燃煤电站输煤廊道机器人自动巡检系统技术开发与应用

Development and application of robot automatic inspection system for coal conveying corridor in thermal power plants

发电厂输煤廊道是事故多发系统,其巡检任务重要且繁重,巡检环境恶劣。为减轻运维人员劳动强度,提高巡检效率,提升输煤系统运行安全,设计开发了一套机器人自动巡检系统。该系统以机器人代替人工对廊道进行巡检,以摄像头及各种检测仪表代替人的各种判断,以三维画面形式对整个巡检系统实现综合管理,最终可实现对整个输煤廊道的自动巡检,并在巡检过程中对超温、声音异常、粉尘超标、皮带跑偏等现象进行自动报警,实现事故追溯、历史查询等功能。整套系统已经在燃煤发电厂示范应用,各项功能均达到预期目标,可为后续的规模化应用提供实践经验及优化方向。

Coal conveying system in power plants is an accident-prone system. Its patrol task is important and heavy, and the patrol environment is bad. In order to reduce the labor intensity of operation and maintenance personnel, improve the efficiency of inspection, and enhance the safety of coal conveying system, an automatic inspection system of robot is designed and developed. The system uses robots instead of manual inspection of corridors, applies cameras and various detection instruments instead of various judgments of human beings, and realizes comprehensive management for the whole inspection system in the form of three-dimensional pictures. Finally, it can realize automatic inspection of the entire coal conveying corridor, and alarms automatically for overtemperature, abnormal sound, excessive dust, belt deviation and other phenomena in the inspection process, so as to realize the function of accident tracing and historical inquiry. The whole system has achieved demonstration application in power plants, and all functions have reached the expected goal. It provides practical experience and optimization direction for subsequent large-scale application.