Decoking method, device and equipment and storage medium

Abstract

The invention discloses a decoking method, device and equipment and a storage medium, and the method comprises the steps: obtaining a coke block image of a target region, determining a to-be-cleared target coke block, calculating a first loosening index of the target coke block to determine a first decoking sequence of a decoking robot for each target coke block, and driving the robot to knock to obtain a first decoking sequence of the target coke blocks; and according to vibration data transmitted by the vibration sensor when the decoking robot knocks the target coke block with a preset force, calculating a second loosening index of the non-falling coke blocks so as to determine a second decoking sequence of the decoking robot on the non-falling coke blocks, and driving the robot to knock until all the coke blocks in the target area fall off. Therefore, the coke blocks fall off orderly according to the loosening degree by evaluating the loosening index of the coke blocks and knocking the coke blocks according to the sequence of the loosening severity, the decoking work is carried out in two rounds of primary knocking and deep cleaning, the possibility that other coke blocks fall off to damage equipment in the decoking process is reduced, and the safety risk of the decoking work is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of waste incineration treatment, and more particularly to a decoking method, device, equipment and storage medium. BACKGROUND

[0002] During the operation of a waste incineration boiler, coke blocks are prone to form at positions such as the water-cooled wall of the furnace, the included angle of the furnace wall and the secondary air injection hole, which not only affects the heat exchange efficiency, but also may cause pipe explosion due to local overheating. The current decoking method mainly relies on manual decoking.

[0003] Manual decoking requires the erection of a scaffold, which is low in efficiency and has the risk of injuring personnel or equipment due to the falling of coke blocks. Therefore, cleaning each coke block needs to be performed carefully, which is not efficient. Although some current decoking methods using robots can improve the efficiency, other coke blocks often fall during the decoking process, and large high-temperature coke blocks may damage the grate, scaffold and other equipment, which poses a safety risk.

[0004] Therefore, how to accurately judge the state of coke blocks and orderly control the falling of coke blocks to reduce the possibility of damage to equipment caused by the falling of other coke blocks during the decoking process and reduce the safety risk of decoking work is a problem that needs attention. SUMMARY

[0005] In view of the above problems, the present application provides a decoking method, device, equipment and storage medium to reduce the possibility of damage to equipment caused by the falling of other coke blocks during the decoking process and reduce the safety risk of decoking work.

[0006] In order to achieve the above-mentioned purpose, the specific scheme is as follows:

[0007] A decoking method applied to a decoking control system, wherein the decoking control system is in communication connection with a decoking robot, the decoking robot is mounted with a camera and is equipped with a vibration sensor;

[0008] The method comprises the following steps:

[0009] When the decoking robot moves into a target area, coke block images captured by the camera in the target area are acquired;

[0010] A plurality of target coke blocks to be removed are determined from the coke block images, and a coke block loosening first index of each target coke block is determined;

[0011] According to the coke block loosening first index of each target coke block, a first decoking sequence of the decoking robot for each target coke block is determined, and the decoking robot is driven to knock each target coke block according to the first decoking sequence;

[0012] According to the vibration data transmitted by the vibration sensor when the target coke block is tapped by the coke removing robot at a preset force, a coke block loosening second index of the target coke block is calculated, wherein the target coke block is the target coke block that is not detached after being tapped by the coke removing robot at the preset force;

[0013] According to the coke block loosening second index of each of the target coke blocks, a second coke removing sequence of the coke removing robot for each of the target coke blocks is determined, and the coke removing robot is driven to tap each of the target coke blocks according to the second coke removing sequence until all coke blocks in the target region are detached.

[0014] Optionally, the coke block loosening first index of each of the target coke blocks is determined by:

[0015] For each of the target coke blocks, the number of cracks of the target coke block and the crack length of each crack of the target coke block are determined from the coke block image, and the crack length of each crack of the target coke block is accumulated to obtain the total crack length of the target coke block.

[0016] For each of the target coke blocks, a number of hollow coke blocks detached from the adhesion position of the target coke block are determined, the distance between each hollow coke block and the adhesion position of the target coke block is calculated, and the average value of the distance between each hollow coke block and the adhesion position of the target coke block is determined as the detachment length of the target coke block.

[0017] According to the total crack length, the number of cracks, the detachment length, and the coke block size of each of the target coke blocks, the coke block loosening first index of the target coke block is calculated.

[0018] Optionally, the coke block loosening first index of each of the target coke blocks is calculated according to the total crack length, the number of cracks, the detachment length, and the coke block size of the target coke block by:

[0019] For each of the target coke blocks, the total crack length, the number of cracks, the detachment length, and the coke block size of the target coke block are normalized respectively, and the coke block loosening first index of the target coke block is calculated by the following formula:

[0020]

[0021] wherein, is the coke block loosening first index of the target coke block, is the normalized value of the detachment length of the target coke block, is the normalized value of the total crack length of the target coke block, a normalized value of a size of the target coke block, a normalized value of a reference coke block size, a normalized value of the number of cracks of the target coke block, a normalized value of a horizontal height of the target coke block, 、 、 、 and are respectively a first weight, a second weight, a third weight, a fourth weight and a fifth weight.

[0022] Optionally, according to the vibration data transmitted by the vibration sensor when the decoking robot taps the target coke block at a preset force, a coke block loosening second index of a deep cleaning coke block is calculated, including:

[0023] When the decoking robot taps each target coke block at a preset force, a real-time video of the target coke block being tapped is obtained by the camera, and a vibration frequency and a vibration decay rate transmitted by the vibration sensor are obtained;

[0024] For each target coke block, if the real-time video shows that the target coke block has not fallen off after being tapped at the preset force, the target coke block is determined to be a deep cleaning coke block;

[0025] For each deep cleaning coke block, according to the coke block loosening first index of the deep cleaning coke block, the vibration frequency and the vibration decay rate when the deep cleaning coke block is tapped by the decoking robot at the preset force, a coke block loosening second index of the deep cleaning coke block is calculated.

