CN118644906A - A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system and method - Google Patents

Abstract

The invention discloses a cloud edge cooperative 1+6+N intelligent thermal power plant intelligent inspection system and method, comprising a flexible configuration inspection module, a precise positioning inspection module, a wheel inspection equipment inspection module and a hand-held terminal inspection module; the flexible configuration inspection module is used for establishing inspection tasks aiming at equipment characteristics and requirements and dividing the inspection tasks in a light-heavy urgent manner; the accurate positioning inspection module is used for dividing equipment according to inspection tasks and collecting data; the round-robin type equipment patrol module is used for carrying out regular fixed-point patrol on a certain area or equipment by depending on the intelligent patrol robot according to the acquired data; the handheld terminal inspection module is used for carrying out equipment inspection and maintenance management by depending on portable electronic equipment according to the collected data. The invention improves the inspection efficiency, improves the safety of personal equipment, meets the operation and production management requirements of the intelligent thermal power plant, and has important significance for promoting the safe production of the thermal power plant and reducing personnel and enhancing efficiency.

Description

Translated fromChinese

一种云边协同1+6+N智慧火电厂智慧巡检系统及方法A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system and method

技术领域Technical Field

本发明属于火电机组智慧巡检领域，尤其是一种云边协同1+6+N智慧火电厂智慧巡检系统及方法。The present invention belongs to the field of intelligent inspection of thermal power units, and in particular to a cloud-edge collaborative 1+6+N intelligent inspection system and method for thermal power plants.

背景技术Background Art

火电厂作为电力供应的核心支柱，承载着保障社会生产和人民生活用电的重任。其设备运行的稳定性和安全性不仅是电厂自身运营的关键，更是对整个电力网络稳定运行的重要保障。然而，尽管火电厂在技术和设备上持续投入与更新，但在运维管理方面，尤其是巡检环节，传统的人工巡检方式却逐渐显露出其局限性。As the core pillar of power supply, thermal power plants bear the heavy responsibility of ensuring electricity for social production and people's lives. The stability and safety of their equipment operation are not only the key to the operation of the power plant itself, but also an important guarantee for the stable operation of the entire power network. However, despite the continuous investment and update of thermal power plants in technology and equipment, in terms of operation and maintenance management, especially the inspection link, the traditional manual inspection method has gradually revealed its limitations.

传统的人工巡检方式主要依赖于运行人员的经验和判断，对设备进行逐一检查。然而，这种方式存在多个问题。首先，人工巡检的效率有限。火电厂的设备种类繁多，数量庞大，且分布广泛，人工巡检往往需要耗费大量时间和人力，难以在短时间内完成对所有设备的全面检查。这就可能导致一些潜在的设备缺陷无法被及时发现，从而增加了设备故障的风险。The traditional manual inspection method mainly relies on the experience and judgment of the operators to check the equipment one by one. However, this method has many problems. First, the efficiency of manual inspection is limited. The equipment in thermal power plants is of various types, large in number, and widely distributed. Manual inspection often takes a lot of time and manpower, and it is difficult to complete a comprehensive inspection of all equipment in a short time. This may result in some potential equipment defects not being discovered in time, thereby increasing the risk of equipment failure.

其次，人工巡检对运行人员的劳动强度要求极高。在火电厂高温、高压、高噪音的环境下，运行人员需要长时间、高强度的工作，这对他们的身体健康和心理状态都是一种严峻的考验。而且，由于人工巡检的局限性，即使运行人员付出了巨大的努力，也可能无法完全消除潜在的事故因素。此外，由于人为因素的干扰，如疲劳、疏忽等，可能导致巡检结果出现偏差或遗漏。这不仅会影响设备健康水平的评估，还可能对机组运行的安全性和经济性造成严重影响。因此，传统的人工巡检方式已经无法满足火电厂现代化管理的需求。Secondly, manual inspections require extremely high labor intensity from operators. In the high temperature, high pressure, and high noise environment of thermal power plants, operators need to work for long periods of time and at high intensity, which is a severe test for their physical health and mental state. Moreover, due to the limitations of manual inspections, even if operators make great efforts, they may not be able to completely eliminate potential accident factors. In addition, due to interference from human factors such as fatigue and negligence, inspection results may be biased or missed. This will not only affect the assessment of the health level of the equipment, but may also have a serious impact on the safety and economy of the unit operation. Therefore, the traditional manual inspection method can no longer meet the needs of modern management of thermal power plants.

发明内容Summary of the invention

本发明的目的在于提供一种云边协同1+6+N智慧火电厂智慧巡检系统及方法，解决现有人工巡检不能及时发现设备潜在风险的问题。The purpose of the present invention is to provide a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system and method to solve the problem that existing manual inspections cannot promptly detect potential risks of equipment.

为达到上述目的，本发明采用以下技术方案予以实现：In order to achieve the above object, the present invention adopts the following technical solutions:

一种云边协同1+6+N智慧火电厂智慧巡检系统，包括灵活组态化巡检模块、精准定位巡检模块、轮巡式设备巡检模块和手持式终端巡检模块；A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system, including a flexible configuration inspection module, a precise positioning inspection module, a round-robin equipment inspection module, and a handheld terminal inspection module;

所述灵活组态化巡检模块用于针对设备特性及需要创建巡检任务，并将巡检任务进行轻重缓急化划分；The flexible configuration inspection module is used to create inspection tasks according to equipment characteristics and needs, and to prioritize inspection tasks;

所述精准定位巡检模块用于按照巡检任务划分设备并采集数据；The precise positioning inspection module is used to divide the equipment according to the inspection tasks and collect data;

所述轮巡式设备巡检模块用于根据采集的数据，依托智能巡检机器人对某个区域或设备进行定期定点巡视；The patrol equipment inspection module is used to conduct regular fixed-point inspections of a certain area or equipment based on the collected data and relying on the intelligent inspection robot;

所述手持式终端巡检模块用于根据采集的数据，依托便携式的电子设备进行设备巡检和维护管理。The handheld terminal inspection module is used to perform equipment inspection and maintenance management based on the collected data and relying on portable electronic equipment.

进一步的，还包括网络部署模块，所述网络部署模块包括有线网络部署单元和无线网络部署单元；Furthermore, it also includes a network deployment module, which includes a wired network deployment unit and a wireless network deployment unit;

所述有线网络部署单元用于根据网络拓扑结构，通过网络设备和电缆确保网络的连接，使网络的覆盖范围和传输速度满足智慧巡检需求；The wired network deployment unit is used to ensure network connection through network devices and cables according to the network topology, so that the network coverage and transmission speed meet the requirements of smart inspection;

所述无线网络部署单元用于根据巡检区域的特点和需求进行无线网络技术和设备部署，确保无线网络的覆盖范围和信号稳定，能够满足巡检移动需求；The wireless network deployment unit is used to deploy wireless network technology and equipment according to the characteristics and requirements of the inspection area, ensuring the coverage and signal stability of the wireless network to meet the inspection mobility requirements;

所述有线网络部署单元和无线网络部署单元之间冗余互备。The wired network deployment unit and the wireless network deployment unit are redundant and mutually backed up.

进一步的，还包括统一管理平台，所述统一管理平台用于将各个功能模块集成到一个平台上，实现信息的共享和互通以及与平台内各模块之间协同工作，确保信息共享和流程流转。Furthermore, it also includes a unified management platform, which is used to integrate various functional modules into one platform, realize information sharing and intercommunication, and collaborate with various modules in the platform to ensure information sharing and process flow.

进一步的，还包括统一展示平台，所述统一展示平台用于通过可视化形式实时展示火电厂关键设备的运行状态和关键参数。Furthermore, it also includes a unified display platform, which is used to display the operating status and key parameters of key equipment in the thermal power plant in real time in a visual form.

进一步的，所述精准定位巡检模块设置有固定多功能智能摄像头、红外成像仪和拾音器。Furthermore, the precise positioning inspection module is provided with a fixed multifunctional intelligent camera, an infrared imager and a microphone.

进一步的，所述轮巡式设备巡检模块的巡视模式包括定期全覆盖快速智慧巡检、无触发状态下的智能漫巡和快速定制分类分区巡检；Furthermore, the patrol modes of the patrol equipment inspection module include regular full coverage rapid intelligent patrol, intelligent roaming patrol without triggering, and rapid customized classification and partition patrol;

所述定期全覆盖快速智慧巡检用于对全站设备的场景和角度进行全覆盖巡视；The periodic full coverage rapid intelligent inspection is used to conduct a full coverage inspection of the scenes and angles of all station equipment;

所述无触发状态下的智能漫巡用于在日常无定期巡检任务时，对全站设备实现全覆盖的漫游状态巡检；The intelligent roaming in the non-trigger state is used to implement a full coverage roaming state inspection of all station equipment when there is no regular inspection task in daily life;

所述快速定制分类分区巡检用于根据用户需求快速地生成定期轮巡任务和临时巡检任务，快速进行编制和执行。The fast customized classification and partition inspection is used to quickly generate regular inspection tasks and temporary inspection tasks according to user needs, and quickly compile and execute them.

进一步的，所述快速定制分类分区巡检任务包括设备类型、任务类型、设备区域和设备监测点。Furthermore, the fast customized classified and zoned inspection tasks include equipment type, task type, equipment area and equipment monitoring point.

进一步的，所述手持式终端巡检模块通过手持式终端设备扫描二维码或条形码来获取设备信息，并将设备信息上传到统一管理平台进行分析和处理，手持式终端设备通过拍照、录音和视频方式记录设备的实际情况，进行智能点检工作。Furthermore, the handheld terminal inspection module obtains equipment information by scanning QR codes or bar codes through the handheld terminal device, and uploads the equipment information to a unified management platform for analysis and processing. The handheld terminal device records the actual status of the equipment by taking photos, recording audio and video, and performs intelligent inspections.

进一步的，所述设备信息包括运行状态、故障情况和维护记录。Furthermore, the equipment information includes operating status, fault conditions and maintenance records.

一种所述系统的云边协同1+6+N智慧火电厂智慧巡检方法，包括：A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection method of the system includes:

针对设备特性及需要创建巡检任务，并将巡检任务进行轻重缓急化划分；Create inspection tasks based on equipment characteristics and needs, and prioritize inspection tasks;

按照巡检任务划分设备并采集数据；Divide equipment and collect data according to inspection tasks;

根据采集的数据，依托智能巡检机器人对某个区域或设备进行定期定点巡视；Based on the collected data, the intelligent inspection robot conducts regular inspections of a certain area or equipment.

根据采集的数据，依托便携式的电子设备进行设备巡检和维护管理。Based on the collected data, equipment inspection and maintenance management are carried out with the help of portable electronic devices.

与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

本发明提供一种云边协同1+6+N智慧火电厂智慧巡检系统，基于云边协同1+6+N智慧火电厂体系，构建了由灵活组态化巡检模块、精准定位巡检模块、轮巡式设备巡检模块和手持式终端巡检模块组成的智慧巡检功能模块，并结合网络部署模块、统一管理平台和统一展示平台，将固定的智能巡检设备与移动的智能巡检设备相结合，完成数据采集，并辅助以智能算法对巡检数据进行综合处理，实现了巡检终端设备灵活配置、巡检路径灵活规划、设备级巡检终端互联互动。通过智能化、数字化技术实现云边协同1+6+N智慧火电厂智慧巡检过程的事前预警和减员增效，可以及时地检查、发现和消除设备存在的缺陷，有效降低了运行人员的劳动强度，消灭了潜在的事故因素，提高了设备健康水平，在最小成本和人力耗费的基础上，保证了最高的设备可靠性，延长了使用寿命，确保了机组运行的安全性与经济性。同时，本发明的智慧巡检系统接入多种视频终端以及各类机器人，采用迁移学习、数据增广等技术实现算法的精度和泛化能力的提高，采用基于视频的深度学习技术，实现了全厂设备状态感知，代替人及时发现跑、冒、滴、漏等设备风险，并针对巡检设备部署，开发系统化集成与管理方法，可有效提升火电厂生产过程的无人巡检率。The present invention provides a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system. Based on the cloud-edge collaborative 1+6+N smart thermal power plant system, a smart inspection function module consisting of a flexible configuration inspection module, a precise positioning inspection module, a round-robin equipment inspection module and a handheld terminal inspection module is constructed, and a network deployment module, a unified management platform and a unified display platform are combined to combine fixed intelligent inspection equipment with mobile intelligent inspection equipment to complete data collection, and the inspection data is comprehensively processed with the assistance of intelligent algorithms, realizing flexible configuration of inspection terminal equipment, flexible planning of inspection paths, and interconnection and interaction of equipment-level inspection terminals. Through intelligent and digital technologies, the advance warning and staff reduction and efficiency increase of the cloud-edge collaborative 1+6+N smart thermal power plant smart inspection process can be realized, which can timely check, discover and eliminate the defects of the equipment, effectively reduce the labor intensity of the operating personnel, eliminate potential accident factors, and improve the health level of the equipment. On the basis of minimum cost and manpower consumption, the highest equipment reliability is guaranteed, the service life is extended, and the safety and economy of the unit operation are ensured. At the same time, the intelligent inspection system of the present invention is connected to a variety of video terminals and various types of robots, and adopts technologies such as transfer learning and data augmentation to improve the accuracy and generalization ability of the algorithm. It adopts video-based deep learning technology to realize the perception of the status of equipment in the entire plant, and replaces people to promptly discover equipment risks such as running, bubbling, dripping, and leaking. It also develops systematic integration and management methods for the deployment of inspection equipment, which can effectively improve the unmanned inspection rate of the production process of thermal power plants.

