Test tank door hole site calibration device and calibration method

Abstract

The invention discloses a test tank door hole site calibration device and calibration method, and relates to the field of hole site calibration, the test tank door hole site calibration device comprises a mechanical arm and a tank door hole site identification system; the mechanical arm is connected with the tank door through a fixing piece and drives the tank door to move. The tank door hole site identification system is mounted on the mechanical arm, and the tank door hole site identification system is horizontally placed relative to the vertical direction of the tank door; compared with the traditional manual operation, the quick positioning and accurate installation of the test tank door are realized, the operation time is greatly shortened, meanwhile, the problems of human errors and inaccurate hole positions are reduced, and the accuracy and the stability of the operation are improved.

Description

Technical Field

[0001] The invention relates to the field of hole position calibration, and in particular to a device and method for calibrating the hole position of a test tank door. Background Art

[0002] During power frequency withstand voltage testing, insulating basins and insulating components are used to verify the safety performance of equipment under normal operating voltage, ensuring that safety hazards such as breakdown or leakage are avoided during normal operation. Opening and closing the test tank door is particularly critical during power frequency withstand voltage and partial discharge testing. These tests are typically conducted in SF6 gas-insulated test tanks to ensure that the test items can undergo high-voltage testing in a safe environment.

[0003] Manually opening and closing the test tank door during power frequency withstand voltage testing and partial discharge testing presents challenges and issues. Traditional manual operation requires a crane to move and adjust the door's position and ensure it is precisely installed in the designated hole. The main issues are: Manual operation requires significant human resources, including operators and maintenance personnel, increasing costs and management complexity. Frequent adjustments to the crane position are required to ensure accurate door movement, which is not only time-consuming but also prone to operational errors and accidents.

[0004] The technical level of the operator has a significant impact on the stability and efficiency of the operation. Inexperienced or under-skilled operators can lead to inaccurate or non-standard operations, which in turn affects the reliability of the test and the accuracy of the results.

[0005] Manual adjustment of the tank door position requires the operator to maintain high concentration and accuracy in a stressful working environment, which increases the complexity and uncertainty of the operation. Frequent adjustment and calibration may lead to the risk of misoperation or equipment damage, thereby extending the test cycle and increasing maintenance costs. Summary of the Invention

[0006] In order to overcome the problem that the traditional manual operation method requires the use of a crane to move and adjust the position of the tank door and ensure that the tank door is accurately installed in the predetermined hole position, the present invention provides a test tank door hole position calibration device and calibration method.

[0007] On the one hand, the present invention is achieved through the following technical solutions: a test tank door hole position calibration device, including a robotic arm and a tank door hole position recognition system; the robotic arm is connected to the tank door through a fixing part and drives the tank door to move; the tank door hole position recognition system is installed on the robotic arm, and the tank door hole position recognition system is placed horizontally relative to the vertical direction of the tank door.

[0008] Preferably, it also includes a mobile system, which includes a mobile carrier and a tracking module; the robotic arm is installed on the mobile carrier, and the tracking module identifies the ground driving path mark and moves the robotic arm and the tank door to the installation position.

[0009] Another aspect of the present invention is achieved through the following technical solutions: A tank door hole position calibration method includes the following steps: S1: The tank door is moved to a fixed position by the moving system and the robotic arm; S2: The camera collects images of the hole positions of the tank door and the tank body; S3: The distance between the camera and the hole surface of the tank is l , the camera is l Calibrate at a certain distance to obtain the corresponding relationship between pixels and millimeters; S4: Obtain the horizontal offset of the tank door relative to the tank body and adjust the horizontal offset; S5: Obtaining the angle offset of the hole position of the tank door relative to the hole position of the tank body, and adjusting the angle offset position; S6: Verify that the hole positions of the tank body and the tank door coincide with each other.

[0010] Preferably, the camera is calibrated at a distance from the surface of the tank hole to obtain a corresponding relationship between pixels and millimeters PX=k∙d, where PX is the pixel value, d is the calibrated actual length, and k is the ratio between the calibrated pixel value and the actual length.

[0011] Preferably, when adjusting the horizontal offset, the camera collects the horizontal offset distance of the hole position, which is the horizontal distance between the leftmost point of the tank body hole position and the leftmost point of the tank door hole position; the horizontal offset of the tank door relative to the tank body is obtained, and the horizontal direction is adjusted by the robotic arm.

[0012] Preferably, when adjusting the vertical offset, the camera collects the vertical offset of the hole position, and the vertical offset is the vertical distance between the uppermost point of the tank body hole position and the uppermost point of the tank door hole position; the vertical offset of the tank door relative to the tank body is obtained, and is adjusted horizontally by the robotic arm.

[0013] Preferably, the robotic arm drives the tank door to rotate with the distance between the centers of the two holes as the radius, and the camera measures the length in real time. When the measured distance is less than the set value, the robotic arm stops rotating and the adjustment is completed.