[0026] Optionally, the coke block loosening second index of the deep cleaning coke block is calculated according to the coke block loosening first index of the deep cleaning coke block, the vibration frequency and the vibration decay rate when the deep cleaning coke block is tapped by the decoking robot at the preset force, including:

[0027] For each deep cleaning coke block, the coke block loosening second index of the deep cleaning coke block is calculated by the following formula:

[0028]

[0029] wherein, is the coke block loosening second index of the deep cleaning coke block, is the coke block loosening first index of the target coke block which is the same as the deep cleaning coke block, is the vibration frequency when the deep cleaning coke block is tapped by the decoking robot at the preset force, a knocking vibration frequency reference value, a knocking vibration decay rate reference value. a knocking vibration decay rate reference value.

[0030] Optionally, the driving the decoking robot to knock each of the deep-cleaning coke blocks in the second decoking sequence comprises:

[0031] determining a target deep-cleaning coke block to be reached according to the second decoking sequence;

[0032] driving the decoking robot to knock the target deep-cleaning coke block with an enhanced force greater than the preset force;

[0033] if the target deep-cleaning coke block falls off, completing the knocking of the target deep-cleaning coke block, otherwise sending an instruction to the decoking robot to increase the enhanced force, so that the decoking robot updates the enhanced force to obtain a new enhanced force, and returns to the step of driving the decoking robot to knock the target deep-cleaning coke block with the enhanced force greater than the preset force.

[0034] Optionally, the decoking control system is equipped with a remote control for a user to manually control the decoking robot to perform the moving action and the knocking action.

[0035] A decoking device applied to a decoking control system, the decoking control system being in communication connection with a decoking robot, the decoking robot being mounted with a camera and being equipped with a vibration sensor;

[0036] The device comprises:

[0037] a coke block image acquisition unit configured to acquire a coke block image captured by the camera in a target area when the decoking robot moves into the target area;

[0038] a coke block loosening first index determination unit configured to determine a plurality of target coke blocks to be removed from the coke block image, and determine a coke block loosening first index of each of the target coke blocks;

[0039] a first knocking unit configured to determine a first decoking sequence of the decoking robot for each of the target coke blocks according to the coke block loosening first index of each of the target coke blocks, and drive the decoking robot to knock each of the target coke blocks according to the first decoking sequence;

[0040] A second coke block loosening index calculation unit is configured to calculate a second coke block loosening index of a deep cleaning coke block according to vibration data transmitted by the vibration sensor when the coke cleaning robot taps the target coke block at a preset force, wherein the deep cleaning coke block is the target coke block that does not fall off after being tapped by the coke cleaning robot at the preset force.

[0041] A second tapping unit is configured to determine a second coke cleaning sequence of each of the deep cleaning coke blocks according to the second coke block loosening index of each of the deep cleaning coke blocks, and drive the coke cleaning robot to tap each of the deep cleaning coke blocks in the second coke cleaning sequence until all coke blocks in the target area fall off.

[0042] Optionally, the first coke block loosening index determination unit comprises:

[0043] A crack calculation unit is configured to determine, for each of the target coke blocks, a number of cracks of the target coke block and a crack length of each of the cracks of the target coke block from the coke block image, and accumulate the crack lengths of each of the cracks of the target coke block to obtain a total crack length of the target coke block.

[0044] A stick-off length calculation unit is configured to determine, for each of the target coke blocks, a number of hollow coke blocks that are separated from an adhering position of the target coke block, calculate a distance between each of the hollow coke blocks and the adhering position of the target coke block, and determine an average value of the distances between each of the hollow coke blocks and the adhering position of the target coke block as a stick-off length of the target coke block.

[0045] A first index calculation unit is configured to calculate a first coke block loosening index of each of the target coke blocks according to the total crack length, the number of cracks, the stick-off length, and a coke block size of the target coke block.

[0046] Optionally, the first index calculation unit comprises:

[0047] A first index calculation sub-unit is configured to normalize the total crack length, the number of cracks, the stick-off length, and the coke block size of each of the target coke blocks, respectively, and calculate a first coke block loosening index of the target coke block using the following formula:

[0048]

[0049] wherein, is the first coke block loosening index of the target coke block, is a normalized value of the stick-off length of the target coke block, is a normalized value of the total crack length of the target coke block, a normalized value of a size of the target coke block, a normalized value of a reference coke block size, a normalized value of the number of cracks of the target coke block, a normalized value of a horizontal height of the target coke block, 、 、 、 and are respectively a first weight, a second weight, a third weight, a fourth weight and a fifth weight.

[0050] Optionally, the coke block loosening second index calculation unit comprises:

[0051] a vibration data acquisition unit, configured to acquire real-time video of each target coke block being knocked by the camera when the coke removing robot knocks each target coke block at a preset force, and acquire vibration frequency and vibration decay speed transmitted by the vibration sensor;

[0052] a deep cleaning coke block determination unit, configured to, for each target coke block, determine the target coke block as a deep cleaning coke block if the real-time video shows that the target coke block does not fall off after the target coke block is knocked at the preset force;

[0053] a second index calculation unit, configured to, for each deep cleaning coke block, calculate a coke block loosening second index of the deep cleaning coke block according to the coke block loosening first index of the deep cleaning coke block, the vibration frequency and the vibration decay speed when the deep cleaning coke block is knocked at the preset force by the coke removing robot.

[0054] Optionally, the second index calculation unit comprises:

[0055] a second index calculation sub-unit, configured to, for each deep cleaning coke block, calculate the coke block loosening second index of the deep cleaning coke block by using the following formula:

[0056]

[0057] wherein, is the coke block loosening second index of the deep cleaning coke block, is the coke block loosening first index of the target coke block which is the same as the deep cleaning coke block, is the vibration frequency when the deep cleaning coke block is knocked at the preset force by the coke removing robot, is a knocking vibration frequency reference value, is the vibration decay speed when the deep cleaning coke block is knocked at the preset force by the coke removing robot, The knocking vibration attenuation speed reference value is knocked.