本发明从电力行业数字化、智能化转型出发，采用现代信息技术替代传统人工巡检方式，将人工巡检项目逐一拆解，分别用仪器代替进行智慧巡检，提高了巡检效率，实现了少人甚至无人巡检，事故提前预警，提高了人身设备安全性，高度契合智慧火电厂的实际运维和生产管理需求，整体设计思路清晰合理，应用功能设置全面，对推动火电厂安全生产和减员增效等目标的实现具有重要意义。Starting from the digital and intelligent transformation of the power industry, the present invention adopts modern information technology to replace the traditional manual inspection method, disassembles the manual inspection items one by one, and replaces them with instruments for smart inspection, thereby improving the inspection efficiency, realizing inspection with few or even no people, early warning of accidents, and improving the safety of people and equipment. It is highly consistent with the actual operation and maintenance and production management needs of smart thermal power plants. The overall design concept is clear and reasonable, and the application function setting is comprehensive. It is of great significance to promote the realization of goals such as safe production and reducing staff and increasing efficiency in thermal power plants.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚的说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

图1为本发明的云边协同1+6+N智慧火电厂智慧巡检系统示意图。Figure 1 is a schematic diagram of the cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system of the present invention.

具体实施方式DETAILED DESCRIPTION

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

在本发明实施例的描述中，需要说明的是，若出现术语“上”、“下”、“水平”、“内”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

此外，若出现术语“水平”，并不表示要求部件绝对水平，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

在本发明实施例的描述中，还需要说明的是，除非另有明确的规定和限定，若出现术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

下面结合附图对本发明做进一步详细描述：The present invention is further described in detail below in conjunction with the accompanying drawings:

参见图1，本发明提供一种云边协同1+6+N智慧火电厂智慧巡检系统，包括灵活组态化巡检模块、精准定位巡检模块、轮巡式设备巡检模块和手持式终端巡检模块。其中：Referring to FIG1 , the present invention provides a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system, including a flexible configuration inspection module, a precise positioning inspection module, a round-robin equipment inspection module, and a handheld terminal inspection module. Among them:

灵活组态化巡检模块针对设备特性及巡检需要创建任务，将巡检任务进行轻重缓急化划分，可保证在机组大修、小修、保供、恶劣自然天气状况下的组态化灵活调用。灵活组态化巡检模块主要具有实现以下功能：The flexible configuration inspection module creates tasks based on equipment characteristics and inspection needs, and divides inspection tasks into priorities, which can ensure flexible configuration calls under unit overhaul, minor repair, supply guarantee, and severe natural weather conditions. The flexible configuration inspection module mainly has the following functions:

1)巡检终端设备灵活配置：巡检管理系统应根据巡检设备的位置节点和状态信息提供给运行人员灵活、自由地调动和配置巡检终端的能力，方便不同的巡检人员开展日常化的设备巡检工作。1) Flexible configuration of inspection terminal equipment: The inspection management system should provide operators with the ability to flexibly and freely mobilize and configure inspection terminals based on the location nodes and status information of the inspection equipment, so as to facilitate different inspection personnel to carry out daily equipment inspection work.

2)具备灵活的巡检路径规划能力：基于不同设备之间的巡检终端位置属性，提供给不同的巡检人员灵活、自由的配置巡检路径的能力，巡检人员根据不同的需求规划不同的巡检任务。2) Flexible inspection route planning capability: Based on the inspection terminal location attributes between different devices, different inspection personnel are provided with the ability to flexibly and freely configure inspection routes. Inspection personnel can plan different inspection tasks according to different needs.

3)设备级巡检终端的互联、互动：当设备的某一巡检终端出现巡检告警，则该设备管理的其他巡检终端应能自动、全面地调用智能巡检算法对设备进行巡测，使巡检人员第一时间获取设备其他方面的故障或告警风险。3) Interconnection and interaction of equipment-level inspection terminals: When an inspection alarm occurs on an inspection terminal of a device, other inspection terminals managed by the device should be able to automatically and comprehensively call the intelligent inspection algorithm to inspect the device, so that the inspection personnel can obtain other faults or alarm risks of the equipment in the first place.

4)重要设备系统重点设计：采用灵活、动态的可视化配置方式对汽机平台、锅炉平台、输煤廊道等重要设备系统的巡检场景进行复现和跟踪，对不同的巡检终端采用不同的状态和图元表达方式，在巡检管理后台预置配置文件，提供巡检路径和巡检方式历史记忆功能，动态优化配置文件，使组态化巡检具备路径自趋优功能。4) Key design of important equipment systems: Flexible and dynamic visual configuration methods are used to reproduce and track inspection scenarios of important equipment systems such as steam turbine platforms, boiler platforms, and coal transportation corridors. Different states and graphic expressions are used for different inspection terminals. Configuration files are preset in the inspection management background, and historical memory functions for inspection paths and inspection methods are provided. Configuration files are dynamically optimized to enable configured inspections to have path self-optimization functions.

精准定位巡检模块采用固定多功能智能摄像头、红外成像仪和拾音器的方式进行数据采集，实现重要设备“看、摸、听、闻”全覆盖。精准定位巡检模块实现以下功能：The precise positioning inspection module uses a fixed multifunctional intelligent camera, infrared imager and microphone to collect data, achieving full coverage of "seeing, touching, hearing and smelling" of important equipment. The precise positioning inspection module realizes the following functions:

1)设备分级及需求划分：对电厂中有巡检需求的设备(或系统)按照重要性进行分级，分为：重要设备和普通设备。重要设备是指根据实际情况需要进行“看”“摸”“听”“闻”全覆盖的设备，如三大风机、磨组、给水泵、凝结水泵等。普通设备则包含“看”“摸”“听”“闻”部分覆盖的设备，如换热器、阀门等。1) Equipment classification and demand division: Equipment (or systems) that require inspection in power plants are classified according to their importance and divided into important equipment and ordinary equipment. Important equipment refers to equipment that needs to be fully covered by "look", "touch", "listen" and "smell" according to actual conditions, such as three major fans, grinding groups, feed water pumps, condensate pumps, etc. Ordinary equipment includes equipment that is partially covered by "look", "touch", "listen" and "smell", such as heat exchangers, valves, etc.

2)巡检任务分解：对不同设备的巡检任务进行分解。具体来说，设备巡检任务可分解为“看、摸、听、闻”四方面，每一方面包含不同的内容，需采取不同的技术手段和智能巡检设备。2) Inspection task decomposition: Decompose the inspection tasks of different equipment. Specifically, the equipment inspection tasks can be decomposed into four aspects: "see, touch, listen, and smell". Each aspect contains different content and requires different technical means and intelligent inspection equipment.

3)智能采集设备选取及算法配置：重要设备及系统采用固定多功能智能摄像头、红外成像仪、拾音器的方式进行数据采集，非重要设备及区域采用固定高清摄像头的方式进行数据采集，最终对数据进行分析、报警、预警。通过巡检算法配置页面，配置巡检算法的(任务名称、类别、上报方式)，算法任务名称可以设置多个任务名称来关联算法，任务名称具备增、删、改功能。3) Selection of intelligent data collection equipment and algorithm configuration: Important equipment and systems use fixed multi-functional intelligent cameras, infrared imagers, and microphones to collect data, while non-important equipment and areas use fixed high-definition cameras to collect data, and finally analyze, alarm, and warn the data. Through the inspection algorithm configuration page, configure the inspection algorithm (task name, category, reporting method). The algorithm task name can set multiple task names to associate the algorithm, and the task name has the functions of adding, deleting, and modifying.

轮巡式设备巡检模块主要依托智能巡检机器人实现对某个区域或设备的定期定点巡视，以确保其安全和正常运营。此巡检方式以智能化技术为基础，具有可编程性，随着技术发展，智能巡检机器人的功能逐步完善，使得其在应用过程中模拟人工操作，替代了传统人工巡检，减少人员投入，保障巡检有效执行。这种巡检方式较为灵活，受到外界气候、环境等因素影响较小，巡检结果稳定、准确。轮巡式设备巡检模块实现以下功能：The patrol equipment inspection module mainly relies on intelligent inspection robots to implement regular fixed-point inspections of a certain area or equipment to ensure its safety and normal operation. This inspection method is based on intelligent technology and is programmable. With the development of technology, the functions of intelligent inspection robots have been gradually improved, allowing them to simulate manual operations during application, replacing traditional manual inspections, reducing personnel input, and ensuring effective inspection execution. This inspection method is more flexible and is less affected by external climate, environmental and other factors. The inspection results are stable and accurate. The patrol equipment inspection module implements the following functions:

1)保障智慧巡检设备的路径规划能力：机器人搭载激光雷达，通过离线培训手段获取升压站激光点云地图，通过检测激光雷达的五次回波，构建机器人所在位置的局部环境地图。利用图像处理、帧间匹配等技术，自主获取机器人当前时刻的位置；并基于最优化算法实现对机器人运行路径的智能规划。1) Ensure the path planning capability of smart inspection equipment: The robot is equipped with a laser radar, and the laser point cloud map of the booster station is obtained through offline training. The local environment map of the robot's location is constructed by detecting the five echoes of the laser radar. The robot's current position is obtained autonomously using image processing, inter-frame matching and other technologies; and the robot's running path is intelligently planned based on the optimization algorithm.

2)保障智慧巡检设备的稳定性及巡检的灵活性：火电机组发电设备众多、现场环境复杂，需通过合理的结构和软件设计保证机器人等智慧巡检设备在运行时的稳定性。利用大数据分析技术对重要设备数据进行变化趋势分析、数据挖掘，对变化异常数据进行预警；通过视频联动、录像调阅提供准确可靠的视频进行确认，实现生产设备及运行环境的智能巡视。2) Ensure the stability of smart inspection equipment and the flexibility of inspection: Thermal power units have numerous power generation equipment and complex on-site environments, and reasonable structure and software design are required to ensure the stability of smart inspection equipment such as robots during operation. Use big data analysis technology to analyze the change trend and data mining of important equipment data, and issue early warnings for abnormal data changes; provide accurate and reliable videos for confirmation through video linkage and video review, and realize intelligent inspections of production equipment and operating environments.

支持的巡视模式包括：Supported patrol modes include:

(1)定期全覆盖快速智慧巡检：在设备巡检功能上可弥补智能巡检机器人速度慢、时间长的缺陷，在几分钟内即可完成对全站设备的轮巡任务，且可以弥补机器人某些设备无法观察的场景和角度，实现真正意义上的全覆盖巡视。(1) Regular, full-coverage, rapid, and intelligent inspections: The equipment inspection function can make up for the slow speed and long time of intelligent inspection robots. The inspection task of all station equipment can be completed within a few minutes. It can also make up for the scenes and angles that certain equipment cannot be observed by the robot, thus achieving a truly full-coverage inspection.

(2)无触发状态下的智能漫巡：在日常无定期巡检任务时，为仍能对全站设备实现全覆盖的监测要求，可施行漫游状态巡检。有触发启动时相应摄像机再介入定点监测。(2) Intelligent roaming inspection without triggering: When there is no regular inspection task, roaming inspection can be implemented to meet the monitoring requirements of full coverage of all station equipment. When triggered, the corresponding camera will intervene in fixed-point monitoring.

(3)快速定制分类、分区巡检任务：为满足升压站现场各类巡检需求，可根据用户需求快速地生成定期轮巡任务和临时巡检任务，巡检任务可分设备类型、任务类型、设备区域、设备监测点等快速进行编制和执行。(3) Rapid customization of classified and zoned inspection tasks: In order to meet various inspection requirements at the booster station, regular inspection tasks and temporary inspection tasks can be quickly generated according to user needs. Inspection tasks can be quickly compiled and executed based on equipment type, task type, equipment area, equipment monitoring point, etc.

3)保障可视化远方设备巡视能力：通过视频细节捕捉，实现远方可视化设备巡视，并且建立设备历史图谱，开展设备全周期生命管理，将数据分析从“单一数据点”提升至“多点比对关联”，安全防线从“事后分析”提前至“事前预控”。3) Ensure the ability to conduct visual remote equipment inspections: By capturing video details, remote visual equipment inspections can be achieved, and a historical map of equipment can be established to conduct full-cycle life management of equipment, upgrading data analysis from "single data point" to "multi-point comparison and association", and advancing the safety line from "post-analysis" to "pre-control".

4)保障站内巡检设备联动能力：通过接口对接及算法优化，联通NVR及环境监控等设备，实现与站内视频布控等监控设备的联动，并把采集到的信息结合本身巡检内容综合分析，将巡检内容从设备监控提升至站内安全监控、环境监控等多个方面，真正意义上实现全方位、立体式的站点覆盖。4) Ensure the linkage capability of in-station inspection equipment: Through interface docking and algorithm optimization, connect NVR and environmental monitoring equipment to achieve linkage with monitoring equipment such as in-station video control, and combine the collected information with its own inspection content for comprehensive analysis, and upgrade the inspection content from equipment monitoring to in-station security monitoring, environmental monitoring and other aspects, truly achieving all-round and three-dimensional site coverage.

