Semicircular pressure-bearing container pipe hole pipe number positioning method and pipe hole positioning device

Abstract

The invention relates to a semicircular pressure-bearing container pipe hole number positioning method and a pipe hole positioning device, the device comprises a positioning point and four distance measuring sensors, and the method comprises the following steps: determining four distance measuring lengths from the positioning point to the cylinder wall of a pressure-bearing container in four directions according to sensing signals output by the four distance measuring sensors; determining all three-out-of-four non-repeated combinations in the four ranging lengths to obtain four ranging length combinations; determining the radius of a circumcircle corresponding to each ranging length combination, and obtaining four circumcircle radiuses in one-to-one correspondence with the four ranging length combinations; determining a related distance measurement length in the four distance measurement lengths according to the four circumcircle radiuses and a pre-stored arc radius of the pressure-bearing container; and outputting position coordinates of the pipe number of the pipe hole where the positioning point is located based on the related ranging length. According to the method, the pipe number of the pipe hole position where the positioning point is located is accurately and efficiently calculated.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant equipment, and particularly relates to a method for positioning the pipe numbers of pipe holes of a semi-circular pressure-bearing container and a pipe hole positioning device. Background Art

[0002] In the field of automatic control of non-destructive testing devices for pipe holes of pressure-bearing containers, the calculation method of pipe numbers is crucial for improving the accuracy of positioning devices, which is related to whether the data obtained from inspections corresponds to the pipe numbers to be detected. In the case of incorrect calculation of pipe number positioning, the detection data is misaligned with the pipe number, which will lead to the invalidation of non-destructive testing conclusions and seriously endanger the public safety of the operation scenarios of pressure-bearing containers.

[0003] Currently, most of them use visual counting to position pipe numbers or use image recognition to position pipe numbers. Among them, the accuracy of visual counting for positioning pipe numbers is limited by the experience of staff, and it consumes a large amount of human resources and has a high risk of human error. The positioning of pipe numbers by image recognition is affected by factors such as light, field of view, and extreme similarity of each pipe hole, resulting in the defect of low recognition rate. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for positioning the pipe numbers of pipe holes of a semi-circular pressure-bearing container and a pipe hole positioning device.

[0005] The technical solution adopted by the present invention to solve its technical problems is: to construct a method for positioning the pipe numbers of pipe holes of a semi-circular pressure-bearing container for a pipe hole positioning device. The pipe hole positioning device includes a positioning point and four distance measuring sensors for measuring the distances from the positioning point to the barrel wall of the pressure-bearing container in the left horizontal, right horizontal, upper vertical, and lower vertical directions of the positioning point on the top view horizontal plane of the pressure-bearing container. The method for positioning the pipe numbers of pipe holes of the pressure-bearing container includes:

[0006] S10. Determine four ranging lengths from the positioning point to the barrel wall of the pressure-bearing container in four directions according to the sensing signals output by the four distance measuring sensors;

[0007] S20. Determine all non-repeating combinations of taking three out of four of the four ranging lengths to obtain four ranging length combinations;

[0008] S30. Determine the radius sizes of the circumscribed circles corresponding to each ranging length combination to obtain four circumscribed circle radii corresponding one-to-one to the four ranging length combinations;

[0009] S40. Determine the relevant ranging lengths among the four ranging lengths according to the four circumscribed circle radii and the pre-stored arc radius of the pressure-bearing container;

[0010] S50. Output the position coordinates of the pipe number where the positioning point is located based on the relevant ranging lengths.

[0011] Preferably, in the step S30, the step of determining the radius of the circumscribed circle corresponding to each of the ranging length combinations includes:

[0012] For each of the ranging length combinations, perform:

[0013] Denote the two ranging lengths on the same straight line in the ranging length combination of the sensing path as X1 and X2, and denote the remaining ranging length as Y1;

[0014] Calculate the radius of the circumscribed circle corresponding to the ranging length combination according to the first set formula, the X1, the X2, and the Y1.

[0015] Preferably, the first set formula is expressed as:

[0016]

[0017] R represents the radius of the circumscribed circle corresponding to the ranging length combination.