[0058] Optionally, the second knocking unit comprises:

[0059] The target deep cleaning coke block determination unit is configured to determine a second coke cleaning sequence of the coke cleaning robot for each of the deep cleaning coke blocks according to the coke block loosening second index of each of the deep cleaning coke blocks, and determine a target deep cleaning coke block to be traversed according to the second coke cleaning sequence.

[0060] The knocking unit is configured to drive the coke cleaning robot to knock the target deep cleaning coke block at an enhanced force greater than the preset force.

[0061] The coke block falling judgment unit is configured to complete the knocking of the target deep cleaning coke block if the target deep cleaning coke block falls, or send an instruction to increase the enhanced force to the coke cleaning robot, so that the coke cleaning robot updates the enhanced force to obtain a new enhanced force, and returns to execute the knocking unit.

[0062] Optionally, the coke cleaning control system is equipped with a remote control, and the remote control is used for manual control of the coke cleaning robot to execute the moving action and the knocking action.

[0063] A coke cleaning device comprises a memory and a processor.

[0064] The memory is configured to store a program.

[0065] The processor is configured to execute the program to realize each step of the coke cleaning method.

[0066] A storage medium has a computer program stored thereon, and the computer program is executed by a processor to realize each step of the coke cleaning method.

[0067] By the above technical solution, the application obtains the focus block image shot by the camera in the target area when the focus clearing robot moves into the target area, determines a plurality of target focus blocks to be removed from the focus block image, and determines the focus block loosening first index of each target focus block. According to the focus block loosening first index of each target focus block, the first focus clearing sequence of the focus clearing robot for each target focus block is determined, and the focus clearing robot is driven to knock each target focus block according to the first focus clearing sequence. According to the vibration data transmitted by the vibration sensor when the focus clearing robot knocks the target focus block at a preset force, the focus block loosening second index of the focus block to be deeply cleaned is calculated, wherein the focus block to be deeply cleaned is the target focus block that does not fall off after being knocked by the focus clearing robot at a preset force. According to the focus block loosening second index of each focus block to be deeply cleaned, the second focus clearing sequence of the focus clearing robot for each focus block to be deeply cleaned is determined, and the focus clearing robot is driven to knock each focus block to be deeply cleaned according to the second focus clearing sequence until all the focus blocks in the target area fall off. As can be seen, by evaluating the loosening index of the focus block, the focus block is knocked according to the order of loosening severity, so that the focus block falls off in order according to the loosening degree, and the focus clearing work is divided into two rounds of initial knocking and deep cleaning, reducing the possibility of damage to the equipment caused by the falling off of other focus blocks during the focus clearing process, thereby reducing the safety risk of focus clearing work. BRIEF DESCRIPTION OF DRAWINGS

[0068] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings indicate the same or similar components. In the drawings:

[0069] Figure 1 A flowchart for implementing focus clearing is provided for the embodiments of the application;

[0070] Figure 2 A flowchart for driving the focus clearing robot to knock the focus block to be deeply cleaned is provided for the embodiments of the application;

[0071] Figure 3 A device structure diagram for implementing focus clearing is provided for the embodiments of the application;

[0072] Figure 4 A device structure diagram for implementing focus clearing is provided for the embodiments of the application. DETAILED DESCRIPTION

[0073] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application.

[0074] The scheme of the present application can be implemented based on a terminal with data processing capability, which can be a decoking control system. The decoking control system can be in communication connection with a decoking robot. The decoking robot is used to automatically perform a decoking operation, and the decoking control system can control the decoking execution logic of the decoking robot in real time according to the feedback information of the decoking robot. Therefore, the equipment used to feed back to the decoking control system of the decoking robot is a camera, which can be mounted on the body or mechanical arm of the decoking robot, and is used to feed back real-time field information to the decoking control system. The decoking robot can also be equipped with a vibration sensor, which is used to feed back vibration data to the decoking control system when the robot knocks the coke block, so as to analyze the loosening condition of the coke block.

[0075] Next, the decoking method of the present application can include the following steps: Figure 1

[0076] Step S110, when the decoking robot moves into the target area, the coke block image photographed by the camera in the target area is acquired.

[0077] The target area can be the surface of the boiler water wall, the corner of the furnace wall in the furnace, the secondary air injection hole of the front and rear walls, and the upper part of the furnace. The target area referred to in this embodiment can specifically refer to one of these areas.

[0078] It can be understood that during the operation of the waste incineration boiler, fly ash particles in the flue gas melt at high temperature. If the molten particles contact the furnace wall or water wall with lower temperature during the flow of flue gas, they will cool and solidify at the contact position to form coke, which is the main attachment position of coke blocks. Coke can reduce the heat exchange efficiency between flue gas and water wall, and even cause local over-temperature explosion of water wall. When the coke block grows too large, it may also cause damage to the furnace wall due to its own weight when it falls off, so it is necessary to regularly perform decoking operation on the furnace wall and water wall surface of the incinerator furnace. In the usual decoking operation process, the coke blocks with large volume and high risk of falling off need to be cleaned first, and then the coke blocks in the corner of the furnace wall, the secondary air injection hole and other easy coking positions need to be specially treated to avoid reducing the flue gas flow area or blocking the secondary air injection hole, which affects the normal operation of the boiler.

[0079] Step S120, determining a plurality of target coke blocks to be removed from the coke block image, and determining a first coke block loosening index of each target coke block.

[0080] ​The first index of the target coke block loosening can represent the possibility of the target coke block falling off during the coke cleaning process and the damage degree when falling off.

[0081] Specifically, the first index of the coke block loosening can be related to (positively related to) the size of the target coke block, the degree of separation from the adhering place, the crack degree, and the horizontal height. The higher the first index of the coke block loosening, the higher the degree of loosening of the target coke block, the weaker the connection with the adhering place, the easier to fall off under the influence of external force (such as the coke cleaning robot), and the greater the risk of damage to the grate, equipment or operating environment due to factors such as volume and height. Conversely, the lower the first index of the coke block loosening, the more stable the adhesion of the target coke block, and the smaller the risk of falling off and potential damage.