5)保障对巡检结果的分析能力：基于视频的远程图像识别技术以及与视频监控设备的联动，具备对设备动作、设备故障、异常越限的联动感知能力。通过视频信息与遥信、遥测、告警信息的关联，引入多源信息进行设备告警、越限等信息的校核，从而“多重化”判定信息当前状态的准确性，提升运维管理人员，远程管理场景化分析问题的能力，提升业务判定的可视化水平。5) Ensure the ability to analyze inspection results: Based on video remote image recognition technology and linkage with video monitoring equipment, it has the ability to perceive equipment actions, equipment failures, and abnormalities beyond the limit. By linking video information with remote signaling, telemetry, and alarm information, multi-source information is introduced to verify equipment alarms, limit violations, and other information, thereby "multi-determining" the accuracy of the current status of the information, improving the ability of operation and maintenance managers to remotely manage scenario-based analysis problems, and improving the visualization level of business judgments.

6)保障管控后台数据查阅能力：管控后台除记录日常巡检信息外，对异常信息、警告信息等关键内容也做出整理及分类，便于工作人员快速查询。同时，各信息采集点位的巡检结果也可分别查看，在机器人巡检过程中，工作人员可通过管控平台实时掌握机器人的巡检位置。6) Ensure the ability to access data in the control background: In addition to recording daily inspection information, the control background also organizes and classifies key content such as abnormal information and warning information to facilitate quick query by staff. At the same time, the inspection results of each information collection point can also be viewed separately. During the robot inspection process, staff can grasp the robot's inspection position in real time through the control platform.

7)保障机器人巡航能力：降低机器人重量，一方面便于机器人的搬运、运输，另一方面可以降低机器人行走时的功耗。同时，对于机器人自身的能源进行升级，提升机器人的巡航能力。7) Ensure the robot's cruising ability: Reducing the robot's weight will make it easier to carry and transport the robot, and it will also reduce the robot's power consumption when walking. At the same time, the robot's own energy source will be upgraded to improve the robot's cruising ability.

手持式终端巡检模块借助便携式的电子设备进行设备巡检和维护管理。手持式终端设备可以通过扫描二维码或条形码来获取设备信息，记录设备的运行状态、故障情况、维护记录等信息，并将这些信息上传到后台管理系统中进行分析和处理。同时，手持式终端巡检设备还可以通过拍照、录音、视频等方式记录设备的实际情况，为后续的维护管理提供参考。在巡检过程中，手持式终端设备主要用于检修运维人员进行智能点检等过程，因此，手持式终端巡检模块实现以下功能：The handheld terminal inspection module uses portable electronic devices to perform equipment inspection and maintenance management. The handheld terminal device can obtain equipment information by scanning QR codes or barcodes, record the equipment's operating status, fault conditions, maintenance records and other information, and upload this information to the background management system for analysis and processing. At the same time, the handheld terminal inspection device can also record the actual situation of the equipment by taking photos, recording, and video, etc., to provide a reference for subsequent maintenance management. During the inspection process, the handheld terminal device is mainly used by maintenance personnel to perform intelligent inspections and other processes. Therefore, the handheld terminal inspection module realizes the following functions:

1)智能点检过程管控：主要实现以下智能点检工作管理项：1) Intelligent inspection process control: mainly realize the following intelligent inspection work management items:

(1)智能点检工作准备：系统自动产生每日每岗位工作任务并将智能点检任务下发至工作人员和终端。(1) Preparation for smart inspection work: The system automatically generates daily work tasks for each position and distributes smart inspection tasks to staff and terminals.

(2)点检过程管理：系统记录到位时间、人员，根据点检周期标准，自动计算日点检项目。记录设备状态并根据设备状态确定本设备智能点检内容，并相应记录智能点检结果内容和时间，然后对接人员定位系统，记录智能点检人员智能点检路线轨迹。(2) Inspection process management: The system records the time and personnel of the inspection, and automatically calculates the daily inspection items according to the inspection cycle standard. The system records the equipment status and determines the intelligent inspection content of the equipment according to the equipment status, and records the content and time of the intelligent inspection results accordingly. Then, the system connects to the personnel positioning system to record the intelligent inspection route trajectory of the intelligent inspection personnel.

(3)智能点检工作查询：考核点检人员是否按照计划完成要求的智能点检各项工作，依次检查智能点检人员的工作情况。漏检情况可以按照部门、专业、计划、职别等统计。通过统计对比可发现部门、智能点检人员对点检工作的认真程度，及时发现工作中存在的问题和漏洞并加以更正。对设备点检记录数据、状态结果、异常问题、设备累计运行时间进行查询以及点检标准执行存在问题进行反馈。(3) Smart inspection work query: Assess whether the inspection personnel have completed the required smart inspection tasks according to the plan, and check the work status of the smart inspection personnel in turn. Missed inspections can be counted by department, major, plan, job title, etc. Through statistical comparison, it is possible to find out how seriously the department and smart inspection personnel are doing the inspection work, and to promptly find problems and loopholes in the work and correct them. Query the equipment inspection record data, status results, abnormal problems, and accumulated equipment running time, and provide feedback on problems in the implementation of inspection standards.

2)智能点检人员验证：智能点检工作要求执行人员具备很强的专业性和安全保护意识。为防止非专业人员参与智能点检工作，在任务启动时需要进行人员验证。本系统模块智能点检终端支持人脸认证或虹膜识别。当任务下发至终端后，必须通过人员认证，才能在终端上认领任务，启动智能点检工作。2) Intelligent inspection personnel verification: Intelligent inspection work requires the executors to have strong professionalism and safety awareness. In order to prevent non-professionals from participating in intelligent inspection work, personnel verification is required when the task is started. The intelligent inspection terminal of this system module supports face recognition or iris recognition. When the task is sent to the terminal, personnel authentication must be passed before the task can be claimed on the terminal and the intelligent inspection work can be started.

3)设备状态分析及预测：可根据任务名称、巡检点数、报警点数、任务开始时间、任务结束时间，以及每个巡检点的名称、图片、巡检结果等条件组合查询。系统具备友好人机交流界面，各类手持式终端巡检任务采集数据，可选择时间段，查看数据曲线图，以及趋势图进行分析。根据多样化的数据分析，对设备未来一段期间内的状态进行趋势分析，并提供针对性的设备检查项。3) Equipment status analysis and prediction: You can query based on the task name, number of inspection points, number of alarm points, task start time, task end time, and the name, picture, inspection results and other conditions of each inspection point. The system has a friendly human-computer communication interface, and various handheld terminals collect data for inspection tasks. You can select time periods, view data curves, and analyze trend charts. Based on the diversified data analysis, the status of the equipment in the future period is trend analyzed, and targeted equipment inspection items are provided.

4)离线执行：手持式终端设备具备存储能力，每次智能点检任务执行过程中，可将巡检数据等信息记录在终端中。任务执行时，采集数据可实时传输至后台平台。当巡检任务执行过程中遭遇网络故障，数据则记录在终端设备中，待网络恢复正常时，终端会自动续传记录的数据。终端设备带有USB接口，通过数据先连接到计算机，可上传终端中的巡检数据，数据经过安全校验后，上传至系统，实现终端与系统数据信息的一致性。4) Offline execution: The handheld terminal device has storage capacity. During each intelligent inspection task, the inspection data and other information can be recorded in the terminal. When the task is executed, the collected data can be transmitted to the background platform in real time. When a network failure occurs during the execution of the inspection task, the data is recorded in the terminal device. When the network returns to normal, the terminal will automatically resume the recorded data. The terminal device has a USB interface. It is connected to the computer through the data first, and the inspection data in the terminal can be uploaded. After the data is securely verified, it is uploaded to the system to achieve consistency between the terminal and the system data information.

5)消缺缺陷管理：当手持式终端巡检过程中发现设备有异常现象时，异常情况记入设备日常智能点检记录中，若需要紧急处理，系统以检修申请单的形式通知生产调度，由维修人员进行处理。对于需停机检修的项目在当日设备智能点检表的“异常情况处理记录”一栏中注明，并汇报设备专责人，由专责人拟定检修项目名称、检修时间、协调联系人等。5) Defect elimination management: When abnormalities are found in the equipment during the inspection process of the handheld terminal, the abnormal situation will be recorded in the daily intelligent inspection record of the equipment. If emergency processing is required, the system will notify the production dispatch in the form of a maintenance application form, and the maintenance personnel will handle it. For projects that need to be shut down for maintenance, they will be noted in the "Abnormal Situation Handling Record" column of the equipment intelligent inspection form on the same day, and reported to the equipment specialist, who will draft the name of the maintenance project, maintenance time, coordination contact person, etc.

云边协同1+6+N智慧火电厂智慧巡检系统，还包括网络部署模块、统一管理平台和统一展示平台。结合智慧巡检有线与无线网络冗余互备方法、智慧巡检功能集成方法、智慧巡检一体化功能展示方法，构建了信息化、数字化、自动化、互动化为特征的智慧巡检系统，为电厂安全生产运行增添智慧化管理工具。其中：The cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system also includes a network deployment module, a unified management platform, and a unified display platform. Combining the smart inspection wired and wireless network redundant backup method, the smart inspection function integration method, and the smart inspection integrated function display method, a smart inspection system with the characteristics of informatization, digitization, automation, and interactivity has been constructed, adding intelligent management tools to the safe production and operation of power plants. Among them:

网络部署模块包括有线网络部署单元和无线网络部署单元，需要综合考虑网络的稳定性、灵活性、安全性以及后期维护等多个方面，确保在复杂多变的巡检环境中能够保持网络的连续性和数据的完整性。The network deployment module includes wired network deployment unit and wireless network deployment unit. It is necessary to comprehensively consider multiple aspects such as network stability, flexibility, security and post-maintenance to ensure network continuity and data integrity in a complex and changeable inspection environment.

1)有线网络部署单元：选择高质量、高可靠性的网络设备和电缆，并设计合理的网络拓扑结构，确保网络的物理连接稳定可靠，使网络的覆盖范围和传输速度满足智慧巡检需求。与此同时，通过部署冗余设备，如冗余交换机、冗余光缆等，可及时应对设备故障或链路中断的情况。1) Wired network deployment unit: Select high-quality, high-reliability network equipment and cables, and design a reasonable network topology to ensure that the physical connection of the network is stable and reliable, so that the network coverage and transmission speed meet the needs of smart inspection. At the same time, by deploying redundant equipment, such as redundant switches and redundant optical cables, equipment failures or link interruptions can be responded to in a timely manner.

2)无线网络部署单元：根据巡检区域的特点和需求选择适合的无线网络技术和设备(如Wi-Fi、Zigbee、LoRa等)并合理部署，确保无线网络的覆盖范围广泛，信号稳定，能够满足巡检人员的移动需求。采用无线网络的自动切换和负载均衡技术，确保在有线网络故障时能够自动切换到无线网络，保证数据的连续传输。2) Wireless network deployment unit: Select appropriate wireless network technologies and equipment (such as Wi-Fi, Zigbee, LoRa, etc.) according to the characteristics and needs of the inspection area and deploy them reasonably to ensure that the wireless network has a wide coverage and stable signal to meet the mobility needs of inspection personnel. Use wireless network automatic switching and load balancing technology to ensure that it can automatically switch to the wireless network when the wired network fails, ensuring continuous data transmission.

3)冗余互备机制：建立有线和无线网络之间的冗余互备机制，通过智能巡检系统实时监测网络状态，一旦发现有线网络故障，立即触发无线网络接管流程，使无线网络能够迅速接管有线网络并继续传输数据。在无线网络接管期间，巡检人员可以继续进行巡检工作，始终确保数据的实时性和完整性。3) Redundant backup mechanism: Establish a redundant backup mechanism between the wired and wireless networks, monitor the network status in real time through the intelligent inspection system, and immediately trigger the wireless network takeover process once a wired network failure is found, so that the wireless network can quickly take over the wired network and continue to transmit data. During the wireless network takeover, the inspection personnel can continue to carry out inspection work to always ensure the real-time and integrity of the data.

4)网络安全保障：无论是有线网络还是无线网络，都需要加强网络安全防护，防止数据泄露和网络攻击。可采用加密技术、身份验证等手段，确保数据传输的安全性，并定期对网络设备和系统进行安全检查和漏洞扫描，及时发现并修复潜在的安全隐患。4) Network security: Whether it is a wired network or a wireless network, it is necessary to strengthen network security protection to prevent data leakage and network attacks. Encryption technology, identity authentication and other means can be used to ensure the security of data transmission, and network equipment and systems should be regularly inspected and scanned for vulnerabilities to promptly discover and repair potential security risks.

5)网络维护与优化：根据巡检工作的实际需求和反馈，定期对有线和无线网络进行维护和检查，并不断优化网络布局和设备配置，在确保其正常运行和性能稳定的同时提高网络的可靠性和效率。5) Network maintenance and optimization: Based on the actual needs and feedback from inspection work, regularly maintain and inspect wired and wireless networks, and continuously optimize network layout and equipment configuration to improve network reliability and efficiency while ensuring its normal operation and stable performance.

统一管理平台的智慧火电厂智慧巡检功能集成通过以下多个方面的技术和策略，实现对设备、环境、安全等多方面的全面监控和智能管理，提高巡检工作的效率和准确性，降低安全风险，为火电厂的安全、稳定、高效运行提供有力保障。The smart inspection function of the smart thermal power plant in the unified management platform integrates the following technologies and strategies to achieve comprehensive monitoring and intelligent management of equipment, environment, safety and other aspects, improve the efficiency and accuracy of inspection work, reduce safety risks, and provide strong guarantees for the safe, stable and efficient operation of thermal power plants.

1)功能集成需求分析：深入了解智慧火电厂的巡检需求，包括巡检区域、设备类型、巡检频率等，并分析现有系统的功能和局限性，确定需要集成的功能模块和方法技术。1) Functional integration requirements analysis: Have an in-depth understanding of the inspection requirements of smart thermal power plants, including inspection areas, equipment types, inspection frequencies, etc., analyze the functions and limitations of existing systems, and determine the functional modules and methods and technologies that need to be integrated.