[0018] Preferably, the step S40 includes:

[0019] S401: Extract the radius of the circumscribed circle among the four radii of the circumscribed circles that is closest to the radius of the arc of the pressure vessel, and denote it as the target radius;

[0020] S402: Calculate the difference between the target radius and the radius of the arc of the pressure vessel, and determine whether the difference is within a set difference range;

[0021] S403: When the difference is within the set difference range, record the contact situation as the first contact type, and remove the three ranging lengths included in the ranging length combination corresponding to the target radius from the four ranging lengths, and determine the remaining ranging length as the relevant ranging length;

[0022] S404: When the difference is not within the set difference range, record the contact situation as the second contact type, and determine any one of the four ranging lengths as the relevant ranging length.

[0023] Preferably, the step S50 includes:

[0024] S501: Denote the sensing path of the relevant ranging length as the lower line segment, and denote the sensing path of another ranging length whose sensing path is on the same straight line as the lower line segment as the upper line segment;

[0025] S502: Obtain the included angle between the left lateral sensing path of the positioning point and the diameter side of the pressure vessel;

[0026] S503. Determine the position coordinates of the pipe number of the hole where the positioning point is located based on the included angle, the upper line segment, the lower line segment, the lateral distance and the longitudinal distance between adjacent holes of the pressure-bearing container;

[0027] S504. When the contact situation is recorded as the first contact type, output the position coordinates;

[0028] S505. When the contact situation is recorded as the second contact type, verify the position coordinates to determine whether the position coordinates pass the verification. If so, output the position coordinates; if not, re-determine the relevant ranging length and return to S501.

[0029] Preferably, S503 includes:

[0030] Calculate the height data from the combined line segment of the upper line segment and the lower line segment to the diameter side of the pressure-bearing container according to the included angle, the upper line segment and the lower line segment;

[0031] Determine the abscissa of the arc contact point between the upper line segment and the pressure-bearing container according to the height data and the included angle;

[0032] Calculate the abscissa and ordinate of the pipe number of the hole according to the abscissa of the arc contact point, the ranging length of the upper line segment, the ranging length of the lower line segment, the included angle, the lateral distance and the longitudinal distance.

[0033] Preferably, the expression for the abscissa of the pipe number of the hole is: F1 represents the abscissa of the pipe number of the hole, L represents the abscissa of the arc contact point, Yt represents the ranging length of the upper line segment, θ represents the included angle, C1 represents the lateral distance between adjacent holes, and J represents the lateral compensation length;

[0034] The expression for the ordinate of the pipe number of the hole is: F2 represents the ordinate of the pipe number of the hole, Yb represents the ranging length of the lower line segment, C2 represents the longitudinal distance between adjacent holes, and K represents the longitudinal compensation length.

[0035] Preferably, in S505, the step of verifying the position coordinates includes:

[0036] Calculate the abscissa correction value according to the second set formula and the ranging length of the right line segment;

[0037] Calculate the ordinate correction value according to the third set formula and the ranging length of the left line segment;

[0038] Determine whether the first error value between the abscissa correction value and the abscissa of the pipe hole number is within the first set error range, and determine whether the second error value between the ordinate correction value and the ordinate of the pipe hole number is within the second set error range;

[0039] When the first error value is within the first set error range and the second error value is within the second set error range, it is determined that the position coordinates pass the verification.

[0040] Preferably, the second set formula is expressed as: F1 ′ represents the abscissa correction value, and Xr represents the ranging length of the right line segment;

[0041] The third set formula is expressed as: F1 ′ represents the ordinate correction value, and Xl represents the ranging length of the left line segment.

[0042] The present invention also constructs a pipe hole positioning device, including:

[0043] Positioning points;

[0044] Four ranging sensors for measuring the distances from the positioning points to the pressure vessel in the left horizontal, right horizontal, upper vertical, and lower vertical directions of the positioning points on the top view horizontal plane of the pressure vessel; and

[0045] A control module, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-mentioned semi-circular pressure vessel pipe hole number positioning method.

