A pipeline valve angle online monitoring device and method

Abstract

The present invention relates to an online monitoring device and method for pipeline valve angles, the device comprising a separate detection module and an annular auxiliary module, the detection module being fixedly arranged on a valve handle, the annular auxiliary module being coaxially arranged with the valve handle and fixedly installed on the valve body; a plurality of step surfaces changing step by step are arranged on the annular auxiliary module toward the detection module, a plurality of first TOF sensors facing the step surfaces are arranged on the detection module; an IMU module and a main control module are arranged in the detection module, the IMU module and the first TOF sensor are respectively connected to the main control module for communication; the IMU module is used to detect a first rotation angle value of the handle; the first TOF sensor is used to detect a distance change value of the detection module relative to the step surface; the main control module is used to convert the distance change value into a second rotation angle value, and compensate the angle drift of the IMU module detection data through the second rotation angle value. The present invention improves the measurement accuracy of the detection device, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring systems, and in particular to an online monitoring device and method for pipeline valve angles. Background Art

[0002] At present, traditional mechanical valves are basically used to control the opening and closing of long-distance transportation lines in the petroleum, chemical and other industries. With the increasing demand, the corresponding number of pipeline valves is also growing rapidly. During the daily maintenance and inspection of pipelines, there are more and more safety accidents caused by manual negligence and failure to confirm that the pipeline valves are in a completely closed state.

[0003] During routine maintenance and inspection of pipelines, manual confirmation of whether the pipeline valves are completely closed requires a lot of time and manpower costs, so the demand for devices and systems that automatically monitor the opening and closing angles of pipeline valves becomes particularly urgent.

[0004] The electromagnetic valves that have been released so far are not suitable for large-scale promotion and transformation in the above industries due to high power consumption, high cost, and limited adjustment accuracy. In addition, the current electromagnetic valves only have two states: open and closed, and the intermediate position cannot be known.

[0005] TOF (Time of Flight) sensors have the advantages of small size, small error, stable performance, low cost, low power consumption, etc. They also have strong resistance to dust and strong light.

[0006] MEMS (Micro-Electro-Mechanical System) IMU (Inertial Measurement Unit) also has the advantages of small size, light weight, low power consumption, high accuracy and low production cost, but has the disadvantage of long-term accumulated drift.

[0007] The present invention aims to design a pipeline valve angle online monitoring device and method by combining a TOF array and a MEMS IMU without increasing too much cost, so as to solve the problems encountered in pipeline valve angle monitoring in the prior art. Summary of the invention

[0008] In view of the technical problems existing in the prior art, the present invention provides an online monitoring device and method for pipeline valve angles, which can not only ensure the measurement accuracy of the entire monitoring device, but also compensate for the shortcomings of long-term cumulative drift of the detection device, thereby achieving a balance between cost, device complexity, and measurement performance, and solving the pain points of the current petroleum, chemical and other industries.

[0009] The technical solution of the present invention to solve the above technical problems is as follows:

[0010] In a first aspect, the present invention provides an online monitoring device for pipeline valve angles, comprising a separate detection module and an annular auxiliary module, wherein the detection module is fixedly arranged on a valve handle, and the annular auxiliary module is coaxially arranged with the valve handle and fixedly installed on the valve body; the annular auxiliary module is provided with a plurality of step surfaces that change step by step toward the detection module, and the detection module is provided with a plurality of first TOF sensors facing the step surfaces; an IMU module and a main control module are provided in the detection module, and the IMU module and the first TOF sensor are respectively connected to the main control module for communication;

[0011] The IMU module is used to detect a first rotation angle value of the handle;

[0012] The first TOF sensor is used to detect a distance change value of the detection module relative to the step surface;

[0013] The main control module is used to convert the distance change value into a second rotation angle value and compensate for the angle drift of the IMU module detection data through the second rotation angle value.

[0014] Based on the above technical solution, the present invention can also be improved as follows.

