Reactor rectification grid soot blowing mechanism and method for denitration system

Abstract

The invention discloses a denitration system reactor rectification grid soot blowing mechanism and method. The mechanism comprises a moving body. The environment sensing device is arranged at the top of the mobile main body and is used for sensing environment information of the rectification grid and planning an operation path of the mobile main body; the soot blowing device is arranged on the moving body and located on one side of the environment sensing device, and the soot blowing output end of the soot blowing device faces the rectifying grid; the air supply equipment and the control box are both arranged on the moving main body, the air supply equipment is communicated with the soot blowing device, and the control box is electrically connected with the moving main body, the environment sensing device, the soot blowing device and the air supply equipment. Therefore, local abrasion and blockage of the catalyst are reduced, the ammonia escape rate is reduced, and stable operation of a denitration system is guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of flue gas denitrification technology, specifically relating to a soot blowing mechanism and method for a reactor rectifier grid in a denitrification system. Background Technology

[0002] With increasingly stringent industrial flue gas emission standards, the application of denitrification systems in coal-fired power plants and other fields continues to expand. Among them, selective catalytic reduction (SCR) technology is the mainstream denitrification process, and the internal rectifier grid of the core equipment SCR reactor plays a key role in ensuring the uniformity of the flue gas flow field.

[0003] In existing technologies, through regular shutdown maintenance, operators enter the reactor to manually inspect and clean the rectifier grid, using hand tools to physically remove ash from the ash-accumulated areas. At the same time, they assess the degree of ash accumulation by combining the pressure difference monitoring data of the reactor inlet and outlet. This method relies on the operator's experience to judge the ash distribution and perform the ash removal operation, forming a maintenance process mainly based on manual intervention. However, manual ash removal is difficult to achieve full coverage and thorough cleaning of the rectifier grid in a narrow space. Summary of the Invention

[0004] The purpose of this invention is to provide a soot blowing mechanism and method for a reactor rectifier grid in a denitrification system, so as to solve the technical defects of the prior art in terms of low efficiency and high risk of cleaning ash accumulation on the rectifier grid.

[0005] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a soot blowing mechanism for a reactor rectifying grid in a denitrification system, comprising: Moving subject; An environmental sensing device is installed on the top of the moving body to sense the environmental information of the rectifier grille and plan the working path of the moving body. The soot blowing device is mounted on the mobile body and located on the side of the environmental sensing device, with its soot blowing output end facing the rectifier grid. The air supply equipment and control box are both located on the mobile main body. The air supply equipment is connected to the soot blowing device, and the control box is electrically connected to the mobile main body, the environmental sensing device, the soot blowing device and the air supply equipment respectively.

[0006] In one alternative embodiment, the environmental sensing device includes: Two visual inspection units, one of which is rotatably connected to the top of the moving body, and the other visual inspection unit is fixed to the top of the moving body; The soot blowing device includes: The second rotating chassis, the robotic arm connected to the second rotating chassis, and the soot blowing nozzle located at the end of the robotic arm; With the combined action of two vision inspection units, the dust blowing nozzle can perform a dust blowing operation on the rectifier grid.

[0007] In one alternative embodiment, the second rotating chassis includes: The drive unit and chassis; the drive unit is located inside the moving body, and its drive end extends to the top of the moving body; the chassis is fixed to the drive end of the drive unit, and the robotic arm is mounted on the chassis.

[0008] In one alternative embodiment, the axis of the drive member is perpendicular to the bearing surface of the moving body.

[0009] In one alternative embodiment, the driving element is a motor or electric motor.

[0010] In one optional embodiment, the environmental sensing device further includes: LED light source module; two vision detection units are a first vision sensor and a second vision sensor, the bottom of the first vision sensor is connected to a first rotating chassis, and the first rotating chassis is detachably connected to the moving body; The LED light source module is fixed to one side of the first vision sensor.

[0011] In one alternative embodiment, the environmental sensing device further includes a radar sensor disposed around the moving body.

[0012] In an optional embodiment, it further includes: The power supply box is electrically connected to the mobile main body, the environmental sensing device, the soot blowing device, the air supply equipment, and the control box.

