CN111879267A - Unmanned aerial vehicle non-contact ultrasonic detection of corrosion and thinning of water-cooled wall of garbage power station - Google Patents

Abstract

The invention relates to the field of unmanned aerial vehicle detection, and discloses unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of a water-cooled wall of a garbage power station, including an unmanned aerial vehicle equipment body and a ground console, wherein the unmanned aerial vehicle equipment body includes functional modules and a flight module, the functional module includes an image acquisition module, a laser emission positioning module and an ultrasonic detector detection program, and the ground console includes a data processing module, an unmanned aerial vehicle remote control module and a signal amplification module. A display screen is arranged outside, a telescopic probe is arranged outside the image acquisition module, and a driving module is arranged inside the flight module. The unmanned aerial vehicle-borne non-contact ultrasonic detection of the corrosion and thinning of the water wall of the garbage power station has the effect of smooth flight and convenient operation. Use, with the effect of precise positioning.

Description

Unmanned aerial vehicle non-contact ultrasonic detection of corrosion and thinning of water-cooled wall of garbage power station

technical field

The invention relates to the field of unmanned aerial vehicle detection, in particular to the unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of a water-cooled wall of a garbage power station.

Background technique

Boiler accidents account for more than 70% of the unplanned shutdowns of waste-to-energy plants, and half of these accidents are caused by "tube bursts" caused by the thinning of water-cooled wall tubes. Compared with thermal power plants, the waste composition of waste power plants is much more complex, the concentration of pollutants in incineration is higher, and the water wall is corroded by high temperature flue gas, ash and other high temperature for a long time. , the frequency of burst pipes is also much higher. Therefore, the detection of the thickness of the heating surface of the boiler water wall tube in service is of great significance to the safe operation of the boiler unit.

The traditional pipe wall thickness detection method is mainly manual, and manual detection has several shortcomings: firstly, it is low in efficiency, and secondly, it has a high missed detection rate, which is very prone to safety accidents. The height of the water wall is generally more than 30 meters. Climbing up and down under harsh conditions, safety accidents are unavoidable; there is the newly developed robot inspection in recent years, but the robot also has some drawbacks: for example, the structure is more complex, the shape and weight are not too small, and it is not suitable for the boiler. It is inconvenient to detect in a narrow area; the limited moving and climbing speed affects the detection efficiency; the one-time investment is high, and the robot itself needs frequent maintenance and so on. For this reason, we propose an unmanned aerial vehicle-borne non-contact ultrasonic detection method for corrosion and thinning of the water-cooled wall of a garbage power station.

SUMMARY OF THE INVENTION

(1) Technical problems solved

In view of the deficiencies of the prior art, the present invention provides unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station, with the advantages of high detection safety, convenient structure, light weight, and easy climbing of tall pipes It has the advantages of strong adaptability, convenient collection and collection of information, and convenient data comparison in the later period, which solves the problems of low efficiency and poor safety of traditional manual detection, and the robot detection structure is complex, expensive, and inconvenient to repair.

(2) Technical solutions

In order to achieve the above-mentioned advantages of high detection safety, convenient structure, light weight, easy to climb higher pipe walls, strong adaptability, convenient collection and collection of information, and convenience for later data comparison purposes, the present invention provides the following technology Scheme: UAV-borne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station, including the UAV equipment body and the ground console, the UAV equipment body includes a functional module and a flight module, and the functional module includes an image A collection module, a laser emission positioning module and an ultrasonic detector detection program, the ground console includes a data processing module, a UAV remote control module and a signal amplification module, a display screen is arranged on the outside of the data processing module, and the image acquisition The outer side of the module is provided with a telescopic probe, and the interior of the flight module is provided with a driving module.

Preferably, the UAV equipment body is connected to the ground console through a wireless transmission module for remote UAV operation.

Preferably, the UAV equipment body and the flight module are connected to each other, the flight module and the drive module are mutually connected, and a plurality of sets of flight fans and stabilization modules are arranged outside the drive module, and the flight fans are three The stabilizing module and the driving module are interconnected, and the stabilizing module and the telescopic probe are interconnected, so as to improve the rotational stability of the telescopic probe during flight.

