A movable automatic positioning field calibration test system

Abstract

The present invention discloses a mobile automatic positioning on-site calibration test system, comprising a pulse irradiation device, a three-dimensional mobile platform, a calibration device, a sensor device, and a control device; the pulse irradiation device, the calibration device, the sensor device, and the control device are all mounted on the three-dimensional mobile platform; the control device is electrically connected to the pulse irradiation device, the three-dimensional mobile platform, the calibration device, and the sensor device; the present invention automatically controls the platform to move to the optimal detection position based on the location of the alarm detection instrument, and simultaneously obtains the spatial position deviation value of the pulse irradiation device based on the target signal position image emitted by the calibration device. Based on this spatial position deviation value, the automatic control platform performs high-precision multi-directional displacement adjustment of the pulse irradiation device, thereby aligning the emission window of the pulse irradiation device with the instrument being calibrated. The test system proposed by the present invention can quickly, accurately, and automatically calibrate a fixed radiation alarm without requiring human intervention.

Description

Technical Field

[0001] The invention belongs to the technical field of calibration and testing of nuclear criticality accident radiation alarms, and in particular relates to a movable automatic positioning on-site calibration and testing system. Background Art

[0002] A nuclear criticality accident is an energy release event caused by an unexpected, self-sustaining or divergent neutron chain reaction. A criticality accident is accompanied by a large amount of neutrons and gamma radiation, which can result in high, even lethal, radiation doses to personnel near the site of the criticality accident, with devastating consequences. In nuclear fuel cycle facilities such as fuel element plants and reprocessing plants, criticality accident radiation alarm systems are crucial for timely warning of criticality accidents. These gamma radiation alarm systems are designed to rapidly issue an alarm upon the onset of the first supercriticality event, or the first pulse spike. This notifies personnel to address the accident immediately, preventing subsequent pulse spikes and the subsequent escalation of the accident. Furthermore, they notify other personnel to evacuate the site promptly to avoid exposure to further pulse spikes and their power levels.

[0003] It can be seen that the reliability and effectiveness of the gamma radiation alarm system are of great significance to the safety and reliability of nuclear criticality accident monitoring. Therefore, it is very necessary to calibrate the key parameters of the pulse radiation performance of the nuclear criticality accident gamma radiation alarm system to ensure its effectiveness and reliability. Most of the existing metrological calibration technologies are to transport the relevant calibration equipment to the location of the instrument to be calibrated (i.e., on-site), and then manually install the calibration equipment in front of the instrument to be calibrated. During the test and calibration process, the height and angle of the calibration equipment are manually adjusted according to the measurement data. This existing technology has the following defects: (1) It relies on manual adjustment, which is inefficient. At the same time, it is affected by human factors, and the accuracy and reliability of the calibration are low, which cannot meet the high safety, speed and high reliability requirements of the nuclear criticality accident radiation alarm system; (2) Each on-site calibration requires manual transportation and installation, which is inconvenient to operate, and requires high professional skills of relevant personnel, and is costly. Summary of the Invention

[0004] In order to solve the problems of safety, reliability and efficiency existing in the existing nuclear critical accident radiation alarm system testing and calibration technology, the present invention provides a movable automatic positioning on-site calibration test system. The present invention can automatically adjust the distance between the critical alarm system to be calibrated and the pulse radiation device by controlling the movable automatic positioning on-site calibration test system according to the location of the alarm system detector, thereby realizing rapid and reliable calibration of the critical alarm system and avoiding problems such as low calibration efficiency and poor reliability due to the influence of human factors.

[0005] The present invention is achieved through the following technical solutions:

[0006] A movable automatic positioning on-site calibration test system, the test system comprising a pulse irradiation device, a three-dimensional mobile platform, a calibration device, a sensing device and a control device;

[0007] Wherein, the pulse irradiation device, calibration device, sensor device and control device are all installed on the three-dimensional mobile platform;

[0008] The control device is electrically connected to the pulse irradiation device, the three-dimensional moving platform, the calibration device, and the sensing device;

[0009] The sensing device is used to detect the distance signal between the pulse irradiation device and the instrument to be calibrated and transmit it to the control device;

[0010] The control device controls the movement of the three-dimensional mobile platform according to the distance signal, thereby driving the pulse irradiation device to move to the optimal detection position;

[0011] The pulse irradiation device emits pulse rays to the instrument to be calibrated through the emission window thereon under the control of the control device;

