Automatic alignment device and alignment method

Abstract

The invention relates to an automatic alignment device and an alignment method, the device comprises an alignment device body erected on equipment, the body comprises at least two measuring cylinders, the measuring cylinders are oppositely erected in through holes formed in the two sides of the equipment and fixed, and a positioning module, an information acquisition module and a wireless module are installed in each measuring cylinder. Point information of four positioning devices needing to be installed in an automatic calibration device is achieved, an O point obtains basic information such as longitude, latitude and altitude through a 5G positioning module, then a three-dimensional coordinate system is constructed with the O point as an original point of the coordinate system, information of the other three points is obtained through the same method, and the information of the other three points is obtained through the constructed three-dimensional coordinate system. According to the method, the coordinate information of the other three points is obtained, two three-dimensional straight lines are obtained according to the coordinate information of the four points and the distribution positions of the four points, after one straight line is fixed, the two straight lines coincide finally by adjusting the three-dimensional angle of the other straight line, and therefore the purpose of automatic alignment is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic calibration, and relates to an automatic alignment device and an alignment method, mainly solving the problem that two devices in the same space need to be installed on the same straight line. Background Art

[0002] At present, most of the ammonia escape detection devices used in thermal power plants adopt the principle of opposed-beam detection. The opposed-beam detection has high requirements for the installation of the devices. It is necessary to install the probes on both sides of the furnace on the same straight line to ensure sufficient light transmittance, and then ensure the accuracy of the measurement. In actual use, it is often because the opposed-beam probes installed on both sides of the furnace are not on the same straight line, or the dust in the furnace is large, resulting in a significant reduction in the light transmittance, and then causing deviation of the measurement results, resulting in inaccurate ammonia escape parameters and increased daily maintenance workload. The above phenomena have the following problems: (1) In the installation project, a level is generally used as a reference, and the installation error is large. During the actual operation process, the measurement data is often inaccurate; (2) The large amount of dust in the furnace itself will also cause certain interference to the adjustment of the probe; (3) The daily maintenance workload is large, increasing the workload of maintenance personnel.

[0003] Therefore, an automatic alignment device and an alignment method are designed to overcome the above problems. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide an automatic alignment device and an alignment method with simple and reasonable structure and improved assembly efficiency. In the algorithm of the present alignment method, the longitude, latitude and altitude information of the origin (point O) is first obtained, and then a three-dimensional rectangular coordinate system is established with this point as the origin. Then, by obtaining the longitude, latitude and altitude information of points A / B / C, the coordinate information of the other three points is deduced. Then, through a series of conversion algorithms, finally, the straight line OA and the straight line BC are made to coincide, so as to achieve the purpose of automatic calibration.

[0005] The present invention is realized by the following technical solutions: An automatic alignment device, which includes an alignment device body erected on the equipment. The body includes at least two measuring cylinders, which are fixed in the through holes opened on both sides of the equipment relatively. A positioning module, an information acquisition module, a wireless module, an ADC data conversion module, a calibration module, a data cable, a power cable, and a power module are installed inside the measuring cylinder. Among them, the calibration module is connected to the infrared head on the measuring cylinder. Through positioning, acquisition, and data conversion, the data is finally transmitted to an external device through the wireless module or the data cable for calibration operation. After the operation is completed, the infrared heads on both sides are relatively calibrated through a mobile device. The power cable is connected to the power module, and the power module can also be charged through a charging hole.

[0006] An alignment method for an automatic alignment device, the method comprising:

[0007] 1) Install the measuring cylinders on opposite sides of the device to be measured through tools or manually, and they are all arranged on the same horizontal plane. Relative arrangement or cross arrangement can be adopted. The more measuring cylinders are used, the more accurate the measurement value is;

[0008] 2) Start the measuring cylinders, and use the positioning module inside the measuring cylinders to position the position;

[0009] 3) The data acquisition module acquires the data after positioning, and sends it to an external device through a wireless network for alignment calculation;

[0010] 4) Adjust the measuring cylinders on both sides through tools or manually with the calculated data, and move the device together during the adjustment, so as to achieve the alignment of the devices on opposite sides.

