CN111976983A - Method for detecting boiler by using unmanned aerial vehicle - Google Patents
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention discloses a method for detecting a boiler by using an unmanned aerial vehicle, which comprises the following steps: A. selecting an unmanned aerial vehicle; B. presetting a detection flight scheme; C. a final detection flight scheme is formulated according to the combination of the inspection, detection and maintenance criteria and the inspection requirements; D. and carrying out distortion correction on the obtained image, restoring the real image and generating a corresponding inspection condition report. The beneficial effects are that, through the image acquisition and measurement function that unmanned aerial vehicle has, to image edge distortion correction, accomplish inspection, maintenance and the inspection work of patrolling the boiler and finally generate supplementary inspection report, effectively solve in the boiler inspection and overhaul to the work such as inspection, detection in the environment such as high altitude, unsettled, poisonous and harmful, narrow and small space, can be better for boiler inspector, overhaul technical staff and enterprise's inspection personnel service. The method is particularly suitable for boiler inspection of utility boilers and waste incineration boilers.
Description
Technical Field
The invention relates to a boiler inspection method; in particular to a method for detecting a boiler by using an unmanned aerial vehicle.
Background
At present, the boiler is used as a main power device for power generation, industrial production and urban heat supply, and has no significance for replacement. In the boiler inspection process, the traditional inspection and detection method has great defects, and firstly, the working period is long, and the influence on the economic benefit of an enterprise is great. When power plant boiler is examined internally, tens meters of high scaffolds need to be set up on the four walls of the hearth, so that a large amount of manpower and material resources are wasted, and the risk of high-altitude falling of inspectors is increased. And secondly, the internal inspection environment of the boiler is extremely severe, and particularly, the quantity of the waste incineration boilers is rapidly increased in recent years. However, because the combustion products of the waste incineration boiler contain carcinogenic dioxin, the traditional inspection method has great harm to the body because the inspection personnel stay in the boiler for a long time, so that a safe, reliable and convenient inspection method is urgently needed to meet the increasing inspection and detection requirements of the waste incineration boiler.
The unmanned aerial vehicle technology develops very rapidly in special equipment in recent years, has the characteristics of low cost, flexible reaction, strong space applicability and the like, can complete tasks such as routing inspection, detection and the like in environments such as high altitude, poisonous and harmful space, narrow space and the like, has wide development prospect, and has multiple organizations to develop unmanned aerial vehicle detection research at present. However, the application of the unmanned aerial vehicle in the field of boiler inspection, detection, maintenance and inspection is still in the exploration stage, and a complete and feasible inspection and detection process and method are not formed. In order to meet the requirements of intelligent inspection, maintenance and inspection in the new era, the unmanned aerial vehicle technology is innovatively adopted for boiler inspection, maintenance and inspection, and the feasibility of novel inspection, maintenance and inspection application is explored.
Therefore, the development of a universal, rapid and efficient inspection process and inspection method for utility boilers and waste incineration boilers by using the unmanned aerial vehicle technology is imperative.
According to the special characteristics of boiler inspection, a special inspection process and an inspection method are formulated for each part of the boiler by utilizing advanced unmanned aerial vehicle image acquisition and measurement functions so as to finish the inspection, maintenance and inspection work of the boiler.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for detecting a boiler through an unmanned aerial vehicle, which is suitable for detecting, patrolling and detecting the boiler in environments such as high altitude, suspension, poisonous and harmful, narrow space and the like.
The invention adopts the technical scheme that a method for detecting a boiler by using an unmanned aerial vehicle comprises the following steps:
A. selecting an unmanned aerial vehicle;
B. presetting a detection flight scheme;
C. a final detection flight scheme is formulated according to the combination of the inspection, detection and maintenance criteria and the inspection requirements;
D. and carrying out distortion correction on the obtained image, restoring the real image and generating a corresponding inspection condition report.