[0012] The calibration device sends a target signal, which is located directly in front of the emission window of the pulse irradiation device and projected onto the instrument being calibrated, and obtains a target signal position image on the instrument being calibrated and obtains a spatial position deviation value of the pulse irradiation device based on the target signal position image and the standard target signal position image; the marked target signal position image is the target signal position image when the emission window of the pulse irradiation device is aligned with the instrument being calibrated;

[0013] The control device controls the three-dimensional mobile platform to drive the pulse irradiation device to adjust the spatial position according to the spatial position deviation value, so that the pulse rays emitted by the pulse irradiation device are aligned with the calibrated instrument, thereby completing the on-site calibration test of the calibrated instrument.

[0014] Compared to existing radiation calibration technologies, the mobile automatic positioning on-site calibration test system proposed in the present invention can automatically control the platform to move to the optimal detection position according to the location of the alarm detection instrument. At the same time, it can obtain the spatial position deviation value of the pulse irradiation device based on the target signal position image emitted by the calibration device. Based on this spatial position deviation value, the automatic control platform performs high-precision multi-directional displacement adjustment of the pulse irradiation device, thereby aligning the emission window of the pulse irradiation device with the calibrated instrument. The test system proposed in the present invention does not require human intervention and can quickly, accurately and automatically calibrate fixed radiation alarms, avoiding the problems of poor reliability and accuracy, low efficiency and other problems of the existing technology caused by human factors. At the same time, the test system proposed in the present invention is easy to use and can be used as a universal on-site calibration test system to calibrate similar fixed radiation alarms.

[0015] As a preferred embodiment, the calibration device of the present invention includes a horizontal infrared emitter, a vertical infrared emitter and an image calibrator;

[0016] The horizontal infrared emitter, vertical infrared emitter and image calibrator are all arranged on the pulse irradiation device;

[0017] The intersection of the infrared rays emitted by the horizontal infrared emitter and the vertical infrared emitter is located in front of the emission window provided on the pulse irradiation device, and the intersection is projected onto the instrument to be calibrated;

[0018] The image calibrator is used to collect the image of the intersection on the instrument being calibrated.

[0019] As a preferred embodiment, the three-dimensional mobile platform of the present invention includes a lateral moving device, a longitudinal moving device and a lifting device;

[0020] The transverse moving device is arranged on the longitudinal moving device, the lifting device is arranged on the transverse moving device, the pulse irradiation device is arranged on the lifting device, and the sensing device and the calibration device are both arranged on the pulse irradiation device;

[0021] The longitudinal moving device drives the entire device thereon to move to the optimal detection position according to the distance between the pulse irradiation device and the calibrated instrument. The transverse moving device can drive the entire device thereon to move transversely. The lifting device can drive the entire device thereon to move up and down.

[0022] As a preferred embodiment, the longitudinal movement device of the present invention includes a base, a driving wheel and a guide rail;

[0023] The plurality of driving wheels are arranged below the base, and the plurality of driving wheels are electrically connected to the control device. The driving wheels can move along the guide rail under the control of the control device.

[0024] As a preferred embodiment, the lateral movement device of the present invention includes a first driver and two lateral guide rails;

[0025] The two transverse guide rails are arranged on the base and are arranged parallel to the length direction of the base, and the lifting device is arranged on the two transverse guide rails and can move left and right along the two transverse guide rails;

[0026] The first driver is in transmission connection with the lifting device and is used for driving the lifting device to move on the two transverse guide rails.

[0027] As a preferred embodiment, the lifting device of the present invention includes a base plate, a second driver and two vertical guide rails;

[0028] The two vertical guide rails are vertically arranged on the bottom plate and are parallel to each other, and the bottom plate is slidably mounted on the two horizontal guide rails;

[0029] The pulse irradiation device is arranged between the two vertical guide rails, and the second driver is transmission-connected to the pulse irradiation device and is used for driving the pulse irradiation device to move up and down along the two vertical guide rails.

[0030] As a preferred embodiment, the first driver and the second driver of the present invention both include a drive motor, a lead screw and a lead screw nut;

[0031] Among them, the driving motor is electrically connected to the control device, the output end of the driving motor is connected to the lead screw transmission, the lead screw is arranged parallel to the guide rail, and the lead screw nut on the lead screw is fixed on the bottom of the base plate or the pulse irradiation device. When the control device controls the driving motor to operate, it drives the lead screw to rotate, and the rotation of the lead screw will drive the lead screw nut on it to move on the lead screw, thereby realizing automatic adjustment of the pulse irradiation device in the horizontal or vertical direction.

