A laser scanning inspection apparatus for a boiler membrane wall

Abstract

The application discloses a kind of boiler membrane wall laser scanning inspection device, unmanned aerial vehicle hovering on inspection path;The unmanned aerial vehicle is communicated with external equipment in the state with laser scanning device, according to the information that laser scanning is measured point, the target condition from measured point is inspected and inspection information is collected and is transferred to external equipment for processing;The above unmanned aerial vehicle includes at least two laser scanning devices, when unmanned aerial vehicle hovers to inspection position, adjusting device executes laser scanning device position adjustment based on preset rotation speed.Combining with hovering positioning and dynamic scanning technology, non-contact high-precision detection is realized.Through the synergistic fusion of multiple laser scanning devices and the inclined disc type adaptive transmission system, the full-section deformation data acquisition of the membrane wall can be covered, effectively solving the efficiency bottleneck and high-altitude operation risk problem of traditional manual layer-by-layer soot inspection, and the measurement stability in complex airflow environment is ensured through closed-loop vibration damping design.

Description

Technical Field

[0001] This invention relates to the technical field of boiler membrane wall inspection, and specifically to a laser scanning inspection device for boiler membrane walls. Background Technology

[0002] Membrane walls are key components in large power plant boilers, primarily used as sealed heating surface structures around the furnace. They consist of multiple parallel tubes welded together to form a continuous metallic membrane structure, combining pressure-bearing, heat transfer, and sealing functions. The base tubes are mainly made of high-temperature, high-pressure resistant carbon steel or alloy steel. Adjacent tubes are welded together using fins that match the base tube material, forming the walls, roof, water-cooled walls, and ash hoppers.

[0003] As a crucial component of the pressure-bearing heating surface, the structural integrity of the boiler membrane wall directly impacts the operational safety of the unit. According to TSG11 "Boiler Safety Technical Regulations," this component must be carefully inspected for typical defects such as impact dents, external force deformation, and surface wear during periodic inspections. For subcritical and supercritical boiler units (with nominal dimensions generally exceeding 32m × 12m), the existing inspection methods primarily involve manually inspecting each section one by one using a high-altitude work platform or a lifting platform at 2-meter intervals. This method is time-consuming, labor-intensive, and carries safety risks such as falls from heights and ash accumulation collapse.

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

[0005] To address the problems of the existing technologies, this invention provides a laser scanning inspection device for boiler membrane walls, combining hovering positioning and dynamic scanning technology to achieve non-contact, high-precision inspection. Through the collaborative fusion of multiple laser scanning devices and a swashplate-type adaptive transmission system, it can cover the entire cross-section deformation data acquisition of the membrane wall, effectively solving the efficiency bottleneck and high-altitude operation risks of traditional manual layer-by-layer ash cleaning inspection. Simultaneously, a closed-loop vibration damping design ensures measurement stability in complex airflow environments.

[0006] To achieve the above objectives, the present invention employs a boiler membrane wall laser scanning inspection device, comprising:

[0007] A drone hovering over the inspection path;

[0008] The drone communicates with external devices while equipped with a laser scanning device. Based on the information scanned by the laser at the measurement point, it checks the target situation at the measurement point and collects the inspection information, which is then transmitted to the external devices for processing.

[0009] The aforementioned drone includes at least two laser scanning devices. When the drone hovers at the inspection position, the adjustment device adjusts the position of the laser scanning devices based on a preset rotation speed.

[0010] As a further optimization of the above solution, the adjustment device includes a base portion assembled on the drone;

[0011] A swashplate coupling assembly is assembled on the base of the drone, and a drive shaft is threaded through the swashplate coupling and connected to a power source.

[0012] A variable-diameter guide groove with an eccentric elliptical trajectory is opened on the top surface of the swashplate coupling. The bearing block is slidably assembled on the variable-diameter guide groove and can slide along the variable-diameter guide groove. A star-shaped support frame is keyed and installed on the drive shaft. The support frame includes a load-bearing plate extending towards the bearing block. The two 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 rotatably installed on the load-bearing plate.