The unmanned aerial vehicle is Flyability-Elios 2;
the pre-defined flying scheme
(5) Confirming the checking sequence: determining one or more inspection sequences to ensure the regularity and no missing inspection of the inspection;
(6) and (3) checking the effective visual field: determining an effective visual field range to ensure that the content shot by the camera meets the inspection requirement in the effective visual field;
(7) unmanned aerial vehicle flight detection mode: determining one or more flight modes of the unmanned aerial vehicle, determining a working mode and a shooting mode of a camera of the unmanned aerial vehicle, and determining an effective area of the camera of the unmanned aerial vehicle;
(8) the detection target area division includes: the furnace wall comprises a water-cooled wall, wall-wrapped pipes, a furnace wall distribution area along the furnace wall, a screen-type heating surface and a convection pipe area.
The prefabricated flight scheme further comprises an adjusting inspection area, and specific working condition requirements are met.
The unmanned aerial vehicle flight detection mode comprises landing observation, hovering at a specified height, horizontal circumferential flight and flight along the height direction; the scanning modes comprise horizontal scanning, upward scanning and side scanning.
The invention has the advantages that the unmanned aerial vehicle has the image acquisition and measurement functions, corrects the distortion of the image edge, completes the work of inspection, maintenance and inspection of the boiler and finally generates an auxiliary inspection report, effectively solves the problems of inspection, detection and the like in the environments of high altitude, suspension, poisonous and harmful, narrow space and the like in the process of inspection and maintenance of the boiler, and can better serve boiler inspectors, maintenance technicians and enterprise inspection personnel. The method is particularly suitable for boiler inspection of utility boilers and waste incineration boilers.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the unmanned aerial vehicle of the present invention;
FIG. 2a is a schematic view of a horizontal scanning mode of the unmanned aerial vehicle of the present invention;
FIG. 2b is a schematic view of a bottom view scanning mode of the unmanned aerial vehicle of the present invention;
FIG. 2c is a schematic view of a side view scanning mode of the unmanned aerial vehicle
FIG. 3 is a schematic view of an unmanned detection zone of the present invention;
FIG. 4 is a schematic view of the present invention showing the damage of the heat-insulating pipeline and the untight sealing of the furnace door;
FIG. 5 is a schematic view of the present invention showing the combustion chamber burning guarding belt partially broken off;
FIG. 6 is a schematic view of a superheater tube of the present invention showing a large amount of ash deposition;
FIG. 7 is a schematic view showing the deformation of the economizer pipe according to the present invention;
FIG. 8a is a schematic representation of a pre-rectified image according to the present invention;
FIG. 8b is a schematic diagram of a rectified image according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
the invention discloses a method for detecting a boiler by using an unmanned aerial vehicle, which comprises the following steps:
A. selecting an unmanned aerial vehicle; as shown in fig. 1, a furnace chamber and a tail heating surface of a boiler are closed spaces, light rays in the spaces are weak, strong electromagnetic interference exists, signals are seriously shielded, and accurate positioning of an unmanned aerial vehicle cannot be realized by a satellite and a visual navigation system. Therefore, the flight system of the unmanned aerial vehicle to be selected finishes ranging through a plurality of infrared sensors in different directions, the relative position inside the boiler is determined, and the mechanical stability is good; a circular protective cover is added outside the unmanned aerial vehicle body, so that the problem of damage to the unmanned aerial vehicle when collision possibly occurs in flight is solved; the unmanned aerial vehicle Flyability-Elios 2 is relatively simple in structure and high in cost performance;
B. presetting a detection flight scheme;
(1) confirming the checking sequence: according to different structural characteristics of the boiler, the unmanned aerial vehicle basically flies in a clockwise annular direction or vertically according to the whole wall in the inspection sequence from bottom to top (in a hearth) or from top to bottom (a tail heating surface) in the inspection sequence, so that the inspection omission is prevented. Generally, an unmanned aerial vehicle enters an inspection space from a furnace door on the right side of a hearth or a tail heating surface, and flies to the joint of a right wall and a front wall in a clockwise direction after entering the inspection space, wherein the joint is used as a starting point of the inspection;
(2) and (3) checking the effective range of the video field: during inspection, 1/2 area in the middle of the display is used as an effective inspection area, and the video outside the area only assists the inspection conclusion
(3) Unmanned aerial vehicle flight and detection mode: the flying mode comprises the following steps: landing observation, hovering at a specified height, flying along the horizontal circumference of the target, flying up and down along the height of the target, and the like.