Preferably, the functional module and the UAV equipment body are connected to each other, a data transmission module is arranged inside the functional module, and the image acquisition module, the laser emission positioning module and the detection program of the ultrasonic detector all pass through the data transmission module It is interconnected with the functional module for transmitting and collecting ultrasonic waves, judging the distance between the drone and the water cooling pipe of the garbage power station. The telescopic probe is connected to each other through the image acquisition module and the data transmission module. The main body of the machine equipment and the ground console are connected to each other.

Preferably, the laser emission positioning module is interconnected with the functional module through a data transmission module, the ultrasonic detector detection program is interconnected with the functional module through a data transmission module, and laser positioning is used to assist the ultrasonic detector detection program to determine the distance.

Preferably, the ultrasonic detector detection program is provided with an ultrasonic output module and an ultrasonic receiver module, and both the ultrasonic output module and the ultrasonic receiver module are mutually connected with the ultrasonic detector detection program.

Preferably, both the UAV remote control module and the signal amplification module are interconnected with the ground console, and the ground console can improve the wireless connection with the UAV equipment body through the signal amplification module, so as to improve the stability of remote operation. sex.

Preferably, the ground console and the data processing module are connected to each other, a data storage module is arranged between the display screen and the data processing module, and the display screen is connected to the ground console through the data processing module, which is convenient for use The user immediately observes the information obtained by the telescopic probe.

(3) Beneficial effects

Compared with the prior art, the present invention provides unmanned aerial vehicle-borne non-contact ultrasonic detection for corrosion and thinning of the water-cooled wall of a garbage power station, and has the following beneficial effects:

1. The unmanned aerial vehicle-borne non-contact ultrasonic detection measures the corrosion and thinning of the water-cooled wall of the garbage power station. The function module is driven by the drone equipment body, and the functional module drives the laser emission positioning module through the data transmission module to combine with the detection program of the ultrasonic ultrasonic detector. It can be used in combination with the ultrasonic output module and the ultrasonic receiving module to achieve the effect of drone collision avoidance and thickness detection of water-cooled wall pipes in garbage power stations.

2. The unmanned aerial vehicle-borne non-contact ultrasonic detection measures the corrosion and thinning of the water-cooled wall of the garbage power station. The drone equipment body drives the flight module to run, the flight module drives the flight fan and the stabilization module through the drive module, and the functional module transmits data through data transmission. The module drives the image acquisition module to run, under the stable support of the stabilization module, so as to achieve the effect of smooth flight of the drone and smooth adjustment of the telescopic probe.

3. The unmanned aerial vehicle-borne non-contact ultrasonic test measures the corrosion and thinning of the water-cooled wall of the garbage power station. The ground console is driven by the drone remote control module, and the ground console drives the display screen through the data processing module and data storage module. The combination of the signal amplification module and the wireless transmission module can improve the convenience and safety of the operation of the drone equipment.

Description of drawings

Fig. 1 is the working principle diagram of the structure system of the present invention;

FIG. 2 is a schematic three-dimensional structure diagram of the structural system of the present invention.

In the figure: 1. UAV equipment body; 2. Ground console; 3. Functional module; 4. Flight module; 5. Image acquisition module; 6. Laser emission positioning module; 7. Ultrasonic detector testing program; 8. Data processing module; 9. UAV remote control module; 10. Signal amplification module; 11. Display screen; 12. Telescopic probe; 13. Drive module; 14. Wireless transmission module; 15. Flight fan; 16. Stabilization module; 17 , data transmission module; 18, ultrasonic output module; 19, ultrasonic receiving module; 20, data storage module.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Figure 1-2, the unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of the water wall of the garbage power station, including the unmanned aerial vehicle equipment body 1 and the ground console 2, the unmanned aerial vehicle equipment body 1 can adopt a high temperature resistant structure , UAV equipment body 1 includes functional module 3 and flight module 4, functional module 3 includes image acquisition module 5, laser emission positioning module 6 and ultrasonic detector detection program 7, ground console 2 includes data processing module 8, unmanned A remote control module 9 and a signal amplification module 10 are provided. A display screen 11 is provided outside the data processing module 8 , a telescopic probe 12 is arranged outside the image acquisition module 5 , and a driving module 13 is arranged inside the flight module 4 .

The UAV device body 1 is connected to the ground console 2 through the wireless transmission module 14 for remote UAV operation.

