Nuclear-grade lift check valve levelness testing device and testing method

Abstract

This application provides a device and method for detecting the levelness of a nuclear-grade lift check valve, belonging to the technical field of horizontal orientation equipment. The device includes: an accelerometer for measuring the acceleration of the nuclear-grade lift check valve; a gyroscope for measuring the angular velocity of the nuclear-grade lift check valve; an attitude estimation module for calculating a first attitude estimation result based on the acceleration measurement value and an attitude estimation compensation value based on the acceleration measurement value, correcting the attitude estimation result determined based on the angular velocity measurement value according to the attitude estimation compensation value to obtain a second attitude estimation result, fusing the first attitude estimation result and the second attitude estimation result to obtain the target levelness of the nuclear-grade lift check valve; and a display module for displaying the target levelness of the nuclear-grade lift check valve. This application embodiment can improve the accuracy of levelness measurement of nuclear-grade lift check valves, ensuring the correct installation of nuclear-grade lift check valves.

Description

Technical Field

[0001] This application relates to the field of horizontal orientation equipment technology, and in particular to a nuclear-grade lift check valve level detection device and detection method. Background Technology

[0002] Nuclear-grade lift check valves are special valves designed specifically for nuclear power plants and other nuclear energy applications. As a type of check valve, their main function is to control the unidirectional flow of the medium, prevent backflow or leakage of harmful media, and protect the safe operation of the nuclear power system.

[0003] Due to the characteristics of nuclear-grade lift check valves, their design, manufacturing, and installation adhere to strict nuclear safety regulations and quality control standards. During installation and use, the valve's horizontal positioning is critical to ensure a high degree of sealing.

[0004] In related technologies, the levelness of nuclear-grade lift check valves is measured using a spirit level. However, each measurement can only measure the levelness in a single direction, requiring repeated measurements from different directions to detect the levelness of the nuclear-grade lift check valve. This results in significant errors in the measurement results, low accuracy, and the measurement results cannot guarantee the correct installation of the nuclear-grade lift check valve. Summary of the Invention

[0005] The main objective of this application is to provide a nuclear-grade lift check valve leveling detection device and method, which can simultaneously measure the leveling of the nuclear-grade lift check valve in all directions to ensure the correct installation of the nuclear-grade lift check valve.

[0006] To achieve the above objectives, a first aspect of this application provides a nuclear-grade lift-type check valve level detection device, the device comprising:

[0007] Accelerometer, used to measure the acceleration of nuclear-grade lift check valves;

[0008] Gyroscope, used to measure the angular velocity of nuclear-grade lift check valves;

[0009] The attitude estimation module is used to calculate a first attitude estimation result based on the acceleration measurement value and an attitude estimation compensation value based on the acceleration measurement value, correct the attitude estimation result determined based on the angular velocity measurement value based on the attitude estimation compensation value to obtain a second attitude estimation result, and fuse the first attitude estimation result and the second attitude estimation result to obtain the target level of the nuclear-grade lift check valve.

[0010] The display module is used to display the target level of the nuclear-grade lift check valve.

[0011] In some embodiments, the device further includes an alarm module and a temperature measurement module.

[0012] The alarm module is used to issue an alarm message when the target level exceeds a preset level detection threshold range, and to display the alarm message through the display module;

[0013] The temperature measurement module is used to measure the welding temperature when installing a nuclear-grade lift check valve, and the welding temperature is displayed through the display module.

[0014] In some embodiments, the display module includes a pointer and directional icons.

[0015] The pointer is used to indicate the tilt direction of the nuclear-grade lift check valve according to the target level.

[0016] The directional icon is used to display the angle value corresponding to the tilt direction based on the target's levelness.

[0017] To achieve the above objectives, a second aspect of this application provides a nuclear-grade lift check valve, the method comprising:

[0018] Obtain the acceleration and angular velocity measurements of the nuclear-grade lift check valve;

[0019] Calculate the first attitude estimation result based on the acceleration measurement value and calculate the attitude estimation compensation value based on the acceleration measurement value;

[0020] The attitude estimation result determined based on the angular velocity measurement value is corrected according to the attitude estimation compensation value to obtain a second attitude estimation result;

[0021] The target level of the nuclear-grade lift check valve is obtained by fusing the first attitude estimation result with the second attitude estimation result, and the target level is displayed.

[0022] In some embodiments, calculating the first attitude estimation result based on the acceleration measurement includes:

[0023] The acceleration measurements are converted to obtain acceleration quaternions;

[0024] The first attitude estimation result is obtained by calculating based on the preset control weights and the acceleration quaternion.

[0025] In some embodiments, calculating the attitude estimation compensation value based on the acceleration measurement includes:

[0026] The angular velocity measurement value is converted to obtain the angular velocity quaternion;

[0027] The initial attitude estimation result is calculated based on the angular velocity quaternion, the control weight, and the acceleration quaternion.

[0028] The attitude estimation compensation value is calculated based on the initial attitude estimation result and the acceleration measurement value.