[0046] Implementing the present invention has the following beneficial effects: It can automatically calculate the pipe number of the pipe hole where the positioning point is located, greatly improving the efficiency of pipe hole positioning, reducing the workload of manually calculating the pipe number, and ensuring the accuracy of the pipe number calculation result. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0048] Figure 1 is a program flow chart of the semi-circular pressure vessel pipe hole number positioning method in some embodiments of the present invention;

[0049] Figure 2 is a schematic structural diagram of the ranging sensor assembly of the pipe hole positioning device in some embodiments of the present invention;

[0050] Figure 3 is a schematic structural diagram of the hole positioning device in some embodiments of the present invention;

[0051] Figure 4 is a schematic diagram during the working process of the ranging sensor assembly in some embodiments of the present invention;

[0052] Figure 5 is a flowchart of the procedure of step S40 in some embodiments of the present invention;

[0053] Figure 6 is a schematic diagram of the ranging sensor assembly under the first contact type in some embodiments of the present invention;

[0054] Figure 7 is a schematic diagram of the ranging sensor assembly under the second contact type in some embodiments of the present invention;

[0055] Figure 8 is a flowchart of the procedure of step S50 in some embodiments of the present invention;

[0056] Figure 9 is a schematic diagram of the structure between each pipe hole in some embodiments of the present invention;

[0057] Figure 10 is a schematic diagram of the structure of the control module in some embodiments of the present invention. Detailed Embodiments

[0058] For a clearer understanding of the technical features, objectives, and effects of the present invention, the detailed embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0059] It should be noted that the flowcharts shown in the accompanying drawings are only illustrative and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the described order. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined. Therefore, the actual execution order may change according to the actual situation.

[0060] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0061] Figure 1 is a flowchart of the procedure of the method for positioning the pipe hole numbers of a semi-circular pressure-bearing container in some embodiments of the present invention, Figure 2 is a schematic diagram of the structure of the ranging sensor assembly of the pipe hole positioning device in some embodiments of the present invention. This positioning method is applied to the control module of the pipe hole positioning device. Please refer to Figure 2, the tube hole positioning device may include a positioning point, and four distance measuring sensors for measuring the distances from the positioning point to the inner wall of the semi-circular pressure-bearing container (hereinafter referred to as the pressure-bearing container) in the left lateral, right lateral, upper longitudinal, and lower longitudinal directions on the top-down horizontal plane of the pressure-bearing container. Among them, 11 is the positioning point, 12 is the distance measuring sensor for measuring the distance from the positioning point to the inner wall of the left semi-circular pressure-bearing container (hereinafter referred to as the first distance measuring sensor 12), 13 is the distance measuring sensor for measuring the distance from the positioning point to the inner wall of the upper semi-circular pressure-bearing container (hereinafter referred to as the second distance measuring sensor 13), 14 is the distance measuring sensor for measuring the distance from the positioning point to the inner wall of the right semi-circular pressure-bearing container (hereinafter referred to as the third distance measuring sensor 14), and 15 is the distance measuring sensor for measuring the distance from the positioning point to the inner wall of the lower semi-circular pressure-bearing container (hereinafter referred to as the fourth distance measuring sensor 15). Specifically, the detection signal directions output by the first distance measuring sensor 12 and the third distance measuring sensor 14 are configured to be opposite to each other and on the same straight line, the detection signal directions output by the second distance measuring sensor 13 and the fourth distance measuring sensor 15 are configured to be opposite to each other, on the same straight line, and perpendicular to the detection signal direction output by the first distance measuring sensor 12. In addition, the detection signal directions output by the first to fourth distance measuring sensors are preferably in the same plane parallel to the top-down plane of the semi-circular pressure-bearing container.

[0062] In some embodiments, the four distance measuring sensors are existing laser distance measuring sensors, and their distance measuring methods can refer to the prior art and will not be elaborated here.

[0063] It can be understood that the first to fourth distance measuring sensors form a distance measuring sensor assembly, and the positioning point 11 can be regarded as the center point of the distance measuring sensor assembly. The distances from the positioning point 11 to the probes of the first to fourth distance measuring sensors are known. Therefore, the distances (i.e., the distance measuring lengths) from the positioning point 11 to the inner wall of the semi-circular pressure-bearing container in the left lateral, right lateral, upper longitudinal, and lower longitudinal directions can be calculated according to the sensing signals output by each distance measuring sensor and the corresponding known distances.