The drone equipment body 1 and the flight module 4 are connected to each other, and the flight module 4 and the drive module 13 are mutually connected. The outside of the drive module 13 is provided with a plurality of groups of flight fans 15 and stabilization modules 16 to improve the stability of the memory 15 and improve the flight performance. There are three sets of fans 15, and the stability principle of the triangle is used to improve the flight stability of the UAV. The stabilization module 16 and the drive module 13 are connected to each other, and the stabilization module 16 and the telescopic probe 12 are connected to each other. rotational stability.

The functional module 3 and the drone equipment body 1 are connected to each other, and the functional module 3 is provided with a data transmission module 17 inside. The functional modules 3 are connected to each other for transmitting and collecting ultrasonic waves, judging the distance between the drone and the water cooling pipe of the garbage power station. The telescopic probe 12 is connected to the data transmission module 17 through the image acquisition module 5. The machine equipment body 1 and the ground console 2 are connected to each other.

The laser emission positioning module 6 is interconnected with the functional module 3 through the data transmission module 17, and the ultrasonic detector detection program 7 is interconnected with the functional module 3 through the data transmission module 17. Laser positioning is used to assist the ultrasonic detector detection program 7 to determine the distance.

The ultrasonic detector testing program 7 is provided with an ultrasonic output module 18 and an ultrasonic receiving module 19. Both the ultrasonic output module 18 and the ultrasonic receiving module 19 are mutually connected with the ultrasonic detector testing program 7, and the ultrasonic output module 18 transmits ultrasonic waves through the ultrasonic detector. The position of the crack is obtained through the ultrasonic receiving module 19 by rebounding with the pipe wall.

The drone remote control module 9 and the signal amplification module 10 are connected to the ground console 2. The ground console 2 improves the wireless connection with the drone equipment body 1 through the signal amplification module 10, and improves the stability of remote operation. .

The ground console 2 and the data processing module 8 are connected to each other, a data storage module 20 is arranged between the display screen 11 and the data processing module 8, and the display screen 10 is connected to the ground console 2 through the data processing module 8, which is convenient for users The information obtained by the telescopic probe 12 can be observed immediately, which improves the convenience of the device.

When working, the user selects a telescopic probe of an appropriate size according to the size of the pipe wall to be inspected, and installs it on the bottom of the UAV device body 1. Then, the user inputs the planned inspection path and inspection site data to the unmanned aerial vehicle. In the functional module 3 of the machine body 1, after the installation is completed, the user can directly control the high-temperature-resistant unmanned equipment body 1 through the drone remote control module 9 to enter from the bottom of the boiler, and the flight module 4 drives the flight fan 15 through the drive module to make the unmanned aerial vehicle unmanned. The main body 1 of the unmanned aerial vehicle detects the water-cooling wall pipes in key areas from low to high in a spiral shape; after the main body of the unmanned aerial vehicle 1 reaches the predetermined position, the flight fan 15 is driven by the stabilization module to make the main body of the unmanned aerial vehicle 1 hover automatically. , and then through, the function module 3 drives the image acquisition module 5 and the laser emission positioning 6 and the ultrasonic detector detection program 7 to run, the image acquisition module 5 drives the telescopic probe 12 to run, sprays the coupling fluid, and with the assistance of the stabilization module 16, The adjustment of the telescopic probe 12 is more stable, and at the same time, the ultrasonic detector testing program 7 drives the ultrasonic output module 18 and the ultrasonic receiving module 19 to operate to detect the thickness of the pipe wall; after the detection, it is transmitted to the ground console through the wireless transmission module 14. 2. Under the combined use of the data processing module 8 and the data storage module 20, the data is saved, and the data is displayed on the display screen 11; after the detection, the thickness detection of the next point is continued until all points are detected. Completed; UAV equipment body 1 returns along the original road, and the inspection is over. The inspection personnel organize and analyze according to the inspection results, and issue a inspection report, which is convenient and fast to use and has high safety.