[0029] In some embodiments, calculating the attitude estimation compensation value based on the initial attitude estimation result and the acceleration measurement value includes:

[0030] The initial attitude estimation result is obtained by performing hysteresis sampling on the initial attitude estimation result;

[0031] Calculate the difference between the initial attitude estimation sampling result and the acceleration measurement value;

[0032] Based on the difference, proportional-integral control calculations are performed to obtain the attitude estimation compensation value.

[0033] In some embodiments, the target level of the water in the nuclear-grade lift check valve includes roll angle and pitch angle, and displaying the target level includes:

[0034] The target quadrant where the pointer is located in the display module is determined based on the roll angle and the pitch angle.

[0035] The rotation angle of the pointer is calculated based on the roll angle, the pitch angle, and the target quadrant.

[0036] The vector position of one end of the pointer's pointing direction is calculated based on the rotation angle, and the target level is displayed according to the vector position.

[0037] In some embodiments, the detection method further includes:

[0038] Obtain the reference level of the target plane corresponding to the levelness detection device for placing the nuclear-grade lift check valve, wherein the target plane is different from the horizontal plane;

[0039] The relative level is calculated based on the reference level and the target level corresponding to the target plane, and the relative level is displayed through the display module.

[0040] In some embodiments, the detection method further includes:

[0041] A preset levelness detection threshold range is set. If the target levelness exceeds the levelness detection threshold range, the alarm module issues an alarm message, which is then displayed by the display module.

[0042] To achieve the above objectives, a third aspect of the present application provides a control module, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the second aspect.

[0043] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the second aspect.

[0044] The nuclear-grade lift check valve leveling detection device and method proposed in this application uses basic devices such as accelerometers and gyroscopes to measure the fundamental data required for attitude estimation. This fundamental data includes the acceleration and angular velocity measurements of the nuclear-grade lift check valve. Then, the attitude estimation module of the detection device performs attitude estimation based on the measured fundamental data. The attitude estimation module calculates a first attitude estimation result based on the acceleration measurements collected by the accelerometer and calculates an attitude estimation compensation value for the gyroscope. The attitude estimation result determined based on the angular velocity measurements is then corrected based on the attitude estimation compensation value to obtain a second attitude estimation result, thereby calibrating the measurement accuracy of the gyroscope and improving the accuracy of the nuclear-grade lift check valve leveling measurement.

[0045] Furthermore, the first attitude estimation result corresponding to the accelerometer and the second attitude estimation result after gyroscope calibration are fused together, that is, the corresponding attitude estimation results of the two are complemented, which further improves the accuracy of the level measurement of the nuclear-grade lift check valve, and finally obtains the target level of the nuclear-grade lift check valve. Then, the target level can be displayed through the display module, so that nuclear power plant operators can obtain the tilt direction of the valve in a timely manner and make timely adjustments to ensure the correct installation of the nuclear-grade lift check valve. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the levelness detection device provided in the embodiments of this application;

[0047] Figure 2 This is a schematic diagram of the interface of the display module provided in an embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the interface for displaying alarm information provided in the embodiment of this application;

[0049] Figure 4 This is a flowchart of the detection method provided in the embodiments of this application;

[0050] Figure 5This is a logic block diagram of a two-stage complementary filter provided in an embodiment of this application;

[0051] Figure 6 This is another schematic diagram of the display module provided in the embodiments of this application;

[0052] Figure 7 This is a schematic diagram of the hardware structure of the control module provided in the embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0056] Accelerometers have good low-frequency characteristics, allowing direct calculation of an object's rotation angle based on linear acceleration without cumulative error, and their measurements remain accurate even after extended periods. However, gyroscopes, after prolonged use, suffer from significant output errors due to accumulated integration errors, sometimes rendering the measurements unusable. Complementary filtering addresses this by leveraging the strengths of both accelerometers and gyroscopes to compensate for their weaknesses in attitude calculation. Specifically, it involves periodically calibrating the gyroscope's measurements based on the accelerometer's readings.

[0057] Complementary filtering involves sampling for a short period to obtain the optimal gyroscope angle value, and periodically sampling the accelerometer. The sampled acceleration values ​​are then used to correct the angle value obtained by the gyroscope. The angle value measured by the gyroscope is more accurate over a short period, while the measurement result from the accelerometer is more accurate over a long period. By fusing compensation parameters to adjust the influence weight of the two values, a complementary effect is achieved.

[0058] Since the accelerometer filters out high-frequency signals and the gyroscope filters out low-frequency signals, the results from both need to be fused to obtain a complete attitude estimation result. This involves applying different filters (high-pass or low-pass) to the accelerometer and gyroscope based on their different sensor characteristics, and then adding them together to obtain the signal across the entire frequency band.