[0015] Preferably, all the step surfaces are connected end to end to form an annular step, and multiple first TOF sensors are arranged in a circular array aligned with the annular step; when the detection module rotates coaxially with the valve handle, the multiple first TOF sensors arranged in a circular array synchronously displace circumferentially along the annular step.

[0016] Preferably, the heights of the step surfaces are gradually increased / decreased, and except for the height difference between the highest step surface and the lowest step surface, the height differences of other adjacent step surfaces are consistent.

[0017] Preferably, a wireless communication module is provided in the detection module, the wireless communication module is communicatively connected with the main control module, and the wireless communication module is used to realize wireless communication between the device and a host computer.

[0018] Preferably, an encryption authentication module is provided in the detection module, the encryption authentication module is communicatively connected with the main control module, and identity authentication information is pre-stored in the encryption authentication module.

[0019] Preferably, a second TOF sensor is provided on the detection module, the detection end of the second TOF sensor is radially toward the handle of the valve, and the second TOF sensor is communicatively connected to the main control module for detecting whether there is a target approaching the device in the environment where the device is located; when the second TOF sensor detects that a target is approaching the device, it outputs a wake-up signal to the main control module.

[0020] Preferably, a power module is provided in the detection module, and the power module includes a rechargeable battery and a power conversion chip. The input end of the power conversion chip is connected to the external power interface, and the output end of the power conversion chip is respectively connected to the rechargeable battery and the power load in the detection module.

[0021] In a second aspect, the present invention further provides a pipeline valve angle online monitoring method based on the above device, the method comprising:

[0022] Collecting a first rotation angle value of a valve handle and collecting a distance change value of a first TOF sensor relative to a step surface;

[0023] Converting the distance change value into a second rotation angle value;

[0024] The second rotation angle value is used to compensate for angular drift of the first rotation angle value.

[0025] Furthermore, the method further includes switching of working modes, wherein the working modes include a normal mode and a low power consumption mode, wherein:

[0026] In normal working mode, the rotation angle of the valve is continuously monitored within the preset time threshold range, and the low power consumption mode is switched to when it is not within the time threshold range;

[0027] In low power mode, it enters sleep mode, and when receiving a wake-up signal, it switches to normal working mode;

[0028] The source of the wake-up signal includes detecting that a target is approaching the valve, manually setting, or setting through wireless communication.

[0029] Furthermore, before data collection, an identity authentication step is provided, and the identity authentication step includes:

[0030] Preset local identity authentication information, read the received identity recognition information, compare the identity recognition information with the preset identity authentication information, if the comparison result is a match, perform valve angle monitoring; if the comparison result is a mismatch, issue a warning message.

[0031] The beneficial effects of the present invention are as follows: the device of the present invention can be installed on the existing mechanical pipeline valve without making any physical modification, and the valve and the monitoring device can be installed separately, which is suitable for large-scale transformation and installation; by compensating the detection data of the IMU module with the detection data of the TOF sensor, the combination of the two can ensure high-precision measurement results and improve detection accuracy; the use of wireless communication modules can realize large-scale terminal networking, thereby realizing unified management; the TOF sensor and IMU module used have low power consumption, and the monitoring device can automatically enter the low power consumption mode and automatically wake up to enter the normal working mode, and can be powered by batteries, and the device has high energy efficiency; in addition to obtaining the open and closed state of the valve, the present invention can also convert the measured rotation angle value into the valve opening to monitor the angle value of any position in the middle of the valve; the device has low loss during operation and a long service life. In subsequent maintenance, basically only the battery of the monitoring device needs to be replaced for continued use, and the operation and maintenance cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure installation of an online monitoring device for pipeline valve angles according to the present invention;

[0033] Figure 2 It is a schematic diagram of the cooperation between the detection module and the annular auxiliary module of the present invention;

[0034] Figure 3 This is a block diagram of the structure of the detection module of the present invention;

[0035] Figure 4 This is a schematic diagram of the initial position step surface detection when the present invention performs distance detection;

