Method for positioning a pipe hole of a semi-circular pressure vessel and pipe hole positioning device

Abstract

The application relates to a semi-circular pressure-bearing container hole number positioning method and a 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 of the positioning point to the pressure-bearing container cylinder wall in four directions according to sensing signals output by the four distance measuring sensors; determining all four combinations of three out of four distance measuring lengths, obtaining four distance measuring length combinations; determining the radius of a circumscribed circle corresponding to each distance measuring length combination, obtaining four circumscribed circle radii corresponding to the four distance measuring length combinations; determining a related distance measuring length in the four distance measuring lengths according to the four circumscribed circle radii and a pre-stored pressure-bearing container arc radius; and outputting the position coordinates of the hole number where the positioning point is located based on the related distance measuring length. The application accurately and efficiently calculates the hole number where the positioning point is located.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant equipment technology, and in particular to a method and device for locating the pipe number of a semi-circular pressure vessel borehole. Background Technology

[0002] In the field of automatic control of non-destructive testing equipment for pipe bores in pressure vessels, the method of calculating the pipe number is crucial to improving the accuracy of the positioning device. It is related to whether the data obtained from the inspection corresponds to the pipe number being inspected. If the pipe number positioning calculation is incorrect, the inspection data will be misaligned with the pipe number, which will lead to the invalidation of the non-destructive testing conclusion and seriously endanger the public safety of the pressure vessel operation scenario.

[0003] Currently, most methods for locating tube numbers rely on visual counting or image recognition. However, visual counting is limited by the experience of the staff, is labor-intensive, and carries a high risk of human error. Image recognition is affected by factors such as lighting, field of view, and the extreme similarity of tube holes, resulting in low recognition accuracy. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for locating the pipe number of a semi-circular pressure vessel.

[0005] The technical solution adopted by this invention to solve its technical problem is: to construct a method for locating the pipe number of a semi-circular pressure vessel, used for a pipe positioning device. The pipe positioning device includes a positioning point and four distance sensors for measuring the distances from the positioning point to the wall of the pressure vessel on the horizontal plane viewed from above. The method for locating the pipe number of the pressure vessel includes: S10. Determine the four distances from the positioning point to the wall of the pressure vessel in four directions based on the sensing signals output by the four distance sensors. S20. Determine all four non-repeating combinations of three out of four distance measurement lengths to obtain four distance measurement length combinations; S30. Determine the radius of the circumcircle corresponding to each of the distance measurement length combinations, and obtain the radii of the four circumcircles that correspond one-to-one with the four distance measurement length combinations. S40. Determine the relevant distance measurement length among the four distance measurement lengths based on the four circumscribed circle radii and the pre-stored arc radius of the pressure vessel; S50. Output the position coordinates of the pipe number of the positioning point based on the relevant distance measurement length.

[0006] Preferably, in step S30, the step of determining the radius of the circumcircle corresponding to each of the distance measurement length combinations includes: For each of the aforementioned distance measurement length combinations, the following is performed: The two ranging lengths in the ranging length combination whose sensing paths are on the same straight line are denoted as X1 and X2, respectively, and the remaining ranging length is denoted as Y1; The radius of the circumcircle corresponding to the distance measurement length combination is calculated based on the first set formula, X1, X2, and Y1.

[0007] Preferably, the first set formula is expressed as: ; R represents the circumradius of the circle corresponding to the combination of distance measurement lengths.

[0008] Preferably, S40 includes: S401. Extract the circumscribed circle radius that is closest in size to the arc radius of the pressure vessel among the four circumscribed circle radii, and record it as the target radius; S402. Calculate the difference between the target radius and the arc radius of the pressure vessel, and determine whether the difference is within the set difference range; S403. When the difference is within the set difference range, the contact situation is recorded as the first contact type, and the three ranging lengths included in the ranging length combination corresponding to the target radius are removed from the four ranging lengths, and the remaining ranging length is determined as the relevant ranging length. S404. When the difference is not within the set difference range, the contact situation is recorded as the second contact type, and any one of the four ranging lengths is determined as the relevant ranging length.