[0013] As a further optimization of the above scheme, the power source is a drive motor with a reducer.

[0014] As a further optimization of the above scheme, the rotation trajectory of the load-bearing plate is used as a reference for grouping. 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 the second universal joint.

[0015] As a further optimization of the above scheme, the adjusting gear ring and the swashplate coupling are arranged coaxially. The upper surface of the swashplate coupling is connected to an adjusting disc with a continuously variable diameter helical meshing surface. The adjusting disc and the transmission shaft are in a rotary fit. At least two sets of bevel gears mesh on the helical meshing surface. Each bevel gear has a main tooth surface and an auxiliary tooth surface arranged opposite to each other. The main tooth surface and the helical meshing surface form a line contact transmission. The auxiliary tooth surface establishes a radial meshing relationship with the adjusting gear ring. The alarm device is fixed to the ring surface at the bottom of the adjusting gear ring.

[0016] As a further optimization of the above scheme, the number of alarm devices is at least four, and the alarm devices are evenly distributed circumferentially at equal angles.

[0017] As a further optimization of the above scheme, a damping mechanism is installed between the aforementioned swashplate coupling and the adjusting gear ring.

[0018] As a further optimization of the above scheme, the damping mechanism includes two symmetrically distributed shear plates, a buffer beam, and an elastic unit. One shear plate is fixed to a swashplate coupling member, and the other shear plate is fixed to an adjusting toothed ring. The two buffer beams are symmetrically distributed between the two shear plates, and the two ends of the buffer beams are hinged to the shear plates. The elastic unit is integrated into the gap between the two buffer beams.

[0019] As a further optimization of the above scheme, the above 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. 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.

[0020] A method for inspecting boiler membrane walls using laser scanning, characterized in that the method employs a boiler membrane wall laser scanning inspection device as described in any of the above technical solutions.

[0021] The boiler membrane wall laser scanning inspection device of the present invention has the following beneficial effects:

[0022] The present invention discloses a boiler membrane wall laser scanning inspection device, which adopts non-contact laser three-dimensional scanning technology. The area covered by a single scan is several times that of traditional manual inspection, the data acquisition cycle is greatly shortened, and the downtime losses caused by building a high-altitude work platform are avoided. It replaces manual high-altitude work, avoids the risk of falling and collapse, and builds an electronic inspection ecosystem.

[0023] The present invention provides a laser scanning inspection device for boiler membrane walls. The inclined plate coupling component and the variable diameter guide groove linkage mechanism form a master-slave kinematic chain. The transmission shaft, driven by the reducer, synchronously controls the circumferential rotation of the support frame and the adaptive orientation rotation of the laser scanning device. At a detection positioning point, multiple laser scanning devices are used to perform multiple detections on a single detection positioning point to ensure the accuracy of the fixed-point detection.

[0024] The present invention discloses a boiler membrane wall laser scanning inspection device, which integrates the anti-shear substrate and the dual energy storage spring assembly into a composite energy attenuation channel through a bidirectional hinge structure. This significantly suppresses random vibration interference caused by rotor airflow and vibration interference caused by gear movement in the swashplate coupling during flight. The device also uses a dynamic compensation mechanism to precisely control the lateral / longitudinal displacement deviation of the swashplate coupling, ensuring the stability of high-precision point cloud data acquisition.

[0025] The present invention discloses a boiler membrane wall laser scanning inspection device. In the scenario where drones and operators work together to operate inside the boiler membrane wall, the device uses a coaxial transmission system of a spiral meshing curved surface and an adjusting gear ring. Relying on the dynamic double meshing linkage of the main and auxiliary gear surfaces, it triggers an alarm system to rotate according to a preset cycle and emits an audible and visual warning signal. This indicates the real-time position of the drone to personnel in the same working area of ​​the membrane wall, effectively preventing the risk of safety collisions caused by the intersection of human and machine working trajectories.