[0013] In one alternative embodiment, the moving body includes: The chassis and tracked walking mechanism are located at the bottom of the chassis.

[0014] A second aspect of this application provides a method for blowing soot from a reactor rectifier grid in a denitrification system. The method employs the soot blowing mechanism for the reactor rectifier grid described above, and includes: The environmental perception device is activated, and the visual detection unit and radar sensor work together to perceive the dust distribution information of the rectifier grille and the surrounding environment information, and plan the operation path of the moving body. Control the mobile unit to travel along the work path to the designated purging position; Start the air supply equipment, and the soot blowing nozzles adjust their blowing posture under the drive of the second rotating chassis and the robotic arm to perform blowing operations on the ash accumulation area of ​​the rectifier grid; During the purging process, the environmental sensing device continuously collects the cleaning status information of the rectifier grid, and the control box adjusts the moving speed of the main body, the purging angle of the soot blowing nozzle, and the air supply pressure of the air supply equipment in real time according to the cleaning status information. When the environmental sensing device detects that the cleanliness of the rectifier grille has reached a preset threshold, it controls the dust blowing device to stop blowing, and the moving body returns to the initial position according to the preset path. Compared with the prior art, the present invention has the following beneficial effects: By using an environmental sensing device to perceive the environmental information of the rectifier grid in real time and autonomously planning the working path of the mobile unit, the distribution of ash accumulation areas can be accurately located. The mobile unit travels along the planned path to the designated purging position, ensuring that the soot blowing device covers the entire plane of the rectifier grid. The soot blowing device's output end is used to perform directional purging towards the rectifier grid, effectively removing ash accumulation obstacles. The air supply equipment provides a stable air source for the soot blowing device, ensuring controllable soot blowing intensity. The control box coordinates the electrical connections of the mobile unit, environmental sensing device, soot blowing device, and air supply equipment, achieving closed-loop control of perception, decision-making, and execution. This avoids the safety risks of manual entry into confined spaces. Automated path planning and precise purging improve ash removal efficiency, restore the airflow uniformity of the rectifier grid, thereby reducing localized catalyst wear and blockage, lowering ammonia escape rate, and ensuring stable operation of the denitrification system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This invention provides a schematic diagram of a reactor rectifier grid soot blowing mechanism for a denitrification system. In the diagram: 1. Chassis; 2. Tracked walking mechanism; 3. Radar sensor; 4. Control box; 5. LED light source; 6. First vision sensor; 7. First rotating chassis; 8. Second vision sensor; 9. Robotic arm; 10. Second rotating chassis; 11. Soot blowing nozzle; 12. Air compression device; 13. Power supply box. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] To address the technical deficiencies mentioned in the background section, this embodiment provides a soot blowing mechanism and method for a reactor rectifier grid in a denitrification system.

[0021] The present invention will now be described in further detail with reference to the accompanying drawings: like Figure 1 As shown, in a first aspect of the present invention, a soot blowing mechanism for a reactor rectifier grid in a denitrification system is provided, comprising: a mobile body; an environmental sensing device disposed on the top of the mobile body for sensing environmental information of the rectifier grid and planning the working path of the mobile body; a soot blowing device disposed on the mobile body and located on one side of the environmental sensing device, with its soot blowing output end facing the rectifier grid; an air supply device and a control box 4, both disposed on the mobile body, the air supply device being connected to the soot blowing device, and the control box 4 being electrically connected to the mobile body, the environmental sensing device, the soot blowing device and the air supply device respectively.

[0022] In practical applications, after the operator remotely starts the mobile unit, the environmental sensing device first scans the internal space of the reactor to construct a three-dimensional point cloud map containing the position, orientation, and surrounding obstacles of the rectifier grid. Based on this map, the control box 4 plans an optimal cruising path covering the entire visible area of ​​the rectifier grid and drives the mobile unit along the path. When the mobile unit reaches the first purging point, the control box 4 simultaneously activates the soot blowing device and the air supply equipment, so that the compressed airflow impacts the surface of the rectifier grid at a set pressure and angle. As the mobile unit continues to move, the soot blowing device maintains dynamic pointing towards the grid, completing row-by-row / column-by-column continuous purging. Throughout the process, the control box 4 continuously receives real-time images and distance information transmitted back by the environmental sensing device, judges the progress of ash removal, and fine-tunes the moving speed or purging parameters when necessary.