[0009] Preferably, S50 includes: S501. The sensing path of the relevant ranging length is recorded as the lower line segment, and the sensing path of another ranging length that is on the same straight line as the lower line segment is recorded as the upper line segment. S502. Obtain the angle between the left lateral sensing path of the positioning point and the diameter side of the pressure vessel; S503. Determine the position coordinates of the pipe number of the positioning point based on the included angle, the upper line segment, the lower line segment, the lateral distance and longitudinal distance between adjacent pipe holes of the pressure vessel; S504. When the contact situation is recorded as the first contact type, the position coordinates are output; 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 yes, the position coordinates are output; otherwise, the relevant distance measurement length is re-determined and the process is returned to S501.

[0010] Preferably, S503 includes: The height data of the line segment formed by the upper and lower line segments to the diameter side of the pressure vessel is calculated based on the included angle, the upper line segment, and the lower line segment. The abscissa of the arc contact point between the upper line segment and the pressure vessel is determined based on the height data and the included angle. The abscissa and ordinate of the pipe hole number are calculated based on 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 lateral distance, and the longitudinal distance.

[0011] Preferably, the abscissa expression of the pipe number is: F1 represents the x-coordinate of the pipe number. This represents the x-coordinate of the arc contact point. This indicates the distance measurement length of the upper line segment. The included angle is represented by C1, the lateral distance between adjacent pipe holes is represented by J, and the lateral compensation length is represented by J. The vertical coordinate expression for the pipe number is: F2 represents the ordinate of the pipe number. C1 represents the distance measurement length of the lower line segment, C2 represents the longitudinal distance between adjacent pipe holes, and K represents the longitudinal compensation length.

[0012] Preferably, in step S505, the step of verifying the position coordinates includes: The horizontal coordinate correction value is calculated based on the second set formula and the distance measurement length of the right line segment; The vertical coordinate correction value is calculated based on the third set formula and the distance measurement length of the left line segment; Determine whether the first error value between the horizontal axis correction value and the horizontal axis of the pipe hole number is within a first set error range, and determine whether the second error value between the vertical axis correction value and the vertical axis of the pipe hole 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, the position coordinates are determined to pass the verification.

[0013] Preferably, the second setting formula is expressed as: , Xr represents the horizontal coordinate correction value, and Xr represents the distance measurement length of the right line segment; The third setting formula is expressed as follows: , Xl represents the vertical coordinate correction value, and Xl represents the distance measurement length of the left line segment.

[0014] The present invention also provides a pipe hole positioning device, comprising: Location point; Four distance sensors are used to measure the distances from the positioning point to the pressure vessel on the horizontal plane viewed from above; and The control module 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-described method for locating the pipe number of a semi-circular pressure vessel borehole.

[0015] Implementing this invention has the following beneficial effects: it can automatically calculate the pipe number of the pipe hole where the positioning point is located, which greatly improves the efficiency of pipe hole positioning, reduces the workload of manual pipe number calculation, and ensures the accuracy of pipe number calculation results. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart of the method for locating the pipe number of a semi-circular pressure vessel borehole in some embodiments of the present invention; Figure 2 This is a schematic diagram of the ranging sensor assembly structure of the borehole positioning device in some embodiments of the present invention; Figure 3 These are schematic diagrams of the hole positioning device in some embodiments of the present invention; Figure 4 This is a schematic diagram of the manufacturing process of the ranging sensor assembly in some embodiments of the present invention; Figure 5 This is a flowchart of step S40 in some embodiments of the present invention; Figure 6 This is a schematic diagram of a distance sensor assembly under a first contact type in some embodiments of the present invention; Figure 7 This is a schematic diagram of a distance sensor assembly under a second contact type in some embodiments of the present invention; Figure 8 This is a flowchart of step S50 in some embodiments of the present invention; Figure 9 These are schematic diagrams of the structure between the various holes in some embodiments of the present invention; Figure 10 This is a schematic diagram of the control module in some embodiments of the present invention. Detailed Implementation

