Boiler membrane wall laser scanning inspection device

Abstract

The invention discloses a boiler membrane wall laser scanning inspection device which comprises an unmanned aerial vehicle hovering on an inspection path. The unmanned aerial vehicle communicates with an external device in the state of having a laser scanning device, checks the target condition of a measurement point according to the information of the measurement point scanned by laser, collects the check information, and transmits the check information to the external device for processing. The unmanned aerial vehicle comprises at least two laser scanning devices, and when the unmanned aerial vehicle hovers to the inspection position, the adjusting device adjusts the positions of the laser scanning devices based on the preset rotation speed. Hovering positioning and dynamic scanning technologies are combined, and non-contact high-precision detection is achieved. Through cooperative fusion of multiple laser scanning devices and a swash plate type self-adaptive transmission system, full-section deformation data acquisition of the membrane wall can be covered, the problems of efficiency bottleneck and high-altitude operation risk of traditional manual layer-by-layer ash removal inspection are effectively solved, and meanwhile, the measurement stability in a complex airflow environment is guaranteed through closed-loop vibration absorption design.

Description

Technical Field

[0001] The present invention relates to the technical field of boiler membrane wall inspection, and in particular to a boiler membrane wall laser scanning inspection device. Background Art

[0002] Membrane walls are key components in large power plant boilers, primarily serving as the sealed heating surface surrounding the furnace. They are formed by welding multiple parallel tubes together to form a continuous metal membrane structure, combining pressure-bearing, heat-transferring, and sealing functions. The base tubes are primarily made of high-temperature and high-pressure-resistant carbon steel or alloy steel. Fins designed to match the base tube material are used to weld adjacent tubes together to form the enclosure wall, ceiling, water-cooled wall, and ash hopper.

[0003] As a critical component of the pressure-bearing heating surface, the structural integrity of the boiler membrane wall directly impacts the unit's operational safety. According to TSG11, the "Technical Regulations for Boiler Safety," regular inspections of this component must focus on checking for typical defects such as impact dents, deformation due to external forces, and surface wear. For water-cooled walls and cold ash hoppers in subcritical and supercritical boiler units (typically exceeding 32m x 12m in nominal dimensions), the current inspection method primarily involves manually inspecting each hopper using aerial work platforms or crane platforms at 2-meter intervals. This process is time-consuming and labor-intensive, and poses safety risks such as falls from height and ash accumulation and collapse.

[0004] To this end, we provide a boiler membrane wall laser scanning inspection device. The non-invasive measurement method significantly improves inspection efficiency, greatly shortens the collection cycle, and simultaneously avoids high-altitude operations. Summary of the Invention

[0005] To address the aforementioned challenges of the existing technology, the present invention provides a laser scanning and inspection device for boiler membrane walls. This device combines hovering positioning with dynamic scanning technology to achieve non-contact, high-precision inspection. By integrating multiple laser scanning devices with a swash plate adaptive transmission system, it can collect deformation data across the entire membrane wall cross-section, effectively addressing the efficiency bottlenecks and overhead work risks associated with traditional manual layer-by-layer dust removal inspections. Furthermore, a closed-loop vibration cancellation design ensures measurement stability in complex airflow environments.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts a boiler membrane wall laser scanning inspection device, comprising: drones hovering over inspection paths; The UAV communicates with external equipment when equipped with a laser scanning device, checks the target situation at the measurement point based on the information scanned by the laser, and collects the inspection information and transmits it to the external equipment for processing; The above-mentioned drone includes at least two laser scanning devices. When the drone hovers to the inspection position, the adjustment device adjusts the position of the laser scanning device based on a preset rotation speed.

[0007] As a further optimization of the above solution, the adjustment device includes a base portion assembled on the drone; A swash plate coupling is assembled on the base of the drone, and a transmission shaft is passed through the swash plate coupling, and the transmission shaft is connected to the power source; A reducing guide groove with an eccentric elliptical trajectory is opened from the top surface of the inclined disc coupling. The bearing block is slidably assembled on the reducing guide groove and can slide along the reducing guide groove. The star-shaped support frame is key-fitted and installed on the transmission shaft. The support frame includes a load-bearing plate extending toward the bearing block. Both ends of the attitude adjustment plate are respectively hinged to the bearing block and the load-bearing plate through a first universal joint. The laser scanning device is swivel-fitted and installed on the load-bearing plate.