[0023] Because this device integrates five major functional modules—mobile platform, high-level environmental perception, side-mounted directional soot blowing, on-board air supply, and centralized control—it solves the technical problems of traditional manual soot cleaning, such as inability to enter, difficulty in positioning, low efficiency, and lack of process feedback. This effectively restores the uniform airflow distribution capability of the rectifier grid, reduces the risk of abnormal catalyst wear and blockage, suppresses the upward trend of ammonia escape rate, maintains the system pressure drop within a reasonable range, and ultimately ensures that the denitrification efficiency meets the standards in the long term.

[0024] In this embodiment, the air supply device is an air compressor 12.

[0025] In this embodiment, the environmental sensing device includes two visual detection units, one of which is rotatably connected to the top of the moving body, and the other is fixed to the top of the moving body; the dust blowing device includes a second rotating chassis 10, a robotic arm 9 connected to the second rotating chassis 10, and a dust blowing nozzle 11 located at the end of the robotic arm 9; under the coordinated action of the two visual detection units, the dust blowing nozzle 11 can perform a dust blowing operation on the rectifier grille.

[0026] The first visual detection unit is a rotatable visual sensor that can rotate 360° continuously via a first rotating chassis 7, with adjustable rotation speed and angular resolution. This unit is installed on the top front or center of the moving main body and continuously acquires image sequences of the front, oblique, and partial sides of the rectifier grille during rotation. These images are used to reconstruct the three-dimensional point cloud of the grille surface and identify the spatial coordinates of local dust clusters. The second visual detection unit is a fixed visual sensor that is rigidly installed on the top rear or upper side of the moving main body. It is used to capture the upper area of ​​the rectifier grille, the connection nodes of the support beams, and the reflected light information on the back of the grille, compensating for the observation gaps caused by the rotation gap or structural obstruction of the first visual detection unit.

[0027] The two complement each other in terms of spatial location, installation posture and motion attributes. The first vision detection unit provides active scanning capability and wide coverage, while the second vision detection unit provides a stable reference view and redundant verification channels. The image data output by the two are time-synchronized and spatially registered, and then input into the control box 4 for feature-level fusion to generate a comprehensive state description including dust accumulation area ratio, thickness gradient, edge sharpness and spatial distribution heat map.

[0028] In an alternative implementation, the first vision inspection unit can be replaced with a gimbal camera with both pitch and rotation degrees of freedom; the second vision inspection unit can also use a wide-angle fisheye lens or a line scan industrial camera to adapt to different reactor cross-sectional sizes and installation clearance limitations.

[0029] The soot blowing device includes a second rotating chassis 10, a robotic arm 9, and a soot blowing nozzle 11. The second rotating chassis 10 is a rotatable support platform in the horizontal plane, with its rotation axis perpendicular to the support surface of the moving body. It provides precise angular positioning capability through a drive component. The robotic arm 9 is a multi-joint series structure, including at least a base rotation joint, a shoulder pitch joint, and a wrist deflection joint. Each joint has a built-in encoder and torque sensor, supporting dual-mode operation of position control and impedance control. The soot blowing nozzle 11 is fixed to the flange at the end of the robotic arm 9, with its nozzle axis coinciding with the Z-axis of the coordinate system at the end of the robotic arm 9. It integrates a pressure regulating valve and a flow meter, and can output pulsed or continuous compressed air jets.

[0030] The second rotating chassis 10 and the robotic arm 9 constitute a spatial attitude adjustment subsystem. The second rotating chassis 10 is responsible for coarse adjustment of the blowing azimuth angle, turning the robotic arm 9 as a whole to the quadrant where the target ash accumulation area is located; the robotic arm 9 performs fine adjustment, using multi-joint coordinated movement to make the blowing nozzle 11 quickly reach the designated position in three-dimensional space, ensuring that the nozzle axis is always perpendicular to or points to the grid plate surface at a preset angle, avoiding the dispersion of blowing force due to too small an incident angle, or the secondary pollution caused by fly ash rebound due to too large an incident angle.