[0036] Figure 5 This is a schematic diagram of the step surface detection at the end position when the present invention performs distance detection;

[0037] Figure 6 It is the main flow chart of the monitoring method of the present invention;

[0038] Figure 7 The present invention is a flow chart for calculating the rotation angle value;

[0039] Figure 8 This is the angle calibration flow chart of the present invention;

[0040] Fig. 9 This is a schematic diagram of networking of multiple monitoring devices of the present invention. DETAILED DESCRIPTION

[0041] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0042] like Figures 1-2As shown, this embodiment provides an online monitoring device for pipeline valve angles, which includes a separate detection module and an annular auxiliary module, wherein the detection module is fixedly arranged on the valve handle, and the annular auxiliary module is coaxially arranged with the valve handle and fixedly installed on the valve body; the annular auxiliary module is provided with a plurality of step surfaces that change step by step toward the detection module, and the detection module is provided with a plurality of first TOF sensors facing the step surfaces; the detection module is provided with an IMU module and a main control module, and the IMU module and the first TOF sensor are respectively connected to the main control module for communication;

[0043] The IMU module is used to detect a first rotation angle value of the handle;

[0044] The first TOF sensor is used to detect a distance change value of the detection module relative to the step surface;

[0045] The main control module is used to convert the distance change value into a second rotation angle value and compensate for the angle drift of the IMU module detection data through the second rotation angle value.

[0046] In this embodiment, the main control module preferably uses a SOC board integrated with a single-chip microcomputer, which serves as the control core of the monitoring device and participates in the data calculation process in the scheme of this embodiment. The IMU module preferably uses a MEMS IMU combined inertial navigation sensor to measure the rotation angle of the valve handle. The method of measuring the rotation angle by a MEMS IMU combined inertial navigation sensor is a prior art in the art and will not be repeated in this patent. In this embodiment, the IMU module can use model LSM6DSR. When the handle of the valve is rotated, the opening of the valve changes synchronously therewith, so the rotation angle of the valve handle can be monitored to monitor the opening of the valve. The TOF (Time of Flight) sensor is a time of flight sensor, which belongs to a class of laser ranging sensors. It uses a tiny laser to emit infrared light, and the infrared light generated will bounce off any object and return to the sensor. According to the time difference between the emission of light and the return to the sensor after being reflected by the object, the sensor can measure the distance between the object and the sensor. In this embodiment, the first TOF sensor can use model CH201. When the valve handle rotates during the process of adjusting the valve opening, the first TOF sensor is displaced, and the detection end of the first TOF sensor is displaced along each step surface, detecting the distance change value of different step surfaces. In short, this distance change value is the height difference between the step surface at the end point and the step surface at the initial point. It should be noted that the height direction described here does not refer to the direction perpendicular to the center of the earth, but to the axial direction of the rotating shaft of the valve handle. Since the installation direction of the valve is flexible and changeable according to different usage scenarios, the axial direction of its rotating shaft is not necessarily in the vertical direction. Therefore, for the sake of ease of description, this article defines the axial direction of the rotating shaft of the valve handle as the height direction (this direction also corresponds to the process Figure 7 And the Z axis mentioned later). Since the step surface of the annular auxiliary module changes step by step, the height difference between each step surface has a certain mathematical relationship with the rotation angle of the handle. By conversion, the height difference between each step surface can be converted into the rotation angle value of the handle. For example, the number of steps and the height difference between adjacent steps are set according to the required measurement accuracy requirements. Each height difference corresponds to a rotation angle value. The more steps there are, the higher the measurement accuracy. Since the number of steps is fixed, it can be inferred that the angle of each rotation of a step is also fixed. Therefore, by monitoring the change in the distance from the first TOF sensor array to the step, the angle relative to the starting position can be known. In addition, the position of the layout of the first TOF sensor array itself can be flexibly designed according to the number of steps. For example: assuming that the number of steps is N, the angle value corresponding to the height difference of adjacent steps (i.e., one height difference) is 360 / N. If the detection end point to the starting point has experienced x height differences (i.e., spanning x steps), the rotation angle value converted from the height difference is equal to 360 / N*x.

