickness measurement points is not within the preset thickness range, there may be situations such as pipe wear and corrosion in the area where the thickness measurement points are located. To obtain more detailed information, control the image acquisition device to acquire the video data at the thickness measurement points. For the convenience of subsequent query, associate the video data with the corresponding boiler number to be measured, the video data acquisition time, the detection area, the thickness measurement position, and store them in the data management device to form a historical database.

[0103] When the thickness of the thickness measurement points is not within the preset thickness range, control the image acquisition device to acquire the video data at the thickness measurement points, so that the detection personnel can confirm the maintenance in time. Associate the corresponding boiler number to be measured, the video data acquisition time, the detection area, the thickness measurement position of the video data with the video data, and store them for the detection personnel to retrieve historical data for analysis.

[0104] In some optional embodiments, the method further includes:

[0105] Step S209: Receive the detection task and extract the boiler number to be measured and the detection area from the detection task.

[0106] Step S210: Screen the thickness measurement data corresponding to the boiler number to be measured and the detection area from the data management device, and generate a detection report corresponding to the detection task using the screened thickness measurement data.

[0107] In an embodiment of the present invention, to facilitate querying historical inspection reports, when a detection task is received, key information is extracted from the detection task, such as the boiler number to be measured, the detection area, etc. Thickness measurement data corresponding to the boiler number to be measured and the detection area is screened out from the historical database stored in the data management device, and an inspection report is generated for technicians and managers to query and use.

[0108] The functions of the data management software include: 1) Boiler ledger management: including initialization and data import of data such as boiler structure and thickness measurement ledger, management of detection tasks, etc.; 2) Data query and display: mainly including storing thickness measurement data, photos, positioning data, querying historical detection data, thickness measurement data analysis, and three-dimensional visualization display; 3) Inspection report management: including exporting inspection reports according to detection tasks, querying historical inspection reports, etc.

[0109] The thickness measurement method for boiler pipe walls provided in this embodiment generates an inspection report corresponding to the detection task, facilitating inspection personnel to export inspection reports, query historical inspection reports, etc.

[0110] In this embodiment, a thickness measurement system for boiler pipe walls is also provided. This system is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0111] This embodiment provides a thickness measurement system for boiler pipe walls, as Figure 3 shown, including:

[0112] An acquisition module 301, configured to acquire thickness measurement data measured by an electromagnetic ultrasonic thickness measurement probe, where the thickness measurement data includes thickness measurement points.

[0113] A positioning module 302, configured to establish a three-dimensional model of the boiler to be measured, and in response to a detection area selection instruction, perform real-time positioning on the electromagnetic ultrasonic thickness measurement probe within the detection area by using a lidar positioning device to obtain positioning data.

[0114] A thickness measurement module 303, configured to input the thickness measurement data and the positioning data into the data management device, associate the thickness measurement data and the positioning data, mark the real-time position of the thickness measurement points in the three-dimensional model, and determine the thickness of the thickness measurement points.

[0115] In some alternative implementation manners, the acquisition module 301 includes:

[0116] A control unit, configured to control the telescopic rod to extend or contract in response to a telescopic rod control operation instruction until the electromagnetic ultrasonic thickness measurement probe moves to a preset measurement position.

[0117] A measurement unit, configured to control the electromagnetic ultrasonic thickness measurement probe to perform measurement at the preset measurement position to obtain thickness measurement data.

[0118] In some alternative embodiments, the positioning module 302 includes:

[0119] A calculation unit, configured to emit a laser beam using a lidar positioning device and calculate the distance information between each measurement point and the boiler tube wall to be measured.

[0120] A three-dimensional model building unit, configured to convert the distance information between each measurement point and the boiler tube wall to be measured into spatial coordinate information and build a three-dimensional model of the boiler to be measured based on the spatial coordinate information.

[0121] In some alternative embodiments, the positioning module 302 further includes:

[0122] A selection unit, configured to obtain environmental data within a detection area using a lidar positioning device and select a detection heating surface.

[0123] A marking unit, configured to use a navigation positioning algorithm to real-time locate the electromagnetic ultrasonic thickness measurement probe on the detection heating surface and mark the real-time position of the electromagnetic ultrasonic thickness measurement probe in the three-dimensional model to form a movement trajectory of the electromagnetic ultrasonic thickness measurement probe.

[0124] In some alternative embodiments, the system further includes:

[0125] A first control module, configured to control the fill light to turn on and control the image acquisition device to acquire video data of the thickness measurement point at a preset shooting angle in response to a video acquisition instruction.

[0126] A first association module, configured to associate the video data with the thickness measurement data and store them in a data management device.

[0127] In some alternative embodiments, the system further includes:

[0128] A judgment module, configured to judge whether the thickness of the thickness measurement point is within a preset thickness range.

[0129] A second control module, configured to control the image acquisition device to acquire video data of the thickness measurement point if the thickness of the thickness measurement point is not within the preset thickness range.

[0130] A second association module, configured to associate the video data with the boiler number to be measured corresponding to the video data, the video data acquisition time, the detection area, and the thickness measurement position and store them in a data management device.

[0131] In some alternative embodiments, the system further includes:

[0132] An extraction module, configured to receive a detection task and extract the boiler number to be measured and the detection area from the detection task.