[0031] In alternative implementations, the robotic arm 9 can also adopt a parallel Delta structure to improve response speed; the soot blowing nozzle 11 can also be replaced with a swirling nozzle with a vortex generator to enhance jet entrainment and stripping capabilities; the second rotating chassis 10 can also integrate an angle adjustment mechanism to expand the nozzle normal alignment capability.

[0032] There is a deterministic spatial mapping relationship and real-time collaborative logic between the two visual inspection units and the dust blowing device. The control box 4 pre-calibrates the rigid transformation matrix between the coordinate systems of the first visual inspection unit, the second visual inspection unit, and the second rotating chassis 10, and establishes the forward kinematic model of the robotic arm 9. When any visual inspection unit identifies the dust accumulation target pixel area, the control box 4 calculates its three-dimensional spatial coordinates in the moving body coordinate system based on the sub-pixel center coordinates of the area in the image, camera intrinsic parameters, and depth estimation values. Then, based on these coordinates, it inversely solves the required rotation of the second rotating chassis 10. The angles and target angles of each joint of the robotic arm 9 are used to generate a sequence of motion commands. During the execution of the commands, the control box 4 continuously receives the end-effector pose feedback of the robotic arm 9 and new frame images from the vision detection unit, and implements closed-loop correction. If the vision detection unit detects that the accumulated dust has not been removed or that drift has occurred during the purging process, the target coordinates are dynamically updated and the trajectory of the robotic arm 9 is replanned. This collaborative mechanism does not rely on external positioning references (such as laser SLAM maps) and only relies on the vehicle-mounted sensors to complete the observation, positioning, driving and verification closed loop. It is suitable for harsh working conditions such as no GPS, low light, and high dust interference inside the reactor.

[0033] Through the above technical solution, autonomous identification, spatial positioning, and dynamic purging of ash accumulation on the rectifier grid of the denitrification system reactor are achieved. Because the first visual detection unit can rotate for scanning while the second visual detection unit is fixed for blind spot detection, the two work together to cover the entire field of view of the rectifier grid, significantly reducing the missed detection rate caused by grid slat obstruction, flue gas disturbance, or lens contamination. Since the second rotating chassis 10 provides coarse azimuth adjustment capability and the robotic arm 9 provides three-dimensional fine adjustment capability, the sootblowing nozzle 11 can flexibly reach any ash accumulation point under complex spatial constraints and maintain the optimal purging posture. Because visual perception and sootblowing execution share the same coordinate reference and are linked in a closed loop, the system can dynamically adjust purging parameters based on real-time cleaning feedback, avoiding over-purging damage to the grid coating or under-purging leaving residual ash. Therefore, this solution effectively solves the chain reaction problems caused by ash accumulation on the rectifier grid, such as deterioration of the flue gas flow field, increased catalyst wear, increased ammonia escape, and increased risk of air preheater blockage, providing reliable technical support for ensuring the long-term stable and efficient operation of the SCR system.

[0034] Furthermore, the second rotating chassis 10 includes: a drive member and a chassis 1; the drive member is located inside the moving body, and its drive end extends to the top of the moving body; the chassis 1 is fixed to the drive end of the drive member, and the robotic arm 9 is mounted on the chassis 1.

[0035] The second rotating chassis 10 involved in this embodiment is the core actuator that enables the soot blowing nozzle 11 to perform large-range, high-precision orientation adjustment in the horizontal plane. The drive component, as a power source, is deeply embedded inside the moving body, providing a stable and controllable rotational driving force. The chassis 1, as a rigid load-bearing platform, directly receives and transmits this driving force, thereby supporting and driving the robotic arm 9 to complete spatial posture adjustment. This structure takes into account protection, compactness, and motion reliability, enabling the soot blowing operation to have good repeatability and dynamic response capabilities.

[0036] The drive unit is a built-in rotary power unit, which is encapsulated inside the housing of the mobile main body. It extends upward through the top plate of the mobile main body only through the drive shaft (i.e. the drive end) to form a mechanical connection with the external chassis 1. This protects the drive unit from direct corrosion by the high-temperature flue gas, high-concentration fly ash and humid condensation environment in the rectifier grid area, significantly extending its service life. At the same time, it avoids the risk of failure of the external motor due to vibration, collision or dust accumulation.