[0047] Since the rotation angle value detected by the IMU module has angle drift, if it is not eliminated for a long time, it will cause a large cumulative drift, affecting the measurement accuracy of the device. Therefore, the rotation angle value converted from the height difference detected by the first TOF sensor is used to compensate for the angle drift of the IMU module to eliminate the error in each detection, avoid cumulative drift, and improve the detection accuracy of this device. Please refer to Figure 7 Flowchart and Figures 4-5 The schematic diagram of comparing the initial position and the end position of the step surface during distance detection is shown in the figure. The detection of the distance change value and the calculation process of compensating the angle drift of the IMU module through the distance change value are given as follows:

[0048] (1) Assume that the number of circular steps is N and the height difference of each step is δ h , then the angle value represented by each step is Ω s =360 / N.

[0049] (2) Assume that the position of the calibration zero position monitoring device relative to the annular step surface is Figure 4 As shown, the four detection points A1 / B1 / C1 / D1 correspond to the time T0 Figure 2 The detection module is shown facing the positions of the four first TOF sensors on the step surface. At this time, the distances from the four first TOF sensors in the monitoring device to the annular step are S1 / S2 / S3 / S4 respectively.

[0050] (3) Assume that the detection module rotates along with the handle around the Z axis (as mentioned above, the Z axis is the axis of the handle by default), and rotates by an angle Ω at time T1. r ,like Figure 5 As shown, A2 / B2 / C2 / D2 corresponds to time T1 Figure 2 The detection module is shown facing the positions of the four first TOF sensors on the step surface. At this time, the distances from the four first TOF sensors in the monitoring device to the annular step are S1' / S2' / S3' / S4' respectively.

[0051] (4) The distance changes of the annular step surface monitored by the four first TOF sensors in the monitoring device are δ1=S1'-S1, δ2=S2'-S2, δ3=S3'-S3, δ4=S4'-S4, respectively, so that the angle changes detected by each first TOF sensor are estimated to be:

[0052] Ω1=δ1 / δ h *Ω s ,Ω2=δ2 / δ h *Ω s ,Ω3=δ3 / δ h *Ω s ,Ω4=δ4 / δh *Ω s .

[0053] (5) The four first TOF sensors are organized into two groups, and the two first TOF sensors in each group are adjacent to each other, and two groups of angle values ​​are obtained: Ω lt ={Ω1Ω2} and Ω rt ={Ω3Ω4}, and the IMU module detects the rotation angle is Ω it According to the formula Y t =F t *x t +v t The handle rotation angle value after angle drift compensation after feedback, where Y t is the final angle at time t, X t is the set of angles detected by the first TOF sensor and IMU module at time t, i.e. X t ={Ω lt Ω rt Ω it}, F t is the transformation matrix, which maps the state vector to the space where the measurement value is located, v t is the predicted noise.

[0054] Based on the above technical solution, this embodiment can also be improved as follows.

[0055] like Figure 1 and Figure 2 As shown, all the step surfaces are connected end to end to form a circular step, and all the step surfaces occupy the same arc length of the circular step, and multiple first TOF sensors are arranged in a circular array aligned with the circular step; when the detection module rotates coaxially with the handle of the valve, the multiple first TOF sensors arranged in a circular array synchronously displace along the circumferential direction of the circular step.

[0056] A plurality of evenly distributed step surfaces form an arc-shaped step, and the angle value occupied by each step surface in the circumferential direction is equal, so that all step surfaces evenly divide the 360 ​​degrees of the circumference. For example, if there are n step surfaces, the rotation angle of each step surface jump is 360 / n by default, and each 360 / n is the unit angle corresponding to a height jump; the larger the value of n, the smaller the converted unit angle value, and the greater the detection accuracy. Multiple first TOF sensors are arranged in a circular array, so that during the rotation of the handle, the detection end of the first TOF sensor is always aligned with the step surface of the annular auxiliary module; and through the synchronous detection of multiple first TOF sensors, the detection result caused by the local failure of the first TOF sensor can be prevented. The specific number of the first TOF sensor can be flexibly set according to needs.