[0059] In related technologies, a spirit level is typically used to measure the levelness of nuclear-grade lift check valves. Each measurement only measures the levelness in a single direction, requiring multiple measurements to determine the valve's tilt direction. Furthermore, these multiple measurements are prone to significant measurement errors, resulting in low accuracy. Additionally, the spirit level displays the tilt direction via a bubble indicator, leading to inaccurate measurement results. This prevents nuclear power plant personnel from promptly adjusting the check valve's level during maintenance and installation.

[0060] Based on this, this application provides a nuclear-grade lift check valve leveling detection device and method, aiming to improve the accuracy of nuclear-grade lift check valve leveling measurement.

[0061] The nuclear-grade lift check valve levelness detection device and detection method provided in this application are specifically described through the following embodiments. First, the detection device in the embodiments of this application is described.

[0062] Figure 1 This is a schematic diagram of the levelness detection device provided in the embodiments of this application. The detection device 100 includes, but is not limited to, the following modules: control module 101, basic data measurement module 102, attitude estimation module 103, display module 104, alarm module 105, power supply module 106, and temperature measurement module 107.

[0063] Specifically, the control module 101 is used to control and perform data calculations on all modules of the entire detection device 100, and to coordinate and plan the work tasks of each module in the detection device 100. For example, it acquires basic data collected by the basic data measurement module 102, then sends the basic data to the attitude estimation module 103 for attitude estimation, and further sends the attitude estimation results to the display module 104 for display. In addition, the control module 101 can also control the alarm module to issue an alarm, and the power supply module 106 can provide power to all modules of the detection device 100.

[0064] The basic data measurement module 102 includes an accelerometer and a gyroscope. It is used to acquire acceleration and angular velocity measurements. The accelerometer measures the linear acceleration of the nuclear-grade lift-type check valve, including linear acceleration along the x, y, and z axes. The gyroscope measures the angular velocity of the nuclear-grade lift-type check valve, including angular velocity along the x, y, and z axes. In the Earth coordinate system, assuming the accelerometer is stationary and noise interference is ignored, the acceleration measured by the accelerometer is the gravitational acceleration value of the nuclear-grade lift-type check valve. If the valve is stationary, the angular velocity measured by the gyroscope is zero, and the accelerometer's effect is dominant. If the valve rotates, the detection device is placed on the valve; the valve's rotation causes the detection device to rotate, allowing the detection device 100 to measure the angular velocity of the nuclear-grade lift-type check valve. The gyroscope can be a micro-electro-mechanical systems (MEMS) gyroscope or other types of gyroscopes.

[0065] Furthermore, the basic data measurement module 102 measures the basic data for attitude estimation of the nuclear-grade lift check valve. This basic data can be sent to the attitude estimation module 103 for angle calculation and digital filtering to obtain the attitude estimation result of the check valve. Specifically, the attitude estimation module 103 is used to calculate a first attitude estimation result based on the acceleration measurement value, and to calculate an attitude estimation compensation value based on the acceleration measurement value. The attitude estimation compensation value is used to correct the attitude estimation result determined based on the angular velocity measurement value to obtain a second attitude estimation result. The first attitude estimation result and the second attitude estimation result are then fused to obtain the target levelness of the nuclear-grade lift check valve.

[0066] The attitude estimation module 103 measures the target level of the nuclear-grade lift check valve, and can display the target level through the display module 104. In some embodiments, please refer to... Figure 2 , Figure 2 This is a schematic diagram of the interface of the display module provided in this application embodiment. The display module also includes a pointer 400 and directional icons. The directional icons of the display module 104 include a U (up) direction value display area 201, an R (right) direction value display area 202, a D (down) direction value display area 203, and an L (left) direction value display area 204. Among them, the U direction value display area 201 and the D direction value display area 203 are used to represent the specific values ​​of the pitch angle, and the R direction value display area 202 and the L direction value display area 204 are used to represent the specific values ​​of the roll angle. The angle values ​​in the U and R directions are positive numbers, and the angle values ​​in the D and L directions are negative numbers.

[0067] In some embodiments, the length of the pointer 400 of the display module 104 can be customized, and a more specific tilt direction can be displayed by the specific position of the pointer 400 in the four coordinate quadrants on the display interface. One end of the pointer 400 is located at the center of the display module 104, that is, the origin of the rectangular coordinate system. The vector position of the other end of the pointer 400 can be calculated based on the preset length of the pointer 400 and the specific values ​​of the roll angle and pitch angle in the corresponding direction. The calculation method of the deflection angle of the pointer 400 will be further described in subsequent embodiments.

[0068] Furthermore, the display module 104 also includes tilt indicators 300 corresponding to each direction (including U, R, D, and L directions): U-direction tilt indicator, R-direction tilt indicator, D-direction tilt indicator, and L-direction tilt indicator. The pointed end of the tilt indicator 300 points towards the directional icon. The shape of the tilt indicator 300 can be set according to actual needs, and no restrictions are imposed here. When the angle value in a certain direction exceeds the set angle threshold in that direction, the tilt indicator 300 can provide a prompt through color changes, flashing lights, etc., making the tilt direction display more intuitive. This allows nuclear power plant operators to quickly identify the tilt direction of the nuclear-grade lift check valve and make timely adjustments to ensure the correct installation of the nuclear-grade lift check valve.