2)技术选型与架构设计：根据需求分析结果，选择适合的技术和工具，如物联网技术、大数据分析、人工智能等，设计智慧巡检系统整体的功能集成架构，包括硬件平台、软件平台、数据处理和存储等。2) Technology selection and architecture design: Based on the results of demand analysis, select appropriate technologies and tools, such as Internet of Things technology, big data analysis, artificial intelligence, etc., and design the overall functional integration architecture of the smart inspection system, including hardware platform, software platform, data processing and storage, etc.

3)数据集成与管理：整合火电厂内各种传感器和监控设备的数据，确保数据的准确性和实时性，并建立统一的数据接口和协议，实现不同设备和系统之间的数据互通，以及数据的集中存储、处理和分析，为智慧巡检提供数据支持。3) Data integration and management: Integrate data from various sensors and monitoring equipment in thermal power plants to ensure data accuracy and real-time performance, and establish unified data interfaces and protocols to achieve data interoperability between different devices and systems, as well as centralized storage, processing and analysis of data, to provide data support for smart inspections.

4)巡检功能集成：集成智能巡检机器人、无人机等自动化设备和视频监控、门禁、安全预警等系统，实现自动化巡检和故障识别以及全方位的安全监控和预警。此外，集成巡检管理系统、人员定位系统等，可同时实现巡检工单的派送、巡检路径规划、巡检结果统计等功能。4) Inspection function integration: Integrate intelligent inspection robots, drones and other automated equipment with video surveillance, access control, security warning and other systems to achieve automated inspection and fault identification as well as all-round security monitoring and warning. In addition, the integrated inspection management system, personnel positioning system, etc. can simultaneously realize the functions of dispatching inspection work orders, planning inspection routes, and statistics of inspection results.

5)平台与系统集成：构建的智慧火电厂统一管理平台，将各个功能模块和系统集成到一个平台上，实现信息的共享和互通以及与平台内各模块之间的协同工作，确保信息共享和流程流转的实时性和顺畅性，实现系统的协同工作和高效运行。5) Platform and system integration: The unified management platform for smart thermal power plants is constructed, integrating various functional modules and systems into one platform, realizing information sharing and intercommunication as well as collaborative work among modules within the platform, ensuring the real-time and smoothness of information sharing and process flow, and realizing collaborative work and efficient operation of the system.

6)用户界面与交互优化：设计直观易用的用户界面，方便操作人员快速掌握和使用智慧巡检系统，并提供丰富的交互功能，如实时数据展示、故障报警提示、操作日志查询等。6) User interface and interaction optimization: Design an intuitive and easy-to-use user interface to facilitate operators to quickly master and use the smart inspection system, and provide rich interactive functions such as real-time data display, fault alarm prompts, operation log query, etc.

7)测试与调优：对功能集成后的智慧巡检系统进行全面测试，包括功能测试、性能测试、安全测试等，并根据测试结果对系统进行调优和改进，确保系统的稳定性和可靠性。7) Testing and tuning: Conduct comprehensive testing on the intelligent inspection system after functional integration, including functional testing, performance testing, safety testing, etc., and tune and improve the system based on the test results to ensure the stability and reliability of the system.

统一展示平台用于智慧火电厂智慧巡检一体化功能展示，可以全面展示智慧巡检一体化功能的优势和特点，帮助管理人员和操作人员更好地了解和掌握该系统的使用方法，从而提升火电厂的巡检效率和准确性，降低安全风险，为火电厂的安全、稳定、高效运行提供有力保障。The unified display platform is used to display the integrated smart inspection functions of smart thermal power plants. It can fully demonstrate the advantages and characteristics of the integrated smart inspection functions, help managers and operators better understand and master the use of the system, thereby improving the inspection efficiency and accuracy of thermal power plants, reducing safety risks, and providing strong guarantees for the safe, stable and efficient operation of thermal power plants.

1)建立展示平台：建立一个能够整合智慧巡检系统各项功能，并以直观、友好方式呈现出来的统一展示平台。平台可采用网页、APP等形式，方便用户随时随地访问和查看。1) Establish a display platform: Establish a unified display platform that can integrate the functions of the smart inspection system and present it in an intuitive and friendly way. The platform can be in the form of a web page, APP, etc., so that users can access and view it anytime and anywhere.

2)实时数据监控与可视化展示：在展示平台上，通过图表、动画等可视化形式实时展示火电厂关键设备的运行状态和关键参数，使管理人员更加直观地了解电厂的运行状态。所展示的内容可包括设备的温度、压力、流量等实时数据，以及设备的运行趋势和异常情况等。2) Real-time data monitoring and visual display: On the display platform, the operating status and key parameters of key equipment in thermal power plants are displayed in real time through visual forms such as charts and animations, so that managers can understand the operating status of power plants more intuitively. The displayed content may include real-time data such as temperature, pressure, flow, and other real-time data of equipment, as well as operating trends and abnormal conditions of equipment.

3)智慧巡检与故障识别演示：利用智能巡检机器人、无人机等自动化设备进行巡检演示，展示其自主导航、自动检测等功能。同时，通过模拟故障场景，展示系统对故障的自动识别和报警能力，以及故障处理流程。3) Smart inspection and fault identification demonstration: Use smart inspection robots, drones and other automated equipment to conduct inspection demonstrations, demonstrating their autonomous navigation, automatic detection and other functions. At the same time, by simulating fault scenarios, demonstrate the system's automatic fault identification and alarm capabilities, as well as the fault handling process.

4)智能分析与决策支持展示：展示经过大数据分析后的设备运行规律、故障模式等，以及根据上述结果生成的优化巡检计划、改进设备维护策略等决策建议，体现智能分析在提升巡检效率和设备维护水平方面的作用。4) Intelligent analysis and decision support display: Display the equipment operation rules, failure modes, etc. after big data analysis, as well as decision suggestions such as optimized inspection plans and improved equipment maintenance strategies generated based on the above results, reflecting the role of intelligent analysis in improving inspection efficiency and equipment maintenance level.

5)用户操作与交互体验：邀请管理人员和运行操作人员进行现场操作体验，展示平台的各项功能和操作流程。同时，收集他们的反馈和建议，以进一步优化展示方法和平台功能。5) User operation and interactive experience: Invite managers and operators to conduct on-site operation experience to demonstrate the platform's various functions and operation processes. At the same time, collect their feedback and suggestions to further optimize the display method and platform functions.

下面参照具体实施例对本发明做进一步详细描述：The present invention is further described in detail below with reference to specific embodiments:

本实施例中的一种云边协同1+6+N智慧火电厂智慧巡检系统主要包括灵活组态化巡检、精准定位巡检、轮巡式设备巡检和手持式终端巡检四大功能模块和网络部署模块、统一管理平台和统一展示平台，通过有机互联，最大化各模块及方法的功能优势，推动火电厂的安全生产和减员增效。In this embodiment, a cloud-edge collaborative 1+6+N smart inspection system for smart thermal power plants mainly includes four functional modules, namely flexible configuration inspection, precise positioning inspection, patrol equipment inspection and handheld terminal inspection, as well as a network deployment module, a unified management platform and a unified display platform. Through organic interconnection, the functional advantages of each module and method are maximized to promote safe production and reduce staff and increase efficiency in thermal power plants.

本实施例中灵活组态化巡检过程如下：The flexible configuration inspection process in this embodiment is as follows:

时间规划：根据不同季节、不同生产区域制定巡检时间，巡检间隔时间可自定义编排，如1分钟、15分钟、30分钟、1小时、2小时、3小时等，具备可编辑性和灵活性。Time planning: Set inspection time according to different seasons and production areas. The inspection interval can be customized, such as 1 minute, 15 minutes, 30 minutes, 1 hour, 2 hours, 3 hours, etc., which is editable and flexible.

路线规划：可按不同生产区域如锅炉、汽机、电气、脱硫、输煤、化水等，编排巡检路线，如锅炉区：原煤仓→给煤机→磨煤机→炉前燃油平台→风机→汽包→燃烧器层→一次风机→送风机→引风机。Route planning: Inspection routes can be arranged according to different production areas such as boilers, steam turbines, electricity, desulfurization, coal transportation, and water treatment, such as boiler area: raw coal bunker → coal feeder → coal mill → fuel platform in front of the furnace → fan → steam drum → burner layer → primary fan → forced draft fan → induced draft fan.

巡检路线配置：配置巡检任务的(名称、巡检类型、巡检任务、区域)等，且具备增、删、改、查功能。Inspection route configuration: configure the inspection task (name, inspection type, inspection task, area), etc., and have the functions of adding, deleting, modifying and checking.

巡检方式配置：打破传统的创建巡检任务模式，更直观便捷地创建巡检任务，针对电厂区域或设备任意搭配组合巡检，并展示巡检结果，提升用户体验感。主要分为区域巡检和设备巡检两种方式，可选择输煤、汽机、电气、锅炉、脱硫和化水六大区域，任意拖拽子区域到可视化窗口，显示当前区域的电子地图和摄像机，可指定地图中的摄像机进行巡检，点击巡检，将展示每个摄像机巡检的过程。Inspection mode configuration: Break the traditional mode of creating inspection tasks, create inspection tasks more intuitively and conveniently, conduct inspections on any combination of power plant areas or equipment, and display inspection results to enhance user experience. It is mainly divided into two modes: regional inspection and equipment inspection. You can choose six major areas: coal transportation, steam turbine, electricity, boiler, desulfurization and chemical water. You can drag sub-areas to the visualization window to display the electronic map and cameras of the current area. You can specify the cameras in the map for inspection. Click on the inspection to display the inspection process of each camera.

灵活巡检执行：针对一些临时任务，如突发恶劣天气时、投入试运行的设备、带缺陷运行的设备、频发性故障设备设定临时性巡检任务，巡检时间和路线临时组合。如冬季严寒天气时，对厂房暖汽、电加热、蒸汽伴热、室外开关柜和开关箱电加热、室外阀门井、水塔结冰以及室外布置的带有保护的压力测点、水位测点、流量测点等。夏季高负荷高温天气时，对轴承温度、电机线圈温度、风温、氢温、油温、水温等状态临时巡检。Flexible inspection execution: For some temporary tasks, such as sudden severe weather, equipment put into trial operation, equipment with defects, and equipment with frequent failures, temporary inspection tasks are set, and inspection time and route are temporarily combined. For example, in severe winter weather, plant heating, electric heating, steam tracing, outdoor switch cabinet and switch box electric heating, outdoor valve well, water tower icing, and outdoor pressure measurement points, water level measurement points, flow measurement points with protection, etc. In summer, high-load and high-temperature weather, temporary inspections are carried out on bearing temperature, motor coil temperature, wind temperature, hydrogen temperature, oil temperature, water temperature, etc.

本实施例中重要设备是指根据实际情况需要进行“看”“摸”“听”“闻”全覆盖的设备，如三大风机、磨组、给水泵、凝结水泵等；普通设备则包含“看”“摸”“听”“闻”部分覆盖的设备，如换热器、阀门等。In this embodiment, important equipment refers to equipment that needs to be fully covered by "look", "touch", "listen" and "smell" according to actual conditions, such as three major fans, grinding groups, water supply pumps, condensate pumps, etc.; ordinary equipment includes equipment that is partially covered by "look", "touch", "listen" and "smell", such as heat exchangers, valves, etc.

2)巡检任务分解：对不同设备的巡检任务进行分解。具体来说，设备巡检任务可分解为“看、摸、听、闻”四方面，每一方面包含不同的内容，需要采取不同的技术手段和智能巡检设备，具体如表1所示。2) Inspection task decomposition: Decompose the inspection tasks of different equipment. Specifically, the equipment inspection tasks can be decomposed into four aspects: "see, touch, listen, and smell". Each aspect contains different content and requires different technical means and intelligent inspection equipment, as shown in Table 1.

表1巡检任务的技术手段和智能巡检设备Table 1 Technical means and intelligent inspection equipment for inspection tasks

从表1可以看出：From Table 1 we can see that:

(1)“看”：对于普通设备，利用高清摄像头进行拍摄，然后把实时图像传至智慧巡检云平台，使得运行人员在控制室、管理人员在办公室就可以“看到”现场状况。对于重要设备，可采用高清变焦摄像头进行拍摄，便于随时放大细节；也可采用智能摄像头进行定时拍摄或者动态捕捉，利用图像对比和机器视觉的算法，进行深入挖掘，及时发现故障，如：采用图像对比识别管道、皮带、料仓等设备泄漏、设备异常等。(1) "See": For ordinary equipment, use high-definition cameras to take pictures, and then transmit real-time images to the smart inspection cloud platform, so that operators in the control room and managers in the office can "see" the on-site conditions. For important equipment, high-definition zoom cameras can be used to take pictures, so that details can be enlarged at any time; smart cameras can also be used for timed shooting or dynamic capture, and image comparison and machine vision algorithms can be used to conduct in-depth mining and timely discover faults, such as using image comparison to identify leaks in pipelines, belts, silos, and other equipment, equipment abnormalities, etc.