Unmanned aerial vehicle camera detection mode: horizontal vertical scanning, look-up (overlook) scanning, and look-side scanning. As shown in fig. 2a to 2 c.
The unmanned aerial vehicle should guarantee the effective area when above three kinds of detection mode scans: 1x1 square meters
(4) The detection target area division includes: as shown in fig. 3
a. Water cooling wall, wall wrapping pipe, furnace wall and other areas distributed along the furnace wall
According to the height of the hearth or the flue, 4 meters in the height direction are taken as an inspection area, and finally, less than 4 meters are calculated according to one area.
b. Screen heating surface, convection tube and other areas; based on the part size, an inspection area was calculated as not more than 2 meters along the length of the heated surface tube, and finally an inspection area was calculated as less than 2 meters.
(5) The inspection area can be adjusted according to specific working conditions to meet inspection requirements, and the detection areas should overlap to a certain extent.
Table one: inspection item and inspection request
C. And (4) combining the inspection and maintenance criteria with the inspection and maintenance requirements to formulate a final inspection flight scheme. As shown in fig. 4, use unmanned aerial vehicle technique to carry out the unmanned aerial vehicle flight detection of boiler external inspection in observing whether each main steam conduit, valve have the leakage, whether a gallows has the deformation, whether the heat preservation is intact, whether the furnace wall furnace roof is sealed has fracture, damage and obvious deformation, whether inflation indicating device is intact. As shown in fig. 4, the situation that the pipeline is damaged in heat preservation and the furnace door is not sealed tightly is shot by a far infrared imager carried by the unmanned aerial vehicle.
During the inside inspection of boiler, inspection personnel observe the inside situation of boiler through unmanned aerial vehicle camera lens, because of the camera lens field of vision is limited, the condition that can't distinguish unmanned aerial vehicle position appears easily. Therefore, the inspector controlling the unmanned aerial vehicle should have boiler inspection qualification of corresponding level, be familiar with the structure of the boiler to be inspected, and be skilled in mastering various performances and flight operation of the unmanned aerial vehicle.
Different flight modes are selected according to the characteristics of all heating surfaces and the defect types which are easy to appear. For the four-wall water-cooled wall of a boiler, the defects of heat insulation layer falling off, and cracking and deformation of the membrane water-cooled wall are common. The problems of coking, overheating deformation, burner burning loss and the like easily occur in a region with high heat load, and the important observation is needed during flight. FIG. 5 shows the defect that the combustion chamber burning guarding belt partially falls off when an unmanned aerial vehicle is used for carrying out the internal inspection of the boiler. The common defect types of the superheater tubes are deformation, displacement, film covering, corrosion, dust deposition, coking, tube clamp falling and the like, and fig. 6 shows the condition of a large amount of dust deposition on the high-temperature superheater tubes of a certain waste incineration boiler.
Adjusting a preset scheme according to the actual field detection condition, determining key detection parts, making a final detection scheme, and selecting unmanned aerial vehicle detection actions in each area (see a table I):
water wall tube:
when the system is detected by a human, the vertical distance between the system and a target water-cooled wall is kept about 0.5 m, and if obstacles, temperature measuring points and the like exist, the maximum distance can be 1 m.