To sum up, the ground console 2 is driven by the drone remote control module 9 to run, and the ground console 2 drives the display screen 11 to run through the data processing module 8 and the data storage module 20 to obtain detection information, which is then passed through the signal amplification module 10 Used in combination with the wireless transmission module 14, the operating distance of the ground console 2 to the UAV device body 1 is enlarged, thereby achieving the safety and convenience of UAV operation; the function module 3 is driven by the UAV device body 1 In operation, the functional module 3 drives the laser emission positioning module 6 through the data transmission module 17 to be used in combination with the ultrasonic ultrasonic detector detection program 7. The laser emission positioning module 6 is used to measure the distance between the drone equipment body 1 and the water-cooled wall tube, And under the combined use of the ultrasonic output module 18 and the ultrasonic receiving module 19, it is used for the transmission and reception of ultrasonic waves, so as to achieve the effect of drone flight anti-collision and detection of the thickness of the water-cooled wall pipe of the garbage power station; The body 1 drives the flight module 4 to run, the flight module 4 drives the flight fan 15 and the stabilization module 16 to run through the drive module 13, and the function module 3 drives the image acquisition module 5 to run through the data transmission module 17. Under the stable support of the stabilization module 16, The stability of the telescopic probe 12 during adjustment is improved, thereby achieving the maneuverability of the drone during flight and improving the stability of the image.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. The corrosion and thinning of the water-cooled wall of the unmanned aerial vehicle-borne non-contact ultrasonic detection garbage power station, including the unmanned aerial vehicle equipment body (1) and the ground console (2), it is characterized in that: the unmanned aerial vehicle equipment body (1) It includes a functional module (3) and a flight module (4), the functional module (3) includes an image acquisition module (5), a laser emission positioning module (6) and an ultrasonic detector detection program (7), the ground console (2) comprising a data processing module (8), an unmanned aerial vehicle remote control module (9) and a signal amplification module (10), a display screen (11) is provided on the outside of the data processing module (8), and the image acquisition module The outer side of (5) is provided with a telescopic probe (12), and the interior of the flight module (4) is provided with a drive module (13). 2. The unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station according to claim 1, is characterized in that: the unmanned aerial vehicle equipment body (1) is controlled with the ground through a wireless transmission module (14). The stations (2) are connected to each other. 3. The unmanned aerial vehicle-borne non-contact ultrasonic detection of water-cooled wall corrosion and thinning of a garbage power station according to claim 1, is characterized in that: the unmanned aerial vehicle equipment body (1) and the flight module (4) are connected to each other, The flight module (4) and the drive module (13) are mutually connected, and a plurality of groups of flight fans (15) and a stabilization module (16) are arranged on the outside of the drive module (13), and the flight fans (15) are In three groups, the stabilization module (16) and the driving module (13) are connected to each other, and the stabilization module (16) and the telescopic probe (12) are connected to each other. 4. The unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station according to claim 1, is characterized in that: the functional module (3) and the unmanned aerial vehicle equipment body (1) are connected to each other, The function module (3) is provided with a data transmission module (17) inside, and the image acquisition module (5), the laser emission positioning module (6) and the ultrasonic detector detection program (7) all pass through the data transmission module (17). ) is interconnected with the functional module (3), the telescopic probe (12) is interconnected with the data transmission module (17) through the image acquisition module (5), and the image acquisition module (5) is passed through the drone equipment body ( 1) Interconnect with the ground console (2). 5. The unmanned airborne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station according to claim 1 and claim 4 is characterized in that: the laser emission positioning module (6) passes through the data transmission module (17) It is interconnected with the functional module (3), and the ultrasonic detector detection program (7) is interconnected with the functional module (3) through the data transmission module (17). 6. The unmanned aerial vehicle-borne non-contact ultrasonic detection method according to claim 1, wherein the corrosion and thinning of the water-cooled wall of the garbage power station, is characterized in that: the ultrasonic detector detection program (7) is provided with an ultrasonic output module (18) inside. and an ultrasonic receiving module (19), wherein the ultrasonic output module (18) and the ultrasonic receiving module (19) are mutually connected with the ultrasonic detector detection program (7). 7. The unmanned aerial vehicle-borne non-contact ultrasonic detection method according to claim 1, characterized in that: the unmanned aerial vehicle remote control module (9) and the signal amplification module (10) are both connected to the ground The consoles (2) are connected to each other, and the ground console (2) improves the wireless connection with the drone equipment body (1) through the signal amplification module (10). 8. The unmanned aerial vehicle-borne non-contact ultrasonic detection of corrosion and thinning of the water-cooled wall of a garbage power station according to claim 1 is characterized in that: the ground console (2) and the data processing module (8) are connected to each other, so the A data storage module (20) is arranged between the display screen (11) and the data processing module (8), and the display screen (10) is interconnected with the ground console (2) through the data processing module (8).

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