[0017] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0018] It should be noted that the flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0019] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0020] Figure 1 This is a flowchart illustrating the method for locating the pipe number of a semi-circular pressure vessel borehole in some embodiments of the present invention. Figure 2 This is a schematic diagram of the ranging sensor assembly structure of the pipe hole positioning device in some embodiments of the present invention. This positioning method is applied in the control module of the pipe hole positioning device; please refer to [link / reference]. Figure 2 The pipe positioning device may include a positioning point and four distance measuring sensors for measuring the distances from the positioning point to the wall of the pressure vessel on the horizontal plane viewed from above (left lateral, right lateral, upper longitudinal, and lower longitudinal directions). Specifically, 11 is the positioning point; 12 is the distance measuring sensor (hereinafter referred to as the first distance measuring sensor 12) measuring the distance from the positioning point to the inner wall of the left semi-circular pressure vessel; 13 is the distance measuring sensor (hereinafter referred to as the second distance measuring sensor 13) measuring the distance from the positioning point to the inner wall of the upper semi-circular pressure vessel; 14 is the distance measuring sensor (hereinafter referred to as the third distance measuring sensor 14) measuring the distance from the positioning point to the inner wall of the right semi-circular pressure vessel; and 15 is the distance measuring sensor (hereinafter referred to as the fourth distance measuring sensor 15) measuring the distance from the positioning point to the inner wall of the lower semi-circular pressure vessel. Specifically, the detection signals output by the first ranging sensor 12 and the third ranging sensor 14 are configured to be opposite to each other and located on the same straight line. The detection signals output by the second ranging sensor 13 and the fourth ranging sensor 15 are configured to be opposite to each other, located on the same straight line, and perpendicular to the detection signal output by the first ranging sensor 12. In addition, the detection signal directions output by the first to fourth ranging sensors are preferably on the same plane parallel to the top view plane of the semi-circular pressure vessel.

[0021] In some embodiments, the four ranging sensors are existing laser ranging sensors, and their ranging methods can refer to existing technologies, which will not be described in detail here.

[0022] Understandably, the first to fourth ranging sensors form a ranging sensor assembly, and the positioning point 11 can be regarded as the center point of the ranging sensor assembly. The distances from the positioning point 11 to the probes of the first to fourth ranging sensors are known. Therefore, the distances (i.e., ranging lengths) from the positioning point 11 to the inner wall of the semi-circular pressure vessel in the left lateral, right lateral, upper longitudinal, and lower longitudinal directions can be calculated based on the sensing signals output by each ranging sensor and the corresponding known distances.

[0023] It should be noted that this invention is mainly applicable to semi-circular pressure vessels in nuclear power plants. Please refer to [link / reference]. Figure 3 The semi-circular pressure vessel includes a tube sheet 21, a semi-circular cylinder 22 fitted onto the tube sheet 21, and a plurality of holes 23 arranged in a certain pattern on the tube sheet 21. Correspondingly, the inner wall of the semi-circular cylinder 22 is equivalent to the cylinder wall of the semi-circular pressure vessel.

[0024] Please see Figure 1 The method for locating the pipe number of the pressure vessel can include steps S10, S20, S30, S40 and S50.

[0025] Step S10 includes: determining the four distances from the positioning point to the pressure vessel wall in four directions based on the sensing signals output by the four distance sensors.

[0026] Please see Figure 4 The purpose of this step is to determine the distances from 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. Specifically, 31 is the angle between the left lateral sensing path of positioning point 11 and the diameter of the pressure vessel. 32 is the left lateral distance measurement length, measured by the first distance sensor 12. 33 is the upper longitudinal distance measurement length, measured by the second distance sensor 13. 34 is the right lateral distance measurement length, measured by the third distance sensor 14. 35 is the lower longitudinal distance measurement length, measured by the fourth distance sensor 15.

[0027] It should be noted that when the included 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 [reference]). Figure 3 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.

[0028] Furthermore, by controlling the first to fourth ranging sensors to continuously detect the corresponding distance data at a set resolution (e.g., 100ms), the corresponding ranging length can be adjusted.

[0029] Step S20 includes: determining all four-out-of-three non-repeating combinations among the four distance measurement lengths to obtain four distance measurement length combinations. Specifically, a four-out-of-three non-repeating combination refers to a data combination formed by taking any three distance measurement lengths from the four distance measurement lengths, regardless of their order. Easily understood, the four distance measurement length combinations are: (left lateral distance measurement length 32, upper longitudinal distance measurement length 33, right lateral distance measurement length 34), (left lateral distance measurement length 32, upper longitudinal distance measurement length 33, lower longitudinal distance measurement length 35), (left lateral distance measurement length 32, right lateral distance measurement length 34, lower longitudinal distance measurement length 35), and (upper longitudinal distance measurement length 33, right lateral distance measurement length 34, lower longitudinal distance measurement length 35).