In each inspection area, the unmanned aerial vehicle needs to hover at the position with the relative area height of 1 meter and 3 meters, and the target water-cooled wall is scanned vertically and upward, so that the visual angle covers the whole inspection area, and the unmanned aerial vehicle is enabled to fixedly hover at the height to inspect the single-sided water-cooled wall clockwise. The inspection is accomplished the back and is flown back this face water wall starting point, looks sideways at the target water wall and scans, should cover under the effective visual angle of unmanned aerial vehicle and be no less than 10 water wall pipes (need adjust light in good time when necessary), finally flies a week. The water wall tube which has the functions of positioning and clamping is hovered to check whether obvious abrasion exists or not, and whether cracks exist on the fins at the connection part of the water wall tube and the membrane type water wall tube or not. Hovering and checking whether the water-cooled wall fixing piece and a connecting welding seam with the water-cooled wall have obvious deformation, damage, cracks, overproof undercut and the like;
and for water-cooled wall inclined plane areas such as a folded flame angle and a cold ash bucket, the adjustment direction of the camera is corrected into a vertical state and an upward state for detection.
Secondly, the key inspection part of the water cooling wall: the method comprises the following steps of (1) judging whether the combustion equipment has serious burning loss, obvious deformation, abrasion, leakage and blockage or not by water-cooled wall pipes around a combustor and a region with higher heat load, a membrane water-cooled wall soot blower hole, a manhole, a coking hole and water-cooled wall pipes around a fire observation hole; whether cracks and loosening exist at the connection part of the burner hanging device; whether the soot blower, the sleeve and the like are obviously thinned or not and whether the spray head is seriously burnt or not.
Guarantee unmanned aerial vehicle and pipe wall distance as far as possible and be not less than 1 meter, prevent that unmanned aerial vehicle and accessory from hanging mutually.
In each inspection area, unmanned aerial vehicle need hover at these key inspection positions, look up, look down and look sideways at and scan and check and combine together, be convenient for discover the defect, shoot when necessary.
Whether the water wall pipes and the butt welding seams thereof near the temperature thermocouple of the circulating fluidized bed boiler hearth and near the horizontal flue are obviously abraded or not.
Thirdly, ceiling pipes:
unmanned aerial vehicle looks inspection upward to be a detection range along 4 meters of length of ceiling pipe, make under the effective visual angle of unmanned aerial vehicle perpendicular, look upward inspection ceiling pipe, unmanned aerial vehicle orbit is along the pipe vertical direction. After one-time vertical and upward inspection, the flying back detection starting point carries out side-view inspection along the vertical direction of the pipe.
A screen type heating surface:
and (3) according to the height of the screen type heating surface, enabling the bottommost pipe of the water-cooling screen to fly along the pipe row in a direction parallel to the pipe row, and checking the deformation condition of the screen type heating surface by the camera obliquely upwards.
Each fan screen type heating surface is scanned along the height direction to the horizontal direction of the screen type heating surface every 2 meters. And the vertical distance between the unmanned aerial vehicle and the water-cooled screen is ensured to be stable during scanning.
And (3) the unmanned aerial vehicle checks the wall penetrating position of the screen type heating surface and the ceiling pipe, the unmanned aerial vehicle hovers at a position 0.5 m away from the top, the unmanned aerial vehicle flies circumferentially along the wall penetrating pipe of the water screen, and the scanning mode is upward scanning and covers the whole wall penetrating position of the screen type heating surface. If the distance between the screen type heating surfaces is too small, upward scanning can be carried out from the end part of the water-cooling screen, and the whole wall penetrating pipe part is covered as much as possible.
Horizontally arranging an economizer:
the vertical distance between the tubes of the horizontally arranged coal economizer (the inspection space between the two heating surfaces) is determined to be more than 800 mm.