[0069] Furthermore, the display module 104 may also include a temperature display area 500, which displays the welding temperature of the nuclear-grade lift check valve during installation. Operators can monitor the welding temperature of the check valve in real time through the temperature display area 500 and adjust it promptly to prevent valve deformation or valve disc damage due to excessive welding temperature. This embodiment addresses the problem in related technologies where welding temperature is controlled using spot temperature guns or patches during the welding process of nuclear-grade lift check valves, resulting in an inability to quantify the temperature control process and detect welding temperature changes in real time.

[0070] In some embodiments, the detection device 100 further includes an alarm module 105 and a temperature measurement module 107. The alarm module 105 can issue an alarm message when the target level exceeds a preset level detection threshold range. The alarm message can be an audible alarm, a flashing light, or can be displayed through the tilt indicator 300 of the display module 104; no limitation is made here. The temperature measurement module 107 is used to monitor the welding temperature of the check valve in real time. If the welding temperature exceeds a preset temperature threshold, the alarm module 105 can also issue an alarm message, which can be displayed through the display module 104, for example, by displaying a red indicator in the temperature value display area. The temperature measurement module 107 provided in this embodiment can detect the welding temperature of the check valve in real time. The alarm module 105 can issue an alarm message when the welding temperature exceeds the threshold or the target level exceeds a preset level detection threshold range. It can also send the alarm message to the display module 104 for display, promptly reminding operators to adjust the valve installation operation.

[0071] In some embodiments, see Figure 3 , Figure 3 This is a schematic diagram of the interface for displaying alarm information provided in the embodiment of this application. Specifically, the preset horizontality detection threshold range is -2 degrees to 2 degrees, the R-direction skew angle is 2.4 degrees, and the D-direction skew angle is -4.0 degrees, all of which exceed the preset horizontality detection threshold. Therefore, the tilt indicator 300 generates a color change to remind the operator of the tilt direction. It can also be observed from the display module 104 that the welding temperature is 240 degrees Celsius. At this time, the welding temperature does not exceed the preset temperature threshold, the temperature is normal, and the temperature value display area 500 does not issue an alarm message.

[0072] Please see Figure 4 This application also provides a method for detecting the levelness of a nuclear-grade lift check valve. Figure 4 This is a flowchart of the detection method provided in the embodiments of this application. The detection method is applied to the nuclear-grade lift check valve level detection device 100 described above. The detection method includes, but is not limited to, the following steps 401 to 404:

[0073] Step 401: Obtain the acceleration and angular velocity measurements of the nuclear-grade lift check valve;

[0074] Step 402: Calculate the first attitude estimation result based on the acceleration measurement value and calculate the attitude estimation compensation value based on the acceleration measurement value;

[0075] Step 403: Correct the attitude estimation result determined based on the angular velocity measurement value according to the attitude estimation compensation value to obtain the second attitude estimation result;

[0076] Step 404: The first attitude estimation result and the second attitude estimation result are fused to obtain the target level of the water in the nuclear-grade lift check valve, and the target level is displayed.

[0077] The calculation principle of the attitude estimation module 103 provided in this application embodiment will be described in detail below. Assume the unit observation vector of the check valve in the body coordinate system is... The corresponding unit reference vector in the reference coordinate system is According to the principle of coordinate transformation, there exists a coordinate transformation matrix. This makes formula (1) true.

[0078]

[0079] coordinate transformation matrix The Euler angles are represented by the following formula (2):

[0080]

[0081] Where θ is the roll angle, φ is the pitch angle, ψ is the yaw angle, and the coordinate transformation matrix is... The quaternion representation of is shown in the following formula (3):

[0082]

[0083] The general formula for quaternions is q0 + q1i + q2j + q3k, where i, j, and k are imaginary units. Furthermore, the relationship between Euler angles and quaternions can be expressed as formula (4):

[0084]

[0085] For the accelerometer, the acceleration measurements corresponding to the x, y, and z axes are respectively a x a y a z Then, in the body coordinate system of the check valve, the acceleration vector corresponding to the measured acceleration value is: In the Earth coordinate system, the corresponding acceleration vector is Where g represents the acceleration due to gravity. Assuming the detection device 100 is placed on a nuclear-grade lift-type check valve, and the check valve remains stationary, if noise interference is ignored, then the vector can be considered as... For vectors The mapping in the body coordinate system is as follows: Formula (5):

[0086]

[0087] Substituting formula (3) into formula (5) yields the following correspondence (6):

[0088]

[0089] Among them, for the acceleration vector (a) x ,a y ,a z Normalization yields the corresponding unit vector (a'). x ,a' y ,a' z Formula (6) represents the quaternion value corresponding to the unit vector of acceleration. Let the matrix on the right side of formula (6) be... This is a quaternion acceleration transformation vector, used to convert quaternions into corresponding accelerations on the three axes, a' x The corresponding quaternion values ​​are 2q1q3-2q0q2, a' y The corresponding quaternion values ​​are 2q2q3+2q0q1, a' z The corresponding quaternion values ​​are The formula for normalizing (or synchronizing) a vector is as follows:

[0090]

[0091] According to formula (3), the coordinate transformation matrix It can be expressed as the following formula (8):

[0092]

[0093] Furthermore, after transformation, C1 can be expressed as the following formula (9):

[0094]

[0095] C2 can be expressed as the following formula (10):

[0096]

[0097] C3 can be expressed as the following formula (11):

[0098]

[0099] Furthermore, matrix C1 is represented by matrix P1, which is expressed as follows (12):

[0100]

[0101] Represent matrix C2 using matrix P2, which is expressed as follows (13):

[0102]

[0103] Represent matrix C3 using matrix P3, which is expressed as follows (14):

[0104]

[0105] Substituting the expression for P3 into formula (6) yields the following formula (15):

[0106]

[0107] Suppose that the Moore-Penrose generalized inverse matrix of matrix P3 is Then we can obtain the following expression (16):

[0108]

[0109] Among them, based on the properties of the Moore-Penrose generalized inverse matrix, we can obtain Furthermore, it can be obtained It can be represented in the following form:

[0110]

[0111] Substituting formula (17) into formula (16) yields the following relation (18):

[0112]

[0113] The matrix in formula (18) is replaced as follows:

[0114]

[0115] Let the column vector corresponding to the acceleration quaternion be q. acc,t That is, the quaternion corresponding to the acceleration value measured by the accelerometer at time t, where q acc,t =(q0,q1,q2,q3) Τ Therefore, formula (18) can be expressed as q acc,t =A b 'q acc,t Add q to both sides of the equation. acc,t After simplification, we can obtain the acceleration quaternion transformation formula (20):

[0116]

[0117] Furthermore, according to the principles of matrix theory, there exists an arbitrary unit quaternion q0 such that the following equation (21) holds:

[0118]

[0119] Equation (21) is the acceleration quaternion transformation formula, which is used to convert the triaxial acceleration measurement values ​​into quaternions. According to formula (21), if q0=(1000) Τ Substituting into formula (21), we can obtain the quaternion of the accelerometer output, as shown in the following expression:

[0120]

[0121] The aforementioned steps simplify the calculation of the quaternion output corresponding to the accelerometer, making the calculation process concise and effectively saving computing resources.

[0122] In some embodiments, a detailed method for performing quaternion conversion on angular velocity measurements taken by a gyroscope will be described.

[0123] Specifically, a three-axis gyroscope can measure the angular velocity of the check valve in the x, y, and z axes, and the angular velocities in the x, y, and z axes can be expressed as ω. x w y w z Three-axis angular velocity w x w y w z The relationship with quaternions can be expressed by the following ordinary differential equation:

[0124]

[0125] Where, q w,t q represents the quaternion obtained by integrating the angular velocity measurement value collected by the gyroscope at time t. w,t-1 Let q represent the quaternion obtained by integrating the angular velocity measurement value collected by the gyroscope at time t-1. If we assume that the sampling time for sampling the gyroscope measurement data is τ, then q w,t With q w,t-1 The following relationship exists:

[0126]

[0127] Furthermore, substituting formula (23) into formula (24) yields the following relationship:

[0128]

[0129] Formula (25) is the quaternion transformation formula for angular velocity. Due to the large random motion inherent in the gyroscope, it generates a large drift error in a short period of time. Therefore, it is necessary to compensate for the error caused by the acceleration integral using the acceleration value measured by the accelerometer. The fusion compensation formula is as follows:

[0130] q out,t =(1-β)q w,t +βq acc,t (26)

[0131] Where, q out,t The accelerometer's acceleration measurement and the gyroscope's angular velocity measurement at time t are fused to obtain an output quaternion, where β is the fusion compensation coefficient, and its value range is β∈(0,1). The first control weight corresponding to the acceleration measurement is β, and the second weight corresponding to the angular velocity measurement is 1-β.

[0132] Furthermore, substituting formula (25) into formula (26) yields the following relationship:

[0133]

[0134] You can set q out,t-1 The quaternion is obtained by fusing the acceleration measurement from the accelerometer and the angular velocity measurement from the gyroscope at time t-1. Since q w,t-1 ≈q out,t-1 Furthermore, we can obtain:

[0135]

[0136] Based on the derivation of the above formulas, the two-stage complementary filter provided in the embodiments of this application can be further modeled. In some embodiments, please refer to... Figure 5 , Figure 5 This is a logic block diagram of a two-stage complementary filter provided in an embodiment of this application. The steps of the detection method will be described in detail below with reference to the logic block diagram.