[0037] The robotic arm 9 is assembled on the chassis 1, meaning that the base flange of the robotic arm 9 is rigidly connected to the upper surface of the chassis 1 by an array of bolts. The connection interface is provided with a positioning stop or a conical mating structure to ensure the consistency of the initial orientation of the robotic arm 9 after each assembly and disassembly. The robotic arm 9 can be a three-degree-of-freedom serial structure (including pitch, rotation and extension) or a four-degree-of-freedom SCARA configuration. Its first joint axis coincides with the rotation axis of the chassis 1, thereby ensuring that the robotic arm 9 rotates synchronously around the vertical axis when the second rotating chassis 10 rotates, without introducing additional motion coupling. This assembly relationship enables the robotic arm 9 to obtain a horizontal sweeping capability independent of the direction of travel of the moving body, providing basic motion freedom for the soot blowing nozzle 11 to cover different column oriented areas of the rectifier grid.

[0038] After the drive unit is powered on, its drive end outputs continuous or step-like rotational motion. This motion is directly transmitted to the second rotating chassis 10 via the drive shaft, causing the second rotating chassis 10 to rotate around the vertical axis at the same angular velocity. Since the base of the robotic arm 9 is rigidly connected to the second rotating chassis 10, its overall orientation changes synchronously. On this basis, the joints of the robotic arm 9 work together to drive the end soot blowing nozzle 11 to achieve precise pointing and attitude adjustment of a specific area of ​​the rectifier grid in three-dimensional space.

[0039] When the moving body travels along the reactor flue wall to a designated purging position, the drive unit starts and drives the second rotating chassis 10 to rotate, so that the robotic arm 9 turns to the location of the target grid unit; then the robotic arm 9 unfolds and adjusts its end posture so that the soot blowing nozzle 11 is facing the ash accumulation channel; the air supply equipment supplies air simultaneously to complete the directional purging. Because the driving components are deeply embedded inside the moving body, their operation is not affected by external dust intrusion or heat radiation interference, ensuring the long-term stability and angular repeatability of the second rotating chassis 10. Because the driving end extends vertically upwards and is rigidly connected to the chassis 1, the response speed and positioning accuracy of the robotic arm 9's orientation adjustment are improved. Because the second rotating chassis 10 has sufficient torsional stiffness and precise assembly standards, the robotic arm 9 can maintain a stable rotation center under different load conditions, thus ensuring that the sootblowing nozzle 11 always performs highly consistent blowing actions according to the planned path. This effectively solves the technical problem of how the second rotating chassis 10 can stably, reliably, and with high precision drive the robotic arm 9 to perform spatial movements under harsh conditions in the denitrification reactor, ensuring that the sootblowing nozzle 11 can accurately reach the designated position and maintain a stable posture, providing a key execution basis for full coverage of the rectifier grid plane and adaptive sootblowing.

[0040] In this embodiment, the axis of the drive component is set perpendicular to the bearing surface of the moving body. The bearing surface of the moving body refers to the reference mounting plane on which the moving body supports all functional modules (including environmental sensing device, soot blowing device, air supply equipment and control box 4) on it. It is usually the upper surface of the top platform of the moving body. This surface is kept roughly horizontal when the whole machine is stationary or moving. Setting the axis of the drive component to be perpendicular to the bearing surface means that the output shaft of the drive component is arranged vertically and its rotational motion plane is parallel to the horizontal plane.

[0041] Specifically, the driving component is a motor or electric motor. The selection of a motor or electric motor is based on its comprehensive advantages, such as maturity, high standardization, high power density, compact size, and ease of integration with the servo drive module or PWM speed control circuit in the control box 4.

[0042] In this embodiment, the environmental sensing device further includes: an LED light source module 5; two visual detection units, namely a first visual sensor 6 and a second visual sensor 8, wherein the bottom of the first visual sensor 6 is connected to a first rotating chassis 7, and the first rotating chassis 7 is detachably connected to the moving body; and the LED light source module 5 is fixed to one side of the first visual sensor 6.