[0082] In step S130, the first coke cleaning sequence of the coke cleaning robot for each target coke block is determined according to the first index of the coke block loosening of each target coke block, and the coke cleaning robot is driven to knock each target coke block according to the first coke cleaning sequence.

[0083] Specifically, since the higher the first index of the coke block loosening, the more loose the target coke block, the first coke cleaning sequence can be determined according to the principle of giving priority to the target coke block with a higher degree of loosening.

[0084] It can be understood that when the coke cleaning robot knocks each target coke block according to the first coke cleaning sequence, the possibility of other target coke blocks falling off is relatively small, so that the coke blocks fall off in order according to the degree of loosening, and the possibility of damage to the equipment during the coke cleaning process is reduced.

[0085] In step S140, the second index of the coke block loosening of the coke block to be cleaned in depth is calculated according to the vibration data transmitted by the vibration sensor when the coke cleaning robot knocks the target coke block at a preset force.

[0086] The preset force can represent the knocking force that does not affect the falling off of the reference coke block when knocking the target coke block. The reference coke block is a coke block of a standard size separated from the target coke block by a standard distance.

[0087] The coke block to be cleaned in depth can represent the target coke block that does not fall off after being knocked by the coke cleaning robot at the preset force. It can be understood that some coke blocks have a later first coke cleaning sequence (a lower first index of the coke block loosening), and these coke blocks are more stable in adhesion. The coke cleaning robot can not knock these coke blocks off by only using the preset force, but there may be some coke blocks with an earlier first coke cleaning sequence (a higher first index of the coke block loosening), which are actually closely connected to the adhering place although the coke block loosening index quantified from the image shows that they are loose. These target coke blocks that do not fall off after being knocked by the coke cleaning robot at the preset force can be defined as coke blocks to be cleaned in depth, which need to be cleaned in depth.

[0088] Specifically, the operation sequence of deep cleaning of each deep cleaning coke block can be quantified in combination with the coke block loosening second index calculated from the vibration data collected by the vibration sensor. In the process of calculating the coke block loosening second index, the coke block loosening first index calculated previously also needs to be quantified.

[0089] The coke block loosening second index can represent the possibility of deep cleaning coke block falling off during the decoking process and the degree of damage when it falls off. The higher the coke block loosening second index, the higher the degree of deep cleaning coke block loosening, the weaker the connection of the deep cleaning coke block adhering place, the easier to fall off when affected by external force, and the greater the risk of damage to the grate, equipment or working environment due to factors such as volume and height when falling off. On the contrary, the lower the coke block loosening second index, the more stable the deep cleaning coke block adheres, the smaller the risk of falling off and potential harm.

[0090] Step S150, according to the coke block loosening second index of each deep cleaning coke block, determine the second decoking sequence of the decoking robot to each deep cleaning coke block, and drive the decoking robot to knock each deep cleaning coke block according to the second decoking sequence until all coke blocks in the target area fall off.

[0091] Specifically, since the higher the coke block loosening second index indicates the more loosening of the deep cleaning coke block, the second decoking sequence can be determined according to the principle of giving priority to the more loosening ones.

[0092] It can be understood that when the decoking robot knocks each deep cleaning coke block according to the second decoking sequence, the possibility of other deep cleaning coke blocks falling off is relatively small, so that the deep cleaning coke blocks fall off in order according to the loosening degree, and the possibility of other coke blocks falling off and damaging the equipment during the decoking process is reduced.

[0093] The method for cleaning the coke provided by the embodiment comprises the following steps: when the coke cleaning robot moves into the target area, the camera acquires the coke block image shot by the camera in the target area, a plurality of target coke blocks to be cleaned are determined from the coke block image, and a coke block loosening first index of each target coke block is determined; according to the coke block loosening first index of each target coke block, a first coke cleaning sequence of the coke cleaning robot for each target coke block is determined, and the coke cleaning robot is driven to knock each target coke block according to the first coke cleaning sequence; according to the vibration data transmitted by the vibration sensor when the coke cleaning robot knocks the target coke block at a preset force, a coke block loosening second index of the coke block to be cleaned in depth is calculated, wherein the coke block to be cleaned in depth is the target coke block that does not fall off after being knocked by the coke cleaning robot at the preset force; according to the coke block loosening second index of each coke block to be cleaned in depth, a second coke cleaning sequence of the coke cleaning robot for each coke block to be cleaned in depth is determined, and the coke cleaning robot is driven to knock each coke block to be cleaned in depth according to the second coke cleaning sequence, until all the coke blocks in the target area fall off. As can be seen, by evaluating the loosening index of the coke block, the coke block is knocked according to the order of loosening severity, so that the coke block falls off in order according to the loosening degree, the coke cleaning work is divided into two rounds of initial knocking and deep cleaning, the possibility of damage to the equipment caused by the falling off of other coke blocks during the coke cleaning process is reduced, and the safety risk of the coke cleaning work is reduced.

[0094] In some embodiments of the present application, the process of determining the coke block loosening first index of each target coke block mentioned in the above embodiments is introduced, which can include:

[0095] S1, for each target coke block, the number of cracks of the target coke block is determined from the coke block image, and the crack length of each crack of the target coke block is determined, and the crack lengths of the cracks of the target coke block are added to obtain the total crack length of the target coke block.

[0096] It can be understood that the number of cracks of the target coke block can represent the looseness of the structure of the target coke block, and the more the number of cracks, the looser the structure of the target coke block, and vice versa. The total crack length of the target coke block can represent the risk of fracture of the target coke block, and the greater the total crack length, the higher the risk of fracture of the target coke block, and vice versa.

[0097] S2, for each target coke block, a plurality of half-empty coke blocks separated from the adhesion place thereof in the target coke block are determined, the distance between each half-empty coke block and the adhesion place of the target coke block is calculated, and the average value of the distances between each half-empty coke block and the adhesion place of the target coke block is determined as the adhesion length of the target coke block.