[0064] It should be noted that the present invention is mainly applicable to the semi-circular pressure-bearing container in a nuclear power plant. Please refer to Figure 3 , the semi-circular pressure-bearing container includes a tube sheet 21, a semi-circular cylinder 22 sleeved on the tube sheet 21, and a plurality of hole positions 23 arranged on the tube sheet 21 in a certain pattern. Correspondingly, the inner wall of the semi-circular cylinder 22 is equivalent to the inner wall of the semi-circular pressure-bearing container.

[0065] Please refer to Figure 1 , the method for positioning the tube hole tube number of the pressure-bearing container may include step S10, step S20, step S30, step S40, and step S50.

[0066] Step S10 includes: determining, according to the sensing signals output by four ranging sensors, the four ranging lengths from the positioning point to the wall of the pressure-bearing container in four directions respectively.

[0067] Please refer to Figure 4 , the function of this step is to determine the distances from the positioning point 11 to the inner wall of the semi-circular cylinder 22 in its left lateral, right lateral, upper longitudinal and lower longitudinal directions respectively. Among them, 31 is the angle between the left lateral sensing path of the positioning point 11 and the diameter side of the pressure-bearing container. 32 is the left lateral ranging length, measured by the first ranging sensor 12. 33 is the upper longitudinal ranging length, measured by the second ranging sensor 13. 34 is the right lateral ranging length, measured by the third ranging sensor 14. 35 is the lower longitudinal ranging length, measured by the fourth ranging sensor 15.

[0068] It should be noted that when the angle is 0°, the sensing paths of the first ranging sensor 12 and the third ranging sensor 14 are parallel to the x-axis of the coordinate system (see Figure 3 ), and the sensing paths of the second ranging sensor 13 and the fourth ranging sensor 15 are parallel to the y-axis of the coordinate system.

[0069] Furthermore, the first to fourth ranging sensors can be controlled to continuously detect the corresponding distance data at a set resolution (such as 100 ms) and correct the corresponding ranging lengths.

[0070] Step S20 includes: determining all non-repeating combinations of taking three out of four ranging lengths to obtain four ranging length combinations. Specifically, the non-repeating combination of taking three out of four means the data combination formed by taking any three ranging lengths out of the four ranging lengths without considering the arrangement order. It is easy to understand that the four ranging length combinations are: (left lateral ranging length 32, upper longitudinal ranging length 33, right lateral ranging length 34), (left lateral ranging length 32, upper longitudinal ranging length 33, lower longitudinal ranging length 35), (left lateral ranging length 32, right lateral ranging length 34, lower longitudinal ranging length 35), (upper longitudinal ranging length 33, right lateral ranging length 34, lower longitudinal ranging length 35).

[0071] Step S30 includes: determining the radius sizes of the circumscribed circles corresponding to each ranging length combination to obtain four circumscribed circle radii corresponding one by one to the four ranging length combinations.

[0072] Please refer to Figure 4 , it is easy to understand that if the endpoints where the three sensing paths corresponding to the three ranging lengths in the ranging length combination contact the wall of the pressure-bearing container are connected together, a triangle can be obtained, and the circumscribed circle of this triangle corresponds to the circumscribed circle corresponding to this ranging length combination.

[0073] In some embodiments, the radius of the circumscribed circle corresponding to each ranging length combination can be determined by performing the following steps: For each ranging length combination, do the following: Denote the two ranging lengths whose sensing paths are on the same straight line in the ranging length combination as X1 and X2 respectively, and denote the remaining ranging length as Y1; Calculate the radius of the circumscribed circle corresponding to the ranging length combination according to the first set formula, X1, X2 and Y1.

[0074] It is easily understandable that in any ranging length combination, there must be two ranging lengths whose sensing paths are on the same straight line, and one ranging length perpendicular to the two ranging lengths on the same straight line. Taking Figure 4 as an example, assume the ranging length combination is (left lateral ranging length 32, upper longitudinal ranging length 33, right lateral ranging length 34). Then the left lateral ranging length 32 and the right lateral ranging length 34 are on the same straight line. Therefore, denote the left lateral ranging length 32 and the right lateral ranging length 34 as X1 and X2 respectively. The upper longitudinal ranging length 33 is perpendicular to the left lateral ranging length 32 or the right lateral ranging length 34. Therefore, denote the upper longitudinal ranging length 33 as Y1.