[0032] As a preferred embodiment, both ends of the transverse guide rail and the vertical guide rail of the present invention are provided with limiting devices;

[0033] The limiting device is electrically connected to the control device;

[0034] When the pulse irradiation device moves on the vertical guide rail and reaches the limit device at the top or bottom of the vertical guide rail, the limit device sends a stop signal to the control device, and the control device controls the second driver to stop running;

[0035] When the lifting device moves on the transverse guide rail and reaches the limit device at the leftmost or rightmost end of the transverse guide rail, the limit device sends a stop signal to the control device, and the control device controls the first driver to stop running.

[0036] As a preferred embodiment, the transverse guide rail and the ends of the vertical guide rail of the present invention may be provided with a limit device in any of the following ways:

[0037] There are mechanical limit devices and electrical limit devices at both ends respectively;

[0038] Both ends are equipped with mechanical limit devices;

[0039] Both ends are equipped with electrical limit devices.

[0040] On the other hand, the present invention proposes a mobile automatic positioning on-site calibration test method, which is implemented based on the above-mentioned test system and includes:

[0041] Obtaining the distance between the pulse irradiation device and the calibrated instrument collected by the sensing device, and controlling the three-dimensional mobile platform to move to the optimal detection position according to the distance;

[0042] Controlling the pulse irradiation device to emit pulsed rays through an emission window and the calibration device to emit a target signal, wherein the target signal is located directly in front of the emission window of the pulse irradiation device and is projected onto the instrument to be calibrated;

[0043] Acquire a target signal position image on the instrument being calibrated, and obtain a spatial distance deviation value of the pulse irradiation device based on the acquired target signal position image and a standard target signal position image;

[0044] The three-dimensional mobile platform is controlled according to the spatial distance deviation value to automatically adjust the spatial position of the pulse irradiation device, so that the pulse rays emitted by the pulse irradiation device are aligned with the calibrated instrument.

[0045] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0046] 1. The mobile automatic positioning on-site calibration test system proposed in this invention can safely, efficiently and accurately calibrate the fixed nuclear criticality accident gamma radiation alarm system, ensure the reliability and safety of nuclear criticality accident monitoring, and improve the safety of nuclear power plant operation.

[0047] 2. The calibration and testing system proposed in the present invention is easy to operate and has a high degree of automation. It realizes automated operation from transportation to calibration process without manual intervention, and can ensure the reliability and accuracy of calibration.

[0048] 3. The calibration test system proposed in the present invention can solve the problem of high-precision adjustment of multi-directional displacement of pulse irradiation equipment. It is easy to use and can be used as a universal on-site calibration test system to realize the calibration of similar fixed radiation alarms, providing metrological assurance for the traceability of the measurement values of such equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0050] Figure 1 Schematic diagram of the test system structure of an embodiment of the present invention.

[0051] Figure 2 Flowchart of the testing process of an embodiment of the present invention.

[0052] Reference numerals and corresponding component names:

[0053] 1- Pulse irradiation device, 2- Distance sensor, 3- Control device, 4- Base, 5- Driving wheel, 6- Guide rail, 7- First drive, 8- Horizontal guide rail, 9- Second drive, 10- Vertical guide rail, 11- Horizontal infrared emitter, 12- Vertical infrared emitter, 13- Emission window, 14- Limiting device. DETAILED DESCRIPTION

[0054] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of the invented function, operation or element, and do not limit the addition of one or more functions, operations or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing.

[0055] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0056] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0057] It should be noted that when a component is described as being “connected” to another component, the first component may be directly connected to the second component, and a third component may be “connected” between the first and second components. Conversely, when a component is described as being “directly connected” to another component, it can be understood that there is no third component between the first and second components.

[0058] The terms used in various embodiments of the present invention are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as those of ordinary skill in the art generally understood by the various embodiments of the present invention. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having idealized meaning or too formal meaning, unless clearly defined in various embodiments of the present invention.