[0030] Step S30 includes: determining the radius of the circumcircle corresponding to each distance measurement length combination, and obtaining the radii of the four circumcircles that correspond one-to-one with the four distance measurement length combinations.

[0031] Please refer to Figure 4 It is easy to understand that if the three sensing paths corresponding to the three distance lengths in the distance length combination are connected to the endpoints that contact the wall of the pressure vessel, a triangle can be obtained, and the circumcircle of the triangle corresponds to the circumcircle of the distance length combination.

[0032] In some embodiments, the radius of the circumcircle corresponding to each ranging length combination can be determined by performing the following steps: For each ranging length combination, the following steps are performed: the two ranging lengths in the ranging length combination whose sensing paths are on the same straight line are denoted as X1 and X2 respectively, and the remaining ranging length is denoted as Y1; the radius of the circumcircle corresponding to the ranging length combination is calculated according to the first set formula, X1, X2 and Y1.

[0033] It is easy to understand that in any combination of ranging lengths, there must exist two ranging lengths whose sensing paths lie on the same straight line, and one ranging length perpendicular to the two ranging lengths on the same straight line. Figure 4 For example, assuming the distance measurement length combination is (left lateral distance measurement length 32, upper longitudinal distance measurement length 33, right lateral distance measurement length 34), then the left lateral distance measurement length 32 and the right lateral distance measurement length 34 are on the same straight line. Therefore, the left lateral distance measurement length 32 and the right lateral distance measurement length 34 are denoted as X1 and X2 respectively. The upper longitudinal distance measurement length 33 is perpendicular to the left lateral distance measurement length 32 or the right lateral distance measurement length 34. Therefore, the upper longitudinal distance measurement length 33 is denoted as Y1.

[0034] In some embodiments, the first setting formula can be expressed as: .

[0035] Where R represents the radius of the circumcircle corresponding to the combination of distance measurement lengths.

[0036] Step S40 includes: determining the relevant distance measurement length among the four distance measurement lengths based on the radii of the four 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-circular cylinder 22, which can be obtained by referring to the design drawings of the pressure vessel or by on-site measurement and calculation, and then pre-stored in the control module.

[0037] Please see Figure 5 In some embodiments, step S40 may include steps S401, S402, S403 and S404.

[0038] Step S401 includes: extracting the circumscribed circle radius among the four circumscribed circle radii that is closest in size to the arc radius of the pressure vessel, and recording it as the target radius. Specifically, the absolute values ​​of the differences between the four circumscribed circle radii and the arc radius of the pressure vessel are calculated to obtain four absolute values ​​of difference that correspond one-to-one with the four circumscribed circle radii; the circumscribed circle radius corresponding to the smallest of the four absolute values ​​of difference is recorded as the target radius.

[0039] 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.

[0040] In some embodiments, the difference range can be set to ±6 mm.

[0041] Step S403 includes: when the difference is within the set difference range, the contact situation is recorded as the first contact type, and the three ranging lengths included in the ranging length combination corresponding to the target radius are removed from the four ranging lengths, and the remaining ranging length is determined as the relevant ranging length.

[0042] Specifically, the first contact type indicates that three out of the four sensing paths corresponding to the four ranging lengths make arc-shaped contact with the wall of the pressure vessel (i.e., the inner wall of the semi-circular cylinder 22). It should be noted that... (See also...) Figure 6 36 represents the sensing path corresponding to the relevant distance measurement length, and 221 represents the diameter edge of the pressure vessel wall. When the contact situation is recorded as the first contact type, the circumcircle of the triangle formed by the three endpoints (including endpoints Q, E, and R) in contact with the pressure vessel wall coincides with the circle corresponding to the arc of the pressure vessel wall. This determines that the sensing path corresponding to the relevant distance measurement length is the sensing path in contact with the diameter edge of the pressure vessel wall, thus preparing for the subsequent determination of the position coordinates.