The unmanned aerial vehicle enters the detection space, one end of the economizer is perpendicular to the direction of the tube bank tubes to fly horizontally, the flying height is 400mm away from the uppermost tube bank, the unmanned aerial vehicle can be stopped on the tube bank if necessary, the camera lens is vertically downward or slightly inclined, the effective detection length of the tube bank tubes is not more than 2m in each horizontal flying, whether the distance between the lower tube bank of the unmanned aerial vehicle is uniform or not, whether the tubes and the tube bank are deformed in the front-back direction or not, whether the tubes and elbows are obviously worn or not, whether foreign matters, dust accumulation, coking and other abnormal phenomena exist among the tube banks or not are detected (as shown in figure 7). Whether the abrasion-proof plate falls off, displaces, is abraded, is obviously deformed, whether the abrasion-proof plate turns, whether a welding seam connected with the pipe is cracked, and is subjected to welding failure. And detecting whether the support hanger, the pipe clamp and the spoiler fall off, wear and obviously deform, and whether a welding seam connected with the pipe is cracked or not, and performing desoldering. After flying to the other end of the heating surface, flying forwards (backwards) for about 2 meters parallel to the tube array, and repeating the detection, wherein the detection should be repeated by 200mm each time. When the upper pipe row is detected, the flying height is 400mm away from the lowest pipe row of the upper-level economizer, and the camera lens is vertically upward or slightly inclined. And circulating until all the tube rows are detected.
Unmanned aerial vehicle gets into the detection space, according to clockwise along the interior furnace wall horizontal flight a week of detection space, flying height is close to the detection space top as far as possible, and unmanned aerial vehicle is close to the furnace wall as far as possible, and camera lens is perpendicular downwards, detects whether economizer and furnace wall laminate mutually, and whether lower part furnace wall has deformation and damage (if have the package wall superheater still should check whether the superheater pipe has deformation and wearing and tearing). And similarly, flying for a circle again, and vertically upwards checking the condition of the upper part of the unmanned aerial vehicle by using the camera lens.
When the economizer has the suspension pipe, the unmanned aerial vehicle hovers and detects whether the suspension pipe has obvious wearing and tearing, whether there are crackle and other superscript defects on the welding seam surface.
Sixthly, arranging a superheater horizontally:
the vertical distance between the tubes of the horizontally arranged coal economizer (the inspection space between the two heating surfaces) is determined to be more than 800 mm.
The unmanned aerial vehicle enters a detection space, one end of the superheater flies horizontally in a direction perpendicular to the direction of the tubes of the tube bank, the flying height is 400mm away from the uppermost tube bank, the unmanned aerial vehicle can be stopped on the tube bank if necessary, the camera lens is vertically downward or slightly inclined, the effective length of the tubes of the tube bank is detected to be not more than 2m in each horizontal flying process, whether the distance between the lower tube bank of the unmanned aerial vehicle is uniform or not, whether the tubes and the tube bank deform in the front-back direction or not, whether the tubes and elbows are obviously worn or not, whether foreign matters, dust, coking and other abnormal phenomena exist among the. Whether the abrasion-proof plate falls off, displaces, is abraded, is obviously deformed, whether the abrasion-proof plate turns, whether a welding seam connected with the pipe is cracked, and is subjected to welding failure. And detecting whether the support hanger, the pipe clamp and the spoiler fall off, wear and obviously deform, and whether a welding seam connected with the pipe is cracked or not, and performing desoldering. Whether the tube near the sootblower has cracks and significant blow-off. After flying to the other end of the heated surface, the tube bank flies forwards (backwards) for 2m in parallel, and the detection is repeated, wherein the detection and the previous detection are repeated by 200mm each time. When the upper pipe row is detected, the flying height is 400mm away from the lowest pipe row of the upper-level economizer, and the camera lens is vertically upward or slightly inclined. And circulating until all the tube rows are detected.