[0014] Preferably, when the hole position of the tank body coincides with the hole position of the tank door, the position of the tank door is adjusted correctly, and the whole process ends.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The precise coordination of a robotic arm and an industrial camera enables rapid positioning and accurate installation of the test tank door. Compared to traditional manual operation, this significantly shortens operation time, reduces human error and inaccurate hole positioning, and improves operational accuracy and stability.

[0016] At the same time, hole position recognition and calibration using a camera effectively eliminates positional offset during the test tank door installation process. The robotic arm can precisely adjust the horizontal and vertical position of the tank door to ensure that the hole position of the tank door and the tank body are perfectly aligned, improving installation accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the test tank door hole position calibration device of the present invention.

[0018] Figure 2 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 1 .

[0019] Figure 3 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 2 .

[0020] Figure 4 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 3 .

[0021] Figure 5 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 4 .

[0022] Figure 6 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 5 .

[0023] Figure 7 This is a schematic diagram of the test tank door hole calibration of the present invention Figure 6 .

[0024] Explanation of the accompanying symbols: 1. Robotic arm; 2. Tank door hole position recognition system; 3. Fixing part; 4. Tank door. DETAILED DESCRIPTION

[0025] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings, but the present invention is not limited thereto. 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.

[0026] refer to Figure 1-7As shown, the present invention discloses a test tank door hole position calibration device, including a robotic arm 1 and a tank door hole position recognition system 2; the robotic arm 1 is connected to the tank door 4 through a fixing member 3 and drives the tank door 4 to move; the tank door hole position recognition system 2 is installed on the robotic arm 1, and the tank door hole position recognition system 2 is horizontally placed relative to the vertical direction of the tank door, the tank door hole position recognition system 2 is a camera, wherein the camera is a prior art, and further includes a moving system, the moving system including a moving carrier and a tracking module; the robotic arm is installed on the mobile carrier, and the tracking module recognizes a ground driving path mark and moves the robotic arm and the tank door to the installation position.

[0027] Specifically, the mobile system in the present invention can move the position of the robot arm 1 by carrying the mobile carrier, and the mobile carrier is provided with a tracking module, wherein the mobile carrier can be a mobile vehicle, and the tracking module is in the prior art; when in use, a driving path mark is provided on the ground, and the mobile carrier walks according to the indicated path on the ground, and automatically moves the robot arm 1 and the tank door 4 to the specified position. In order to avoid the situation where the tank door 4 and the hole position of the tank body do not match and cannot be fixed, the present invention also proposes a tank door hole position calibration method; a camera is placed horizontally at the openings of the three tank doors along the vertical direction of the openings, and the hole positions of the cameras are hole position D, hole position E, and hole position F indication positions. Specifically, the mobile carrier drives the robot arm to fix the tank door to the robot arm through the clamping fixing parts; the mobile carrier tracks along the ground path mark to move the tank door to the tank body installation position; at this time, the mobile carrier stops Move, detect the deviation dx at hole position F, and the robotic arm drives the tank door to adjust dx in the horizontal direction; after the adjustment, the camera detects the vertical deviation dy of hole position F; the robotic arm drives the tank door to adjust dy in the vertical direction; after the adjustment, the camera is used to detect whether the hole positions are overlapped. If the deviation is greater than 0.5mm, the horizontal and vertical deviations are repeatedly detected and adjusted until the hole position deviation is less than 0.5mm; after the adjustment, the camera is used to detect whether the hole positions are overlapped. If they do not overlap, the robotic arm drives the tank body with hole position F as the center and the distance between the centers of holes F and D as the radius. The camera detects the distance indicated in real time, that is, the hole position deviation; when the deviation is less than 0.5mm, the robotic arm stops rotating; the camera detects whether the hole position of the tank door coincides with the hole position of the tank body. If they coincide, the adjustment is completed, the tank door and the tank body have completed automatic hole position calibration and are ready for installation.

[0028] like Figure 1 As shown, the camera is fixed on the robotic arm and moves and rotates together with the tank door, and the relative position of the camera and the tank door remains unchanged.

[0029] This system uses a camera to collect images of the tank door hole position and the tank body hole position. The collection effect is as follows Figure 2 As shown, Figure 2 A in the middle is the edge of the circular hole closest to the camera. Figure 1 Hole position J in the middle; Figure 2 B in Figure 1 In B, the camera will obtain the hole position of the tank door and the hole position of the tank body in real time. The tank door can be moved to a fixed position along the set path by the mobile carrier. At this time, the camera is l Camera in l Calibrate at the same distance to obtain the corresponding relationship between pixels and millimeters, that is, ,in is the pixel value, To calibrate the actual length, is the ratio between the calibrated pixel value and the actual length.