[0043] Step S404 includes: when the difference is not within the set difference range, the contact situation is recorded as the second contact type, and any one of the four ranging lengths is determined as the relevant ranging length.

[0044] Specifically, the second contact type indicates that two of the four sensing paths corresponding to the four ranging lengths make arc-shaped contact with the wall of the pressure vessel (i.e., the inner wall of the semi-circular cylinder 22). It should be noted that... (See also...) Figure 7 When the contact situation is recorded as the second contact type, the circumcircle corresponding to the four distance length combinations will not coincide with the circle corresponding to the arc of the pressure vessel wall. Therefore, in subsequent steps, the method for determining the position coordinates of different contact situations is different.

[0045] Step S50 includes: outputting the position coordinates of the pipe number of the positioning point based on the relevant distance measurement length.

[0046] Please see Figure 8 In some embodiments, step S50 may include steps S501, S502, S503, S504 and S505.

[0047] 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 lower line segment as the upper line segment. Specifically, using Figure 6 For example, Yb corresponds to the lower segment, and Yt corresponds to the upper segment.

[0048] Step S502 includes: obtaining the angle between the left lateral sensing path of the positioning point and the diameter side of the pressure vessel. It should be noted that the angle can be sensed by an inclinometer or attitude sensor mounted on the ranging sensor assembly; this is well-established existing technology and will not be elaborated upon here.

[0049] Step S503 includes: determining the position coordinates of the pipe number of the positioning point based on the included angle, upper line segment, lower line segment, lateral distance and longitudinal distance between adjacent pipe holes of the pressure vessel.

[0050] In some embodiments, step S503 may include: Calculate the height data of the line segment formed by the upper and lower line segments to the diameter side of the pressure vessel based on the included angle, the upper line segment, and the lower line segment; Determine the abscissa of the arc contact point between the upper line segment and the pressure vessel based on the height data and the included angle; The abscissa and ordinate of the pipe hole number are calculated based on the abscissa of the arc contact point, the measured length of the upper line segment, the measured length of the lower line segment, the included angle, the lateral distance, and the longitudinal distance.

[0051] Furthermore, the x-axis expression for the pipe number can be: F1 represents the x-coordinate of the pipe number. The x-coordinate of the contact point of the circular arc. This indicates the distance measurement length of the upper line segment. The angle is represented by C1, the lateral distance between adjacent pipe holes is represented by J, and the lateral compensation length is represented by J.

[0052] The vertical coordinate expression for the pipe number can be: F2 represents the vertical coordinate of the pipe hole number. C1 represents the distance measurement length of the lower line segment, C2 represents the longitudinal distance between adjacent pipe holes, and K represents the longitudinal compensation length.

[0053] Please see Figure 3 To ensure the safety of some pressure vessels, after the semi-circular cylinder 22 is fitted onto the tube sheet 21, both ends of the diameter side of the semi-circular cylinder 22 need to have a reserved welding length of length J at the left end LZ and right end RY of the tube sheet 21 in its extending direction. A reserved welding length of length K is also required from the diameter side of the semi-circular cylinder 22 to the lower end BD of the tube sheet 21. It can be understood that when using 01 (see...) Figure 3 When the origin is 02 (bottom left corner), J and K can be obtained by referring to the design drawings of the pressure vessel or by on-site measurement and calculation. When the origin is 02, J and K are equal to 0.

[0054] In addition, please see Figure 9 The lateral distance refers to the distance between the centers of two adjacent pipe holes on the left and right sides along the x-axis of the coordinate system (parallel to the diameter side of the semi-circular cylinder 22), and the longitudinal distance refers to the distance between the centers of two adjacent pipe holes on the top and bottom sides along the y-axis of the coordinate system (perpendicular to the diameter side of the semi-circular cylinder 22). In some embodiments, C1 is equal to C2.

[0055] Step S504 includes: when the contact condition is recorded as the first contact type, outputting the position coordinates. In this step, the position coordinates can be directly output to the display terminal and related control equipment.