[0008] As a further optimization of the above solution, the power source is a drive motor with a reducer.

[0009] As a further optimization of the above scheme, grouping is performed based on the rotation trajectory of the load-bearing plate. Each pair of adjacent laser scanning devices constitutes a unit, and the two ends of the force transmission arm are connected to the two laser scanning devices in each unit through a second universal joint.

[0010] As a further optimization of the above scheme, as a further optimization of the above scheme, the adjusting gear ring is coaxially arranged with the inclined plate coupling, and the upper surface of the inclined plate coupling is connected with an adjusting disk with a continuously variable diameter spiral meshing surface. The adjusting disk and the transmission shaft are in rotational cooperation, and at least two sets of bevel gears are meshed with the spiral meshing surface. Each bevel gear has a main tooth surface and an auxiliary tooth surface arranged relatively. The above main tooth surface and the spiral meshing surface form a line contact transmission, and the auxiliary tooth surface establishes a radial meshing relationship with the adjusting gear ring, and the alarm device is fixed to the annular surface at the bottom of the adjusting gear ring.

[0011] As a further optimization of the above solution, the number of the above alarm devices is at least four and the alarm devices are evenly distributed circumferentially at equal angles.

[0012] As a further optimization of the above solution, the damping mechanism is installed between the above-mentioned swash plate coupling and the adjusting gear ring.

[0013] As a further optimization of the above scheme, the above-mentioned damping mechanism includes two symmetrically distributed shear base plates, a buffer beam and an elastic unit, wherein one shear base plate is fixed to the inclined plate coupling, and the other shear base plate is fixed to the adjusting gear ring. The two buffer beams are symmetrically distributed between the two shear base plates, and the two ends of the buffer beam are hinged to the shear base plates. The elastic unit is integrated in the gap between the two buffer beams.

[0014] As a further optimization of the above-mentioned scheme, the above-mentioned elastic unit includes a support beam, a first energy storage spring and a second energy storage spring. The support beam is rigidly connected to the lower surface of one of the shear-resistant substrates, the first energy storage spring is hinged to the bottom surface of the support beam, and the second energy storage spring is laterally hinged to the support beam. One end of the second energy storage spring is hinged to the side wing of the buffer beam.

[0015] A boiler membrane wall laser scanning inspection method is characterized in that: the inspection method uses a boiler membrane wall laser scanning inspection device as described in any of the above technical solutions.

[0016] The boiler membrane wall laser scanning inspection device of the present invention has the following beneficial effects: The present invention's membrane-wall laser scanning and inspection device for boilers uses non-contact three-dimensional laser scanning technology. A single scan covers an area several times greater than that of traditional manual inspections, significantly shortening the data acquisition cycle and avoiding downtime losses caused by constructing a high-altitude work platform. It replaces manual high-altitude work, avoids the risk of falls and collapse, and builds an electronic inspection ecosystem. The present invention provides a membrane-type boiler wall laser scanning inspection device. A swash plate coupling and a variable diameter guide groove linkage mechanism form a master-slave kinematic chain. Driven by a reducer, the transmission shaft synchronously controls the circumferential rotation of the support frame and the adaptive directional rotation of the laser scanning device. Multiple laser scanning devices perform multiple inspections on a single inspection location, ensuring the accuracy of fixed-point inspections. The present invention's membrane-type boiler wall laser scanning and inspection device integrates a shear base plate and a dual energy storage spring assembly into a composite energy attenuation channel through a bidirectional hinged structure. This significantly suppresses random vibration interference caused by rotor airflow and gear movement in the swashplate coupling during flight. A dynamic compensation mechanism precisely controls the lateral and longitudinal displacement deviations of the swashplate coupling, ensuring the stability of high-precision point cloud data acquisition. A boiler membrane wall laser scanning and inspection device of the present invention, in a scenario where a drone and an operator collaborate to perform internal operations on the boiler membrane wall, uses a coaxial transmission system of a spiral meshing surface and an adjusting gear ring, relying on the dynamic double meshing linkage relationship of the main / auxiliary tooth surfaces, to trigger the alarm system to rotate according to a preset cycle and emit an audible and visual warning signal, indicating the real-time position of the drone to personnel in the same operating area of the membrane wall, and effectively preventing and controlling the safety collision risk caused by the intersection of human and machine operating trajectories.