[0059] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0060] Example:

[0061] In response to the problem of traceability of pulse parameter values in fixed nuclear criticality accident γ radiation alarm systems, and in order to ensure the effectiveness and reliability of the metrological calibration of key pulse radioactivity parameters of fixed nuclear criticality accident γ radiation alarm systems, thereby ensuring the safety and reliability of nuclear criticality, this embodiment proposes a movable automatic positioning on-site calibration test system. The test system proposed in this embodiment automatically adjusts the distance between the critical alarm system to be calibrated and the pulse irradiation device by controlling the test system according to the location of the alarm system detector, thereby achieving calibration of the critical alarm system. The test system is moved to the vicinity of the critical alarm system to be calibrated, and the relative spatial position between the two is automatically adjusted during the calibration process, without the need for human intervention, thereby improving the accuracy and reliability of the calibration test, and improving the calibration test efficiency, while ensuring the safety of the test personnel.

[0062] The movable automatic positioning on-site calibration test system proposed in this embodiment includes a pulse irradiation device, a three-dimensional mobile platform, a calibration device, a sensing device, and a control device.

[0063] Among them, the pulse irradiation device, calibration device, sensing device and control device are all installed on the three-dimensional mobile platform; the control device is electrically connected to the pulse irradiation device, the driving mechanism of the three-dimensional mobile platform, the calibration device and the sensing device.

[0064] Under the control of the control device, the pulse irradiation device emits pulse rays to the instrument to be calibrated through the emission window thereon. The sensing device is used to detect the distance signal between the instrument to be calibrated and the pulse irradiation device and transmit it to the control device. The control device controls the three-dimensional mobile platform to move to the corresponding position according to the distance signal to ensure that the pulse irradiation device is at the optimal detection distance for calibration; the calibration device sends a target signal, which is located directly in front of the emission window of the pulse irradiation device and is projected onto the instrument to be calibrated, and obtains the target signal position image on the instrument to be calibrated and obtains the spatial position deviation value of the pulse irradiation signal based on the target signal position image and the standard target signal position image. The control device controls the three-dimensional mobile platform to drive the pulse irradiation device thereon to adjust the spatial position according to the spatial position deviation value, so that the pulse rays emitted by the pulse irradiation device are aligned with the instrument to be calibrated, thereby completing the on-site calibration test of the instrument to be calibrated.

[0065] In an optional embodiment, the three-dimensional mobile platform includes a transverse moving device, a longitudinal moving device and a lifting device, wherein the transverse moving device is arranged on the longitudinal moving device, the lifting device is arranged on the transverse moving device, the pulse irradiation device is installed on the lifting device, and the sensing device and the calibration device are both arranged at corresponding positions of the pulse irradiation device; the longitudinal moving device can drive the entire device thereon to move to a corresponding position according to the distance between the pulse irradiation device and the calibrated instrument, so that the pulse irradiation device is in an optimal detection position; the transverse moving device can drive the entire device thereon to move transversely (i.e., left and right); and the lifting device can drive the entire device thereon to move up and down.

[0066] Specific as Figure 1 As shown, the longitudinal movement device includes a base 4, drive wheels 5, and guide rails 6. Multiple drive wheels 5 are disposed below the base 4 and are electrically connected to the control device 3. Under the control of the control device 3, the drive wheels 5 can move along the guide rails 6, thereby driving the entire calibration and testing system to a corresponding position. The transverse direction is the length direction of the base 4, the longitudinal direction is the width direction of the base 4, and the vertical direction is the direction perpendicular to the base 4.

[0067] The transverse moving device includes a first driver 7 and two transverse guide rails 8, wherein the two transverse guide rails 8 are arranged on the base 4 in parallel along the length direction of the base 4, and the first driver 7 is connected to the lifting device for driving the lifting device to move on the two transverse guide rails 8; optionally, the first driver 7 is arranged on the base 4, including a first drive motor, a horizontal screw and a first screw nut, the first drive motor is electrically connected to the control device 3, the output end of the first drive motor is connected to the horizontal screw, the horizontal screw is arranged parallel to the two transverse guide rails 8, the first screw nut is connected to the horizontal screw, and the first screw nut is fixed to the bottom of the lifting device. When the first drive motor is running, it drives the horizontal screw to rotate, and the rotation of the horizontal screw will drive the first screw nut to move transversely on the horizontal screw, thereby driving the lifting device as a whole to move transversely. Since the pulse irradiation device 1 is arranged on the lifting device, automatic adjustment of the pulse irradiation device 1 in the transverse direction is realized.