Unmanned aerial vehicle gets into the detection space, according to clockwise along detection space interior furnace wall horizontal flight a week, flying height is close to the detection space top as far as possible, and unmanned aerial vehicle is close to the furnace wall as far as possible, and camera lens is perpendicular downwards, detects whether the over heater laminates with the furnace wall mutually, and whether lower part furnace wall has deformation and damage (if have the wall superheater of package wall still should check whether the superheater pipe has deformation and wearing and tearing). And similarly, flying for a circle again, and vertically upwards checking the condition of the upper part of the unmanned aerial vehicle by using the camera lens.
Unmanned aerial vehicle gets into the detection space, makes unmanned aerial vehicle fly to over heater wall pipe department, and distance 200 supplyes material 300mm between the wall pipe detects whether the wall pipe has ground to bump, whether wall pipe has crackle or other defects with seal structure welding.
Seventhly, vertically arranging a superheater:
determining whether the distance between the vertically arranged superheater tubes (inspection space between two heating surfaces) meets the requirement of unmanned plane flight detection (vertical distance is more than 800 mm)
Unmanned aerial vehicle gets into the detection space, flies to 0.5 meter from the furnace roof, by superheater one end perpendicular to bank of tubes horizontal flight, unmanned aerial vehicle should be apart from being detected superheater outermost side pipe 200 and give 400mm, camera lens level forward or slope upwards, horizontal flight every time detects bank of tubes effective length and does not exceed 2m, detect whether bank of tubes interval is even, whether pipe and bank of tubes have the deformation of left and right sides direction, whether pipe and elbow have obvious wearing and tearing, corruption, oxidation, coking, whether have foreign matter between the bank of tubes, deposition, coking and other abnormal phenomena. Whether the wear-resistant plate of the heat exchanger drops, displaces, abrades, obviously deforms, whether the wear-resistant plate turns, whether the welding seam connected with the pipe cracks, and the heat exchanger is detached. And detecting whether the support hanger, the pipe clamp and the spoiler fall off, wear and obviously deform, and whether a welding seam connected with the pipe is cracked or not, and performing desoldering. After flying to the other end of the heating surface, the distance between the unmanned aerial vehicle and the outermost pipe of the pipe row is adjusted to be 50-100mm, the camera lens is horizontal and faces the flying direction of the aircraft, the effective width of the pipe row is detected to be not more than 1m in each horizontal flying, and whether the first pipe row of the superheater is arranged in a front-back mode or not and whether the pipe deforms in the front-back direction or not is detected. And after returning to the flight starting point, descending for 1-2m, and repeating the detection action until the inspection of all the heated surfaces is completed.
Unmanned aerial vehicle gets into the detection space, and along detection space interior furnace wall flight a week, the aircraft is apart from about the furnace wall 500mm, and camera lens free control detects the over heater and whether laminates mutually with the furnace wall, whether there is deformation and damage to the furnace wall.
Unmanned aerial vehicle gets into the detection space, makes unmanned aerial vehicle fly to over heater wall pipe department, and distance 200 supplyes material 300mm between the wall pipe detects whether the wall pipe has ground to bump, whether wall pipe has crackle or other defects with seal structure welding.
Unmanned aerial vehicle gets into detection space, makes unmanned aerial vehicle fly to over heater ceiling pipe department, and the aircraft is apart from ceiling pipe 200 and supplyes 300mm, carries out horizontal flight vertical detection and slope detection respectively, and whether the inspection has obvious wearing and tearing, corruption, bloated thick, swell, oxidation, deformation, bumps and grinds, mechanical damage, coking, crackle, whether the wall pipe has to grind and bumps, whether wall pipe and seal structure welding have crackle or other defects.
Packing wall superheater:
the unmanned aerial vehicle enters a detection space, the wall-wrapped superheater is checked according to a water wall check flight mode, the superheater tube is checked in a spot mode to determine whether obvious abrasion, corrosion, expansion, bulging, oxidation, deformation, collision and grinding, mechanical damage, coking and cracks exist or not, and wall thickness measurement is carried out if necessary; and (4) checking whether the fins of the superheater tubes wrapped by the horizontal flue region have obvious burning loss and cracks or not.