[0137] In step 401 of some embodiments, the acceleration measurement value of the nuclear-grade lift check valve is obtained by an accelerometer, and the corresponding vector (a) is obtained. x ,a y ,a z The angular velocity of the check valve is measured by a gyroscope, and the corresponding vector (w) is obtained. x ,w y ,w z Vector (a) x ,a y ,a z After normalization, the unit vector (a') is obtained. x ,a' y ,a' z The acceleration measurement value q is obtained by performing a quaternion transformation on the acceleration quaternion transformation formula (21). acc,t and for q acc,t Normalization yields q' acc,t.

[0138] In step 402 of some embodiments, calculating the first attitude estimation result based on the acceleration measurement value includes, but is not limited to, the following steps:

[0139] The acceleration measurements are converted to obtain acceleration quaternions;

[0140] The first attitude estimation result is obtained by calculating the control weights and acceleration quaternions.

[0141] Specifically, the control weights include a first control weight and a second control weight. The first control weight is β, and the second control weight is 1-β. Typically, β is set to 0.9, based on q'. acc,t And β is used to calculate the first attitude estimation result.

[0142] In some embodiments, attitude estimation compensation values ​​are calculated based on acceleration measurements, including but not limited to the following steps:

[0143] The angular velocity measurement value is converted to obtain the angular velocity quaternion;

[0144] The initial attitude estimation result is obtained by calculating the angular velocity quaternion, control weight, and acceleration quaternion.

[0145] The attitude estimation compensation value is calculated based on the initial attitude estimation results and acceleration measurements.

[0146] Specifically, the angular velocity measurement at time t is converted into q using a quaternion. w,t , for q w,t Normalization yields q' w,t The initial attitude estimation result q is obtained by calculating according to formula (26). out,t .

[0147] Furthermore, in some embodiments, the attitude estimation compensation value is calculated based on the initial attitude estimation result and the acceleration measurement value, including but not limited to the following steps:

[0148] The initial attitude estimation result is obtained by performing hysteresis sampling on the initial attitude estimation result;

[0149] Calculate the difference between the initial attitude estimation sampling results and the acceleration measurement values;

[0150] The attitude estimation compensation value is obtained by performing proportional-integral control calculations based on the difference.

[0151] Specifically, regarding the initial attitude estimation result q out,t Perform hysteresis sampling z -1 The initial attitude estimation sampling result q is obtained. out,t-1 . q out,t-1Substitute the four values ​​into get The expression is as follows:

[0152]

[0153] Furthermore, Indicates that according to q out,t-1 The quaternion values ​​in the vector at time t-1 are converted into corresponding acceleration values, and the calculation is performed. and The difference e a ,Right now Then, the proportional-integral controller performs proportional-integral calculations to obtain the attitude estimation compensation value δ. w .

[0154] In step 403 of some embodiments, the attitude estimation compensation value δ is used. w For angular velocity measurements (w) x ,w y ,w z The determined attitude estimation results are corrected, i.e. (w) x ,w y ,w z Add the attitude estimation compensation value δ w The vector Ω corresponding to the compensated angular velocity measurement is obtained. Since q w,t-1 ≈q out,t-1 The corrected angular velocity measurement value can be converted into a quaternion according to formula (25) to obtain the corrected angular velocity quaternion q. w,t q w,t This is the result of the second pose estimation. For q w,t Normalization yields q' w,t The corrected angular velocity measurements from the gyroscope and the acceleration measurements from the accelerometer are fused to obtain the corrected output quaternion q. out,t For the corrected output quaternion q out,t Normalization is performed to obtain the final pose estimation output quaternion q. o,t Furthermore, regarding q o,t Angle conversion is performed to obtain the roll angle θ and pitch angle φ corresponding to the nuclear-grade lift check valve.

[0155] The two-stage complementary filter provided in this application includes a front-stage nonlinear complementary filter and a rear-stage linear complementary filter. The output vector δ of the nonlinear complementary filter is... wThis is used to compensate for the attitude estimation results of the gyroscope. The subsequent linear complementary filter fuses the corrected gyroscope attitude estimation results with the accelerometer attitude estimation results, ultimately outputting the attitude estimation results of the nuclear-grade lift check valve. This eliminates gyroscope drift errors, improves the calculation accuracy of the attitude estimation results of the nuclear-grade lift check valve, and ultimately improves the accuracy of the levelness detection of the nuclear-grade lift check valve. Furthermore, the embodiments of this application can achieve good attitude estimation results without specific parameter adjustments, the calculation process is simple, and the chip computing power requirements are low.

[0156] In step 404 of some embodiments, the target level of the water in the nuclear-grade lift check valve includes roll angle and pitch angle. Displaying the target level includes, but is not limited to, the following steps:

[0157] The target quadrant where the pointer is located in the display module is determined based on the roll angle and pitch angle.

[0158] The pointer's rotation angle is calculated based on the roll angle, pitch angle, and target quadrant.

[0159] The vector position of one end of the pointer is calculated based on the rotation angle, and the level of the target is displayed according to the vector position.