[0017] With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating how the principles of the present invention can be adopted. It should be understood that the scope of the embodiments of the present invention is not limited thereby, and the embodiments of the present invention include many changes, modifications and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is a schematic diagram of the structure of a boiler membrane wall laser scanning inspection device; Figure 2 It is a structural schematic diagram of the adjustment device in the present invention; Figure 3 Schematic diagram of the structure of the support frame in the present invention; Figure 4 Schematic diagram of the structure of the damping mechanism in the present invention; Figure 5 Schematic diagram of the structure of the elastic unit in the present invention; Figure 6 Schematic diagram of the structure of the adjusting gear ring in the present invention; Figure 7 It is a structural schematic diagram of the bevel gear in the present invention.

[0019] In the figure: 1. UAV; 2. Laser scanning device; 3. Adjustment device; 31. Base part; 32. Inclined plate coupling; 321. Variable diameter guide groove; 322. Carrying block; 323. Adjustment disk; 33. Transmission shaft; 34. Support frame; 341. Load-bearing plate; 35. Attitude adjustment plate; 36. First universal joint; 37. Force transmission arm; 38. Second universal joint; 4. Damping mechanism; 41. Shear base plate; 42. Buffer beam; 43. Elastic unit; 431. Support beam; 432. First energy storage spring; 433. Second energy storage spring; 5. Adjustment gear ring; 6. Bevel gear; 61. Main tooth surface; 62. Auxiliary tooth surface; 7. Alarm device. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0021] It should be noted that when an element is referred to as being "disposed on, provided with" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected, connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. "Fixed connection" means a fixed connection. There are many ways of fixed connection, which are not within the scope of protection of this article. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. Please refer to the instruction manual Figure 1-7 The present invention provides a first embodiment of a boiler membrane wall laser scanning inspection device. In this embodiment, a drone 1 is configured, and the drone 1 is equipped with six laser scanning devices 2. The laser scanning devices 2 transmit scanning data to a processing terminal in real time through an external communication module.

[0023] Considering that in the actual working process, if multiple laser scanning devices 2 are simply fixed on a rotating structure such as a turntable to perform rotational circumferential scanning, first, if the drone 1 hovers to the center of the boiler membrane wall, due to the large size of the boiler membrane wall, it is often impossible to achieve a good line of sight circumferential scanning effect, and in the actual working process, using a simple single laser scanning device 2 for scanning often cannot meet the actual work needs.

[0024] In this embodiment, an adjustment device 3 is also provided, which includes a base portion 31, a swash plate coupling 32, a transmission shaft 33 and a variable diameter guide groove 321 with an eccentric elliptical trajectory; the swash plate coupling 32 is assembled on the base portion 31 of the drone 1, and a transmission shaft 33 is passed through the center of the swash plate coupling 32. The input end of the transmission shaft 33 is connected to a power source. Preferably, the power source is a drive motor with a reducer. A variable diameter guide groove 321 is opened from the top surface of the swash plate coupling 32, and the bearing block 322 is slidably assembled on the variable diameter guide groove 321 and can be moved along the swash plate coupling 32. The reducing guide groove 321 slides. Preferably, the reducing guide groove 321 is roughly elliptical in structure. The star-shaped support frame 34 is key-fitted and installed on the transmission shaft 33. The support frame 34 includes a load-bearing plate 341 extending toward the bearing block 322. Both ends of the posture adjustment plate 35 are hinged to the bearing block 322 and the load-bearing plate 341 through a first universal joint 36. The laser scanning device 2 is rotationally fitted on the load-bearing plate 341. Both ends of the force transmission arm 37 are connected to the two laser scanning devices 2 in each unit through a second universal joint 38.

[0025] It should be noted that the swash plate coupling member 32 does not rotate in this embodiment. During actual operation, the support frame 34 rotates. The swash plate coupling member 32 mainly plays the role of supporting the platform in this embodiment.

[0026] The adjustment device 3 dynamically adjusts the circumferential position and orientation angle of multiple groups of laser scanning devices 2 through the coordinated action of the elliptical track variable diameter guide groove 321 of the swash plate coupling 32 and the rotating support frame 34, achieving the following functions: Multi-probe collaborative scanning: Through the trajectory constraint of the elliptical guide groove, the laser scanning device can adjust its direction synchronously during the rotation process, ensuring that multiple probes focus on the same point to be scanned, eliminating blind spots.