[0075] In some embodiments, the first set formula can be expressed as:

[0076]

[0077] where R represents the radius of the circumscribed circle corresponding to the ranging length combination.

[0078] Step S40 includes: determining the relevant ranging length among the four ranging lengths according to the four radii of the circumscribed circles and the pre-stored arc radius of the pressure vessel. In this step, the arc radius of the pressure vessel corresponds to the arc radius of the semi-cylindrical barrel 22, which can be obtained by looking up the design drawings of the pressure vessel or measuring and calculating on site, and then pre-stored in the control module in advance.

[0079] Please refer to Figure 5 , in some embodiments, step S40 may include step S401, step S402, step S403 and step S404.

[0080] Step S401 includes: extracting the radius of the circumscribed circle among the four radii of the circumscribed circles that is closest to the arc radius of the pressure vessel, and denoting it as the target radius. Specifically, calculate the absolute values of the differences between the four radii of the circumscribed circles and the arc radius of the pressure vessel respectively, to obtain four absolute values of differences corresponding to the four radii of the circumscribed circles one by one; Denote the radius of the circumscribed circle corresponding to the smallest of the four absolute values of differences as the target radius.

[0081] Step S402 includes: calculating the difference between the target radius and the arc radius of the pressure vessel, and determining whether the difference is within the set difference range.

[0082] In some embodiments, the set difference range may be ±6 mm.

[0083] Step S403 includes: when the difference is within the set difference range, recording the contact situation as the first contact type, and excluding the three ranging lengths included in the ranging length combination corresponding to the target radius from the four ranging lengths, and determining the remaining ranging length as the relevant ranging length.

[0084] Specifically, the first contact type indicates a situation where three of the four sensing paths corresponding to the four ranging lengths are in arc contact with the wall of the pressure-bearing container (i.e., the inner wall of the semi-circular cylinder 22). It should be noted that referring to Figure 6 , 36 is the sensing path corresponding to the relevant ranging length, 221 is the diameter side of the pressure-bearing container wall. When the contact situation is recorded as the first contact type, the circumcircle of the triangle formed by the three endpoints (including endpoint Q, endpoint E, and endpoint R) in contact with the pressure-bearing container wall coincides with the circle corresponding to the arc of the pressure-bearing container wall, and thus it can be determined that the sensing path corresponding to the relevant ranging length is the one in contact with the diameter side of the pressure-bearing container wall, preparing for determining the position coordinates in the subsequent steps.

[0085] Step S404 includes: when the difference is not within the set difference range, recording the contact situation as the second contact type, and determining any one of the four ranging lengths as the relevant ranging length.

[0086] Specifically, the second contact type indicates a situation where two of the four sensing paths corresponding to the four ranging lengths are in arc contact with the wall of the pressure-bearing container (i.e., the inner wall of the semi-circular cylinder 22). It should be noted that referring to Figure 7 , when the contact situation is recorded as the second contact type, the circumcircles corresponding to the four ranging length combinations do not coincide with the circle corresponding to the arc of the pressure-bearing container wall. Therefore, in the subsequent steps, the methods for determining the position coordinates of different contact situations are different.

[0087] Step S50 includes: outputting the position coordinates of the pipe number of the locating point based on the relevant ranging length.

[0088] Please refer to Figure 8 , in some embodiments, step S50 may include step S501, step S502, step S503, step S504, and step S505.

[0089] Step S501 includes: recording the sensing path of the relevant ranging length as the lower line segment, and recording the sensing path of another ranging length that is on the same straight line as the sensing path and the lower line segment as the upper line segment. Specifically, taking Figure 6 as an example, Yb corresponds to the lower line segment, and Yt corresponds to the upper line segment.

[0090] Step S502 includes: obtaining the included angle between the left lateral sensing path of the positioning point and the diameter side of the pressure-bearing container. It should be noted that the magnitude of the included angle can be sensed by an inclinometer or an attitude sensor installed on the ranging sensor assembly, which belongs to very mature prior art and will not be elaborated here.