(2)“摸”：对于普通设备，通过红外测温仪测量某个固定点的温度即可满足巡检要求；而对于重要设备，则需要利用红外相机(或红外成像仪)进行红外扫描，生成红外图像，以此了解整个设备的温度场，判断设备是否出现异常。“摸”的数据采集是一项重要措施，利用“摸”来的温度可以判断管道的泄漏情况、轴承的超温情况等等，结合温度的变化趋势可以做出故障预警。(2) "Touch": For ordinary equipment, the inspection requirements can be met by measuring the temperature of a fixed point with an infrared thermometer; for important equipment, an infrared camera (or infrared imager) is needed to perform infrared scanning and generate infrared images to understand the temperature field of the entire equipment and determine whether the equipment is abnormal. "Touch" data collection is an important measure. The temperature obtained by "touch" can be used to determine pipeline leakage, bearing overheating, etc., and fault warnings can be issued in combination with the temperature change trend.

(3)“听”：根据现场条件，通过定向拾音器来采集某个设备的声音变化过程，从而判断设备是否发生了故障，如主轴磨损、设备泄漏等。(3) “Listening”: Based on the on-site conditions, a directional microphone is used to collect the sound changes of a certain device to determine whether the device has a fault, such as spindle wear, equipment leakage, etc.

(4)“闻”：根据需要，通过气味探测器或气味芯片进行一种或多种气味的探测，以此了解气体泄漏情况，或者监测电缆着火、轴瓦磨损等所产生的MVOC。(4) “Smell”: One or more odors are detected through an odor detector or odor chip as needed to understand gas leakage or monitor MVOC generated by cable fire, bearing wear, etc.

本实施例中以引风机为例，说明上述四种类别巡检任务所形成的标准化巡检方案。首先，用户可根据巡检经验布置多个高清摄像头，既提供现场画面，又可利用图像对比来发现引风机运行异常；布置红外摄像机可以监测引风机及烟风管道的温度场，监测异常高温和升温趋势，判断烟道是否泄漏等；布置拾音器可以监听异响；布置气味仪器可以监测引风机周围的异味，可能是电缆高温、轴承磨损、烟道泄漏等。In this embodiment, the induced draft fan is taken as an example to illustrate the standardized inspection plan formed by the above four types of inspection tasks. First, the user can arrange multiple high-definition cameras based on inspection experience, which can not only provide on-site images, but also use image comparison to detect abnormal operation of the induced draft fan; arrange infrared cameras to monitor the temperature field of the induced draft fan and the smoke and air duct, monitor abnormal high temperature and temperature rise trends, and determine whether the flue is leaking, etc.; arrange microphones to monitor abnormal sounds; arrange odor instruments to monitor odors around the induced draft fan, which may be high temperature of the cable, bearing wear, flue leakage, etc.

3)智能采集设备选取及算法配置：重要设备及系统采用固定多功能智能摄像头、红外成像仪、拾音器的方式进行数据采集，非重要设备及区域采用固定高清摄像头的方式进行数据采集，最终对数据进行分析、报警、预警。通过巡检算法配置页面，配置巡检算法的(任务名称、类别、上报方式)，算法任务名称可以设置多个任务名称来关联算法，任务名称具备增、删、改功能。3) Selection of intelligent data collection equipment and algorithm configuration: Important equipment and systems use fixed multi-functional intelligent cameras, infrared imagers, and microphones to collect data, while non-important equipment and areas use fixed high-definition cameras to collect data, and finally analyze, alarm, and warn the data. Through the inspection algorithm configuration page, configure the inspection algorithm (task name, category, reporting method), and the algorithm task name can set multiple task names to associate the algorithm. The task name has the functions of adding, deleting, and modifying.

为提高智慧巡检设备的稳定性，本实施例中室外智能巡检机器人控制系统上位机采用低功耗工业计算机，用于采集各种检测设备及平台任务级控制；下位机设计八轴运动控制卡。四轮运动底盘采用独立全向轮设计，结合八轴运动控制卡，可实现机器人的运抵转向，以及在任意时刻、任意方向上的运动，在复杂环境下具备更强的适应能力；采用独立驱动方式给机器人带来更强的动力和越障能力，并利用自适应电流电压双闭环控制策略，提高机器人的运行稳定性。In order to improve the stability of the intelligent inspection equipment, the host computer of the outdoor intelligent inspection robot control system in this embodiment adopts a low-power industrial computer to collect various detection equipment and platform task-level control; the lower computer is designed with an eight-axis motion control card. The four-wheel motion chassis adopts an independent omnidirectional wheel design, combined with an eight-axis motion control card, which can realize the robot's arrival and steering, as well as movement at any time and in any direction, and has stronger adaptability in complex environments; the independent drive method is adopted to give the robot stronger power and obstacle crossing ability, and the adaptive current and voltage dual closed-loop control strategy is used to improve the robot's operating stability.

本实施例以火电厂主厂房为应用场景，主厂房内关键设备为巡检对象，对轮巡式设备巡检模块进行验证，采用多种终端设备及管理系统有机结合的创新方案，整合计算机编程技术、AI视觉识别和导航技术、模式识别技术、无线信号传输技术、智能控制技术、机电控制技术等多种高新技术手段，集软件、机械、电子、控制、传感、材料等多学科于一体，通过对图像、声音、温度、振动等数据的采集，完成设备运行状态，仪表数据，指示灯状态等巡检任务，在不影响现场输送系统及设备的正常运行、不遮挡人员巡检通道及消防喷淋等设备条件下，最大限度的实现无死角、无盲点的巡检，达到主厂房区域无人或少人值守，解放生产人员和管理人员劳动强度，使人员从重复、低效的劳动中解脱出来，从事更高级的分析、管理工作。This embodiment uses the main plant of a thermal power plant as an application scenario, and the key equipment in the main plant as the inspection object. The patrol-type equipment inspection module is verified, and an innovative solution that organically combines multiple terminal devices and management systems is adopted. A variety of high-tech means such as computer programming technology, AI visual recognition and navigation technology, pattern recognition technology, wireless signal transmission technology, intelligent control technology, and electromechanical control technology are integrated, and multiple disciplines such as software, machinery, electronics, control, sensing, and materials are integrated. Through the collection of data such as images, sounds, temperature, and vibration, inspection tasks such as equipment operating status, instrument data, and indicator light status are completed. Without affecting the normal operation of the on-site transportation system and equipment, and without blocking the personnel inspection channel and equipment such as fire sprinklers, the inspection without dead angles and blind spots is realized to the maximum extent, so that no one or few people are on duty in the main plant area, the labor intensity of production personnel and management personnel is liberated, and personnel are freed from repetitive and inefficient labor to engage in more advanced analysis and management work.

1)主厂房区域巡检需求分析：需对主厂房重点区域，利用机器人自身搭载可见光及红外摄像头进行监测；将机器人巡检画面及巡检结果等信息实时与综合管理部门进行数据分享，通过远程管理的方式对机器人的状态进行监控管理，可将告警信息显示在智能巡检系统里，方便运维人员进行及时查看和故障判别。1) Inspection needs analysis of the main plant area: It is necessary to monitor the key areas of the main plant using the visible light and infrared cameras equipped on the robot itself; share the robot's inspection images and inspection results with the comprehensive management department in real time, monitor and manage the robot's status through remote management, and display the alarm information in the intelligent inspection system, which is convenient for operation and maintenance personnel to check and identify faults in a timely manner.

2)系统设计：主要由轨道式巡检机器人、轮式巡检机器人、软件平台、供电平台、轨道总成、通信平台、撕裂监测装置、温振传感器、定点摄像头及其他辅助设备组成。能实时管理及控制机器人在线进行巡检任务作业，同时能将巡检状态和结果通过桌面控制器传输到云服务器，也可以通过移动客户端的方式随时传送给现场管理人员，第一时间得到巡检报告及报警信息。同时通过现场基于无线AP布置的专用通讯网络，能够将机器人巡检画面及巡检结果等信息实时与综合管理部门进行数据分享，通过远程管理的方式对每台机器人的状态进行监控管理。2) System design: It is mainly composed of rail inspection robots, wheel inspection robots, software platforms, power supply platforms, rail assemblies, communication platforms, tear monitoring devices, temperature and vibration sensors, fixed-point cameras and other auxiliary equipment. It can manage and control the robot to perform inspection tasks online in real time, and transmit the inspection status and results to the cloud server through the desktop controller, and can also be transmitted to the on-site management personnel at any time through the mobile client, so that the inspection report and alarm information can be obtained in the first place. At the same time, through the dedicated communication network based on the wireless AP layout on site, the robot inspection screen and inspection results and other information can be shared with the comprehensive management department in real time, and the status of each robot can be monitored and managed through remote management.

3)功能设计：智能轮式巡检机器人系统功能，匹配火电厂主厂房区域的巡检需求，结合设备运行状况，对主厂房的生产设备进行多类型数据采集，包括对设备表盘和状态指示灯的识别，对巡检区域发生的异常现象如漏煤、漏汽、漏油、漏水、温度异常、声音异常识别监测自动报警，可燃有毒有害气体检测、火灾检测以及设备外观变化监测等。将采集到的数据通过通讯网传至智能巡检一体化监控平台。一体化监控软件实现视频监控、巡检模式、数据确认、数据分析、巡检设置、机器人管理、系统设置等模块，实现设备全天候检测，将生产过程通过智能检测装置进行全方位防护。其中，视频监控模块主要实现视频监视、巡检报文、查看及机器人控制等功能；巡检任务模块主要实现全面巡检、例行巡检、专项巡检、自定义任务等功能；数据确认模块主要包括设备告警查询确认、巡检结果浏览及巡检报告生成功能；数据分析模块主要实现对比分析、生成报表等功能；巡检设置模块主要包括对巡检区域的添加、删除、修改等。机器人管理主要实现云台设置、巡检地图维护、实现告警阈值设置、软件设置及机器人设置等功能。系统设置主要实现角色管理、权限管理及日志管理。3) Functional design: The intelligent wheeled inspection robot system functions match the inspection needs of the main plant area of the thermal power plant. Combined with the equipment operation status, it collects multiple types of data from the production equipment in the main plant, including the identification of equipment dials and status indicator lights, and the automatic alarm of abnormal phenomena in the inspection area such as coal leakage, steam leakage, oil leakage, water leakage, abnormal temperature, abnormal sound, combustible and toxic gas detection, fire detection, and equipment appearance change monitoring. The collected data is transmitted to the intelligent inspection integrated monitoring platform through the communication network. The integrated monitoring software implements modules such as video monitoring, inspection mode, data confirmation, data analysis, inspection settings, robot management, and system settings to achieve all-weather equipment detection and all-round protection of the production process through intelligent detection devices. Among them, the video monitoring module mainly realizes functions such as video monitoring, inspection message, viewing and robot control; the inspection task module mainly realizes functions such as comprehensive inspection, routine inspection, special inspection and custom tasks; the data confirmation module mainly includes equipment alarm query confirmation, inspection result browsing and inspection report generation functions; the data analysis module mainly realizes functions such as comparative analysis and report generation; the inspection setting module mainly includes adding, deleting and modifying inspection areas. Robot management mainly realizes functions such as PTZ setting, inspection map maintenance, alarm threshold setting, software setting and robot setting. System settings mainly realize role management, permission management and log management.

(1)全自主定位和导航功能(1) Fully autonomous positioning and navigation functions

采用高精度激光雷达测距传感器，自动绘制大场景高精度地图，实时准确定位。结合SLAM导航技术实现自动导航，同时针对传感器层面、执行层面、系统层面分别设计了失效诊断机制，对定位导航功能进行实时监测和纠正。High-precision laser radar ranging sensors are used to automatically draw high-precision maps of large scenes and accurately locate in real time. Automatic navigation is achieved by combining SLAM navigation technology. At the same time, failure diagnosis mechanisms are designed for the sensor level, execution level, and system level to monitor and correct the positioning and navigation functions in real time.

(2)本地监控系统功能(2) Local monitoring system function

巡检方式：支持全自主、遥控两种控制模式下的巡检。全自主巡检应包括例行和特巡两种方式。例行方式下，系统根据预先设定的巡检内容、时间、周期、路线等参数信息，自主启动并完成巡视任务：特巡方式由操作人员选定巡视内容并手动启动巡视，机器人可自主完成巡检任务。Inspection mode: Supports inspections in two control modes: fully autonomous and remote control. Fully autonomous inspections should include routine and special inspections. In routine mode, the system automatically starts and completes inspection tasks based on pre-set inspection content, time, cycle, route and other parameter information: In special inspection mode, the operator selects the inspection content and manually starts the inspection, and the robot can automatically complete the inspection task.

一键返航：不论智能巡检机器人处于何种巡检状态，只要操作人员通过本地监控站或遥控手柄上的特定功能键(按钮)启动一键返航功能，智能巡检机器人应中止当前任务，按预先设定的策略返回。One-key return: No matter what inspection status the intelligent inspection robot is in, as long as the operator activates the one-key return function through the local monitoring station or the specific function key (button) on the remote control handle, the intelligent inspection robot should terminate the current task and return according to the pre-set strategy.

人机交互：提供手动控制和自动控制两种控制方式，并能在两种控制模式间任意切换，且切换过程不影响导航功能。手动控制功能应实现对机器人车体、云台、电源、可见光摄像机和红外热像仪的控制操作。自动控制时，系统能够在全自主的模式下，根据预先设定的任务或者由用户临时指定的任务，通过机器人各功能单元的配合实现对设备的检测功能。Human-machine interaction: Provides manual control and automatic control, and can switch between the two control modes at will, and the switching process does not affect the navigation function. The manual control function should realize the control operation of the robot body, pan/tilt, power supply, visible light camera and infrared thermal imager. In automatic control, the system can realize the detection function of the equipment in a fully autonomous mode according to the pre-set tasks or tasks temporarily specified by the user through the cooperation of the various functional units of the robot.