[0068] The lifting device includes a base plate, a second driver 9 and two vertical guide rails 10, wherein the two vertical guide rails 10 are vertically arranged on the base plate and parallel to each other, the bottom of the base plate is fixedly connected to the first screw nut, the pulse irradiation device 1 is arranged between the two vertical guide rails 10, and the second driver 9 is transmission-connected to the pulse irradiation device 1 for driving the pulse irradiation device 1 to move up and down along the two vertical guide rails 10. Optionally, a second drive 9 is provided on the base plate, and the second drive 9 includes a second drive motor, a vertical screw and a second screw nut. The second drive motor is electrically connected to the control device 3, and the output end of the second drive motor is connected to the vertical screw. The vertical screw is arranged parallel to the two vertical guide rails 10, and the vertical screw is connected to the second screw nut in a transmission manner. The second screw nut is fixed on the pulse irradiation device 1. When the second drive motor is running, it drives the vertical screw to rotate, and the rotation of the vertical screw will drive the second screw nut to move on the vertical screw. Then, the rotation direction of the second drive motor is adjusted to drive the pulse irradiation device 1 to move up and down along the vertical screw, thereby realizing automatic adjustment of the pulse irradiation device 1 in the vertical direction.

[0069] In an optional embodiment, the calibration device includes a horizontal infrared emitter 11, a vertical infrared emitter 12, and an image calibrator, and the sensing device includes a distance sensor 2. The intersection of the rays emitted by the horizontal infrared emitter 11 and the vertical infrared emitter 12 is located directly in front of an emission window 13 provided on the pulse irradiation device 1. The infrared emitter and the image calibrator are both electrically connected to the control device 3. The horizontal infrared emitter 11, the vertical infrared emitter 12, and the image calibrator are all disposed on the pulse irradiation device 1. The horizontal infrared emitter 11 can emit a horizontal infrared ray that is projected onto the instrument being calibrated, and the vertical infrared emitter 12 can emit a vertical infrared ray that is projected onto the instrument being calibrated. The horizontal and vertical infrared rays form an infrared intersection on the instrument being calibrated, ensuring that the infrared intersection is always located directly in front of the emission window 13 of the pulse irradiation device 1. Therefore, when the pulse irradiation device 1 is moved, the position of the infrared intersection on the instrument being calibrated can be used to check whether the emission window 13 of the pulse irradiation device 1 is aligned with the instrument being calibrated. When the infrared intersection is aligned with the instrument being calibrated, the image calibrator records the image of the infrared intersection on the instrument being calibrated at this time. When performing the second, third, and Nth tests, the instrument being calibrated only needs to be placed directly in front of the pulse detector 1. The distance sensor 2 transmits the distance signal between the pulse irradiation device 1 and the instrument being calibrated to the control device 3. The control device then controls the drive wheel 5 to move on the guide rail 6 until the pulse irradiation device 1 and the instrument being calibrated are in the optimal detection position. The image calibrator records the image of the infrared intersection on the instrument being calibrated at this time, and then compares it with the image of the infrared intersection on the instrument being calibrated when the emission window 13 of the pulse irradiation device 1 is aligned with the instrument being calibrated. The vertical and lateral displacement deviations are transmitted to the control device 3 via signals. The control device 3 then controls the first driver 7 to operate to eliminate the lateral displacement deviation and controls the second driver 9 to operate to eliminate the vertical displacement deviation, so that the emission window 13 of the pulse irradiation device 1 is aligned with the instrument being calibrated, completing the automatic adjustment without manual control, ensuring the reliability and accuracy of the calibration and improving the calibration efficiency.

[0070] In an optional embodiment, both ends of the transverse guide rail 8 and the vertical guide rail 10 are provided with a limit device 14, and the limit device 14 is electrically connected to the control device 3. Optionally, the limit device 14 can be a mechanical limit device or an electrical limit device. The two ends of the transverse guide rail 8 can be selected to be either a mechanical limit device and an electrical limit device, both mechanical limit devices or both electrical limit devices. When the first driver 7 drives the lifting device to move on the transverse guide rail 8, when it moves to the limit device 14 at the leftmost or rightmost end of the transverse guide rail 8, the limit device 14 will send a stop signal to the control device 3 to control the first driver 7 to stop operating; similarly, the two ends of the vertical guide rail 10 can be selected to be either a mechanical limit device and an electrical limit device, both mechanical limit devices or both electrical limit devices. When the second driver 9 drives the pulse irradiation device 1 to move on the vertical guide rail 10, when it moves to the limit device 14 at the topmost or bottommost end of the vertical guide rail 10, the limit device 14 will send a stop signal to the control device 3, and the control device 3 will control the second driver 9 to stop operating. This embodiment provides a limit device to prevent staff from making operational errors or excessive displacement deviation during automatic calibration that exceeds the adjustable range of the transverse guide rail 8 and the vertical guide rail 10, resulting in contact with both ends of the transverse guide rail 8 and the vertical guide rail 10 during movement and damage to the equipment.