[0027] Elastic posture compensation: Through the closed-loop control of the transmission shaft speed by the reduction motor and the flexible connection of the universal joint, it can compensate for the slight displacement or vibration of the drone during hovering in real time, reducing detection errors.

[0028] More specifically, in this embodiment, the working steps of the adjustment device 3 include the following parts: The deceleration drive motor starts, and the support frame 34 connected by the key is driven to rotate through the transmission shaft 33. When the support frame 34 rotates, the load-bearing plate 341 on the support frame 34 drives one end of the posture adjustment plate 35 to move. The bearing block 322 at the other end of the posture adjustment plate 35 is restricted by the trajectory constraint of the elliptical variable diameter guide groove 321, and slides along the guide groove to form a periodic radial displacement. The elliptical trajectory sliding of the bearing block 322 is transmitted to the load-bearing plate 341 through the posture adjustment plate 35, forcing the laser scanning device 2 installed thereon to deflect around the rotation axis. The force transmission arm 37 is connected to the adjacent laser scanning device 2 through the second universal joint 38, forcing the multiple probes to maintain synchronous angle adjustment during rotation to ensure that multiple laser beams scan the same scanning area.

[0029] In this embodiment, the adjustment system coordinates and controls the circumferential rotation and dynamic orientation of multiple groups of laser scanning devices 2 through the elliptical trajectory guiding structure of the inclined plate coupling member 32, ensuring that multiple laser scanning devices are simultaneously directed towards the point to be scanned, eliminating the detection blind spot defect of the traditional single-probe scanning mode; at the same time, through the closed-loop control of the deceleration drive unit, elastic posture compensation is formed between the support structure and the laser scanning device, reducing the error rate of fixed-point detection. Based on the topological design of the annular rotating scanning module, the drone 1 can complete multiple detections in a single hover, and the operating efficiency is greatly improved compared with the traditional single-beam scanning solution.

[0030] Furthermore, the scanning of a single area in the above structure is performed by 3-6 laser scanning devices 2 in this embodiment. Even in an overlapping state, there are 3 laser scanning devices 2 scanning the area, so that the laser scanning of the area is performed by 3-6 laser scanning devices 2 dynamically. Compared with the fixed single laser scanning device 2 or solid-state multi-laser scanning device 2 layout, the rotating dynamic system effectively enhances the continuity of capturing surface deformation features through continuous acquisition of multi-dimensional alternating incident angles, thereby eliminating the azimuth viewing angle limitation under the static layout.

[0031] Please refer to the instruction manual Figure 1-7 The present invention provides a second embodiment of a boiler membrane wall laser scanning inspection device. In this embodiment, the inspection device includes the following parts: UAV 1 hovering over the inspection path; The drone 1 communicates with an external device when equipped with a laser scanning device 2, and checks the target condition at the measurement point based on the information scanned by the laser and collects the inspection information and transmits it to the external device for processing; The drone 1 includes at least two laser scanning devices 2. When the drone 1 hovers at an inspection position, the adjustment device 3 adjusts the position of the laser scanning device 2 based on a preset rotation speed.

[0032] The adjustment device 3 includes a base portion 31 assembled on the drone 1; A swash plate coupling 32 is assembled on the base portion 31 of the drone 1. A transmission shaft 33 is passed through the swash plate coupling 32 and connected to a power source. A reducing guide groove 321 with an eccentric elliptical trajectory is opened from the top surface of the inclined disc coupling 32, and the supporting block 322 is slidably assembled on the reducing guide groove 321 and can slide along the reducing guide groove 321. The star-shaped supporting frame 34 is key-fitted and installed on the transmission shaft 33. The supporting frame 34 includes a load-bearing plate 341 extending toward the supporting block 322. Both ends of the posture adjustment plate 35 are hinged to the supporting block 322 and the load-bearing plate 341 through a first universal joint 36 respectively. The laser scanning device 2 is rotatably mounted on the load-bearing plate 341, and both ends of the force transmission arm 37 are connected to the two laser scanning devices 2 in each unit through a second universal joint 38.