[0091] Step S503 includes: determining the position coordinates of the pipe number of the pipe hole where the positioning point is located according to the included angle, the upper line segment, the lower line segment, the lateral distance and the longitudinal distance between adjacent pipe holes of the pressure-bearing container.

[0092] In some embodiments, step S503 may include:

[0093] Calculating the height data of the combined line segment of the upper line segment and the lower line segment to the diameter side of the pressure-bearing container according to the included angle, the upper line segment and the lower line segment;

[0094] Determining the abscissa of the arc contact point of the upper line segment and the pressure-bearing container according to the height data and the included angle;

[0095] Calculating the abscissa and ordinate of the pipe number of the pipe hole according to the abscissa of the arc contact point, the ranging length of the upper line segment, the ranging length of the lower line segment, the included angle, the lateral distance and the longitudinal distance.

[0096] Further, the expression of the abscissa of the pipe number of the pipe hole can be: F1 represents the abscissa of the pipe number of the pipe hole, L represents the abscissa of the arc contact point, Yt represents the ranging length of the upper line segment, θ represents the included angle, C1 represents the lateral distance between adjacent pipe holes, and J represents the lateral compensation length.

[0097] The expression of the ordinate of the pipe number of the pipe hole can be: F2 represents the ordinate of the pipe number of the pipe hole, Yb represents the ranging length of the lower line segment, C2 represents the longitudinal distance between adjacent pipe holes, and K represents the longitudinal compensation length.

[0098] Please refer to Figure 3 , in order to ensure the safety of some pressure-bearing containers, after the semi-circular cylinder 22 is sleeved on the tube sheet 21, the two ends of the diameter side of the semi-circular cylinder 22 need to leave a reserved welding length of J in the extending direction to the left end LZ and the right end RY of the tube sheet 21 respectively, and the diameter side of the semi-circular cylinder 22 leaves a reserved welding length of K to the lower end BD of the tube sheet 21. It can be understood that when taking 01 (see Figure 3 the lower left corner) as the coordinate origin, J and K can be obtained by looking up the design drawings of the pressure-bearing container or measuring and calculating on site. When taking 02 as the coordinate origin, J and K are equal to 0.

[0099] In addition, please refer to Figure 9, The horizontal distance refers to the distance between the centers of two adjacent tube holes in the x-axis direction of the coordinate system (parallel to the diameter side of the semi-cylindrical tube 22), and the vertical distance refers to the distance between the centers of two adjacent tube holes in the y-axis direction of the coordinate system (perpendicular to the diameter side of the semi-cylindrical tube 22). In some embodiments, C1 is equal to C2.

[0100] Step S504 includes: when the contact situation is recorded as the first contact type, output the position coordinates. In this step, the position coordinates can be directly output to the display terminal and related control devices.

[0101] Step S505 includes: when the contact situation is recorded as the second contact type, verify the position coordinates to determine whether the position coordinates pass the verification. If so, output the position coordinates; if not, re-determine the relevant ranging length and return to S501. In this step, since the second contact type cannot determine which two ranging lengths' sensing paths are in contact with the diameter side of the semi-cylindrical tube 22 just by analyzing the four ranging lengths, a verification step is performed, and the position coordinates can be directly output to the display terminal and related control devices only after passing the verification. In addition, "re-determine the relevant ranging length" means taking one of the four ranging lengths that has not been designated as the relevant ranging length as the new relevant ranging length.

[0102] In some embodiments, the position coordinates can be verified by performing the following steps: calculate the abscissa correction value according to the second set formula and the ranging length of the right line segment; calculate the ordinate correction value according to the third set formula and the ranging length of the left line segment; determine whether the first error value between the abscissa correction value and the abscissa of the tube hole number is within the first set error range, and determine whether the second error value between the ordinate correction value and the ordinate of the tube hole number is within the second set error range; when the first error value is within the first set error range and the second error value is within the second set error range, determine that the position coordinates pass the verification. Among them, the left line segment and the right line segment correspond to the sensing paths respectively corresponding to the other two ranging lengths perpendicular to the lower line segment. Figure 7 For example, the lower line segment corresponds to Yb, and the left line segment and the right line segment correspond to Xl and Xr respectively. Further, the left line segment can be the sensing path corresponding to the next ranging length in the clockwise direction of the lower line segment. Further, the second set formula can be expressed as: F1 ′ represents the abscissa correction value, and Xr represents the ranging length of the right line segment. The third set formula can be expressed as: F1 ′ represents the ordinate correction value, and Xl represents the ranging length of the left line segment.