全自主巡检：机器人按照预设规划路径自动巡视，主要模式有：例行巡检、特殊巡检等，各种模式支持互相切换。机器人搭载高清摄像机、高灵敏红外热成像仪、拾音器等多种检测设备，按照既定的规则完成室内各处的设备进行可见光拍照、红外测温及环境监测等巡检活动将巡检数据自动传输到后台管理系统保存，生成检测分析报告。例行方式下，系统根据预先设定的巡检内容、时间、周期、路线等参数信息，自主启动并完成巡视任务；特巡方式由操作人员选定巡检内容并手动启动巡检，机器人可自主完成巡检任务。Fully autonomous inspection: The robot automatically inspects according to the preset planned path. The main modes are: routine inspection, special inspection, etc., and various modes support switching between each other. The robot is equipped with a variety of detection equipment such as high-definition cameras, high-sensitivity infrared thermal imagers, and microphones. According to the established rules, it completes the inspection activities such as visible light photography, infrared temperature measurement, and environmental monitoring of equipment in various places in the room. The inspection data is automatically transmitted to the background management system for storage and generates a detection analysis report. In the routine mode, the system automatically starts and completes the inspection task according to the pre-set inspection content, time, cycle, route and other parameter information; in the special inspection mode, the operator selects the inspection content and manually starts the inspection, and the robot can complete the inspection task autonomously.

遥控巡检：通过人工遥控巡检的方式对机器人进行实时遥控。该项应用模式适用于运维人员以及管理单位需要对某类设备的状态进行锁定与监测，尤其对于在机器人自主巡检过程中如检测到设备、环境状态异常并向运维人员告警时，运维人员可以在第一时间使用管理后台的人工遥控界面或是遥控手柄，操控机器人快速到达异常设备位置，及时对异常设备进行查看并核实报警信息，以便迅速制定响应策略。Remote control inspection: The robot is remotely controlled in real time through manual remote control inspection. This application mode is suitable for operation and maintenance personnel and management units who need to lock and monitor the status of certain types of equipment. In particular, if the robot detects abnormal equipment or environmental status during autonomous inspection and alerts the operation and maintenance personnel, the operation and maintenance personnel can use the manual remote control interface or remote control handle of the management background at the first time to control the robot to quickly reach the abnormal equipment location, check the abnormal equipment in time and verify the alarm information, so as to quickly formulate a response strategy.

离线巡检：当机器人与监控后台通信连接断开时，机器人可实现离线巡检并将巡检数据存储在机器人本体存储空间，当机器人与监控后台恢复连接，可实现与监控后台的数据同步。Offline inspection: When the communication connection between the robot and the monitoring background is disconnected, the robot can perform offline inspection and store the inspection data in the robot's body storage space. When the robot is restored to the monitoring background, data synchronization with the monitoring background can be achieved.

(3)数据采集功能(3) Data collection function

自动测温和分析：通过对设备区域进行划分，并设置对应红外检测巡检点，由机器人利用自身携带的红外热成像仪对一定区域内的温度普测，以检视域内最高温度为目的，结合区域设备特征设置的温度阈值进行简单参数对比实现温度检测，并自动生成任务报表。当区域内出现温度异常时，触发相应报警。当测温设备产生报警时，后台软件会进行缺陷记录，同时报警信息通过监控界面实时显示，并支持报警信息查询及生成各类报表如自动任务报表、缺陷分析报告。Automatic temperature measurement and analysis: By dividing the equipment area and setting corresponding infrared detection inspection points, the robot uses its own infrared thermal imager to measure the temperature in a certain area, with the purpose of checking the highest temperature in the area. It combines the temperature threshold set by the regional equipment characteristics to perform simple parameter comparison to achieve temperature detection and automatically generate task reports. When the temperature in the area is abnormal, the corresponding alarm is triggered. When the temperature measurement equipment generates an alarm, the background software will record the defect, and the alarm information will be displayed in real time through the monitoring interface, and it supports alarm information query and generation of various reports such as automatic task reports and defect analysis reports.

机组设备表面温度对比分析：能对机组设备表面温度进行温差分析，并进行自动判别和异常报警。Comparative analysis of unit equipment surface temperature: It can analyze the temperature difference of unit equipment surface temperature, and automatically identify and alarm abnormalities.

仪表自动读取及开关状态识别：通过机器人自身携带的可见光摄像机，完成视频图像的数据采集，通过自主开发的高精度图像识别算法，对视频数据进行智能分析处理，识别图像内容，图像实时上传到监控后台。监控后台可对现场图像进行分析，实现表计读数、开关状态识别等功能。Automatic meter reading and switch status recognition: The robot uses its own visible light camera to complete video image data collection, and uses a self-developed high-precision image recognition algorithm to intelligently analyze and process video data, identify image content, and upload images to the monitoring background in real time. The monitoring background can analyze on-site images to achieve meter reading, switch status recognition and other functions.

信号灯、液位、油位等识别：对采集到的信号灯、液位、油位等图像进行分析，自动识别出信号灯、液位、油位等状态。Identification of signal lights, liquid levels, oil levels, etc.: Analyze the collected images of signal lights, liquid levels, oil levels, etc., and automatically identify the status of signal lights, liquid levels, oil levels, etc.

音频智能采集：巡检机器人系统搭载有高灵敏度的声音采集设备，并随云台一同转动，定向采集现场电力设备的音频信息，将采集的音频实时上传至监控后台。系统采用国际领先的音频降噪算法和声音识别技术，减轻环境噪音干扰，增强音频信息识别的准确性和可靠性，同时音频数据经过处理后进行存储、播放。Intelligent audio collection: The inspection robot system is equipped with a highly sensitive sound collection device, which rotates with the pan/tilt head to collect audio information from on-site power equipment in a directional manner and upload the collected audio to the monitoring background in real time. The system uses the world's leading audio noise reduction algorithm and sound recognition technology to reduce environmental noise interference and enhance the accuracy and reliability of audio information recognition. At the same time, the audio data is processed for storage and playback.

(4)泄漏检测功能(4) Leak detection function

机器人具备水、油泄漏检测、高温蒸汽泄漏检测、火灾检测和气体检测等功能。The robot has functions such as water and oil leak detection, high-temperature steam leak detection, fire detection and gas detection.

(5)音视频远传功能(5) Audio and video remote transmission function

巡检机器人系统搭载有高灵敏度的声音采集设备，并随云台一同转动，定向采集电机等电力设备的音频信息。系统采用国际领先的音频降噪算法和声音识别技术，减轻环境噪音干扰，增强音频信息识别的准确性和可靠性，同时音频数据经过处理后进行存储、播放，并具备实时图像远传和双向语音传输功能，可实现就地或远程视频巡视和作业指导。The inspection robot system is equipped with a highly sensitive sound collection device, which rotates with the pan/tilt to collect audio information from motors and other power equipment. The system uses the world's leading audio noise reduction algorithm and sound recognition technology to reduce environmental noise interference and enhance the accuracy and reliability of audio information recognition. At the same time, the audio data is processed for storage and playback, and has real-time image transmission and two-way voice transmission functions, which can realize on-site or remote video inspections and operation guidance.

(6)报警功能(6) Alarm function

巡检机器人在巡检过程中，通过数值分析、阈值对比、趋势分析、数据库等相关技术，对异常数据进行自动报警。报警信息通过界面告警和声光告警两种方式呈现，及时提醒运维人员注意。当后台分析数据显示为异常时，后台监控软件界面会出现告警信息列表，运维人员通过操作滚动显示告警信息。当系统存在告警信息时，系统通过巡检机器人告警音频及灯光闪烁，提醒运维人员注意，并能人工退出/恢复。报警信号能远传。During the inspection process, the inspection robot automatically alarms abnormal data through numerical analysis, threshold comparison, trend analysis, database and other related technologies. The alarm information is presented in two ways: interface alarm and sound and light alarm, which promptly reminds the operation and maintenance personnel. When the background analysis data shows abnormality, the background monitoring software interface will display the alarm information list, and the operation and maintenance personnel can scroll the alarm information through operation. When the system has alarm information, the system will remind the operation and maintenance personnel through the inspection robot alarm audio and light flashing, and can manually exit/restore. The alarm signal can be transmitted remotely.

(7)防碰撞功能(7) Anti-collision function

通过在巡检机器人安装防碰撞接触气垫装置、激光雷达、超声波雷达构筑三重安全保障，遇到障碍物或人员时会自动停止，同时机器人具备重新规划巡检路径绕过障碍物继续巡检的功能。即使在对快速飞来物体碰撞后，机器人也能及时停止，并进行系统安全报警并在明显位置安装有闪动警示灯，提醒人员注意。The inspection robot is equipped with an anti-collision contact air cushion device, laser radar, and ultrasonic radar to build a triple safety guarantee. When it encounters an obstacle or a person, it will automatically stop. At the same time, the robot has the function of replanning the inspection path to bypass the obstacle and continue the inspection. Even after colliding with a fast-flying object, the robot can stop in time, issue a system safety alarm, and install a flashing warning light in a conspicuous position to remind personnel to pay attention.

(8)防跌落功能(8) Anti-fall function

机器人配备防跌落功能，前端和后端均安装避障传感器，具有障碍物检测功能，在行走过程中如遇到沟渠、下行台阶等相关情况应及时停止，并采取合理的避让策略。The robot is equipped with an anti-fall function, and obstacle avoidance sensors are installed at the front and rear ends. It has an obstacle detection function. If it encounters ditches, downward steps, etc. during walking, it should stop in time and adopt reasonable avoidance strategies.

(9)机器人自检(9) Robot self-inspection

为保证机器人日常工作的开展，机器人在启动巡检前均会进行自检，自检内容包括红外热成像仪、高清相机、电机、云台、内部存储以及各种传感器等，当上述任一模块出现异常时，机器人能将故障信息上传到本地监控后台，此时自检模块界面与发生异常模块对应的状态栏底色变成红色，且本地监控后台能进行告警，主控室的操作人员可及时查看异常模块，并以最快速度处理，方便运维人员及时发现故障，减少处理时间，提高解决故障的效率。To ensure the daily work of the robot, the robot will perform a self-inspection before starting the inspection. The self-inspection content includes infrared thermal imager, high-definition camera, motor, pan/tilt, internal storage and various sensors. When any of the above modules is abnormal, the robot can upload the fault information to the local monitoring background. At this time, the background color of the status bar corresponding to the abnormal module on the self-inspection module interface turns red, and the local monitoring background can issue an alarm. The operator in the main control room can check the abnormal module in time and handle it as quickly as possible, which is convenient for the operation and maintenance personnel to find faults in time, reduce processing time, and improve the efficiency of troubleshooting.

(10)自动充电功能(10) Automatic charging function

巡检机器人采用蓄电池与接触式充电桩相结合的方式，保证机器人电量补给功能。同时，系统配置完善的电量分配管理措施，进行预警电量设置、实时电量监控及完善的自动充电控制逻辑。The inspection robot uses a combination of batteries and contact charging piles to ensure the robot's power replenishment function. At the same time, the system is equipped with perfect power distribution management measures, and performs early warning power settings, real-time power monitoring and perfect automatic charging control logic.

(11)双向语音对讲功能(11) Two-way voice intercom function

机器人具有双向语音对讲功能，配有音频采集和播放设备，通过安全的通信方式接入，与本地监控系统之间的全双工双向语音传输。The robot has a two-way voice intercom function and is equipped with audio acquisition and playback equipment. It is connected through a secure communication method and has full-duplex two-way voice transmission with the local monitoring system.

(12)状态指示功能(12) Status indication function

机器人配备状态指示灯，在进行巡检作业时实时提供状态信号，保证出现紧急异常时，巡检人员第一时间得知并进行维护处理。The robot is equipped with a status indicator light, which provides real-time status signals during inspection operations, ensuring that when an emergency occurs, the inspector is informed immediately and performs maintenance.

(13)设备联动(13) Equipment linkage

巡检机器人可通过开放数据接口与平开门、电梯等进行数据对接，实现机器人自主通行门体或乘坐电梯的需求。The inspection robot can connect to swing doors, elevators, etc. through an open data interface, allowing the robot to autonomously pass through doors or take elevators.

本实施例中手持式终端巡检模块以物联网技术为基础，结合AI分析、数据库、网页B/S架构、移动传输等关键技术，实现对电厂生产现场设备的多样巡检，通过网页共享信息，降低系统使用复杂度，简单快捷实现了对巡点检信息的浏览查询、数据统计、事故处理及各种维度分析、设备运行状态识别分析功能，通过系统化管理，提升了管理生产效率，大大避免了事故发生，在最小成本耗费和程序化的基础上，产生最高的设备可靠性。The handheld terminal inspection module in this embodiment is based on the Internet of Things technology, combined with key technologies such as AI analysis, database, web B/S architecture, and mobile transmission, to achieve diverse inspections of equipment on the power plant production site. By sharing information through web pages, the complexity of system use is reduced, and browsing and querying of inspection information, data statistics, accident handling, and various dimensional analysis, as well as equipment operation status identification and analysis functions are realized simply and quickly. Through systematic management, management and production efficiency are improved, accidents are greatly avoided, and the highest equipment reliability is achieved on the basis of minimum cost and programming.