[0011] Preferably: The specific alignment calculation in step 3) includes the following steps:

[0012] S1. Organize the data located by the positioning module in step 2); this data includes longitude, latitude, and altitude information;

[0013] S2. Construct a three-dimensional coordinate system, with point O as the coordinate origin, and construct a three-dimensional coordinate system;

[0014] S3. Point information conversion: Through the positioning module, obtain the longitude, latitude, and altitude information of points A / B / C, and convert points A / B / C into points in the three-dimensional coordinate system to obtain the coordinates of these three points respectively);

[0015] S4. Determination of the straight line equation: Through the coordinate information of points O / A / B / C, obtain the parametric equations of straight line OA and straight line BC), and the equations of the two straight lines are respectively:

[0016] Straight line OA: r1 = a1 + t·b1;

[0017] Straight line BC: r2 = a2 + s·b2;

[0018] where a1 and a2 are position vectors, b1 and b2 are direction vectors, and t and s are parameters;

[0019] S5. Fix straight line OA as the reference straight line to be calibrated, and straight line BC as the straight line to be adjusted;

[0020] S6. Translate the straight line, translate straight line BC so that it intersects with straight line OA, and obtain the translation parameter. The translation vector is: a1 - a2;

[0021] S7. Translate straight line BC according to the translation parameter;

[0022] S8. Obtain the new straight-line equation BC′ of the straight line BC according to the translation result: r2′ = a1 + t·b2;

[0023] S9. Determine whether the straight line BC intersects with the straight line OA according to the translated result. If they intersect, enter the stage of rotating the straight line; if not, repeat the steps of S6 - S8 until the two straight lines intersect;

[0024] S10. Rotate the straight line: Rotate BC′ so that its direction vector b2 coincides with b1, and calculate the rotation parameter;

[0025] S11. Rotate the straight line BC′ according to the rotation parameter;

[0026] S12. Obtain the new straight-line equation BC″ of the straight line BC according to the rotation result: r2″ = a1 + s·R·b2;

[0027] S13. Determine the coincidence condition. When R·b2 = b1, the two straight lines coincide. Determine whether the two straight lines coincide according to the rotated result. If they coincide, the adjustment is completed; if not, repeat the steps of S10 - S12 to continue the adjustment until the two straight lines coincide. Preferably: The rotation step in the step S10 is specifically as follows:

[0028] S10.1. Calculate the rotation axis: The rotation axis is b1×b2;

[0029] S10.2. Calculate the rotation angle: The rotation angle θ satisfies: Then obtain the final rotation angle through the inverse trigonometric function;

[0030] S10.3. Apply the rotation matrix: Use the rotation matrix R to rotate b2 to the direction of b1 to obtain the rotation parameter.

[0031] Preferably: The positioning module is specifically a 5G positioning module.

[0032] Preferably: The wireless module includes one or more combinations of a 5G module, a WIFI module, or a Bluetooth module.

[0033] Preferably: The external device is a computer.

[0034] The beneficial effects of the present invention are as follows:

[0035] The automatic alignment device and alignment method designed by the present invention can obtain the point information of 4 positioning devices that need to be installed in the automatic calibration device. Among them, for point O, first use the 5G positioning module to obtain basic information such as longitude, latitude, and altitude, and then take this point as the origin of the coordinate system to construct a three-dimensional coordinate system. Use the same method to obtain the information of the other three points. Using the constructed three-dimensional coordinate system, obtain the coordinate information of the other three points. According to the coordinate information of these four points and their distribution positions, obtain 2 three-dimensional straight lines. After fixing one straight line, by adjusting the three-dimensional angle of the other straight line, finally make the two straight lines coincide, so as to achieve the purpose of automatic alignment. The whole process is simple and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a diagram showing the installation positions of points O / A / B / C on the automatic calibration device of the present invention on the boiler side of a thermal power plant;

[0037] Figure 2 It is a schematic structural diagram of the measuring cylinder in the present invention;

[0038] Figure 3 It is a three-dimensional coordinate system established with point O as the origin of the coordinate system in the present invention;

[0039] Figure 4 It is a schematic flow chart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] To enable those of ordinary skill in the art to more clearly understand the purpose, technical solutions, and advantages of the present invention, the following further elaborates on the present invention in conjunction with the accompanying drawings and embodiments.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "horizontal", "vertical", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or component referred to must have a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0042] The following will introduce the present invention in detail with reference to the accompanying drawings: As Figure 1-2As shown in the figure, an automatic alignment device includes an alignment device body mounted on equipment 2. The body includes at least two measuring cylinders 1, which are fixed in through holes 3 opened on both sides of equipment 2 relatively. A positioning module 4, an information acquisition module 5, a wireless module 6, an ADC data conversion module 7, a calibration module 8, a data cable 9, a power cable 10, and a power module 11 are installed inside the measuring cylinder 1. Among them, the calibration module 8 is connected to an infrared head 12 on the measuring cylinder 1. Through positioning, acquisition, and data conversion, the data is finally transmitted to an external device through the wireless module 6 or the data cable 9 for calibration operation. After the operation is completed, the infrared heads 12 on both sides are relatively calibrated through a mobile device. The power cable 10 is connected to the power module 11, and the power module 11 can also be charged through a charging hole.