[0043] Among them, the LED light source module 5 provides controllable, directional, and stable spectrum auxiliary lighting; the first vision sensor 6 and the first rotating chassis 7 constitute a movable sensing node, and the second vision sensor 8 serves as a fixed reference node, forming a heterogeneous collaborative sensing architecture; the detachable connection method ensures the modular replacement and calibration reset capability of the sensor unit, adapting to the combined adverse conditions inside the denitrification reactor, such as low illumination (no natural light), high dust (flue gas carrying fly ash continuously settling), strong reflection (specular reflection on the surface of stainless steel / nickel-plated grid), and temperature fluctuations.

[0044] As an alternative implementation, the LED light source module 5 can also adopt a ring layout, surrounding the outer periphery of the lens of the first vision sensor 6; or it can be replaced with a near-infrared LED in conjunction with an infrared-enhanced CMOS image sensor of the first vision sensor 6, which has better penetration in high-concentration dust environments and reduces scattering interference.

[0045] The two vision detection units are the first vision sensor 6 and the second vision sensor 8, both of which use industrial-grade global shutter CMOS image sensors and have HDR (high dynamic range) mode and automatic white balance function. The first vision sensor 6 is mounted on the top of the first rotating chassis 7, with its lens facing at an angle of 30°–60° to the direction of travel of the moving body, and is used to perform pitch and horizontal dual-degree-of-freedom scanning; the second vision sensor 8 is rigidly fixed to the top centerline of the moving body, with its lens vertically downward or slightly tilted forward, and is used to acquire the overall planar distribution of the rectifier grille and the relative pose reference of the moving body.

[0046] As an optional implementation, the first visual sensor 6 can be replaced by a smart camera module with a built-in gyroscope and accelerometer to feed back attitude angle data to the control box 4 in real time to compensate for image jitter caused by the movement of the moving subject; the second visual sensor 8 can also be a wide-angle fisheye lens (field of view ≥120°), which, together with the distortion correction algorithm, expands the coverage area of ​​a single imaging and reduces the number of pauses in path planning.

[0047] The LED light source module 5 is fixed to one side of the first vision sensor 6. The fixing method is an L-shaped aluminum alloy bracket. One arm of the bracket is fastened to the side wall of the housing of the first vision sensor 6 by countersunk screws, and the other arm extends horizontally and supports the LED array PCB board. The bracket has a fine adjustment function, which can adjust the horizontal offset of the LED module by two sets of M3 fine adjustment screws to achieve precise matching between the illumination area and the imaging field of view.

[0048] As an alternative implementation, the LED light source module 5 can also be integrated into the outer wall of the lens barrel of the first vision sensor 6 and directly soldered and fixed using a ring PCB to save space; or a flexible FPC (flexible printed circuit board) can be used to attach the LED array to a deformable silicone base tape and wrap it around the lens barrel to adapt to the rapid adaptation of sensor platforms of different sizes.

[0049] Because the LED light source module 5 provides controllable, directional, and interference-resistant auxiliary lighting, it significantly suppresses the overexposure / underexposure phenomena caused by smoke and dust scattering noise and specular reflection on metal surfaces. This allows the first vision sensor 6 to clearly distinguish the dust accumulation contours at the edges of the grille punches, the dust accumulation at the weld seams, and the shadow distortion caused by local deformation. Since the first vision sensor 6 obtains pitch and horizontal dual-degree-of-freedom adjustment capabilities through the first rotating chassis 7, it can actively scan different height levels and depth areas of the rectifier grille, compensating for the blind spots (such as the grille back plate and the area obstructed by the support beam) caused by the fixed viewing angle of the second vision sensor 8. Because the first rotating chassis 7 adopts a detachable connection method, on-site maintenance personnel can replace and recalibrate LED modules with aging and light decay, misaligned sensors, or worn rotating bearings without interrupting the operation of the entire machine, avoiding system downtime losses caused by returning the entire machine to the factory for repair.