[0057] like Figure 1 and Figure 2 As shown, the height of the step surface is gradually increased / decreased, and except for the height difference between the highest step surface and the lowest step surface, the height differences of the other adjacent step surfaces are consistent. Since each height difference jump represents a positive or reverse superposition of a unit angle, for example, by counting the number of height difference jumps from the initial position to the end position, the rotation angle value detected by the first TOF sensor can be obtained.

[0058] like Figure 3 and Fig. 9 As shown, a wireless communication module is provided in the detection module, and the wireless communication module is connected to the main control module for communication, and the wireless communication module is used to realize wireless communication between the device and the host computer. In this embodiment, the LoRa module is preferably used as the wireless communication module. Furthermore, the detection module can adopt a SOC board integrating the main control module and the LoRa module, such as the model STM32WLE4CC. The monitoring device detects the change in valve opening and reports the current position through the wireless communication module. Multiple wireless communication modules distributed in various places can communicate with the gateway respectively to realize the networking of multiple monitoring devices, which is convenient for unified management.

[0059] In this embodiment, Figure 3 As shown, the detection module is provided with an encryption authentication module, the encryption authentication module is connected to the main control module, and the encryption authentication module is pre-stored with identity authentication information. When the device is turned on, the remote device can send identity recognition information to the local device through the wireless communication module, such as Figure 6 As shown, after receiving the identification information, the device matches it with the authentication information in the encryption authentication module. If the match is successful, the rotation angle of the valve handle can be monitored to monitor the valve opening; if the match is unsuccessful, the authentication fails and the device refuses to accept the remote device's instructions. This setting can prevent the program from being illegally modified and copied. The encryption chip model used by the encryption authentication module can use RJGT102WDT6.

[0060] In this embodiment, the detection module is provided with a second TOF sensor, and the principle and model of the second TOF sensor can be consistent with the first TOF sensor. The detection end of the second TOF sensor faces the radial direction of the valve handle, and the second TOF sensor is connected to the main control module for communication, and is used to detect whether there is a target approaching the device in the environment where the device is located; when the second TOF sensor detects that a target is approaching the device, it outputs a wake-up signal to the main control module.

[0061] For example, Figure 1 and Figure 2As shown, in this embodiment, a plurality of second TOF sensors are dispersedly arranged around the detection module. The second TOF sensors can be used to detect whether a staff member is close to the device. When a person is detected to be close to the device, the device is actively awakened to enter a normal working state. When no person is detected to be close, the detection module can enter a low power consumption mode, monitor and report the valve opening in a timed detection manner using a preset sampling frequency.

[0062] like Figure 1 and Figure 3 As shown, the detection module is provided with a power module, and the power module includes a rechargeable battery and a power conversion chip, and the rechargeable battery is preferably a lithium battery. The input end of the power conversion chip is connected to the external power interface, which is convenient for charging or power supply through an external power supply, and the output end of the power conversion chip is connected to the rechargeable battery and the power load in the detection module respectively. After power conversion, the power conversion chip charges the battery and provides working power for the power load in the detection module. According to actual needs, the power conversion chip can provide single-channel output or multi-channel output.

[0063] like Figure 1 As shown, the detection module of the device is also provided with a power switch, which is connected to the power conversion chip and is used to control the opening and closing of the power of the entire device. Figure 1 and Figure 3 As shown, an indicator light may also be provided on the detection module, and the indicator light is connected in series with the power switch to indicate the working status of the device.

[0064] This embodiment is based on the above device, please refer to the process Figures 6 to 8 , and also provides a pipeline valve angle online monitoring method, the method comprising:

[0065] Collecting a first rotation angle value of a valve handle and collecting a distance change value of a first TOF sensor relative to a step surface;

[0066] Converting the distance change value into a second rotation angle value;

[0067] The second rotation angle value is used to compensate for angular drift of the first rotation angle value.