[0033] The adjusting gear ring 5 is coaxially arranged with the swash plate coupling 32. The lower surface of the swash plate coupling 32 is connected to an adjusting disk 323 with a continuously variable diameter spiral meshing surface. At least two sets of bevel gears 6 are meshed with the adjusting disk 323. The adjusting disk 323 and the transmission shaft 33 are in rotational cooperation. Each bevel gear 6 has a main tooth surface 61 and an auxiliary tooth surface 62 arranged relatively. The above-mentioned main tooth surface 61 and the adjusting disk 323 form a line contact transmission, and the auxiliary tooth surface 62 establishes a radial meshing relationship with the adjusting gear ring 5. The alarm device 7 is fixed to the annular surface at the bottom of the adjusting gear ring 5. The number of the above-mentioned alarm devices 7 is at least four, and several alarm devices 7 are evenly distributed circumferentially at equal angles, and the alarm signal is periodically triggered as the gear ring rotates.

[0034] It should be noted that, in this embodiment, the base portion 31 adopts a transparent structure, one part of which is fixed on the top surface of the drone 1 and the other part passes through the hollow part of the adjusting gear ring 5 and is fixed on the bottom surface of the above-mentioned inclined plate coupling 32. At the same time, the base portion 31 passes through the rotating shaft portion of the bevel gear 6, and the base portion 31 has a first supporting portion that supports the adjusting disk 323 portion and a second supporting portion that supports the above-mentioned adjusting gear ring 5.

[0035] Furthermore, by adjusting the coaxial transmission of the gear ring 5 and the spiral surface, the rotation speed of the alarm device 7 is made the same as the rotation speed of the laser scanning device 2. The operator can judge the safe area of the drone 1 based on the direction of sound and light, shorten the operator's response time, and reduce the trigger rate of the collision risk scene.

[0036] Please refer to the instruction manual Figure 1-7 The present invention provides a second embodiment of a boiler membrane wall laser scanning inspection device. In this embodiment, the inspection device includes the following parts: UAV 1 hovering over the inspection path; The drone 1 communicates with an external device when equipped with a laser scanning device 2, and checks the target condition at the measurement point based on the information scanned by the laser and collects the inspection information and transmits it to the external device for processing; The drone 1 includes at least two laser scanning devices 2. When the drone 1 hovers at an inspection position, the adjustment device 3 adjusts the position of the laser scanning device 2 based on a preset rotation speed.

[0037] The adjustment device 3 includes a base portion 31 assembled on the drone 1; A swash plate coupling 32 is assembled on the base portion 31 of the UAV 1. A transmission shaft 33 is passed through the swash plate coupling 32 and connected to a power source. A reducing guide groove 321 with an eccentric elliptical trajectory is opened from the top surface of the inclined disc coupling 32, and the supporting block 322 is slidably assembled on the reducing guide groove 321 and can slide along the reducing guide groove 321. The star-shaped supporting frame 34 is key-fitted and installed on the transmission shaft 33. The supporting frame 34 includes a load-bearing plate 341 extending toward the supporting block 322. Both ends of the posture adjustment plate 35 are hinged to the supporting block 322 and the load-bearing plate 341 through a first universal joint 36 respectively. The laser scanning device 2 is rotatably mounted on the load-bearing plate 341, and both ends of the force transmission arm 37 are connected to the two laser scanning devices 2 in each unit through a second universal joint 38.

[0038] The damping mechanism 4 is installed between the above-mentioned swash plate coupling 32 and the adjusting gear ring 5. The above-mentioned damping mechanism 4 includes two symmetrically distributed shear base plates 41, a buffer beam 42 and an elastic unit 43. The double shear base plates 41 are hingedly connected through the buffer beam 42, and the first energy storage spring 432 and the second energy storage spring 433 are integrated to form an articulated energy dissipation channel. In this embodiment, the elastic unit 43 is integrated into the gap between the two buffer beams 42. The above-mentioned elastic unit 43 includes a support beam 431, a first energy storage spring 432 and a second energy storage spring 433. The support beam 4 31 is rigidly connected to the lower surface of one of the shear-resistant base plates 31, the first energy storage spring 432 is hinged to the bottom surface of the support beam 431, and the second energy storage spring 433 is laterally hinged to the support beam 431, and one end of the second energy storage spring 433 is hinged to the side wing of the buffer beam 42. Combined with the longitudinal / lateral variable stiffness compensation of the dual energy storage springs, a three-dimensional vibration isolation effect is formed. Specifically, in this embodiment, the lateral displacement caused by the rotor disturbance is offset by the lateral sliding buffer of the second energy storage spring 433, and the longitudinal vibration is absorbed by the axial compression of the first energy storage spring 432, thereby effectively reducing the vibration amplitude.