Ninthly, detection of the separator:
unmanned aerial vehicle gets into the detection space, flies to 2m apart from the top, and apart from furnace wall 1m department, carry out perpendicular or slope upward detection to furnace wall along clockwise, spot check furnace wall, stove flame retardant coating, whether have defects such as damaged, obviously warp, drop. Unmanned aerial vehicle flies to separator core pipe upper portion, and the camera inclines downwards, follows clockwise flight detection, checks out whether core pipe has defects such as fracture, obvious deformation, drops.
Detection of the R well combustion zone and the upper water wall:
unmanned aerial vehicle gets into the detection space, and along the interior brickwork flight a week of detection space, the aircraft is apart from the brickwork about 1m, and the camera lens is upper and lower free control, detects whether there is deformation and damage in the brickwork, guards and fires area and the pin of taking the boiler, whether there is the damage on the flame retardant coating. Checking whether the feeding hole, the material returning hole and the ash discharging hole of the circulating fluidized bed boiler are obviously abraded and corroded; and (5) checking whether the water wall tubes and the butt welding seams thereof above the guard burning zone are obviously abraded or not.
As shown in fig. 8a and 8b, the post assist software processes: since image edge distortion cannot be corrected in the field. At present unmanned aerial vehicle imaging edge has certain distortion, and central zone deflection is less, can not influence the judgement to the defect in the testing process, but lens edge deflection is great, consequently when on-the-spot inspection, need set up the effective area of observation, surpasss the effective area part image then can not regard as the judgement foundation. Although most unmanned aerial vehicles add the post-processing software to this, can carry out distortion correction to initial image, restore the image. However, the post-processing software is independent of the unmanned aerial vehicle operating system, the images need to be sorted and uploaded to a computer for correction, and auxiliary software such as image software Photoshop, video software Premiere and the like is used for post-processing of the images.
It should be noted that the protection scope of the present invention is not limited to the above specific examples, and the object of the present invention can be achieved by substantially the same structure according to the basic technical concept of the present invention, and embodiments that can be imagined by those skilled in the art without creative efforts belong to the protection scope of the present invention.
Claims (4)
1. A method for detecting a boiler by using an unmanned aerial vehicle is characterized by comprising the following steps:
A. selecting an unmanned aerial vehicle;
B. presetting a detection flight scheme;
C. a final detection flight scheme is formulated according to the combination of the inspection, detection and maintenance criteria and the inspection requirements;
D. and carrying out distortion correction on the obtained image, restoring the real image and generating a corresponding inspection condition report.
2. The method for detecting a boiler by a drone of claim 1,
the unmanned aerial vehicle is Flyability-Elios 2;
the pre-defined flying scheme
Confirming the checking sequence: determining one or more inspection sequences to ensure the regularity and no missing inspection of the inspection;
and (3) checking the effective visual field: determining an effective visual field range to ensure that the content shot by the camera meets the inspection requirement in the effective visual field;
unmanned aerial vehicle flight detection mode: determining one or more flight modes of the unmanned aerial vehicle, determining a working mode and a shooting mode of a camera of the unmanned aerial vehicle, and determining an effective area of the camera of the unmanned aerial vehicle;
the detection target area division includes: the furnace wall comprises a water-cooled wall, wall-wrapped pipes, a furnace wall distribution area along the furnace wall, a screen-type heating surface and a convection pipe area.
3. The method for detecting the boiler by the unmanned aerial vehicle according to claim 2, wherein the prefabricated flight plan further comprises adjusting a check area to meet specific operating condition requirements.
4. The method for detecting the boiler by the unmanned aerial vehicle as claimed in claim 2, wherein the unmanned aerial vehicle flight detection mode comprises landing observation, hovering at a specified height, horizontal circumferential flight, and flight in the height direction; the scanning modes comprise horizontal scanning, upward scanning and side scanning.
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