1)系统设计：手持式终端巡检模块由技术层、业务层、决策层和展示层四层组成，其中，技术层由基础通用功能模块组成，包括设备接入管理、数据存储、数据分析、报表生成、第三方系统对接等功能模块。各功能模块为上面三个业务层提供IT功能和数据支撑。业务层是智能巡点检系统的核心部分。按照业务分类，实现巡点检业务中台账管理、巡点检管理、缺陷管理等相关子业务标准工作流。决策层是智能巡点检系统的智能部分。在业务工作流和业务数据的基础上，提供各类设备的运行状况和风险趋势分析等。为电厂管理人员提供决策参考数据。展示层基于安全加密的WEB访问，为用户提供一体、友好、简易的系统访问方式。用户通过浏览器登录到智能巡点检系统中，实现对巡点检业务的全部管理、执行、跟踪。1) System design: The handheld terminal inspection module consists of four layers: technical layer, business layer, decision layer and display layer. Among them, the technical layer consists of basic general functional modules, including equipment access management, data storage, data analysis, report generation, third-party system docking and other functional modules. Each functional module provides IT functions and data support for the above three business layers. The business layer is the core part of the intelligent inspection system. According to the business classification, the standard workflow of related sub-businesses such as ledger management, inspection management, and defect management in the inspection business is realized. The decision-making layer is the intelligent part of the intelligent inspection system. Based on the business workflow and business data, it provides the operating status and risk trend analysis of various equipment. Provide decision-making reference data for power plant managers. The display layer is based on secure and encrypted WEB access, providing users with an integrated, friendly and simple system access method. Users log in to the intelligent inspection system through a browser to achieve full management, execution and tracking of the inspection business.

2)功能设计：手持式终端巡检模块实现了电厂巡点检工作业务全管理流程。2) Functional design: The handheld terminal inspection module realizes the full management process of power plant inspection work.

(1)任务设置(1) Task settings

巡点检人员：完成巡点检人员和部门信息的增加、编辑和删除功能。也可以通过模版将人员和部门一起导入。Inspection personnel: Add, edit and delete inspection personnel and department information. You can also import personnel and departments together through templates.

巡点检设置：设置巡点检基本台账信息(包括：设备台账编号、名称、对应的电子标签ID号码、卡印刷编号、备注等)和该巡检点对应的若干个巡检项目信息(包括：项目名称、文本/数值/状态项目类型、项目上下限量程或可选项等)。Inspection settings: Set basic inspection ledger information (including equipment ledger number, name, corresponding electronic tag ID number, card printing number, remarks, etc.) and several inspection item information corresponding to the inspection point (including item name, text/value/status item type, item upper and lower limits or optional items, etc.).

时段定义：对于每日多次巡点检，可以定义每次巡点检的起止时间段。Time period definition: For multiple inspections per day, you can define the start and end time period for each inspection.

巡点检周期：定义多个巡点检周期以及每个巡点检周期的循环间隔，次数，用时等。该巡点检周期和巡点检路线绑定，最后生成路线的巡点检任务，作为报表统计基础依据。Inspection cycle: define multiple inspection cycles and the cycle interval, number of times, time, etc. of each inspection cycle. The inspection cycle is bound to the inspection route, and the inspection task of the route is finally generated as the basis for report statistics.

巡点检线路：对于巡点检点数较多时，将不同的巡检点按专业、位置等定义到不同路线中方便管理，路线名称随意定义，唯一即可，方便识别。Patrol inspection routes: When there are a large number of patrol inspection points, different patrol inspection points can be defined into different routes according to profession, location, etc. for easy management. The route name can be defined arbitrarily as long as it is unique for easy identification.

路线分配：将路线分配到不同部门，部门下面的人员就可以对所分配路线进行巡点检。Route allocation: Assign routes to different departments, and the personnel under the department can patrol and inspect the assigned routes.

(2)数据查询(2) Data Query

巡点检明细：按照巡点检人对线路起止巡点检时间、巡点检进度，以及对当前线路的每个巡检点的详细情况进行查询。线路中每个巡检点可以显示到位时间、是否异常、照片、视频、备注、项目检查明细等信息。Inspection details: query the start and end inspection time, inspection progress, and details of each inspection point on the current line according to the inspection person. Each inspection point on the line can display information such as arrival time, abnormality, photos, videos, notes, and project inspection details.

按设备查记录：针对设备对巡点检记录进行条件筛选查询。Check records by equipment: perform conditional screening and query on inspection records of equipment.

异常跟踪(设备)：按设备类别对巡检点异常进行分类汇总，并且对异常情况指派人员进行跟踪处理。Abnormal tracking (equipment): Classify and summarize inspection point abnormalities by equipment category, and assign personnel to track and handle abnormal situations.

异常跟踪(部门)：按部门对巡检点异常进行分类汇总，并且对异常情况指派人员进行跟踪处理。Abnormality tracking (department): Classify and summarize inspection point abnormalities by department, and assign personnel to track and handle abnormal situations.

趋势图：对设备或者项目某段时间内运行情况进行图表分析。Trend chart: A chart analysis of the operation status of a device or project over a period of time.

(3)到位统计(3) Statistics on arrival

生成任务：根据线路的巡检周期，可以生成一段时间内的巡检任务，作为巡检完成情况的统计依据。Generate tasks: According to the inspection cycle of the line, you can generate inspection tasks within a period of time as a statistical basis for the completion of the inspection.

月历统计：以月历表的形式直观地展示每月每天的任务及执行情况。Monthly calendar statistics: intuitively display the tasks and execution status of each day of each month in the form of a monthly calendar.

漏检统计：统计出任意一段时间内每个巡检点的应检次数、实检次数和是否漏检。实际巡检次数小于计划次数即为漏检。Missed inspection statistics: Statistics on the number of inspections that should be conducted, the number of inspections actually conducted, and whether there is any missed inspection at each inspection point within any period of time. If the actual number of inspections is less than the planned number, it is considered a missed inspection.

路线到位统计：统计不同路线在巡检周期内的完成情况，统计路线在巡检周期内的计划次数，实际次数，计划巡检总设备数，实际巡检总设备数，并统计到位率。Route completion statistics: Statistics on the completion status of different routes within the inspection cycle, statistics on the planned number of inspections, actual number of inspections, total number of planned inspection equipment, actual inspection equipment, and statistics on the arrival rate.

人员到位统计：根据路线分配，统计每个巡点检人员的任务完成情况。Personnel arrival statistics: According to route allocation, statistics are kept on the task completion status of each patrol inspection personnel.

部门到位统计：根据路线分配，统计出每个部门的巡点检完成情况。Department arrival statistics: According to route allocation, statistics are compiled on the completion of patrol inspections in each department.

报表定义：将多个巡检点记录汇集到一张报表输出一个月的巡点检记录。Report definition: Collect multiple inspection point records into one report to output one month's inspection point records.

实时监控：以不同颜色的状态图的形式查询一段时间内任意线路中巡检点的已检、未检、异常状态，直观地查询每条线路的巡点检进度和状况。Real-time monitoring: Query the inspected, uninspected, and abnormal status of inspection points in any line within a period of time in the form of status diagrams with different colors, and intuitively query the inspection progress and status of each line.

(4)系统管理(4) System Management

基础信息：对系统中的基础参数进行定义。Basic information: defines the basic parameters in the system.

角色权限：为便于管理操作权限，为不同角色授予相应的权限。Role permissions: To facilitate the management of operation permissions, grant corresponding permissions to different roles.

角色用户：为用户分配角色，该用户将具有角色的功能。Role User: Assign a role to a user, and the user will have the functions of the role.

用户权限：查询不同用户的操作权限。User permissions: Query the operation permissions of different users.

菜单维护：定义系统菜单。Menu maintenance: define system menus.

系统设置：定义系统公告、系统初始化、注册、升级、通讯地址等信息。System settings: define system announcements, system initialization, registration, upgrades, communication addresses and other information.

人员数据：设置人员的数据访问范围。Personnel data: Set the data access scope of personnel.

消息公告：配合微信公众号、小程序完成巡检当日任务提醒、设备告警提醒等。Message announcement: Cooperate with WeChat official accounts and mini programs to complete inspection day task reminders, equipment alarm reminders, etc.

操作日志：记录访问系统用户登录和操作记录。Operation log: records the login and operation records of users accessing the system.

基于上述云边协同1+6+N智慧火电厂智慧巡检功能模块，结合网络部署模块、统一管理平台和统一展示平台，充分调动技防、物防和人防的能力，构建信息化、数字化、自动化、互动化为特征的智慧巡检系统，为电厂安全生产运行增添智慧化管理工具。其中：Based on the above-mentioned cloud-edge collaborative 1+6+N smart thermal power plant smart inspection function module, combined with the network deployment module, unified management platform and unified display platform, we fully mobilize the capabilities of technical defense, physical defense and human defense, and build a smart inspection system characterized by informatization, digitization, automation and interactivity, adding intelligent management tools to the safe production and operation of power plants. Among them:

1)有线网络部署单元：选择高质量、高可靠性的网络设备和电缆，并设计合理的网络拓扑结构，确保网络的物理连接稳定可靠，使网络的覆盖范围和传输速度满足智慧巡检需求。本实施例将冗余光缆作为所部署的冗余设备，可及时避免设备故障或链路中断等情况的发生。1) Wired network deployment unit: Select high-quality, high-reliability network equipment and cables, and design a reasonable network topology to ensure that the physical connection of the network is stable and reliable, so that the network coverage and transmission speed meet the needs of smart inspection. This embodiment uses redundant optical cables as redundant equipment to deploy, which can timely avoid equipment failures or link interruptions.

2)无线网络部署单元：根据巡检区域的特点和需求选择适合的无线网络技术和设备并合理部署，为确保无线网络的覆盖范围广泛，信号稳定，能够满足巡检人员的移动需求。本实施例采用Wi-Fi技术，并通过无线网络的自动切换和负载均衡技术，确保在有线网络故障时能够自动切换到无线网络，保证数据的连续传输。2) Wireless network deployment unit: Select appropriate wireless network technology and equipment according to the characteristics and needs of the inspection area and deploy them reasonably to ensure that the wireless network has a wide coverage and stable signal to meet the mobility needs of the inspection personnel. This embodiment uses Wi-Fi technology and uses automatic switching and load balancing technology of the wireless network to ensure that it can automatically switch to the wireless network when a wired network fails, ensuring continuous data transmission.

3)冗余互备机制：建立有线和无线网络之间的冗余互备机制，通过智能巡检系统实时监测网络状态，一旦发现有线网络故障，立即触发无线网络接管流程，使无线网络能够迅速接管有线网络并继续传输数据。在无线网络接管期间，巡检人员可以继续进行巡检工作，始终确保数据的实时性和完整性。3) Redundant mutual backup mechanism: Establish a redundant mutual backup mechanism between the wired and wireless networks, monitor the network status in real time through the intelligent inspection system, and immediately trigger the wireless network takeover process once a wired network failure is found, so that the wireless network can quickly take over the wired network and continue to transmit data. During the wireless network takeover, the inspection personnel can continue to carry out inspection work, always ensuring the real-time and integrity of the data.

4)网络安全保障：无论是有线网络还是无线网络，都需要加强网络安全防护，防止数据泄露和网络攻击。本实施例同时采用数据加密和身份验证技术，确保数据传输的安全性，并定期对网络设备和系统进行安全检查和漏洞扫描，及时发现并修复潜在的安全隐患。4) Network security: Whether it is a wired network or a wireless network, it is necessary to strengthen network security protection to prevent data leakage and network attacks. This embodiment uses data encryption and identity authentication technology to ensure the security of data transmission, and regularly performs security checks and vulnerability scans on network devices and systems to promptly discover and repair potential security risks.

5)网络维护与优化：根据巡检工作的实际需求和反馈，定期对有线和无线网络进行维护和检查，并不断优化网络布局和设备配置，在确保其正常运行和性能稳定的同时提高网络的可靠性和效率。5) Network maintenance and optimization: Based on the actual needs and feedback from inspection work, regularly maintain and inspect wired and wireless networks, and continuously optimize network layout and equipment configuration to improve network reliability and efficiency while ensuring its normal operation and stable performance.

本实施例通过智能巡点检与巡检机器人功能集成、智能巡点检与人员定位功能集成对智慧巡检功能集成过程进行说明：This embodiment describes the integration process of intelligent inspection functions by integrating intelligent inspection with inspection robot functions and integrating intelligent inspection with personnel positioning functions:

智能巡点检与巡检机器人功能集成：通过智能巡点检系统完成国内主流巡检机器人对接，在系统中登录到机器人平台，获取巡检机器人巡检计划、巡检情况，以及同步巡检机器人巡检数据。智能巡点检系统将机器人巡检结果数据和图片融合到系统中，统一界面展示。Integration of intelligent inspection and inspection robot functions: The intelligent inspection system can be used to connect with mainstream domestic inspection robots. In the system, the robot platform can be logged in to obtain the inspection plan and inspection status of the inspection robot, as well as the inspection data of the synchronous inspection robot. The intelligent inspection system integrates the robot inspection result data and pictures into the system and displays them in a unified interface.

智能巡点检与人员定位功能集成：为保障巡点检任务正确执行，并保障巡点检人员人身安全，智能巡点检系统通过预留接口或插件方式，与人员定位系统对接。当任务执行时，系统同时启动人员定位对接功能，从定位系统了解任务执行人员的位置信息，通过定位系统与巡点检任务内容双重确认当前任务执行状况。当检测到任务停滞或人员定位位置长时间未改变时，发送告警，提醒管理人员查看具体任务执行状况。Integration of intelligent inspection and personnel positioning functions: To ensure the correct execution of inspection tasks and the personal safety of inspection personnel, the intelligent inspection system is connected to the personnel positioning system through a reserved interface or plug-in. When the task is executed, the system also starts the personnel positioning docking function, obtains the location information of the task executor from the positioning system, and double-confirms the current task execution status through the positioning system and the inspection task content. When it is detected that the task is stagnant or the personnel positioning position has not changed for a long time, an alarm is sent to remind the management personnel to check the specific task execution status.