[0068] The principle of converting the step surface distance change value measured during the handle rotation process into a second rotation angle value and using the second rotation angle value to compensate for the angle drift of the first rotation angle value is as described above and will not be repeated here.

[0069] It should be noted that after the device is installed on the valve for the first time, angle calibration is required before valve angle monitoring is performed. Specifically, the valve opening range is matched to the rotation angle of the valve handle. For example, when the valve opening ranges from 0 to 100%, the corresponding rotation angle of the valve handle from the rotation start point to the end point may be a small angle (<90°) or a large angle (>360°). For ease of description, this embodiment takes an example of a rotation angle between a small angle and a large angle.

[0070] The steps for angle calibration of valves are as follows: Figure 8 As shown, first adjust the valve opening to 0 (i.e., fully closed state), which corresponds to the minimum angle state of the valve handle, and record the angle value A at this time; then adjust the valve opening to 100% (i.e., maximum opening state), which corresponds to the minimum angle state of the valve handle, and record the angle value B at this time; since this time the rotation angle range is between 90° and 360° for example, without considering the rotation angle exceeding 360°, the rotation angle value between A and B corresponds to the intermediate proportion state of the valve being partially opened. Therefore, the monitoring method of this embodiment can monitor both the opening and closing state of the valve and its intermediate proportion state, which is more accurate than the traditional monitoring method. An operation button can also be set on the device to issue instructions during the angle calibration process, and the calibrated angle can be manually recorded by pressing the operation button before the gateway is connected. For example, press the first button, and the device records the current angle value as angle value A; continue to calibrate the angle, press the second button, and the device records the current angle value as angle value B.

[0071] As a preferred solution, the method further includes switching of working modes, and the working modes include normal working mode and low power consumption mode, wherein:

[0072] In normal working mode, the real-time angle value of the valve is continuously monitored. When the real-time angle value of the valve remains unchanged for a preset time threshold, the rotation angle value of the handle is calculated based on the real-time angle value, and then the low power consumption mode is switched. For example, the preset time threshold is 10s. When the real-time angle value of the handle is monitored to remain at a certain angle and remains unchanged for 10s in normal working mode, it means that the valve opening has reached stability and the handle is in a static state. The difference between the real-time angle value at this time and the handle angle value when the valve is closed indicates the rotation angle value of the handle. After the angle drift compensation operation, a more accurate rotation angle value is obtained. The valve opening can be deduced from the accurate rotation angle value obtained by calculation, thereby realizing the monitoring of the valve opening.

[0073] In low-power mode, it enters a dormant state, and when a wake-up signal is received, it switches to a normal working mode; a fixed sampling frequency can be set for the low-power mode, so that it can perform a regular detection and report the detection data when no wake-up signal is received. That is, in low-power mode, a dormant + heartbeat + wake-up mode is adopted to reduce the energy consumption of the device. Among them, dormancy refers to turning off the detection channel of the first TOF sensor, the second TOF sensor or the MEMS IMU when no data sampling is performed, heartbeat refers to performing regular detection and data reporting at a fixed sampling frequency, and wake-up refers to performing detection and data reporting when a wake-up signal is received.

[0074] The source of the wake-up signal includes monitoring a target approaching the valve (for example, the second TOF sensor described above detects someone approaching the device), manual setting (for example, someone is operating the device) or setting via wireless communication (for example, the administrator sends a detection instruction to the device through a host computer or APP).

[0075] Please refer to Figure 6 In order to enhance the security of the device and prevent the program of the device from being illegally modified and copied, the device is also provided with an identity authentication step before data collection, and the identity authentication step includes:

[0076] Preset local identity authentication information, read the received identity recognition information, compare the identity recognition information with the preset identity authentication information, if the comparison result is a match, perform valve angle monitoring; if the comparison result is a mismatch, issue a warning message.