[0103] It can be understood that Figure 7For example, when the contact situation is recorded as the second contact type, and the lower longitudinal ranging length 35 is exactly determined as the relevant ranging length, it will pass the verification; otherwise, it cannot pass the verification.

[0104] In some embodiments, both the first set error range and the second set error range can be ±3 mm.

[0105] It can be understood that by cooperating with four ranging sensors and combining the model data of the semi-circular pressure-bearing container, the present invention can automatically calculate the pipe number of the pipe hole where the positioning point is located, greatly improving the efficiency of pipe hole positioning, reducing the workload of manually calculating the pipe number, and ensuring the accuracy of the pipe number calculation result.

[0106] Please refer to Figure 2 , the present invention also provides a pipe hole positioning device, including a positioning point, four ranging sensors, and a control module (not shown).

[0107] The four ranging sensors are used to measure the distances from the positioning point to the pressure-bearing container in the left lateral, right lateral, upper longitudinal, and lower longitudinal directions of the positioning point on the top view horizontal plane of the pressure-bearing container.

[0108] Please refer to Figure 10 , the control module may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the pipe hole pipe number positioning method for the semi-circular pressure-bearing container provided in the embodiments of the present invention are implemented.

[0109] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0110] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0111] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be located in a random access memory (lower longitudinal ranging length 35AM), memory, read-only memory (lower longitudinal ranging length 35OM), electrically programmable lower longitudinal ranging length 35OM, electrically erasable programmable lower longitudinal ranging length 35OM, registers, hard disk, removable disk, CD-lower longitudinal ranging length 35OM, or any other form of storage medium well known in the art.

[0112] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present invention; it should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all belong to the protection scope of the present invention; therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention should fall within the scope covered by the claims of the present invention.

Claims

1. A method for locating the pipe number of a semicircular pressure vessel, characterized in that: For a pipe hole positioning device, the pipe hole positioning device includes a positioning point and four distance measuring sensors for measuring the distance from the positioning point to the cylinder wall of the pressure container in the left horizontal direction, right horizontal direction, upper longitudinal direction and lower longitudinal direction of the positioning point on the horizontal plane of the pressure container when viewed from above. The pressure container pipe hole positioning method includes: S10, determining four distance measuring lengths from the positioning point to the wall of the pressure vessel in four directions respectively according to the sensing signals output by the four distance measuring sensors; S20, determining all four non-repeating combinations of three out of the four ranging lengths to obtain four ranging length combinations; S30, determining the radius of the circumscribed circle corresponding to each of the distance measurement length combinations, and obtaining four circumscribed circle radii corresponding to the four distance measurement length combinations one by one; S40, determining a relevant distance measuring length among the four distance measuring lengths according to the four circumscribed circle radii and the pre-stored arc radius of the pressure container; S50, outputting the position coordinates of the pipe hole and pipe number where the positioning point is located based on the relevant ranging length.

2. The method for locating the pipe hole number of a semicircular pressure container according to claim 1, characterized in that: In the step S30, the step of determining the radius of the circumscribed circle corresponding to each of the distance measurement length combinations includes: For each of the distance measurement length combinations, the following steps are performed: Two ranging lengths in the ranging length combination whose sensing paths are on the same straight line are respectively recorded as X1 and X2, and the remaining ranging length is recorded as Y1; The radius of the circumscribed circle corresponding to the distance measurement length combination is calculated according to the first setting formula, the X1, the X2 and the Y1.

3. The method for locating the pipe hole number of a semicircular pressure container according to claim 2, characterized in that: The first setting formula is expressed as: R represents the radius of the circumscribed circle corresponding to the distance measurement length combination.