[0098] It can be understood that the adhesion length of the target coke block can represent the connection tightness of the target coke block and its adhesion place directly reflected from the coke block image. The greater the adhesion length, the farther and more obvious the target coke block is separated from its adhesion place.

[0099] S3, calculating a first index of the target coke block according to the total length of cracks, the number of cracks, the length of sticking-off, and the size of the target coke block.

[0100] Specifically, since the total length of cracks, the number of cracks, the length of sticking-off, the size of the coke block, and the horizontal height of the coke block are all positively correlated with the degree of coke block loosening and the degree of falling-off hazard, the total length of cracks L, the number of cracks C, the length of sticking-off D, the size of the coke block V, and the horizontal height of the coke block H can be normalized respectively, and then the weighted sum of the normalized indexes of each factor is calculated. Specifically, the first index of the target coke block can be calculated by the following formula:

[0101]

[0102] wherein, is the first index of the target coke block, is the normalized value of the length of sticking-off of the target coke block, is the normalized value of the total length of cracks of the target coke block, is the normalized value of the size of the target coke block, is the normalized value of the reference coke block size, is the normalized value of the number of cracks of the target coke block, is the normalized value of the horizontal height of the target coke block, , , , and are the first weight, the second weight, the third weight, the fourth weight, and the fifth weight, respectively.

[0103] It can be understood that the first index of the coke block loosening is composed of the sticking-off length item, the total crack length item, the coke block size item, the crack number item and the coke block horizontal height item. The greater the target coke block volume is, the total crack length and the crack number of the target coke block itself are normally increased accordingly, and thus the coke block size of the target coke block needs to be taken as a correction item of the total crack length and the crack number. When quantifying the total crack length item (regarded as a quantitative value), if the target coke block volume is greater, the target coke block tends to be in a tight state, and thus the total crack length item will be weakened, and vice versa. When quantifying the crack number item (regarded as a quantitative value), if the target coke block volume is greater, the target coke block also tends to be in a tight state, and thus the crack number item will be weakened, and vice versa. In the priority of the target coke block cleaning, the sticking-off length is the core feature reflecting the loosening, and plays the most significant role, followed by the total crack length, the crack number, the coke block size and the coke block horizontal height in turn, and thus the first weight is the weight of the sticking-off length item, the second weight is the weight of the total crack length item, the third weight is the weight of the crack number item, the fourth weight is the weight of the coke block size item, and the fifth weight is the weight of the coke block horizontal height item. As can be seen, the first index of the coke block loosening of each target coke block calculated by the above formula can more accurately reflect the priority of the target coke block being cleaned, so as to reduce the risk of damage to the equipment caused by the falling of other coke blocks during the decoking process.

[0104] In some embodiments of the present application, the process of determining the second decoking sequence of the decoking robot for cleaning the coke blocks according to the second index of the coke block loosening of the coke blocks of each depth mentioned in the above embodiments is introduced, which can include:

[0105] S1, when the decoking robot knocks each target coke block at a preset force, the real-time video of the target coke block being knocked is obtained by the camera, and the vibration frequency and vibration attenuation speed transmitted by the vibration sensor are obtained.

[0106] Specifically, the decoking robot runs to the target area, before knocking the target coke block, the camera is triggered to perform video shooting, and the camera transmits the video stream to the decoking control system in real time. After the decoking robot starts to knock the target coke block, the decoking control system can monitor the process of the target coke block being knocked in real time. At the same time, the vibration sensor synchronously transmits the vibration frequency and vibration attenuation speed collected during the knocking to the decoking control system.

[0107] The vibration frequency can represent the number of times the target coke block is vibrated per unit time after the knocking robot knocks the target coke block, and reflects the speed of coke block vibration, which is related to the inherent properties of the coke block (such as material, structural integrity). The target coke block that is loose may produce a higher or more irregular frequency when vibrated due to unstable connection with the adhering part. The vibration attenuation speed can represent the speed at which the amplitude of the target coke block vibration decreases over time, and reflects the rate at which the vibration energy of the target coke block is dissipated, which is directly related to the connection strength of the target coke block and the adhering part. The target coke block that is loose has a faster vibration energy dissipation speed and a faster attenuation speed due to weak connection; while the target coke block that is firmly attached has a slower vibration energy dissipation speed and a slower attenuation speed.

[0108] S2, for each target coke block, if the real-time video shows that the target coke block has not fallen off after being knocked with a preset force, the target coke block is determined to be a deep cleaning coke block.

[0109] Specifically, after the real-time video shows that the target coke block has not fallen off, the position of the target coke block can be locked in combination with the coke block image to determine and mark the target coke block at the position as a deep cleaning coke block.

[0110] S3, for each deep cleaning coke block, the coke block loosening second index of the deep cleaning coke block is calculated according to the coke block loosening first index of the deep cleaning coke block, the vibration frequency when the deep cleaning coke block is knocked by the coke removing robot with a preset force, and the vibration attenuation speed.

[0111] Specifically, for each deep cleaning coke block, the coke block loosening second index of the deep cleaning coke block can be calculated by the following formula:

[0112]

[0113] wherein, is the coke block loosening second index of the deep cleaning coke block, is the coke block loosening first index of the target coke block which is the same as the deep cleaning coke block, is the vibration frequency when the deep cleaning coke block is knocked by the coke removing robot with a preset force, is the knocking vibration frequency reference value, is the vibration attenuation speed when the deep cleaning coke block is knocked by the coke removing robot with a preset force, is the knocking vibration attenuation speed reference value.