[0026] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope as a result, and the embodiments of the present invention include many changes, modifications and equivalents. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a laser scanning inspection device for boiler membrane walls.

[0028] Figure 2 This is a schematic diagram of the adjustment device in this invention;

[0029] Figure 3 This is a schematic diagram of the supporting frame in this invention;

[0030] Figure 4 This is a schematic diagram of the damping mechanism in this invention;

[0031] Figure 5 This is a schematic diagram of the structure of the elastic unit in this invention;

[0032] Figure 6 This is a schematic diagram of the adjusting gear ring in this invention;

[0033] Figure 7 This is a schematic diagram of the bevel gear in this invention.

[0034] In the diagram: 1. Unmanned Aerial Vehicle (UAV); 2. Laser Scanning Device; 3. Adjustment Device; 31. Base Section; 32. Swashplate Coupler; 321. Variable Diameter Guide Groove; 322. Bearing Block; 323. Adjustment Disc; 33. Drive 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 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 Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0036] It should be noted that when an element is referred to as "set on" or "provided with" another element, it can be directly on the other element or there may be an intermediate element. When an element is referred to as "connected to" or "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. "Fixed connection" means fixed connection. There are many ways of fixed connection, which are not within the scope of protection of this document. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in the specification herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0038] Please refer to the instruction manual appendix. Figure 1-7 The present invention provides a first embodiment of a laser scanning inspection device for boiler membrane walls. In this embodiment, a drone 1 is configured, which 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.

[0039] Considering that in actual work, if multiple laser scanning devices 2 are simply fixed on a rotating structure such as a turntable for rotating circumferential scanning, firstly, if the UAV 1 hovers at the center of the boiler membrane wall, the boiler membrane wall is relatively large, and it is often impossible to achieve a good circumferential scanning effect. Moreover, in actual work, using a simple single laser scanning device 2 for scanning often cannot meet the actual work requirements.

[0040] In this embodiment, an adjustment device 3 is also provided, which includes a base portion 31, a swashplate coupling member 32, a drive shaft 33, and a variable-diameter guide groove 321 with an eccentric elliptical trajectory. The swashplate coupling member 32 is assembled on the base portion 31 of the UAV 1. The drive shaft 33 passes through the center of the swashplate coupling member 32, and the input end of the drive shaft 33 is connected to a power source. Preferably, the power source is a drive motor with a reducer. The variable-diameter guide groove 321 is opened from the top surface of the swashplate coupling member 32, and the bearing block 322 is slidably assembled on the variable-diameter guide groove 321 and can move along the eccentric elliptical trajectory. The variable diameter guide groove 321 slides, preferably with an approximately elliptical structure. The star-shaped support frame 34 is keyed to the transmission shaft 33. The support frame 34 includes a load-bearing plate 341 extending toward the load-bearing block 322. The two ends of the attitude adjustment plate 35 are respectively hinged to the load-bearing block 322 and the load-bearing plate 341 through the first universal joint 36. The laser scanning device 2 is rotatably mounted on the load-bearing plate 341. 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.

[0041] It should be noted that the swashplate coupling 32 does not rotate in this embodiment. In actual operation, the support frame 34 rotates. In this embodiment, the swashplate coupling 32 mainly serves to support the platform.

[0042] The aforementioned adjustment device 3, through the synergistic effect of the elliptical trajectory variable diameter guide groove 321 of the swashplate coupling member 32 and the rotating support frame 34, dynamically adjusts the circumferential position and orientation angle of multiple sets of laser scanning devices 2, thereby achieving the following functions:

[0043] Multi-probe collaborative scanning: By constraining the trajectory of the elliptical guide groove, the laser scanning device synchronously adjusts its orientation during rotation, ensuring that multiple probes focus on the same scanning point and eliminating blind spots.