[0056] Step S505 includes: when the contact condition is recorded as the second contact type, the position coordinates are verified to determine whether the position coordinates pass the verification. If yes, the position coordinates are output; otherwise, the relevant ranging length is redefined and the process returns to S501. In this step, since the second contact type cannot be determined solely by analyzing the four ranging lengths to identify which two ranging lengths' sensing paths are in contact with the diameter edge of the semi-circular cylinder 22, a verification step is performed. Only after passing the verification can the position coordinates be directly output to the display terminal and related control equipment. Furthermore, "redefined the relevant ranging length" means selecting one of the four ranging lengths that was not previously defined as a relevant ranging length as the new relevant ranging length.

[0057] In some embodiments, the position coordinates can be verified by performing the following steps: calculating the horizontal coordinate correction value according to the second set formula and the distance measurement length of the right line segment; calculating the vertical coordinate correction value according to the third set formula and the distance measurement length of the left line segment; determining whether the first error value between the horizontal coordinate correction value and the horizontal coordinate of the pipe hole number is within the first set error range, and determining whether the second error value between the vertical coordinate correction value and the vertical coordinate of the pipe 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, the position coordinates are determined to pass the verification. Here, the left and right line segments correspond to the sensing paths corresponding to the other two distance measurement lengths perpendicular to the lower line segment, respectively. Figure 7 For example, the lower line segment corresponds to Yb, while the left and right line segments correspond to Xl and Xr, respectively. Furthermore, the left line segment can be the sensing path corresponding to the next ranging length in a clockwise direction from the lower line segment. Further, the second setting formula can be expressed as: , Xr represents the horizontal coordinate correction value, and Xr represents the distance measurement length of the right line segment. The third setting formula can be expressed as: , Xl represents the vertical coordinate correction value, and Xl represents the distance measurement length of the left line segment.

[0058] Understandably, with Figure 7 For example, when the contact situation is recorded as the second contact type, and the lower longitudinal distance measurement length 35 is exactly determined as the relevant distance measurement length, the verification will pass; otherwise, the verification will fail.

[0059] In some embodiments, both the first set error range and the second set error range can be ±3mm.

[0060] Understandably, by working with four ranging sensors and combining them with model data of a semi-circular pressure vessel, this invention can automatically calculate the pipe number of the pipe hole where the positioning point is located, which greatly improves the efficiency of pipe hole positioning, reduces the workload of manual pipe number calculation, and ensures the accuracy of the pipe number calculation results.

[0061] Please see 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).

[0062] Four distance sensors are used to measure the distances from the positioning point to the pressure vessel on the horizontal plane viewed from above, including the left lateral, right lateral, upper longitudinal, and lower longitudinal directions.

[0063] Please see Figure 10The control module may include a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, it implements the steps of the method for locating the pipe number of a semi-circular pressure vessel borehole provided in the embodiments of the present invention.

[0064] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0065] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented 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 implementations should not be considered beyond the scope of this invention.

[0066] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly using hardware, a software module executed by a processor, or a combination of both. The software module can be located in 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 disks, removable disks, CDs (lower longitudinal ranging length 35OM), or any other form of storage medium known in the art.

[0067] It is understood that the above embodiments only illustrate 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 present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for locating the pipe number of a semi-circular pressure vessel borehole, characterized in that, A pipe hole positioning device is used, the pipe hole positioning device including a positioning point and four distance measuring sensors for measuring the distances from the positioning point to the cylinder wall of the pressure vessel on the horizontal plane viewed from above. The method for locating the pipe hole number of the pressure vessel includes: S10. Determine the four distances from the positioning point to the wall of the pressure vessel in four directions based on the sensing signals output by the four distance sensors. S20. Determine all four non-repeating combinations of three out of four distance measurement lengths to obtain four distance measurement length combinations; S30. Determine the radius of the circumcircle corresponding to each of the distance measurement length combinations, and obtain the radii of the four circumcircles that correspond one-to-one with the four distance measurement length combinations. S40. Determine the relevant distance measurement length among the four distance measurement lengths based on the four circumscribed circle radii and the pre-stored arc radius of the pressure vessel; S50. Output the position coordinates of the pipe number of the positioning point based on the relevant distance measurement length; In S30, the step of determining the radius of the circumcircle corresponding to each of the distance measurement length combinations includes: For each of the aforementioned distance measurement length combinations, the following is performed: The two ranging lengths in the ranging length combination whose sensing paths are on the same straight line are denoted as X1 and X2, respectively, and the remaining ranging length is denoted as Y1; The radius of the circumcircle corresponding to the distance measurement length combination is calculated according to the first set formula, X1, X2 and Y1; The first set formula is expressed as: ; R represents the radius of the circumcircle corresponding to the combination of distance measurement lengths; S40 includes: S401. Extract the circumscribed circle radius that is closest in size to the arc radius of the pressure vessel among the four circumscribed circle radii, and record it as the target radius; S402. Calculate the difference between the target radius and the arc radius of the pressure vessel, and determine whether the difference is within the set difference range; S403. When the difference is within the set difference range, the contact situation is recorded as the first contact type, and the three ranging lengths included in the ranging length combination corresponding to the target radius are removed from the four ranging lengths, and the remaining ranging length is determined as the relevant ranging length. S404. When the difference is not within the set difference range, the contact situation is recorded as the second contact type, and any one of the four ranging lengths is determined as the relevant ranging length.