本实施例中引入了数字孪生技术，对智慧火电厂智慧巡检进行三维可视一体化功能展示，将智慧巡检系统监测到的电厂主要设备运行关键数据进行综合展现，辅助管理者对厂区主要设备运行态势进行全面感知、综合研判，实现管理精细化、决策科学化。智慧巡检三维可视化展示内容包括告警统计、AI巡检统计、热成像分析、运行区域风险评估、实时告警信息、巡检设备信息、实时告警视频、三维地图联动展示信息等。In this embodiment, digital twin technology is introduced to display the three-dimensional visual integrated function of the smart inspection of the smart thermal power plant, and the key data of the operation of the main equipment of the power plant monitored by the smart inspection system are comprehensively displayed to assist managers in comprehensively perceiving and comprehensively analyzing the operation status of the main equipment in the plant area, so as to achieve refined management and scientific decision-making. The three-dimensional visualization display of smart inspection includes alarm statistics, AI inspection statistics, thermal imaging analysis, operating area risk assessment, real-time alarm information, inspection equipment information, real-time alarm video, and three-dimensional map linkage display information.

告警统计：主要统计输煤、汽机、电气、化水、锅炉、脱硫六大区域的今日告警和严重告警次数，包括后台已处理的告警信息，可以根据日、月、年查询相关的历史告警统计数据。Alarm statistics: mainly count the number of today's alarms and severe alarms in the six major areas of coal transportation, steam turbines, electricity, chemical water, boilers, and desulfurization, including the alarm information that has been processed in the background. Relevant historical alarm statistics can be queried by day, month, and year.

AI巡检统计：主要统计输煤、汽机、电气、化水、锅炉、脱硫六大区域关联算法的巡检异常统计数量，每个区域的巡检异常统计数量可以通过区域显示菜单切换到单独显示区域统计数据。AI inspection statistics: mainly counts the number of inspection anomalies of the six major area correlation algorithms: coal transportation, steam turbine, electricity, chemical water, boiler, and desulfurization. The number of inspection anomalies in each area can be switched to a separate display of regional statistics through the regional display menu.

热成像AI巡检分析：主要显示监测的设备温度，今日最高温度、今日最低温度和七日温度统计对比趋势图。需要对多个设备温度展示时，则采用轮播的方式。Thermal imaging AI inspection analysis: mainly displays the monitored equipment temperature, today's highest temperature, today's lowest temperature and seven-day temperature statistics and comparison trend chart. When multiple equipment temperatures need to be displayed, a carousel is used.

运行区域风险评估：主要根据设备的巡检情况统计输煤、汽机、电气、化水、锅炉、脱硫六大区域的设备运行情况，来评估每个区域设备运行的风险系数。然后根据风险评估结果生成优化巡检计划、改进设备维护策略等决策建议。Risk assessment of operating areas: mainly based on the inspection of equipment, the equipment operation status of the six major areas of coal transportation, steam turbine, electricity, chemical water, boiler, and desulfurization is counted to assess the risk factor of equipment operation in each area. Then, based on the risk assessment results, decision-making suggestions such as optimizing inspection plans and improving equipment maintenance strategies are generated.

实时告警信息：统计显示输煤、汽机、电气、化水、锅炉、脱硫六大区域的实时告警总信息和每个区域的实时告警分类信息。Real-time alarm information: Statistics show the total real-time alarm information of the six major areas of coal transportation, steam turbine, electricity, chemical water, boiler, and desulfurization, as well as the real-time alarm classification information of each area.

巡检设备信息：显示所有的摄像机和机器人的在线情况和工作情况，并在每个图标的右上角显示当前设备的告警信息数量，点击告警数量可以进入详细的告警信息页面。Inspection equipment information: displays the online status and working status of all cameras and robots, and displays the number of alarm information of the current device in the upper right corner of each icon. Click the alarm number to enter the detailed alarm information page.

实时告警视频：显示当前告警最新的一条告警视频，并与实时告警信息联动。播放当前最新的一条告警信息视频或者轮播未处理的告警信息视频。当平台采集热成像双光摄像机温度数据，通过分析检测到设备温度超标时，平台发出报警，在首页自动弹出指向设备的红外图像和可见光图像，并可以选择切换红外图像或可见光图像全屏显示。Real-time alarm video: Display the latest alarm video of the current alarm and link it with the real-time alarm information. Play the latest alarm information video or rotate the unprocessed alarm information video. When the platform collects temperature data from the thermal imaging dual-light camera and detects that the device temperature exceeds the standard through analysis, the platform will issue an alarm, and the infrared image and visible light image pointing to the device will automatically pop up on the homepage, and you can choose to switch the infrared image or visible light image to full-screen display.

视频轮询：可以自定义不同组别和不同摄像机组建轮询功能，轮巡时摄像机的画面显示可任意单画面或者多画面显示，具备画面自动定时轮巡和手动轮巡、轮巡间隔时间可以设定，画面具备定格显示当前视频等功能，对多路摄像机信号具有实时传输、切换显示、后备存储等功能。Video polling: You can customize the polling function for different groups and different cameras. When patrolling, the camera screen display can be single-screen or multi-screen display. It has automatic timed patrol and manual patrol, and the patrol interval can be set. The screen has functions such as freeze-frame display of the current video. It has real-time transmission, switching display, backup storage and other functions for multi-channel camera signals.

三维地图联动展示信息：展示平台中的三维地图可与六大区域的告警信息联动，当六大区域和机器人设备发生告警时，会在电子地图上的标注点位做变红提示，点击变红的点位信息，弹窗出相应的告警信息、图片或视频，并提示运行人员，是否处理当前告警信息。Three-dimensional map linkage display information: The three-dimensional map in the display platform can be linked with the alarm information of the six major areas. When an alarm occurs in the six major areas and robot equipment, the marked points on the electronic map will turn red. Click on the red point information, and the corresponding alarm information, picture or video will pop up, prompting the operator whether to handle the current alarm information.

本发明的云边协同1+6+N智慧火电厂智慧巡检方法为：The cloud-edge collaborative 1+6+N smart thermal power plant smart inspection method of the present invention is:

针对设备特性及需要创建巡检任务，并将巡检任务进行轻重缓急化划分；Create inspection tasks based on equipment characteristics and needs, and prioritize inspection tasks;

按照巡检任务划分设备并采集数据；Divide equipment and collect data according to inspection tasks;

根据采集的数据，依托智能巡检机器人对某个区域或设备进行定期定点巡视；Based on the collected data, the intelligent inspection robot conducts regular inspections of a certain area or equipment.

根据采集的数据，依托便携式的电子设备进行设备巡检和维护管理。Based on the collected data, equipment inspection and maintenance management are carried out with the help of portable electronic devices.

以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，包括灵活组态化巡检模块、精准定位巡检模块、轮巡式设备巡检模块和手持式终端巡检模块；1. A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system, characterized by including a flexible configuration inspection module, a precise positioning inspection module, a patrol equipment inspection module and a handheld terminal inspection module;所述灵活组态化巡检模块用于针对设备特性及需要创建巡检任务，并将巡检任务进行轻重缓急化划分；The flexible configuration inspection module is used to create inspection tasks according to equipment characteristics and needs, and to prioritize inspection tasks;所述精准定位巡检模块用于按照巡检任务划分设备并采集数据；The precise positioning inspection module is used to divide the equipment according to the inspection tasks and collect data;所述轮巡式设备巡检模块用于根据采集的数据，依托智能巡检机器人对某个区域或设备进行定期定点巡视；The patrol equipment inspection module is used to conduct regular fixed-point inspections of a certain area or equipment based on the collected data and relying on the intelligent inspection robot;所述手持式终端巡检模块用于根据采集的数据，依托便携式的电子设备进行设备巡检和维护管理。The handheld terminal inspection module is used to perform equipment inspection and maintenance management based on the collected data and relying on portable electronic equipment.2.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，还包括网络部署模块，所述网络部署模块包括有线网络部署单元和无线网络部署单元；2. According to the cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system of claim 1, it is characterized by further comprising a network deployment module, the network deployment module comprising a wired network deployment unit and a wireless network deployment unit;所述有线网络部署单元用于根据网络拓扑结构，通过网络设备和电缆确保网络的连接，使网络的覆盖范围和传输速度满足智慧巡检需求；The wired network deployment unit is used to ensure network connection through network devices and cables according to the network topology, so that the network coverage and transmission speed meet the requirements of smart inspection;所述无线网络部署单元用于根据巡检区域的特点和需求进行无线网络技术和设备部署，确保无线网络的覆盖范围和信号稳定，能够满足巡检移动需求；The wireless network deployment unit is used to deploy wireless network technology and equipment according to the characteristics and requirements of the inspection area, ensuring the coverage and signal stability of the wireless network to meet the inspection mobility requirements;所述有线网络部署单元和无线网络部署单元之间冗余互备。The wired network deployment unit and the wireless network deployment unit are redundant and mutually backed up.3.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，还包括统一管理平台，所述统一管理平台用于将各个功能模块集成到一个平台上，实现信息的共享和互通以及与平台内各模块之间协同工作，确保信息共享和流程流转。3. According to claim 1, a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system is characterized in that it also includes a unified management platform, which is used to integrate various functional modules into one platform, realize information sharing and intercommunication, and collaborate with each module in the platform to ensure information sharing and process flow.4.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，还包括统一展示平台，所述统一展示平台用于通过可视化形式实时展示火电厂关键设备的运行状态和关键参数。4. According to a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system according to claim 1, it is characterized in that it also includes a unified display platform, which is used to display the operating status and key parameters of key equipment of the thermal power plant in real time in a visual form.5.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，所述精准定位巡检模块设置有固定多功能智能摄像头、红外成像仪和拾音器。5. According to the cloud-edge collaborative 1+6+N smart thermal power plant intelligent inspection system according to claim 1, it is characterized in that the precise positioning inspection module is provided with a fixed multifunctional intelligent camera, an infrared imager and a microphone.6.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，所述轮巡式设备巡检模块的巡视模式包括定期全覆盖快速智慧巡检、无触发状态下的智能漫巡和快速定制分类分区巡检；6. According to claim 1, a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system is characterized in that the inspection modes of the patrol equipment inspection module include regular full-coverage rapid smart inspection, intelligent roaming inspection without triggering, and rapid customized classification and partition inspection;所述定期全覆盖快速智慧巡检用于对全站设备的场景和角度进行全覆盖巡视；The periodic full coverage rapid intelligent inspection is used to conduct full coverage inspections of all scenes and angles of all station equipment;所述无触发状态下的智能漫巡用于在日常无定期巡检任务时，对全站设备实现全覆盖的漫游状态巡检；The intelligent roaming in the non-trigger state is used to implement a full coverage roaming state inspection of all station equipment when there is no regular inspection task in daily life;所述快速定制分类分区巡检用于根据用户需求快速地生成定期轮巡任务和临时巡检任务，快速进行编制和执行。The fast customized classification and partition inspection is used to quickly generate regular inspection tasks and temporary inspection tasks according to user needs, and quickly compile and execute them.7.根据权利要求6所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，所述快速定制分类分区巡检任务包括设备类型、任务类型、设备区域和设备监测点。7. According to claim 6, a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system is characterized in that the quick customized classification and partitioning inspection tasks include equipment type, task type, equipment area and equipment monitoring point.8.根据权利要求1所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，所述手持式终端巡检模块通过手持式终端设备扫描二维码或条形码来获取设备信息，并将设备信息上传到统一管理平台进行分析和处理，手持式终端设备通过拍照、录音和视频方式记录设备的实际情况，进行智能点检工作。8. According to the cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system according to claim 1, it is characterized in that the handheld terminal inspection module obtains equipment information by scanning the QR code or barcode through the handheld terminal device, and uploads the equipment information to the unified management platform for analysis and processing. The handheld terminal device records the actual situation of the equipment by taking photos, recording and video, and performs intelligent inspection.9.根据权利要求8所述的一种云边协同1+6+N智慧火电厂智慧巡检系统，其特征在于，所述设备信息包括运行状态、故障情况和维护记录。9. According to claim 8, a cloud-edge collaborative 1+6+N smart thermal power plant smart inspection system is characterized in that the equipment information includes operating status, fault conditions and maintenance records.10.一种权利要求1～9任一项所述系统的云边协同1+6+N智慧火电厂智慧巡检方法，其特征在于，包括：10. A cloud-edge collaborative 1+6+N smart thermal power plant smart inspection method of the system according to any one of claims 1 to 9, characterized in that it includes:针对设备特性及需要创建巡检任务，并将巡检任务进行轻重缓急化划分；Create inspection tasks based on equipment characteristics and needs, and prioritize inspection tasks;按照巡检任务划分设备并采集数据；Divide equipment and collect data according to inspection tasks;根据采集的数据，依托智能巡检机器人对某个区域或设备进行定期定点巡视；Based on the collected data, the intelligent inspection robot conducts regular inspections of a certain area or equipment.根据采集的数据，依托便携式的电子设备进行设备巡检和维护管理。Based on the collected data, equipment inspection and maintenance management are carried out with the help of portable electronic devices.