[0044] Elastic pose compensation: By controlling the transmission shaft speed through a closed-loop control of the geared motor and combining it with the flexible connection of the universal joint, the system can compensate for minute displacements or vibrations when the UAV is hovering in real time, thereby reducing detection errors.

[0045] More specifically, in this embodiment, the working steps of the adjusting device 3 include the following parts:

[0046] The speed reduction 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 attitude adjustment plate 35 to move. The load-bearing block 322 at the other end of the attitude adjustment plate 35 is constrained by the trajectory of the elliptical variable diameter guide groove 321 and slides along the guide groove, forming a periodic radial displacement. The elliptical trajectory of the load-bearing block 322 is transmitted to the load-bearing plate 341 through the attitude adjustment plate 35, forcing the laser scanning device 2 installed on it 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 multiple probes to maintain synchronous angle adjustment during rotation, ensuring that multiple laser beams scan the same scanning area.

[0047] In this embodiment, the adjustment system coordinates and controls the circumferential rotation and dynamic orientation of multiple laser scanning devices 2 through the elliptical trajectory guide structure of the swashplate coupling 32, ensuring that multiple laser scanning devices simultaneously face the point to be scanned, thus eliminating the detection blind zone defect of the traditional single-probe scanning mode. At the same time, through the closed-loop control of the deceleration drive unit, elastic pose compensation is formed between the support frame and the laser scanning device, reducing the fixed-point detection error rate. Based on the topology design of the ring rotation scanning module, the UAV 1 can complete multiple detections in a single hover, which greatly improves the operation efficiency compared with the traditional single-beam scanning scheme.

[0048] Furthermore, in the above structure, the scanning of a single area is performed by 3-6 laser scanning devices 2 in this embodiment. Even in the overlapping state, 3 laser scanning devices 2 scan the area, so that the laser scanning of the area is performed by 3-6 laser scanning devices 2 in a dynamic manner. Compared with the fixed single laser scanning device 2 or solid-state multi-laser scanning device 2 layout, this rotating dynamic system effectively enhances the continuity of surface deformation feature capture by continuously acquiring multi-dimensional alternating incident angles, and eliminates the limitations of azimuth and viewing angle under static layout.

[0049] Please refer to the instruction manual appendix. Figure 1-7 The present invention provides a second embodiment of a laser scanning inspection device for boiler membrane walls. In this embodiment, the inspection device includes the following parts:

[0050] Drone 1 hovering on the inspection path;

[0051] The UAV 1, equipped with a laser scanning device 2, communicates with external devices, checks the target situation at the measurement point based on the information scanned by the laser, and collects the inspection information, which is then transmitted to the external devices for processing.

[0052] The aforementioned drone 1 includes at least two laser scanning devices 2. When the drone 1 hovers to the inspection position, the adjustment device 3 adjusts the position of the laser scanning devices 2 based on a preset rotation speed.

[0053] The adjustment device 3 includes a base portion 31 assembled on the drone 1;

[0054] A swashplate coupling 32 is assembled on the base portion 31 of the UAV 1. A drive shaft 33 is threaded through the swashplate coupling 32 and connected to a power source.

[0055] A variable-diameter guide groove 321 with an eccentric elliptical trajectory is opened on the top surface of the swashplate coupling member 32. The bearing block 322 is slidably assembled on the variable-diameter guide groove 321 and can slide along the variable-diameter guide groove 321. The star-shaped support frame 34 is keyed to the transmission shaft 33. The support frame 34 includes a load-bearing plate 341 extending towards the bearing block 322. The two ends of the attitude adjustment plate 35 are respectively hinged to the bearing block 322 and the load-bearing plate 341 through the first universal joint 36. The laser scanning device 2 is rotatably mounted on the load-bearing plate 341. 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.