[0077] Working principle:

[0078] Now combined with Figure 6 The main flow chart shown in the figure illustrates the complete working steps of the device.

[0079] S10: Reading device parameters, such as the step surface distance value detected by the first TOF sensor and the handle rotation angle value detected by the MEMS IMU, for calculating the current actual angle and reading encrypted information;

[0080] S20: The encrypted information read in S10 is compared with the result of the encryption chip after calculation to prevent the program from being illegally modified and copied;

[0081] S31 / S32: Report warning information when hardware encryption authentication fails;

[0082] S33 / S34: When the hardware encryption authentication is passed, the corresponding peripherals (such as LoRa module, TOF sensor, MEMS IMU) are initialized, and the current initial actual angle is calculated to prepare for the subsequent real-time angle calculation;

[0083] S40: Calculate the rotation axis, current Euler angle, and Pitch range extension by reading the current IMU module data, read the TOF sensor array data, and collect the distance change of the step surface on the step ring structure of the external annular auxiliary module according to the TOF sensor array; assuming that the axial direction of the handle's rotation axis is the Z axis, and the plane formed by the X axis and the Y axis is the rotation plane of the handle, when the rotation axis detected by the IMU module is the Z axis, the rotation angle of the handle is calculated by the step surface distance change data detected by the first TOF sensor, which is used to compensate for the heading angle detected by the IMU module; when the rotation axis is the X axis or the Y axis, the Pitch angle range is extended to measure the situation where the rotation angle is greater than 90°. The above method is used to calculate the current actual angle in real time, and the small angle (less than 90°) and large angle (greater than 360°) valve rotation angles can be measured; the angle detection process of the IMU module is a prior art, and the process can be referred to. Figure 7 The part of calculating the rotation heading angle will not be repeated here;

[0084] S50: When the device is first installed on the valve, due to different valve types and different opening and closing angles, it is necessary to calibrate the minimum opening and closing angle of the valve to 0° and the maximum opening and closing angle, so as to determine the three states of the valve: fully open, fully closed, and intermediate ratio; the specific calibration process is described above and will not be described in detail here;

[0085] S60: Report the real-time calculated rotation angle value of the valve handle to the gateway, which can forward it to the APP for real-time display. If it is in the calibration process, the reported information is the calibrated value;

[0086] S71 / S72: through the static judgment strategy of the device, to detect whether the monitoring device is in an inoperative state, so as to take corresponding low-power consumption measures; for example, a time threshold is preset, and when it is detected that the rotation angle value is not updated for the time threshold, the device automatically switches to the low-power consumption mode;

[0087] S73 / S74: When the device enters low power mode, only the first TOF sensor array, the second TOF sensor array and the LoRa module are in periodic operation, and other functional parts are in shutdown or minimum power consumption mode, which minimizes the overall device power consumption and prolongs the battery life.

[0088] When the second TOF sensor array detects that a person is operating the device or the LoRa module sends a corresponding instruction, the device is fully awakened and enters the normal working mode. The device enters this workflow and starts to execute step S10. Fig. 9As shown, multiple devices are networked with wireless communication modules (not limited to LoRa modules) and managed uniformly through a gateway, thereby realizing centralized management of monitoring devices distributed in various locations and improving management efficiency.