2. The method for locating the pipe number of a semi-circular pressure vessel according to claim 1, characterized in that, The S50 includes: S501. The sensing path of the relevant ranging length is recorded as the lower line segment, and the sensing path of another ranging length that is on the same straight line as the lower line segment is recorded as the upper line segment. S502. Obtain the angle between the left lateral sensing path of the positioning point and the diameter side of the pressure vessel; S503. Determine the position coordinates of the pipe number of the positioning point based on the included angle, the upper line segment, the lower line segment, the lateral distance and longitudinal distance between adjacent pipe holes of the pressure vessel; S504. When the contact situation is recorded as the first contact type, the position coordinates are output; 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 yes, the position coordinates are output; otherwise, the relevant distance measurement length is re-determined and the process is returned to S501.

3. The method for locating the pipe number of a semi-circular pressure vessel according to claim 2, characterized in that, S503 includes: The height data of the line segment formed by the upper and lower line segments to the diameter side of the pressure vessel is calculated based on the included angle, the upper line segment, and the lower line segment. The abscissa of the arc contact point between the upper line segment and the pressure vessel is determined based on the height data and the included angle. The abscissa and ordinate of the pipe hole number are calculated based on 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 lateral distance, and the longitudinal distance.

4. The method for locating the pipe number of a semi-circular pressure vessel borehole according to claim 3, characterized in that, The abscissa expression of the pipe number is: F1 represents the x-coordinate of the pipe number. This represents the x-coordinate of the arc contact point. This indicates the distance measurement length of the upper line segment. The included angle is represented by C1, the lateral distance between adjacent pipe holes is represented by J, and the lateral compensation length is represented by J. The vertical coordinate expression for the pipe number is: F2 represents the ordinate of the pipe number. C1 represents the distance measurement length of the lower line segment, C2 represents the longitudinal distance between adjacent pipe holes, and K represents the longitudinal compensation length.

5. The method for locating the pipe number of a semi-circular pressure vessel according to claim 4, characterized in that, In step S505, the step of verifying the position coordinates includes: The horizontal coordinate correction value is calculated based on the second set formula and the distance measurement length of the right line segment; The vertical coordinate correction value is calculated based on the third set formula and the distance measurement length of the left line segment; Determine whether the first error value between the horizontal axis correction value and the horizontal axis of the pipe hole number is within a first set error range, and determine whether the second error value between the vertical axis correction value and the vertical axis of the pipe hole 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, the position coordinates are determined to pass the verification.

6. The method for locating the pipe number of a semi-circular pressure vessel according to claim 5, characterized in that, The second setting formula is expressed as: , Xr represents the horizontal coordinate correction value, and Xr represents the distance measurement length of the right line segment; The third setting formula is expressed as follows: , Xl represents the vertical coordinate correction value, and Xl represents the distance measurement length of the left line segment.

7. A pipe hole positioning device, characterized in that, include: Location point; Four distance sensors are used to measure the distances from the positioning point to the pressure vessel on the horizontal plane viewed from above; the distances from the positioning point to the pressure vessel are: left lateral, right lateral, upper longitudinal, and lower longitudinal. as well as A control module includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for locating the pipe number of a semi-circular pressure vessel borehole as described in any one of claims 1 to 6.

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