[0039] Furthermore, the elastic unit 43 can effectively control the lateral offset and longitudinal swing of the swash plate coupling 32 through adaptive adjustment of the preload force, thereby reducing the impact of external vibration on the swash plate coupling 32 .

[0040] The present invention also provides an embodiment of a boiler membrane wall laser scanning inspection method, the working process of the inspection method is as follows: S1. Autonomous positioning initialization The UAV 1 approaches the target area according to the preset inspection track. After reaching the membrane wall target area, the UAV 1 hovers autonomously, and the laser scanning device 2 enters the waiting state; S2. Power transmission The power source drives the transmission shaft 33, which synchronously drives the support frame 34 on the swash plate coupling 32 to rotate. The key connection structure ensures that the power transmission is free of bias load error. S3. Multi-DOF Scanning Posture Control The eccentric elliptical track variable diameter guide groove 321 on the swash plate coupling member 32 constrains the sliding path of the bearing block 322. The support frame 34 pulls the attitude adjustment plate 35 through the bearing plate 341, so that the six groups of laser scanning devices 2 are all oriented towards the detection point. S4. Compound motion pattern generation The reduction motor outputs a constant speed to drive the transmission shaft 33, and the support frame 34 and the laser scanning device 2 rotate synchronously around the axis of the transmission shaft 33; S5. Dynamic focus compensation mechanism The elliptical trajectory of the variable diameter guide groove 321 forces the bearing block 322 to periodically approach / move away from the axis, the first universal joint 36 realizes dynamic posture compensation, and the second universal joint 38 eliminates the motion interference of the connecting rod mechanism, ensuring that multiple laser scanning devices 2 are all facing the point to be detected.

[0041] S6. Implementation of vibration suppression strategy When the rotor airflow disturbance and gear meshing transmission cause the swash plate coupling 32 to vibrate, the second energy storage spring 433 absorbs energy through the sliding stroke of the wing hinge, and the stiffness distribution of the support beam 431 limits the lateral offset; S7, intelligent perception and obstacle avoidance system During a single hover, multiple laser scanning devices 2 synchronously scan the points to be inspected and generate a three-dimensional surface model through a point cloud stitching algorithm. Specifically, the scanning data is transmitted to the ground station in real time via a 5G communication module, and the cracks and wear areas on the membrane wall surface are intelligently identified and marked based on the preset threshold. Furthermore, in actual operation, considering the possibility of human-machine collisions or collisions between obstacles and drones, this application utilizes the CLPPO algorithm based on a CNN-LSTM fusion network, which, unlike traditional path planning algorithms and reactive collision avoidance algorithms, fully utilizes historical data information to obtain a robust collision avoidance strategy. Secondly, a dense collision avoidance reward mechanism is designed through artificial potential field reward shaping technology, avoiding reward sparsity and thus guiding the drone to find the optimal collision avoidance path.

[0042] Specifically, by leveraging the long-term memory of the LSTM network and integrating CNN and LSTM networks, the network model possesses long-term memory and feature extraction capabilities. The LSTM network is used to store the drone's historical state information. This encoded state information is then passed to the backend network. For each drone state input, the LSTM layer outputs a hidden state, which is then passed to the backend for calculations.

[0043] S8, human-machine collaborative safety The adjusting gear ring 5 rotates coaxially with the swash plate coupling 32, and the main tooth surface 61 and the adjusting disk 323 form a line contact transmission, driving the gear ring to rotate at a synchronous speed ratio. Several alarm devices 7 distributed circumferentially at the bottom of the gear ring periodically trigger RGB flashing (period 0.5s) and buzzing prompts as the ring rotates. The operator determines the current position of the UAV 1 by the sound and light phase. For example, the constant lighting of the alarm device 7 indicates that the UAV 1 is performing the azimuth scan. S9, task closed-loop management After the ground terminal completes the data quality verification, it sends a return command. The drone 1 stops hovering, the drive motor decelerates in reverse order to stop, and the laser scanning device 2 enters the mechanical fixed mode.