[0114] It can be understood that, since the higher the second index of the coke block loosening is, the more loose the deep-cleaning coke block is, and the faster the vibration attenuation speed and the greater the vibration frequency are, all of which represent that the deep-cleaning coke block is more loose, therefore, the vibration attenuation speed and the vibration frequency are positively correlated with the second index of the coke block loosening. Among them, since the vibration attenuation speed measured by the vibration sensor is determined by the gap between the deep-cleaning coke block and the adhering place, therefore, in the cleaning priority of the deep-cleaning coke block, the vibration attenuation speed has the same priority as the length of the adhesion, that is, the vibration attenuation speed term and the length of the adhesion term have the same weight . On this basis, the weight of the vibration frequency term composed of another key factor is . As can be seen from the above, the second index of the coke block loosening of each deep-cleaning coke block calculated by the above formula can more accurately reflect the priority of the deep-cleaning coke block to be cleaned, thereby reducing the risk of damage to the equipment caused by the falling of other coke blocks during the decoking process.

[0115] In some embodiments of the present application, the process of knocking each deep-cleaning coke block according to the second decoking sequence by the aforementioned driving decoking robot is introduced, as shown in Figure 2 , the process can include:

[0116] Step S210, according to the second decoking sequence, determining the target deep-cleaning coke block to be traversed to.

[0117] Step S220, driving the decoking robot to knock the target deep-cleaning coke block with an enhanced force greater than the preset force.

[0118] Specifically, when the decoking robot knocks the target deep-cleaning coke block for the first time with a force greater than the preset force, the force can be the initial value of the enhanced force.

[0119] Step S230, judging whether the target deep-cleaning coke block falls off, if yes, executing step S240, if not, executing step S250.

[0120] Step S240, completing the knocking of the target deep-cleaning coke block.

[0121] Step S250, sending an instruction to increase the enhanced force to the decoking robot, so that the decoking robot updates the enhanced force to obtain a new enhanced force, and returns to execute step S220.

[0122] Specifically, since the target depth cleaning coke can not be knocked off by knocking with the preset force, the knocking force needs to be increased, and then the target depth cleaning coke can be knocked with an enhanced force greater than the preset force. If the enhanced force after increasing the knocking force still cannot knock the target depth cleaning coke off, the knocking force needs to be continuously increased until the target depth cleaning coke is knocked off. After cleaning each target depth cleaning coke, the next target depth cleaning coke is traversed according to the second coke cleaning sequence, and the knocking force is restored to the initial value of the enhanced force, until all depth cleaning coals are knocked off.

[0123] The device for implementing coke cleaning provided by the embodiment of the application is described below. The device for implementing coke cleaning described below can be referred to in correspondence with the method for implementing coke cleaning described above.

[0124] Referring to Figure 3 , Figure 3 The device for implementing coke cleaning disclosed by the embodiment of the application is shown in a structural schematic diagram.

[0125] As Figure 3 shown, the device can include:

[0126] A coke image acquisition unit 11 is configured to acquire a coke image captured by a camera in a target area when a coke cleaning robot moves into the target area.

[0127] A coke loosening first index determination unit 12 is configured to determine a plurality of target coals to be removed from the coke image, and determine a coke loosening first index of each target coke.

[0128] A first knocking unit 13 is configured to determine a first coke cleaning sequence of the coke cleaning robot for each target coke according to the coke loosening first index of each target coke, and drive the coke cleaning robot to knock each target coke according to the first coke cleaning sequence.

[0129] A coke loosening second index calculation unit 14 is configured to calculate a coke loosening second index of a depth cleaning coke according to vibration data transmitted by a vibration sensor when the coke cleaning robot knocks the target coke with a preset force, wherein the depth cleaning coke is the target coke that has not fallen off after being knocked by the coke cleaning robot with the preset force.

[0130] A second knocking unit 15 is configured to determine a second coke cleaning sequence of the coke cleaning robot for each depth cleaning coke according to the coke loosening second index of each depth cleaning coke, and drive the coke cleaning robot to knock each depth cleaning coke according to the second coke cleaning sequence until all coals in the target area are knocked off.

[0131] Optionally, the focus block looseness first index determination unit comprises:

[0132] a crack number determination unit, configured to determine, for each of the target focus block, a crack number of the target focus block from the focus block image;

[0133] a stick-off length calculation unit, configured to determine, for each of the target focus block, a number of hollow focus blocks in the target focus block that are separated from the adhesion place of the target focus block, calculate a distance between each hollow focus block and the adhesion place of the target focus block, and determine an average value of the distances between each hollow focus block and the adhesion place of the target focus block as a stick-off length of the target focus block;

[0134] a first index calculation unit, configured to calculate, according to the crack total length, the crack number, the stick-off length and the focus block size of each of the target focus block, a focus block looseness first index of the target focus block.

[0135] Optionally, the first index calculation unit comprises:

[0136] a first index calculation sub-unit, configured to, for each of the target focus block, normalize the crack total length, the crack number, the stick-off length and the focus block size of the target focus block respectively, and calculate a focus block looseness first index of the target focus block by using the following formula:

[0137]

[0138] wherein, is the focus block looseness first index of the target focus block, is the normalized value of the stick-off length of the target focus block, is the normalized value of the crack total length of the target focus block, is the normalized value of the focus block size of the target focus block, is a reference focus block size normalized value, is the normalized value of the crack number of the target focus block, is the normalized value of the horizontal height of the target focus block, , , , and are respectively a first weight, a second weight, a third weight, a fourth weight and a fifth weight.

[0139] Optionally, the focus block looseness second index calculation unit comprises:

[0140] a vibration data acquisition unit, configured to acquire real-time video of each target clinker being knocked by the robot through the camera, and acquire vibration frequency and vibration decay speed transmitted by the vibration sensor when the robot knocks each target clinker with a preset force;

[0141] a deep cleaning clinker determination unit, configured to determine, for each target clinker, that the target clinker is a deep cleaning clinker if the real-time video shows that the target clinker does not fall off after being knocked by the robot with the preset force;

[0142] a second index calculation unit, configured to calculate, for each deep cleaning clinker, a second clinker loosening index of the deep cleaning clinker according to the first clinker loosening index of the deep cleaning clinker, the vibration frequency and the vibration decay speed when the deep cleaning clinker is knocked by the robot with the preset force.