[0030] The camera placement hole position is Figure 3 The center hole position D, hole position E, and hole position F indicate the positions. The logic for adjusting the tank door is as follows: 1) Eliminate horizontal and vertical offsets.

[0031] The camera captures hole F Figure 4 The length indicated by the hole G is calculated. The length indicated by the hole G is the horizontal distance between the leftmost point of the tank body hole and the leftmost point of the tank door hole. The horizontal offset of the tank door relative to the tank body can be obtained. The calculated actual length is then transmitted to the robot arm for horizontal adjustment. Figure 5 As shown, after one adjustment, the camera measures the length indicated by the hole position H. The length indicated by the hole position H is the vertical distance between the uppermost point of the tank body hole and the uppermost point of the tank door. The vertical offset of the tank door relative to the tank body can be obtained, and the calculated actual length is transmitted to the robot arm for vertical adjustment. After the adjustment, the tank body hole where the hole position F is located and the tank door hole will coincide with each other.

[0032] 2) Eliminate angular offset.

[0033] After hole position F is adjusted, there will be angle deviations between the remaining holes and the tank body holes, such as Figure 6 As shown, Figure 6 The dotted line is the tank door, and the solid line is the tank body. The robot arm will rotate based on the tank body hole F as the center and the radius as the distance between the center of hole D and hole F. The position of hole F relative to the robot arm and the distance between the center of hole D and hole F can be obtained from the tank door drawing. Camera real-time measurement Figure 7 The length indicated by the middle hole position I is the distance between the rightmost point of the tank hole and the intersection point of the tank hole after horizontal extension. The robotic arm rotates slowly. When the measured distance is less than the set value, the robotic arm stops rotating and the adjustment of hole position D is completed.

[0034] 3) Tank adjustment verification The camera at hole position E verifies whether the hole position of the tank body and the hole position of the tank door coincide with each other. When the hole position of the tank body where hole position E is located coincides with the hole position of the tank door, it means that the position of the tank door is adjusted correctly, and the adjustment of the hole position recognition and calibration system is completed.

[0035] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A test tank door hole calibration device, characterized in that: It comprises a mechanical arm and a tank door hole position recognition system; the mechanical arm is connected to the tank door through a fixing part and drives the tank door to move; the tank door hole position recognition system is installed on the mechanical arm, and the tank door hole position recognition system is placed horizontally relative to the vertical direction of the tank door.

2. The test tank door hole position calibration device according to claim 1, characterized in that: It also includes a mobile system, which includes a mobile carrier and a tracking module; the robotic arm is installed on the mobile carrier, and the tracking module identifies the ground driving path mark and moves the robotic arm and the tank door to the installation position.

3. A tank door hole calibration method, characterized in that: The following steps are included: S1: The tank door is moved to a fixed position by a moving system and a robotic arm; S2: The camera collects images of the hole positions of the tank door and the hole positions of the tank body; S3: The distance between the camera and the tank hole surface is l , the camera is l Calibrate at a certain distance to obtain the corresponding relationship between pixels and millimeters; S4: obtaining the horizontal offset of the tank door relative to the tank body, and adjusting the horizontal offset; S5: obtaining an angle offset of the hole position of the tank door relative to the hole position of the tank body, and adjusting the angle offset position; S6: Verify that the hole positions of the tank body and the tank door coincide with each other.

4. The tank door hole position calibration method according to claim 3, characterized in that: In step S3, the camera is calibrated at the distance from the tank hole surface to obtain the corresponding relationship between pixels and millimeters. ,in is the pixel value, To calibrate the actual length, It is the ratio between the calibrated pixel value and the actual length.

5. The tank door hole position calibration method according to claim 3, characterized in that: In step S4, when adjusting the horizontal offset, the camera collects the horizontal offset distance of the hole position, which is the horizontal distance between the leftmost point of the tank body hole position and the leftmost point of the tank door hole position; the horizontal offset of the tank door relative to the tank body is obtained, and the horizontal direction is adjusted by the robotic arm.

6. The tank door hole position calibration method according to claim 3, characterized in that: In step S4, when adjusting the vertical offset, the camera collects the vertical offset of the hole position. The vertical offset is the vertical distance between the uppermost point of the tank body hole position and the uppermost point of the tank door hole position; the vertical offset of the tank door relative to the tank body is obtained, and adjusted horizontally by the robotic arm.

7. The tank door hole position calibration method according to claim 3, characterized in that: In step S5, the robot arm drives the tank door to rotate with the distance between the centers of the two holes as the radius, and the camera measures the length in real time. When the measured distance is less than the set value, the robot arm stops rotating and the adjustment is completed.

8. The tank door hole position calibration method according to claim 3, characterized in that: In step S6, when the hole position of the tank body coincides with the hole position of the tank door, the position of the tank door is adjusted correctly, and the whole process ends.

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