[0056] The adjusting gear ring 5 and the swashplate coupling member 32 are arranged coaxially. The lower surface of the swashplate coupling member 32 is connected to an adjusting disk 323 with a continuously variable diameter helical meshing surface. At least two sets of bevel gears 6 mesh with the adjusting disk 323. The adjusting disk 323 and the transmission shaft 33 are in a rotary fit. Each bevel gear 6 has a main tooth surface 61 and an auxiliary tooth surface 62 arranged opposite to each other. The main tooth surface 61 forms a line contact transmission with the adjusting disk 323, 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 ring surface at the bottom of the adjusting gear ring 5. The number of the alarm devices 7 is at least four, and the alarm devices 7 are evenly distributed circumferentially at equal angles. The alarm signal is triggered periodically as the gear ring rotates.

[0057] It should be noted that in this embodiment, the base part 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 swashplate coupling member 32. At the same time, the base part 31 passes through the rotating shaft part of the bevel gear 6, and the base part 31 has a first support part that supports the adjusting disk 323 and a second support part that supports the adjusting gear ring 5.

[0058] Furthermore, the coaxial transmission between the adjusting gear ring 5 and the helical surface makes the rotation speed of the alarm device 7 the same as that of the laser scanning device 2. Operators 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 collision risk scenarios.

[0059] Please refer to the instruction manual appendix. Figure 1-7 The present invention provides a second embodiment of a laser scanning inspection device for boiler membrane walls. In this embodiment, the inspection device includes the following parts:

[0060] Drone 1 hovering on the inspection path;

[0061] The UAV 1, equipped with a laser scanning device 2, communicates with external devices, checks the target situation at the measurement point based on the information scanned by the laser, and collects the inspection information, which is then transmitted to the external devices for processing.

[0062] The aforementioned drone 1 includes at least two laser scanning devices 2. When the drone 1 hovers to the inspection position, the adjustment device 3 adjusts the position of the laser scanning devices 2 based on a preset rotation speed.

[0063] The adjustment device 3 includes a base portion 31 assembled on the drone 1;

[0064] A swashplate coupling 32 is assembled on the base portion 31 of the UAV 1. A drive shaft 33 is passed through the swashplate coupling 32 and connected to a power source.

[0065] A variable-diameter guide groove 321 with an eccentric elliptical trajectory is opened on the top surface of the swashplate coupling member 32. The bearing block 322 is slidably assembled on the variable-diameter guide groove 321 and can slide along the variable-diameter guide groove 321. The star-shaped support frame 34 is keyed to the transmission shaft 33. The support frame 34 includes a load-bearing plate 341 extending towards the bearing block 322. The two ends of the attitude adjustment plate 35 are respectively hinged to the bearing block 322 and the load-bearing plate 341 through the first universal joint 36. The laser scanning device 2 is rotatably mounted on the load-bearing plate 341. 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.

[0066] The damping mechanism 4 is installed between the swashplate coupling member 32 and the adjusting gear ring 5. The damping mechanism 4 includes two symmetrically distributed shear plates 41, a buffer beam 42, and an elastic unit 43. The two shear plates 41 are hinged together by the buffer beam 42, integrating a first energy storage spring 432 and a second energy storage spring 433 to form a hinged energy dissipation channel. In this embodiment, the elastic unit 43 is integrated into the gap between the two buffer beams 42. The elastic unit 43 includes a support beam 431, a first energy storage spring 432, and a second energy storage spring 433. 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. 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 double energy storage springs, a three-dimensional vibration isolation effect is formed. Specifically, in this embodiment, the lateral displacement caused by the rotor disturbance is buffered and offset by the lateral sliding of the second energy storage spring 433, and the longitudinal vibration is absorbed by the axial compression of the first energy storage spring 432, effectively reducing the vibration amplitude.

[0067] Furthermore, the elastic unit 43 effectively controls the lateral offset and longitudinal sway of the swashplate coupling 32 through preload adaptive adjustment, reducing the impact of external vibrations on the swashplate coupling 32.