[0143] Optionally, the second index calculation unit comprises:

[0144] a second index calculation sub-unit, configured to calculate, for each deep cleaning clinker, the second clinker loosening index of the deep cleaning clinker by using the following formula:

[0145]

[0146] wherein, the second clinker loosening index of the deep cleaning clinker, the first clinker loosening index of the target clinker identical to the deep cleaning clinker, the vibration frequency when the deep cleaning clinker is knocked by the robot with the preset force, a knocking vibration frequency reference value, the vibration decay speed when the deep cleaning clinker is knocked by the robot with the preset force, a knocking vibration decay speed reference value.

[0147] Optionally, the second knocking unit comprises:

[0148] a target deep cleaning clinker determination unit, configured to determine, according to the second clinker loosening index of each deep cleaning clinker, a second clinker cleaning sequence of the robot for each deep cleaning clinker, and determine a target deep cleaning clinker to be traversed according to the second clinker cleaning sequence;

[0149] a knocking unit, configured to drive the robot to knock the target deep cleaning clinker with an enhanced force greater than the preset force;

[0150] The coke block falling judgment unit is configured to complete the knocking of the coke block in the target depth if the coke block in the target depth falls, and otherwise send an instruction of increasing the enhanced force to the coke removing robot, so that the coke removing robot updates the enhanced force to obtain a new enhanced force and returns to execute the knocking unit.

[0151] Optionally, the coke removing control system is equipped with a remote control for manual control of the coke removing robot to perform the moving action and the knocking action.

[0152] The coke removing device provided by the embodiments of the present application can be applied to a coke removing device, such as a coke removing control system. Optionally, Figure 4 A hardware structure block diagram of the coke removing device is shown, referring to Figure 4 The hardware structure of the coke removing device can include at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4.

[0153] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete the communication with each other through the communication bus 4.

[0154] The processor 1 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, etc.

[0155] The memory 3 can include a high-speed RAM memory, and can also include a non-volatile memory, etc., such as at least one disk memory.

[0156] The memory stores a program, and the processor can call the program stored in the memory, and the program is used for:

[0157] When the coke removing robot moves to the target area, the coke block image photographed by the camera in the target area is acquired;

[0158] A plurality of target coke blocks to be removed are determined from the coke block image, and a coke block loosening first index of each target coke block is determined.

[0159] According to the coke block loosening first index of each target coke block, a first coke removing sequence of the coke removing robot for each target coke block is determined, and the coke removing robot is driven to knock each target coke block according to the first coke removing sequence.

[0160] According to vibration data transmitted by the vibration sensor when the target coke block is struck by the coke removing robot at a preset force, a coke block loosening second index of a deep cleaning coke block is calculated, wherein the deep cleaning coke block is the target coke block that does not fall off after being struck by the coke removing robot at the preset force;

[0161] According to the coke block loosening second index of each deep cleaning coke block, a second coke removing sequence of the coke removing robot for each deep cleaning coke block is determined, and the coke removing robot is driven to strike each deep cleaning coke block according to the second coke removing sequence until all coke blocks in the target region fall off.

[0162] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0163] The embodiment of the application further provides a storage medium which can store a program suitable for processor execution, and the program is used for:

[0164] When the coke removing robot moves to the target region, coke block images taken by the camera in the target region are acquired;

[0165] A plurality of target coke blocks to be removed are determined from the coke block images, and a coke block loosening first index of each target coke block is determined;

[0166] According to the coke block loosening first index of each target coke block, a first coke removing sequence of the coke removing robot for each target coke block is determined, and the coke removing robot is driven to strike each target coke block according to the first coke removing sequence;

[0167] According to vibration data transmitted by the vibration sensor when the target coke block is struck by the coke removing robot at a preset force, a coke block loosening second index of a deep cleaning coke block is calculated, wherein the deep cleaning coke block is the target coke block that does not fall off after being struck by the coke removing robot at the preset force;

[0168] According to the coke block loosening second index of each deep cleaning coke block, a second coke removing sequence of the coke removing robot for each deep cleaning coke block is determined, and the coke removing robot is driven to strike each deep cleaning coke block according to the second coke removing sequence until all coke blocks in the target region fall off.

[0169] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0170] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are not intended to denote the presence of any such actual relationship or order. Moreover, the terms "include", "have", or any other variant thereof are intended to encompass non-exclusive inclusions, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to comprise only those elements in the list, but can include other elements not expressly listed, or also include elements inherent in such processes, methods, articles, or apparatuses. Without additional restrictions, an element preceded by "comprises... a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the stated element.

[0171] The various embodiments in the specification are described in progressive order with each embodiment building on the previous one, and each embodiment can be combined with other embodiments in any way technically possible. The same or similar parts and principles in the embodiments can be interchanged.

[0172] The above description of disclosed embodiments provides enabling disclosure sufficient for one of ordinary skill in the art to implement or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A decoking method, characterized by, The application is applied to a coke cleaning control system, which is in communication connection with a coke cleaning robot, the coke cleaning robot is mounted with a camera and is equipped with a vibration sensor; The method comprises: When the coke cleaning robot moves into a target area, a coke block image of the target area shot by the camera is acquired; A plurality of target coke blocks to be removed are determined from the coke block image, and a coke block loosening first index of each target coke block is determined; According to the coke block loosening first index of each target coke block, a first coke cleaning sequence of the coke cleaning robot for each target coke block is determined, and the coke cleaning robot is driven to knock each target coke block according to the first coke cleaning sequence; According to vibration data transmitted by the vibration sensor when the coke cleaning robot knocks the target coke block at a preset force, a coke block loosening second index of a deep cleaning coke block is calculated, wherein the deep cleaning coke block is the target coke block that does not fall off after being knocked by the coke cleaning robot at the preset force; According to the coke block loosening second index of each deep cleaning coke block, a second coke cleaning sequence of the coke cleaning robot for each deep cleaning coke block is determined, and the coke cleaning robot is driven to knock each deep cleaning coke block according to the second coke cleaning sequence until all coke blocks in the target area fall off.