[0160] Specifically, please see Figure 6 , Figure 6 This is another schematic diagram of the display module provided in this application embodiment. The pointer disk can be divided into four quadrants clockwise. The angle values ​​in the U and R directions are positive, representing the pitch angle, while the angle values ​​in the D and L directions are negative, representing the roll angle. The roll and pitch angles are attitude estimation results obtained from the aforementioned two-stage complementary filtering steps. The pointer length is set to R. Here, it is assumed that the pointer initially points directly towards the U direction. Taking the first quadrant as an example, let the U-direction skew angle be β. U The skew angle in the R direction is β. R The rotation angle θ of the pointer relative to its initial direction can be calculated using the following formula:

[0161]

[0162] Here, n represents the target quadrant where the pointer is located in the display module, and n can be 1, 2, 3, or 4. After calculating the pointer's rotation angle θ, the vector position (X, Y) of the end of the pointer pointing in the direction can be further calculated. Here, X = Rsinθ, Y = Rcosθ. The pointer's direction is determined based on the calculated vector position, visually displaying the check valve's tilt direction, thus helping operators make timely adjustments.

[0163] The following example illustrates the method for calculating the pointer rotation angle provided in this application. Assume that the U-direction skew angle β is... U The skew angle β in the R direction is 0.5°. R The angle is 1.2°. According to formula (30), the rotation angle θ of the pointer is 22.6°, and the vector coordinates of one end of the pointer's pointing direction are (7.7, 18.5). The pointer rotates to the corresponding position according to the calculation result, indicating the tilt direction of the check valve. If the preset levelness detection threshold range is -2 degrees to 2 degrees, the target levelness does not exceed the threshold range, and the tilt indicator does not change.

[0164] In some embodiments, the calculation method for the pointer rotation angle is further illustrated by an example. Assume that the skew angle β in the R direction is... R The skew angle β in direction D is 2.4°. D The angle is -4°. According to formula (30), the rotation angle θ of the pointer is 149°, and the vector coordinates of one end of the pointer's pointing direction are (10.3, -17.2). The pointer rotates to the corresponding position according to the calculation result, indicating the tilt direction of the check valve. If the preset level detection threshold range is -2 degrees to 2 degrees, the target level exceeds the threshold range, the tilt indicator color changes, and the alarm module sounds an alarm to remind the operator to make timely adjustments.

[0165] In some embodiments, the detection method provided in this application further includes:

[0166] Obtain the reference level of the target plane corresponding to the levelness detection device for placing the nuclear-grade lift check valve. The target plane is different from the horizontal plane.

[0167] The relative level is calculated based on the reference level and the target level corresponding to the target plane, and then displayed through the display module.

[0168] Specifically, some valves at the work site were not initially installed horizontally. The plane on which the nuclear-grade lift check valve leveling device is placed is designated as the target plane. This target plane differs from the horizontal plane and forms an angle with it. The testing device can be placed on the target plane, and multiple leveling measurements can be obtained. The average of these measurements is then calculated to obtain the reference leveling of the target plane. This process of multiple sampling and averaging reduces measurement error.

[0169] Furthermore, the detection device is placed on the valve, and the target level is measured. The reference level of the target plane is then subtracted from the target level to obtain the relative level, which is then displayed via a display module. At this point, the display module shows the relative level of the check valve relative to the target plane.

[0170] In some embodiments, the detection method provided in this application further includes:

[0171] A preset levelness detection threshold range is set. If the target levelness exceeds the levelness detection threshold range, the alarm module issues an alarm message, which is then displayed by the display module.

[0172] The levelness detection threshold range can be set according to the operational needs of the nuclear power plant, as illustrated in the previous steps and will not be repeated here. The target levelness includes the pitch angle and roll angle of the check valve. If either angle value exceeds the preset detection threshold range, the alarm module will issue an alarm message to notify the operator, and the tilt indicator on the display module will also indicate the specific tilt direction so that the operator can adjust the check valve in time.

[0173] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0174] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method for detecting the levelness of a nuclear-grade lift check valve. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0175] Please see Figure 7 , Figure 7 This is a schematic diagram of the hardware structure of the control module provided in an embodiment of this application. The control module includes:

[0176] The processor 701 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0177] The memory 702 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 702 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 702 and is called and executed by the processor 701 to execute the nuclear-grade lift check valve level detection method of the embodiments of this application.

[0178] The input / output interface 703 is used to implement information input and output;

[0179] The communication interface 704 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0180] Bus 705 transmits information between various components of the device (e.g., processor 701, memory 702, input / output interface 703, and communication interface 704);

[0181] The processor 701, memory 702, input / output interface 703, and communication interface 704 are connected to each other within the device via bus 705.

[0182] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for detecting the levelness of a nuclear-grade lift check valve.