[0071] The three-dimensional mobile platform used in this embodiment features a trolley-type longitudinal motion mechanism with omnidirectional capabilities, enabling forward, backward, left, right, and turning movements. Its positioning accuracy is no greater than 0.5 cm, and its maximum travel speed is no less than 100 mm / s. The transverse motion mechanism has a left-right movement range of no less than 1 meter, a positioning accuracy of better than ±0.5 mm, and a maximum travel speed of no less than 30 mm / s. The lifting mechanism controls the vertical movement of the pulse irradiation device, with a vertical movement range of no less than 2 meters, a positioning accuracy of better than ±0.5 mm, and a maximum lifting speed of no less than 30 mm / s.

[0072] Specific as Figure 2 As shown, the calibration test method process of the calibration test system proposed in this embodiment includes:

[0073] Step 1: Obtain the distance between the pulse irradiation device and the instrument to be calibrated, as measured by a sensing device (i.e., a distance sensor), and control the three-dimensional mobile platform (i.e., control the driving wheel 5 to move along the guide rail 6) to move to the optimal detection position based on the distance;

[0074] Step 2: Control the calibration device to emit a target signal and project it onto the instrument being calibrated, and obtain a target signal position image on the instrument being calibrated. Based on the obtained target signal position image and a standard target signal position image (i.e., an image when the pulse ray emitted by the pulse irradiation device is aligned with the instrument being calibrated), obtain the spatial distance deviation value (including horizontal and vertical distance deviations) of the pulse irradiation device.

[0075] Step 3: Control the three-dimensional mobile platform (i.e., control the lateral moving device and the lifting device) according to the spatial distance deviation value to automatically adjust the spatial position of the pulse irradiation device thereon (move horizontally and vertically according to the corresponding distance deviation respectively), and the on-site calibration test of the instrument to be calibrated can be completed.

[0076] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0077] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0078] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0080] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A movable automatic positioning field calibration test system, characterized in that: The test system includes a pulse irradiation device, a three-dimensional mobile platform, a calibration device, a sensing device and a control device; Wherein, the pulse irradiation device, calibration device, sensor device and control device are all installed on the three-dimensional mobile platform; The control device is electrically connected to the pulse irradiation device, the three-dimensional moving platform, the calibration device, and the sensing device; The sensing device is used to detect the distance signal between the pulse irradiation device and the instrument to be calibrated and transmit it to the control device; The control device controls the movement of the three-dimensional mobile platform according to the distance signal, thereby driving the pulse irradiation device to move to the optimal detection position; The pulse irradiation device emits pulse rays to the instrument to be calibrated through the emission window thereon under the control of the control device; The calibration device sends a target signal, which is located directly in front of the emission window of the pulse irradiation device and projected onto the instrument being calibrated, and obtains a target signal position image on the instrument being calibrated and obtains a spatial position deviation value of the pulse irradiation device based on the target signal position image and the standard target signal position image; the marked target signal position image is the target signal position image when the emission window of the pulse irradiation device is aligned with the instrument being calibrated; The control device controls the three-dimensional mobile platform to drive the pulse irradiation device to adjust the spatial position according to the spatial position deviation value, so that the pulse rays emitted by the pulse irradiation device are aligned with the calibrated instrument, thereby completing the on-site calibration test of the calibrated instrument.

2. The movable automatic positioning on-site calibration test system according to claim 1, characterized in that: The calibration device includes a horizontal infrared emitter, a vertical infrared emitter and an image calibrator; The horizontal infrared emitter, vertical infrared emitter and image calibrator are all arranged on the pulse irradiation device; The intersection of the infrared rays emitted by the horizontal infrared emitter and the vertical infrared emitter is located in front of the emission window provided on the pulse irradiation device, and the intersection is projected onto the instrument to be calibrated; The image calibrator is used to collect the image of the intersection on the instrument being calibrated.