2. The method of claim 1, wherein, The coke block loosening first index of each target coke block is determined, which comprises: For each target coke block, the number of cracks of the target coke block and the crack length of each crack of the target coke block are determined from the coke block image, and the crack length of each crack of the target coke block is accumulated to obtain the total crack length of the target coke block; For each target coke block, a plurality of hollow coke blocks separated from the adhesion place of the target coke block are determined, the distance between each hollow coke block and the adhesion place of the target coke block is calculated, and the average value of the distance between each hollow coke block and the adhesion place of the target coke block is determined as the separation length of the target coke block; According to the total crack length, the number of cracks, the separation length and the coke block size of each target coke block, the coke block loosening first index of the target coke block is calculated.

3. The method of claim 2, wherein, The coke block loosening first index of each target coke block is calculated according to the total crack length, the number of cracks, the separation length and the coke block size of each target coke block, which comprises: For each target coke block, the total crack length, the number of cracks, the separation length and the coke block size of the target coke block are normalized respectively, and the coke block loosening first index of the target coke block is calculated by using the following formula: wherein, is a first index of focus block looseness of the target focus block, is a normalized value of the stick-off length of the target focus block, is a normalized value of the total length of the crack of the target focus block, is a normalized value of the focus block size of the target focus block, is a reference focus block size normalized value, is a normalized value of the number of cracks of the target focus block, is a normalized value of the horizontal height of the target focus block, , , , and are a first weight, a second weight, a third weight, a fourth weight, and a fifth weight, respectively.

4. The method of claim 3, wherein, According to the vibration data transmitted by the vibration sensor when the coke cleaning robot knocks the target coke block at a preset force, the coke block loosening second index of the deep cleaning coke block is calculated, which comprises: When the coke cleaning robot knocks each target coke block at a preset force, a real-time video of the target coke block being knocked is acquired by the camera, and the vibration frequency and the vibration attenuation speed transmitted by the vibration sensor are acquired; For each of the target focus blocks, if the real-time video shows that the target focus block does not fall off after the target focus block is struck by the preset force, the target focus block is determined as a deep cleaning focus block; For each of the deep cleaning focus blocks, a focus block loosening second index of the deep cleaning focus block is calculated according to the focus block loosening first index of the deep cleaning focus block, the vibration frequency when the deep cleaning focus block is struck by the coke-removing robot with the preset force, and the vibration decay speed.

5. The method of claim 4, wherein, The calculation of the focus block loosening second index of the deep cleaning focus block according to the focus block loosening first index of the deep cleaning focus block, the vibration frequency when the deep cleaning focus block is struck by the coke-removing robot with the preset force, and the vibration decay speed includes: For each of the deep cleaning focus blocks, the focus block loosening second index of the deep cleaning focus block is calculated by using the following formula: wherein, a second index of clinker loosening for the deeply cleaned clinker, a first index of clinker loosening for the target clinker which is the same as the deeply cleaned clinker, a vibration frequency when the deeply cleaned clinker is tapped by the clinker cleaning robot with the preset force, a tapping vibration frequency reference value, a vibration decay rate when the deeply cleaned clinker is tapped by the clinker cleaning robot with the preset force, a tapping vibration decay rate reference value.

6. The method according to any one of claims 1 to 5, characterized in that, The driving of the coke-removing robot to strike each of the deep cleaning focus blocks according to the second coke-removing sequence includes: According to the second coke-removing sequence, a target deep cleaning focus block to be reached is determined; The coke-removing robot is driven to strike the target deep cleaning focus block with an enhanced force greater than the preset force; If the target deep cleaning focus block falls off, the striking of the target deep cleaning focus block is completed, otherwise, an instruction to increase the enhanced force is sent to the coke-removing robot, so that the coke-removing robot updates the enhanced force to obtain a new enhanced force, and returns to execute the step of driving the coke-removing robot to strike the target deep cleaning focus block with the enhanced force greater than the preset force.

7. The method according to any one of claims 1 to 5, characterized in that, The coke-removing control system is equipped with a remote control for a user to manually control the coke-removing robot to perform a moving action and a striking action.

8. A decoking device characterized by The coke-removing control system is applied to a coke-removing control system, which is in communication connection with a coke-removing robot, the coke-removing robot is mounted with a camera and is equipped with a vibration sensor; The device includes: A focus block image acquisition unit is configured to acquire a focus block image captured by the camera in a target area when the coke-removing robot moves into the target area; A focus block loosening first index determination unit is configured to determine a plurality of target focus blocks to be removed from the focus block image, and determine a focus block loosening first index of each of the target focus blocks; A first striking unit is configured to determine a first coke-removing sequence of the coke-removing robot for each of the target focus blocks according to the focus block loosening first index of each of the target focus blocks, and drive the coke-removing robot to strike each of the target focus blocks according to the first coke-removing sequence; A focus block loosening second index calculation unit is configured to calculate a focus block loosening second index of a deep cleaning focus block according to vibration data transmitted by the vibration sensor when the coke-removing robot strikes the target focus block with a preset force, wherein the deep cleaning focus block is the target focus block that does not fall off after being struck by the coke-removing robot with the preset force. A second knocking unit is configured to determine a second coke loosening index of each of the deep cleaning coke blocks according to the deep cleaning coke blocks, determine a second coke removing sequence of the deep cleaning coke blocks according to the coke removing robot, and drive the coke removing robot to knock the deep cleaning coke blocks according to the second coke removing sequence until all the coke blocks in the target area are removed.

9. A decoking apparatus characterized by, comprising a memory and a processor; the memory is configured to store a program; the processor is configured to execute the program to implement each step of the coke removing method according to any one of claims 1-7.

10. A storage medium having stored thereon a computer program, characterized in that the computer program, when executed by the processor, implements each step of the coke removing method according to any one of claims 1-7.

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