[0044] If it is necessary to switch the detection point, the drone 1 flies to the next hovering coordinate according to the program preset, and the system resets to start a new round of scanning process.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A boiler membrane wall laser scanning inspection device, characterized in that: include: A drone (1) hovers over the inspection path; The drone (1) communicates with an external device when equipped with a laser scanning device (2), and checks the target condition at the measurement point based on the information scanned by the laser, and collects the inspection information and transmits it to the external device for processing; The drone (1) comprises at least two laser scanning devices (2). When the drone (1) hovers at an inspection position, the adjustment device (3) adjusts the position of the laser scanning device (2) based on a preset rotation speed.

2. The boiler membrane wall laser scanning inspection device according to claim 1, characterized in that: The adjusting device (3) includes a base portion (31) assembled on the drone (1); A swash plate coupling (32) is assembled on a base portion (31) of the drone (1), and a transmission shaft (33) is passed through the swash plate coupling (32), and the transmission shaft (33) is connected to a power source; A reducing guide groove (321) with an eccentric elliptical trajectory is provided on the top surface of the inclined disc coupling (32); the bearing block (322) is slidably assembled on the reducing guide groove (321) and can slide along the reducing guide groove (321); a star-shaped supporting frame (34) is key-fittedly mounted on the transmission shaft (33); the supporting frame (34) includes a bearing plate (341) extending in the direction of the bearing block (322); both ends of the posture adjustment plate (35) are hinged to the bearing block (322) and the bearing plate (341) respectively through a first universal joint (36); and the laser scanning device (2) is rotatably mounted on the bearing plate (341).

3. The boiler membrane wall laser scanning inspection device according to claim 2, characterized in that: The power source is a drive motor with a reducer.

4. The boiler membrane wall laser scanning inspection device according to claim 2, characterized in that: The groups are grouped based on the rotation trajectory of the bearing plate (341), and each pair of adjacent laser scanning devices (2) constitutes a unit. The two ends of the force transmission arm (37) are connected to the two laser scanning devices (2) in each unit through the second universal joint (38).

5. The boiler membrane wall laser scanning inspection device according to claim 2, characterized in that: The adjusting gear ring (5) is coaxially arranged with the inclined disc coupling (32); the lower surface of the inclined disc coupling (32) is connected with an adjusting disc (323) having a continuously variable diameter spiral meshing surface; the adjusting disc (323) and the transmission shaft (33) are in rotational engagement; at least two sets of bevel gears (6) are meshed with the adjusting disc (323); each bevel gear (6) has a main tooth surface (61) and an auxiliary tooth surface (62) arranged oppositely; the main tooth surface (61) and the spiral meshing surface form a line contact transmission; the auxiliary tooth surface (62) and the adjusting gear ring (5) establish a radial meshing association; and the alarm device (7) is fixed to the annular surface at the bottom of the adjusting gear ring (5).

6. The boiler membrane wall laser scanning inspection device according to claim 5, characterized in that: The number of the alarm devices (7) is at least four, and the alarm devices (7) are evenly distributed at equal angles around the circumference.

7. The boiler membrane wall laser scanning inspection device according to claim 5, characterized in that: The damping mechanism (4) is installed between the above-mentioned swash plate coupling (32) and the adjusting gear ring (5).

8. The boiler membrane wall laser scanning inspection device according to claim 5, characterized in that: The damping mechanism (4) comprises two symmetrically distributed shear base plates (41), a buffer beam (42) and an elastic unit (43), wherein one shear base plate (41) is fixed to the inclined plate coupling member (32), and the other shear base plate (41) is fixed to the adjusting gear ring (5), the two buffer beams (42) are symmetrically distributed between the two shear base plates (41), the two ends of the buffer beam (42) are hinged to the shear base plates (41), and the elastic unit (43) is integrated in the gap between the two buffer beams (42).

9. The boiler membrane wall laser scanning inspection device according to claim 6, characterized in that: The elastic unit (43) includes a support beam (431), a first energy storage spring (432), and a second energy storage spring (433). The support beam (431) is rigidly connected to the lower surface of one of the shear-resistant base plates (41). The first energy storage spring (432) is hinged to the bottom surface of the support beam (431). The second energy storage spring (433) is laterally hinged to the support beam (431). One end of the second energy storage spring (433) is hinged to the side wing of the buffer beam (42).

10. A method for laser scanning inspection of a boiler membrane wall, characterized by: The inspection method uses a boiler membrane wall laser scanning inspection device as described in any one of claims 1 to 9.

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