[0050] In this embodiment, the environmental perception device also includes radar sensors 3, which are arranged around the mobile body. Specifically, the radar sensors 3 are arranged around the mobile body, meaning that at least four radar sensing units are evenly distributed around the circumference of the mobile body chassis 1, facing forward, aft, port, and starboard respectively. During the soot blowing operation of the rectifier grid, the mobile body relies on the radar sensors 3 arranged around the perimeter to continuously acquire distance field information of the three-dimensional space inside the reactor. Combined with the two-dimensional semantic map constructed by the visual sensor, it can identify fixed obstacles such as grid support beams, flue walls, and maintenance ladders, as well as dynamic obstacles such as floating ash clumps and fallen insulation layers in real time. When the distance to the obstacle in front is less than the safety threshold, the control box 4 immediately triggers a path replanning command, driving the tracked walking mechanism 2 to decelerate, turn, or stop. When the radar feedback indicates that the mobile body is too close to the flue wall laterally, the travel trajectory is automatically fine-tuned to maintain the centered positioning. When multiple radars simultaneously detect a low-hanging structure at the top, the height of the soot blowing nozzle 11 is raised and the upward angle of the robotic arm 9 is limited.

[0051] In this embodiment, it also includes a power supply box 13, which is electrically connected to the mobile body, the environmental sensing device, the soot blowing device, the air supply equipment and the control box 4.

[0052] The power supply box 13 provides a centralized, stable, and safe power supply unit for the rectifier grid soot blowing mechanism of the entire denitrification system reactor. Its core function is to solve the problem of decreased electrical system reliability caused by dispersed power supply, redundant lines, voltage fluctuations, or lack of protection during the rectifier grid soot blowing operation.

[0053] In this embodiment, the mobile body includes a chassis 1 and a tracked walking mechanism 2, which is located at the bottom of the chassis 1. The chassis 1 is an integral metal load-bearing frame, integrally welded from Q345B low-alloy high-strength structural steel. The bottom is provided with symmetrically distributed mounting bosses and bolt hole arrays for rigid connection with the drive wheel bracket, tension wheel support, and guide wheel bushing of the tracked walking mechanism 2. Its upper surface has reserved standardized interfaces to adapt to control boxes 4, air supply equipment, and sensor mounting bases of different specifications.

[0054] A second aspect of the present invention provides a method for soot blowing of a rectifier grid in a denitrification system reactor. This method employs the aforementioned soot blowing mechanism for a rectifier grid in a denitrification system reactor, and includes: Step 1: Activate the environmental sensing device. The visual detection unit and radar sensor 3 work together to sense the dust distribution information of the rectifier grille and the surrounding environment, and plan the operation path of the moving body. For example, the environmental sensing device is a composite sensing system integrating multi-source sensing information, including two visual detection units: a first visual sensor 6, a second visual sensor 8, an LED light source module 5, and a radar sensor 3. The first visual sensor 6 is mounted at an adjustable angle on the top of the moving body via a first rotating chassis 7, and is used to actively scan the entire front surface of the rectifier grille. The second visual sensor 8 is fixed on the other side of the top of the moving body, with a fixed viewing angle covering the lower near end of the rectifier grille, forming a spatial complement with the first visual sensor 6. The LED light source module 5 is arranged adjacent to the first visual sensor 6, providing a center wavelength of 470°. The cold white light illumination of nm ensures the acquisition of high-contrast, low-noise RGB images in the low-illuminance, high-dust-scattering environment inside the reactor; the radar sensor 3 is a millimeter-wave radar, with a total of four sensors, which are embedded around the mobile main body chassis 1. They are used to construct the three-dimensional relative spatial relationship between the mobile main body and the reactor inner wall, support beam, and guide plate in real time, avoid collisions, and calibrate the visual positioning coordinate system.

[0055] Radar sensor 3 first completes environmental modeling, generating a point cloud map containing the location, distance, and contour of obstacles; control box 4 plans the initial inspection path based on this map and drives the moving body to circle around the flue wall at low speed once; during this process, the first vision sensor 6 rotates in 30° steps and triggers image acquisition, while the second vision sensor 8 captures images simultaneously and continuously. The acquired images are processed by image enhancement algorithms (including dark channel prior dehazing, adaptive histogram equalization, and SIFT feature point matching and registration) and then spatiotemporally fused with radar point cloud data to generate a two-dimensional orthophoto image of the rectifier grille with depth information.