3. A movable automatic positioning on-site calibration test system according to any one of claims 1-2, characterized in that: The three-dimensional mobile platform includes a lateral moving device, a longitudinal moving device and a lifting device; The transverse moving device is arranged on the longitudinal moving device, the lifting device is arranged on the transverse moving device, the pulse irradiation device is arranged on the lifting device, and the sensing device and the calibration device are both arranged on the pulse irradiation device; The longitudinal moving device drives the entire device thereon to move to the optimal detection position according to the distance between the pulse irradiation device and the calibrated instrument. The transverse moving device can drive the entire device thereon to move transversely. The lifting device can drive the entire device thereon to move up and down.

4. The movable automatic positioning on-site calibration test system according to claim 3, characterized in that: The longitudinal moving device includes a base, a driving wheel and a guide rail; The plurality of driving wheels are arranged below the base, and the plurality of driving wheels are electrically connected to the control device. The driving wheels can move along the guide rail under the control of the control device.

5. The movable automatic positioning on-site calibration test system according to claim 4, characterized in that: The lateral movement device includes a first driver and two lateral guide rails; The two transverse guide rails are arranged on the base and are arranged parallel to the length direction of the base, and the lifting device is arranged on the two transverse guide rails and can move left and right along the two transverse guide rails; The first driver is in transmission connection with the lifting device and is used for driving the lifting device to move on the two transverse guide rails.

6. The movable automatic positioning on-site calibration test system according to claim 5, characterized in that: The lifting device includes a base plate, a second driver and two vertical guide rails; The two vertical guide rails are vertically arranged on the bottom plate and are parallel to each other, and the bottom plate is slidably mounted on the two horizontal guide rails; The pulse irradiation device is arranged between the two vertical guide rails, and the second driver is transmission-connected to the pulse irradiation device and is used for driving the pulse irradiation device to move up and down along the two vertical guide rails.

7. The movable automatic positioning on-site calibration test system according to claim 6, characterized in that: The first driver and the second driver each include a drive motor, a lead screw and a lead screw nut; Among them, the driving motor is electrically connected to the control device, the output end of the driving motor is connected to the lead screw transmission, the lead screw is arranged parallel to the guide rail, and the lead screw nut on the lead screw is fixed on the bottom of the base plate or the pulse irradiation device. When the control device controls the driving motor to operate, it drives the lead screw to rotate, and the rotation of the lead screw will drive the lead screw nut on it to move on the lead screw, thereby realizing automatic adjustment of the pulse irradiation device in the horizontal or vertical direction.

8. The movable automatic positioning on-site calibration test system according to claim 6, characterized in that: Both ends of the transverse guide rail and the vertical guide rail are provided with limiting devices; The limiting device is electrically connected to the control device; When the pulse irradiation device moves on the vertical guide rail and reaches the limit device at the top or bottom of the vertical guide rail, the limit device sends a stop signal to the control device, and the control device controls the second driver to stop running; When the lifting device moves on the transverse guide rail and reaches the limit device at the leftmost or rightmost end of the transverse guide rail, the limit device sends a stop signal to the control device, and the control device controls the first driver to stop running.

9. The movable automatic positioning on-site calibration test system according to claim 6, characterized in that: The two ends of the transverse guide rail and the vertical guide rail may be provided with a limit device in any of the following ways: There are mechanical limit devices and electrical limit devices at both ends respectively; Both ends are equipped with mechanical limit devices; Both ends are equipped with electrical limit devices.

10. A mobile automatic positioning on-site calibration test method, characterized in that: The method is implemented based on the test system according to any one of claims 1 to 9, and includes: Obtaining the distance between the pulse irradiation device and the calibrated instrument collected by the sensing device, and controlling the three-dimensional mobile platform to move to the optimal detection position according to the distance; Controlling the pulse irradiation device to emit pulsed rays through an emission window and the calibration device to emit a target signal, wherein the target signal is located directly in front of the emission window of the pulse irradiation device and is projected onto the instrument to be calibrated; Acquire a target signal position image on the instrument being calibrated, and obtain a spatial distance deviation value of the pulse irradiation device based on the acquired target signal position image and a standard target signal position image; The three-dimensional mobile platform is controlled according to the spatial distance deviation value to automatically adjust the spatial position of the pulse irradiation device, so that the pulse rays emitted by the pulse irradiation device are aligned with the calibrated instrument.

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