[0183] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0184] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0185] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0186] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0187] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0188] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0189] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0190] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0191] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0192] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0193] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0194] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A nuclear-grade lift-type check valve levelness detection device, characterized in that, The device includes: Accelerometer, used to measure the acceleration of nuclear-grade lift check valves; Gyroscope, used to measure the angular velocity of nuclear-grade lift check valves; An attitude estimation module includes a pre-stage nonlinear complementary filter and a post-stage linear complementary filter. The pre-stage nonlinear complementary filter calculates a first attitude estimation result based on the acceleration measurement value and an attitude estimation compensation value based on the acceleration measurement value. The attitude estimation compensation value is used to correct the attitude estimation result determined based on the angular velocity measurement value to obtain a second attitude estimation result. The post-stage linear complementary filter fuses the first attitude estimation result and the second attitude estimation result to obtain the target levelness of the nuclear-grade lift check valve. The calculation of the first attitude estimation result based on the acceleration measurement value includes: converting the acceleration measurement value to obtain an acceleration quaternion; pre-setting control weights; and calculating the first attitude estimation result based on the control weights and the acceleration quaternion. The method for calculating the acceleration quaternion is as follows: ,in, Represents the quaternion of acceleration. Represents a fourth-order identity matrix. Represents an arbitrary unit quaternion. This represents the acceleration transformation matrix constructed based on the acceleration measurements; The step of calculating the attitude estimation compensation value based on the acceleration measurement value includes: performing hysteresis sampling on the initial attitude estimation result to obtain an initial attitude estimation sampling result; calculating the difference between the initial attitude estimation sampling result and the acceleration measurement value; and performing proportional-integral control operation based on the difference to obtain the attitude estimation compensation value, wherein the initial attitude estimation result is calculated based on the angular velocity quaternion corresponding to the angular velocity measurement value, the control weight, and the acceleration quaternion; The display module is used to display the target level of the nuclear-grade lift check valve.

2. The levelness detection device according to claim 1, characterized in that, The device also includes an alarm module and a temperature measurement module. The alarm module is used to issue an alarm message when the target level exceeds a preset level detection threshold range, and to display the alarm message through the display module; The temperature measurement module is used to measure the welding temperature when installing a nuclear-grade lift check valve, and the welding temperature is displayed through the display module.

3. The levelness detection device according to claim 2, characterized in that, The display module includes a pointer and directional icons. The pointer is used to indicate the tilt direction of the nuclear-grade lift check valve according to the target level. The directional icon is used to display the angle value corresponding to the tilt direction based on the target's levelness.

4. A method for detecting the levelness of a nuclear-grade lift-type check valve, characterized in that, The method, applied to the nuclear-grade lift check valve levelness detection device according to any one of claims 1 to 3, comprises: Obtain the acceleration and angular velocity measurements of the nuclear-grade lift check valve; Calculate a first attitude estimation result and an attitude estimation compensation value based on the acceleration measurement value; wherein, calculating the first attitude estimation result based on the acceleration measurement value includes: converting the acceleration measurement value to obtain an acceleration quaternion; preset control weights, and calculating the first attitude estimation result based on the control weights and the acceleration quaternion; The step of calculating the attitude estimation compensation value based on the initial attitude estimation result and the acceleration measurement value includes: performing hysteresis sampling on the initial attitude estimation result to obtain an initial attitude estimation sampling result; calculating the difference between the initial attitude estimation sampling result and the acceleration measurement value; and performing proportional-integral control operation based on the difference to obtain the attitude estimation compensation value, wherein the initial attitude estimation result is calculated based on the angular velocity quaternion corresponding to the angular velocity measurement value, the control weight, and the acceleration quaternion; The attitude estimation result determined based on the angular velocity measurement value is corrected according to the attitude estimation compensation value to obtain a second attitude estimation result; The target level of the nuclear-grade lift check valve is obtained by fusing the first attitude estimation result with the second attitude estimation result, and the target level is displayed.

5. The detection method according to claim 4, characterized in that, The calculation of the attitude estimation compensation value based on the acceleration measurement value includes: The angular velocity measurement value is converted to obtain the angular velocity quaternion; The initial attitude estimation result is calculated based on the angular velocity quaternion, the control weight, and the acceleration quaternion. The attitude estimation compensation value is calculated based on the initial attitude estimation result and the acceleration measurement value.

6. The detection method according to claim 4, characterized in that, The target level of the water in the nuclear-grade lift check valve includes roll angle and pitch angle, and displaying the target level includes: The target quadrant where the pointer is located in the display module is determined based on the roll angle and the pitch angle. The rotation angle of the pointer is calculated based on the roll angle, the pitch angle, and the target quadrant. The vector position of one end of the pointer's pointing direction is calculated based on the rotation angle, and the target level is displayed according to the vector position.

7. The detection method according to claim 4, characterized in that, The detection method further includes: Obtain the reference level of the target plane corresponding to the levelness detection device for placing the nuclear-grade lift check valve, wherein the target plane is different from the horizontal plane; The relative level is calculated based on the reference level and the target level corresponding to the target plane, and the relative level is displayed through the display module.

8. The detection method according to claim 4, characterized in that, The detection method further includes: A preset levelness detection threshold range is set. If the target levelness exceeds the levelness detection threshold range, the alarm module issues an alarm message, which is then displayed by the display module.

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