4. The method for locating the pipe hole number of a semicircular pressure container according to claim 1, characterized in that: The S40 includes: S401, extracting the circumscribed circle radius of the four circumscribed circle radii that is closest to the arc radius of the pressure container, and recording it as the target radius; S402, calculating the difference between the target radius and the arc radius of the pressure container, and determining whether the difference is within a set difference range; S403, when the difference is within the set difference range, recording the contact situation as the first contact type, and removing the three ranging lengths included in the ranging length combination corresponding to the target radius from the four ranging lengths, and determining the remaining ranging lengths as the relevant ranging lengths; S404: When the difference is not within the set difference range, the contact situation is recorded as a second contact type, and any one of the four ranging lengths is determined as a related ranging length.

5. The method for locating the pipe hole number of a semicircular pressure container according to claim 4, characterized in that: The S50 includes: S501, recording the sensing path of the relevant ranging length as a lower line segment, and recording another sensing path of the ranging length on the same straight line as the lower line segment as an upper line segment; S502, obtaining an angle between a left lateral sensing path of the positioning point and a diameter side of the pressure container; S503, determining the position coordinates of the pipe hole number where the positioning point is located according to the included angle, the upper line segment, the lower line segment, and the transverse distance and the longitudinal distance between adjacent pipe holes of the pressure container; S504, when the contact situation is recorded as the first contact type, outputting the position coordinates; S505. When the contact situation is recorded as the second contact type, the position coordinates are verified to determine whether the position coordinates pass the verification. If so, the position coordinates are output. If not, the relevant ranging length is re-determined and the process returns to S501.

6. The method for locating the pipe hole number of a semicircular pressure container according to claim 5, characterized in that: The S503 includes: Calculate the height data of the combined line segment of the upper line segment and the lower line segment to the diameter side of the pressure vessel according to the included angle, the upper line segment and the lower line segment; Determine the horizontal coordinate of the arc contact point between the upper line segment and the pressure vessel according to the height data and the included angle; The abscissa and ordinate of the pipe hole number are calculated according to the abscissa of the arc contact point, the distance measurement length of the upper line segment, the distance measurement length of the lower line segment, the included angle, the transverse distance and the longitudinal distance.

7. The method for locating the pipe hole number of a semicircular pressure container according to claim 6, characterized in that: The abscissa expression of the tube hole number is: F1 represents the abscissa of the tube hole number, L represents the abscissa of the arc contact point, Yt represents the distance measurement length of the upper line segment, θ represents the included angle, C1 represents the lateral distance between adjacent tube holes, and J represents the lateral compensation length; The vertical coordinate expression of the tube hole number is: F2 represents the ordinate of the tube hole number, Yb represents the distance measurement length of the lower line segment, C2 represents the longitudinal distance between adjacent tube holes, and K represents the longitudinal compensation length.

8. The method for locating the pipe hole number of a semicircular pressure container according to claim 7, characterized in that: In the step S505, the step of verifying the position coordinates includes: Calculate the horizontal coordinate correction value according to the second setting formula and the distance measurement length of the right line segment; Calculate the ordinate correction value according to the third setting formula and the distance measurement length of the left line segment; Determine whether a first error value between the horizontal coordinate correction value and the horizontal coordinate of the tube hole and tube number is within a first set error range, and determine whether a second error value between the vertical coordinate correction value and the vertical coordinate of the tube hole and tube number is within a second set error range; When the first error value is within the first set error range and the second error value is within the second set error range, it is determined that the position coordinates pass the verification.

9. The method for locating the pipe hole number of a semicircular pressure container according to claim 8, characterized in that: The second setting formula is expressed as: F1 ′ represents the horizontal coordinate correction value, and Xr represents the ranging length of the right line segment; The third setting formula is expressed as: F1 ′ represents the vertical coordinate correction value, and X1 represents the ranging length of the left line segment.

10. A pipe hole positioning device, characterized in that: include: Anchor point; Four distance measuring sensors, used for measuring the distance from the positioning point to the pressure vessel in the left lateral direction, the right lateral direction, the upper longitudinal direction and the lower longitudinal direction on the horizontal plane of the pressure vessel when looking down at the positioning point; as well as A control module, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for locating the pipe hole number of a semicircular pressure container as described in any one of claims 1 to 9 when executing the computer program.

Images