[0133] A detection report generation module, configured to screen the thickness measurement data corresponding to the boiler number to be measured and the detection area from the data management device, and generate a detection report corresponding to the detection task by using the screened thickness measurement data.

[0134] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0135] The thickness measurement system for boiler pipe walls in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0136] An embodiment of the present invention further provides a computer device having the above-mentioned Figure 3 thickness measurement system for boiler pipe walls as shown.

[0137] Please refer to Figure 4 , Figure 4 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As shown in Figure 4 , the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other through different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 4 In

[0138] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0139] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiments.

[0140] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0141] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0142] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected through a bus or other means. Figure 4 Taking the connection through the bus as an example.

[0143] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function control of the computer device, such as a touch screen, etc. The output device 40 can include a display device, etc.

[0144] Embodiments of the present invention also provide a computer-readable storage medium. The methods according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0145] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope of this application.

Claims

1. A method for measuring the thickness of a boiler tube wall, characterized in that: A thickness measuring device applied to a boiler tube wall, the device comprising an electromagnetic ultrasonic thickness measuring probe, a laser radar positioning device and a data management device, the electromagnetic ultrasonic thickness measuring probe being installed on the boiler tube wall to be measured, the method comprising: Acquire thickness measurement data obtained by the electromagnetic ultrasonic thickness measuring probe, wherein the thickness measurement data includes thickness measurement points; Establishing a three-dimensional model of the boiler to be tested, and in response to a detection area selection instruction, using the laser radar positioning device to perform real-time positioning of the electromagnetic ultrasonic thickness measuring probe in the detection area to obtain positioning data; The thickness measurement data and the positioning data are input into the data management device, the thickness measurement data and the positioning data are associated, the real-time position of the thickness measurement point is marked in the three-dimensional model, and the thickness of the thickness measurement point is determined.

2. The method according to claim 1, characterized in that The electromagnetic ultrasonic thickness measuring probe is connected to a telescopic device, and the telescopic device includes a telescopic rod. The method of obtaining the thickness measurement data obtained by the electromagnetic ultrasonic thickness measuring probe includes: In response to the telescopic rod control operation instruction, the telescopic rod is controlled to extend or retract until the electromagnetic ultrasonic thickness measuring probe moves to a preset measuring position; The electromagnetic ultrasonic thickness measuring probe is controlled to perform measurement at a preset measurement position to obtain thickness measurement data.

3. The method according to claim 1, characterized in that The three-dimensional model of the boiler to be tested is established, comprising: The laser radar positioning device is used to emit a laser beam to calculate the distance information between each measuring point and the boiler tube wall to be measured; The distance information between each measuring point and the tube wall of the boiler to be measured is converted into spatial coordinate information, and a three-dimensional model of the boiler to be measured is established based on the spatial coordinate information.

4. The method according to claim 1, characterized in that: The method of positioning the electromagnetic ultrasonic thickness measuring probe in real time by using the laser radar positioning device in the detection area includes: Using the laser radar positioning device to obtain environmental data in the detection area, and select the heated surface for detection; The navigation and positioning algorithm is used to locate the electromagnetic ultrasonic thickness gauge probe in real time on the heated surface to be detected, and the real-time position of the electromagnetic ultrasonic thickness gauge probe is marked in the three-dimensional model to form the moving trajectory of the electromagnetic ultrasonic thickness gauge probe.

5. The method according to claim 2, characterized in that: The telescopic device also includes an image acquisition device and a fill light, and the method also includes: In response to the video acquisition instruction, the fill light is controlled to turn on, and the image acquisition device is controlled to acquire video data of the thickness measurement point according to a preset shooting angle; The video data and the thickness measurement data are associated and stored in the data management device.

6. The method according to claim 5, characterized in that After determining the thickness of the thickness measuring point, the method further includes: Determining whether the thickness of the thickness measuring point is within a preset thickness range; If the thickness at the thickness measuring point is not within the preset thickness range, controlling the image acquisition device to acquire video data at the thickness measuring point; The video data is associated with the boiler number to be tested, the video data acquisition time, the detection area, and the thickness measurement position corresponding to the video data, and stored in the data management device.

7. The method according to claim 1, characterized in that The method further comprises: Receiving a detection task, and extracting the boiler number and detection area to be detected from the detection task; The thickness measurement data corresponding to the boiler number and the detection area to be detected are screened from the data management device, and a detection report corresponding to the detection task is generated using the screened thickness measurement data.

8. A thickness measurement system for boiler tube wall, characterized in that: The system comprises: An acquisition module, used to acquire thickness measurement data obtained by the electromagnetic ultrasonic thickness measurement probe, wherein the thickness measurement data includes thickness measurement points; A positioning module, used for establishing a three-dimensional model of the boiler to be tested, and in response to a detection area selection instruction, using the laser radar positioning device to perform real-time positioning of the electromagnetic ultrasonic thickness measuring probe in the detection area to obtain positioning data; The thickness measurement module is used to input the thickness measurement data and the positioning data into the data management device, associate the thickness measurement data with the positioning data, mark the real-time position of the thickness measurement point in the three-dimensional model, and determine the thickness of the thickness measurement point.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for measuring the thickness of a boiler tube wall according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the thickness measurement method for a boiler tube wall according to any one of claims 1 to 7.

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