[0068] This invention also provides an embodiment of a laser scanning inspection method for boiler membrane walls, the operation of which is as follows:

[0069] S1. Autonomous Localization Initialization

[0070] UAV 1 approaches the target area according to the preset inspection trajectory. After UAV 1 arrives at the target area of ​​the membrane wall, it hovers autonomously and the laser scanning device 2 enters the standby state.

[0071] S2. Power Transmission

[0072] The power source drives the transmission shaft 33, which synchronously drives the support frame 34 on the swashplate coupling 32 to rotate. The key connection structure ensures that there is no off-center load error in power transmission.

[0073] S3. Multi-degree-of-freedom scanning attitude control

[0074] The eccentric elliptical trajectory variable diameter guide groove 321 on the swashplate coupling 32 constrains the sliding path of the bearing block 322, and the support frame 34 pulls the attitude adjustment plate 35 through the bearing plate 341 so that the orientation of the six sets of laser scanning devices 2 is all towards the detection point.

[0075] S4. Generation of Composite Motion Patterns

[0076] The geared motor outputs a constant speed to drive the transmission shaft 33, and the support frame 34 and the laser scanning device 2 revolve synchronously around the axis of the transmission shaft 33.

[0077] S5. Dynamic Focusing Compensation Mechanism

[0078] 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 achieves dynamic attitude compensation, and the second universal joint 38 eliminates motion interference of the linkage mechanism, ensuring that multiple laser scanning devices 2 are all facing the point to be detected.

[0079] S6. Implementation of Vibration Suppression Strategies

[0080] When the rotor airflow disturbance and gear meshing transmission cause the swashplate coupling 32 to vibrate, the second energy storage spring 433 absorbs energy through the sliding stroke of the side wing hinge, and the stiffness distribution of the support beam 431 limits the lateral offset.

[0081] S7, Intelligent Sensing and Obstacle Avoidance System

[0082] During a single hover, multiple laser scanning devices 2 simultaneously scan the points to be detected and generate a three-dimensional curved surface model through a point cloud stitching algorithm. Specifically, the scanning data is transmitted to the ground station in real time through a 5G communication module and intelligently identified and marked the cracks and wear areas on the membrane wall surface in combination with preset thresholds.

[0083] Furthermore, in practical applications, considering collisions between humans and drones or between drones and obstacles, this application, unlike traditional path planning and reactive collision avoidance algorithms, employs the CLPPO algorithm based on a CNN-LSTM fusion network. This algorithm fully utilizes historical data to obtain a robust collision avoidance strategy. Secondly, a dense collision avoidance reward mechanism is designed using artificial potential field reward shaping technology to avoid reward sparsity, thereby guiding the drone to find the optimal collision avoidance path.

[0084] Specifically, leveraging the long-term memory of LSTM networks, a fusion of CNN and LSTM networks is used to endow the network model with long-term memory and feature extraction capabilities. The LSTM network is then used to store the drone's historical state information. This encoded state information is then fed into the backend network. For each input state of the drone, the LSTM layer outputs a hidden state, which is then fed into the backend computation.

[0085] S8, Human-Machine Collaborative Safety

[0086] The adjusting gear ring 5 rotates coaxially with the swashplate coupling 32, and the main tooth surface 61 forms a line contact transmission with the adjusting disk 323, driving the gear ring to rotate synchronously at a higher speed ratio; several alarm devices 7 distributed circumferentially at the bottom of the gear ring periodically trigger RGB flashing (period 0.5s) and buzzer prompts as it rotates;

[0087] Operators determine the current position of UAV 1 by using acoustic and optical phase detection. For example, the constant illumination of alarm device 7 indicates that UAV 1 is performing a directional scan.