[0089] The device of the present invention can be installed on the existing mechanical pipeline valve without making any physical modification, and the valve and the monitoring device can be installed separately, which is suitable for large-scale transformation and installation; by compensating the detection data of the IMU module with the detection data of the TOF sensor, the combination of the two can ensure high-precision measurement results and improve detection accuracy; the use of wireless communication modules can realize large-scale terminal networking, thereby realizing unified management; the TOF sensor and IMU module used have low power consumption, and the monitoring device can automatically enter the low power consumption mode and automatically wake up to enter the normal working mode, and can be powered by batteries, and the device has high energy efficiency; in addition to obtaining the open and closed state of the valve, the present invention can also convert the measured rotation angle value into the valve opening to monitor the angle value of any position in the middle of the valve; the device has low loss during operation and a long service life. In subsequent maintenance, it is basically only necessary to replace the battery of the monitoring device for continued use, and the operation and maintenance cost is low.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline valve angle online monitoring device, characterized in that: The invention comprises a separate detection module and an annular auxiliary module, wherein the detection module is fixedly arranged on the handle of the valve, and the annular auxiliary module is coaxially arranged with the handle of the valve and fixedly installed on the body of the valve; the annular auxiliary module is provided with a plurality of step surfaces which change step by step toward the detection module, and the detection module is provided with a plurality of first TOF sensors facing the step surfaces; the detection module is provided with an IMU module and a main control module, and the IMU module and the first TOF sensor are respectively connected to the main control module for communication; The IMU module is used to detect a first rotation angle value of the handle; The first TOF sensor is used to detect a distance change value of the detection module relative to the step surface; The main control module is used to convert the distance change value into a second rotation angle value and compensate for the angle drift of the IMU module detection data through the second rotation angle value.

2. According to claim 1, a pipeline valve angle online monitoring device is characterized in that: All the step surfaces are connected end to end to form an annular step, and multiple first TOF sensors are arranged in a circular array aligned with the annular step; when the detection module rotates coaxially with the valve handle, the multiple first TOF sensors arranged in a circular array synchronously move circumferentially along the annular step.

3. A pipeline valve angle online monitoring device according to claim 1 or 2, characterized in that: The heights of the step surfaces are gradually increased / decreased, and except for the height difference between the highest step surface and the lowest step surface, the height differences of other adjacent step surfaces are consistent.

4. A pipeline valve angle online monitoring device according to claim 1 or 2, characterized in that: A wireless communication module is provided in the detection module, the wireless communication module is communicatively connected with the main control module, and the wireless communication module is used to realize wireless communication between the device and the host computer.

5. The pipeline valve angle online monitoring device according to claim 4, characterized in that: An encryption authentication module is provided in the detection module, the encryption authentication module is in communication connection with the main control module, and identity authentication information is pre-stored in the encryption authentication module.

6. A pipeline valve angle online monitoring device according to any one of claims 1, 2 and 5, characterized in that: The detection module is provided with a second TOF sensor, the detection end of the second TOF sensor is radially facing the handle of the valve, and the second TOF sensor is communicatively connected with the main control module for detecting whether there is a target approaching the device in the environment where the device is located; when the second TOF sensor detects that a target is approaching the device, it outputs a wake-up signal to the main control module.

7. The pipeline valve angle online monitoring device according to claim 6, characterized in that: The detection module is provided with a power module, which includes a rechargeable battery and a power conversion chip. The input end of the power conversion chip is connected to the external power interface, and the output end of the power conversion chip is connected to the rechargeable battery and the power load in the detection module respectively.

8. A pipeline valve angle online monitoring method based on the device of claim 1, characterized in that: include: Collecting a first rotation angle value of a valve handle and collecting a distance change value of a first TOF sensor relative to a step surface; Converting the distance change value into a second rotation angle value; The second rotation angle value is used to compensate for angular drift of the first rotation angle value.

9. A pipeline valve angle online monitoring method according to claim 8, characterized in that: The method further includes switching of working modes, wherein the working modes include a normal mode and a low power consumption mode, wherein: In normal working mode, the rotation angle of the valve is continuously monitored within the preset time threshold range, and the low power consumption mode is switched to when it is not within the time threshold range; In low power mode, it enters sleep mode, and when receiving a wake-up signal, it switches to normal working mode; The source of the wake-up signal includes detecting that a target is approaching the valve, manually setting, or setting through wireless communication.

10. A pipeline valve angle online monitoring method according to claim 8 or 9, characterized in that: Before data collection, an identity authentication step is also provided, and the identity authentication step includes: Preset local identity authentication information, read the received identity recognition information, compare the identity recognition information with the preset identity authentication information, if the comparison result is a match, perform valve angle monitoring; if the comparison result is a mismatch, issue a warning message.

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