[0056] Step 2: Control the moving body to travel along the working path to the designated purging position; start the air supply equipment, so that the soot blowing nozzle 11 adjusts the purging posture under the drive of the second rotating chassis 10 and the robotic arm 9, and performs purging operation on the ash accumulation area of ​​the rectifier grid; Step 3: During the purging process, the environmental sensing device continuously collects the cleaning status information of the rectifier grid, and the control box 4 adjusts the moving speed of the moving body, the purging angle of the soot blowing nozzle 11 and the air supply pressure of the air supply equipment in real time according to the cleaning status information. Step 4: When the environmental sensing device detects that the cleanliness of the rectifier grille has reached the preset threshold, it controls the dust blowing device to stop blowing, and the moving body returns to the initial position according to the preset path.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A soot blowing mechanism for a reactor rectifier grid in a denitrification system, characterized in that, include: Moving subject; An environmental sensing device is installed on the top of the moving body to sense the environmental information of the rectifier grille and plan the working path of the moving body. A soot blowing device is mounted on the mobile body and located on one side of the environmental sensing device, with its soot blowing output end facing the rectifier grid. The air supply equipment and control box are both located on the mobile body. The air supply equipment is connected to the soot blowing device, and the control box is electrically connected to the mobile body, the environmental sensing device, the soot blowing device and the air supply equipment respectively.

2. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 1, characterized in that, The environmental sensing device includes: Two visual detection units, one of which is rotatably connected to the top of the moving body, and the other visual detection unit is fixed to the top of the moving body; The soot blowing device includes: A second rotating chassis, a robotic arm connected to the second rotating chassis, and a soot blowing nozzle located at the end of the robotic arm; With the coordinated action of the two vision detection units, the blowing nozzle can perform a blowing operation on the accumulated dust of the rectifier grid.

3. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 2, characterized in that, The second rotating chassis includes: A drive unit and a chassis; the drive unit is located inside the mobile body, and its drive end extends to the top of the mobile body; The chassis is fixed to the drive end of the drive component, and the robotic arm is assembled on the chassis.

4. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 3, characterized in that, The axis of the driving component is perpendicular to the bearing surface of the moving body.

5. A denitrification system reactor rectifier grid soot blowing mechanism according to claim 3 or 4, characterized in that, The driving component is a motor or electric motor.

6. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 2, characterized in that, The environmental sensing device also includes: LED light source module; The two vision detection units are a first vision sensor and a second vision sensor, respectively. The bottom of the first vision sensor is connected to a first rotating chassis, which is detachably connected to the moving body. The LED light source module is fixed to one side of the first visual sensor.

7. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 2, characterized in that, The environmental sensing device also includes: A radar sensor is disposed around the moving body.

8. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 1, characterized in that, Also includes: The power supply box is electrically connected to the mobile body, the environmental sensing device, the soot blowing device, the air supply equipment, and the control box.

9. The soot blowing mechanism for a reactor rectifier grid in a denitrification system according to claim 1, characterized in that, The mobile entity includes: The chassis and tracked walking mechanism are located at the bottom of the chassis.

10. A method for blowing soot from a reactor rectifier grid in a denitrification system, characterized in that, The method is carried out using a denitrification system reactor rectifier grid soot blowing mechanism according to any one of claims 1-9, comprising: The environmental perception device is activated, and the visual detection unit and radar sensor work together to perceive the dust distribution information of the rectifier grille and the surrounding environment information, and plan the operation path of the moving body. Control the mobile body to travel along the work path to the designated purging position; Start the air supply equipment, and the soot blowing nozzles adjust their blowing posture under the drive of the second rotating chassis and the robotic arm to perform blowing operations on the ash accumulation area of ​​the rectifier grid; During the purging process, the environmental sensing device continuously collects the cleaning status information of the rectifier grid, and the control box adjusts the traveling speed of the moving body, the purging angle of the soot blowing nozzle, and the air supply pressure of the air supply equipment in real time according to the cleaning status information. When the environmental sensing device detects that the cleanliness of the rectifier grille has reached a preset threshold, it controls the dust blowing device to stop blowing, and the moving body returns to the initial position according to a preset path.

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