[0088] S9, Task Closed-Loop Management

[0089] After the ground terminal completes the data quality verification, it sends a return command. The UAV 1 stops hovering, the drive motor decelerates in reverse order until it stops, and the laser scanning device 2 enters the mechanical fixed mode.

[0090] If it is necessary to switch detection points, UAV 1 flies to the next hovering coordinate according to the preset program, and the system resets to start a new round of scanning process.

[0091] 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 within the protection scope of the present invention.

Claims

1. A laser scanning inspection device for boiler membrane walls, characterized in that, include: Drone hovering over the inspection path (1); The UAV (1) communicates with external devices while equipped with a laser scanning device (2). Based on the information scanned to the measurement point by the laser, it checks the target situation at the measurement point and collects the inspection information, which is then transmitted to the external devices for processing. The aforementioned drone (1) includes at least two laser scanning devices (2). When the drone (1) hovers to the inspection position, the adjustment device (3) performs an adjustment of the position of the laser scanning devices (2) based on a preset rotation speed. The adjustment device (3) includes a base portion (31) assembled on the drone (1). A swashplate coupling (32) is assembled on the base portion (31), and a drive shaft (33) is passed through the swashplate coupling (32) and connected to the power source; A variable-diameter guide groove (321) with an eccentric elliptical trajectory is opened on the top surface of the swashplate coupling (32). The bearing block (322) is slidably assembled on the variable-diameter guide groove (321) and can slide along the variable-diameter guide groove (321). A star-shaped support frame (34) is keyed and installed on the transmission shaft (33). The support frame (34) includes a load-bearing plate (341) extending towards the bearing block (322). The two ends of the attitude adjustment plate (35) are respectively hinged to the bearing block (322) and the load-bearing plate (341) through the first universal joint (36). The laser scanning device (2) is rotatably installed on the load-bearing plate (341). Based on the rotation trajectory of the load-bearing plate (341), the units are grouped, 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). The adjusting gear ring (5) and the swashplate coupling member (32) are arranged coaxially. The lower surface of the swashplate coupling member (32) is connected to an adjusting disc (323) with a continuously variable diameter helical meshing surface. The adjusting disc (323) and the transmission shaft (33) are in a rotary fit. At least two sets of bevel gears (6) mesh with the adjusting disc (323). Each bevel gear (6) has a main tooth surface (61) and an auxiliary tooth surface (62) arranged opposite to each other. The main tooth surface (61) and the helical meshing surface form a line contact transmission. The auxiliary tooth surface (62) and the adjusting gear ring (5) establish a radial meshing relationship. The alarm device (7) is fixed to the ring surface at the bottom of the adjusting gear ring (5). The damping mechanism (4) is installed between the aforementioned swashplate coupling (32) and the adjusting gear ring (5); The damping mechanism (4) includes two shear plates (41) symmetrically distributed, a buffer beam (42) and an elastic unit (43). One shear plate (41) is fixed to the swashplate coupling (32), and the other shear plate (41) is fixed to the adjusting toothed ring (5). The two buffer beams (42) are symmetrically distributed between the two shear plates (41). The two ends of the buffer beams (42) are hinged to the shear plates (41). The elastic unit (43) is integrated into the gap between the two buffer beams (42).

2. The boiler membrane wall laser scanning inspection device according to claim 1, characterized in that: The power source is a drive motor with a speed reducer.

3. The boiler membrane wall laser scanning inspection device according to claim 1, characterized in that: The number of the above alarm devices (7) is at least four and the alarm devices (7) are evenly distributed around the perimeter at equal angles.

4. The boiler membrane wall laser scanning inspection device according to claim 1, characterized in that: The aforementioned 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 substrates (41). 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). One end of the second energy storage spring (433) is hinged to the side wing of the buffer beam (42).

5. A method for laser scanning inspection of boiler membrane walls, characterized in that: This inspection method utilizes a boiler membrane wall laser scanning inspection device as described in any one of claims 1-4.

Images