[0043] As Figure 3-4 shown, an alignment method for an automatic alignment device includes:

[0044] 1) Arrange the measuring cylinders 1 on both sides of the equipment 2 to be measured through tools or manually. They are all arranged on the same horizontal plane and can be arranged relatively or in a cross shape. The more measuring cylinders 1 are used, the more accurate the measurement value is;

[0045] 2) Start the measuring cylinder 1 and use the positioning module inside the measuring cylinder 1 to position the position;

[0046] 3) The data acquisition module acquires the data after positioning and sends it to an external device (not shown in the figure) through a wireless network for alignment operation;

[0047] 4) Adjust the measuring cylinders 1 on both sides through tools or manually for the calculated data. When adjusting, move the equipment together to achieve the alignment of the equipment on both sides.

[0048] The specific alignment operation in step 3) includes the following steps:

[0049] S1. Organize the data located by the positioning module in step 2). This data includes longitude, latitude, and altitude information;

[0050] S2. Construct a three-dimensional coordinate system with point O as the coordinate origin;

[0051] S3. Point information conversion: Through the positioning module, obtain the longitude, latitude, and altitude information of points A / B / C, and convert points A / B / C into points in the three-dimensional coordinate system to obtain the coordinates of these three points respectively;

[0052] S4. Determine the straight line equations: Through the coordinate information of points O / A / B / C, obtain the parametric equations of straight lines OA and BC. The equations of the two straight lines are respectively:

[0053] The straight line OA: r1 = a1 + t·b1;

[0054] The straight line BC: r2 = a2 + s·b2;

[0055] Where a1 and a2 are position vectors, b1 and b2 are direction vectors, and t and s are parameters;

[0056] S5. Fix the straight line OA as the reference straight line to be calibrated, and the straight line BC as the straight line to be adjusted;

[0057] S6. Translate the straight line. Translate the straight line BC so that it intersects with the straight line OA to obtain the translation parameter. The translation vector is: a1 - a2;

[0058] S7. Translate the straight line BC according to the translation parameter;

[0059] S8. According to the translation result, obtain the new straight line equation BC′ of the straight line BC: r2′ = a1 + t·b2;

[0060] S9. According to the translation result, determine whether the straight line BC intersects with the straight line OA. If they intersect, enter the stage of rotating the straight line. If they do not intersect, repeat the steps of S6 - S8 until the two straight lines intersect;

[0061] S10. Rotate the straight line: Rotate BC′ so that its direction vector b2 coincides with b1, and calculate the rotation parameter;

[0062] S11. Rotate the straight line BC′ according to the rotation parameter;

[0063] S12. According to the rotation result, obtain the new straight line equation BC″ of the straight line BC: r2″ = a1 + s·R·b2;

[0064] S13. Determine the coincidence condition. When R·b2 = b1, the two straight lines coincide. According to the rotation result, determine whether the two straight lines coincide. If they coincide, the adjustment is completed. If they do not coincide, repeat the steps of S10 - S12 to continue the adjustment until the two straight lines coincide.

[0065] The specific rotation steps in step S10 are as follows:

[0066] S10.1. Calculate the rotation axis: The rotation axis is b1 × b2;

[0067] S10.2. Calculate the rotation angle: The rotation angle θ satisfies: Then obtain the final rotation angle through the inverse trigonometric function;

[0068] S10.3. Apply the rotation matrix: Use the rotation matrix R to rotate b2 to the direction of b1 to obtain the rotation parameter.

[0069] The positioning module is specifically a 5G positioning module, and RG520N / RG525F / RG5x0F / RM5x0N series positioning modules can be used. The wireless module includes one or a combination of a 5G module, a WIFI module, and a Bluetooth module. The external device is a computer.

[0070] The specific embodiments described herein are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An automatic alignment device, which comprises an alignment device body installed on the equipment, and is characterized in that: The body includes at least two measuring cylinders, which are fixedly installed in the through holes opened on both sides of the device relatively. A positioning module, an information acquisition module, a wireless module, an ADC data conversion module, a calibration module, a data cable, a power cable, and a power module are installed inside the measuring cylinder. Among them, the calibration module is connected to the infrared heads on the measuring cylinders. Through positioning, acquisition, and data conversion, the data is finally transmitted to an external device through the wireless module or the data cable for calibration calculation. After the calculation is completed, the infrared heads on both sides are relatively calibrated through a mobile device. The power cable is connected to the power module, and the power module can also be charged through a charging hole for use.

2. An alignment method for the automatic alignment device according to claim 1, characterized in that, The method includes: 1) Arrange the measuring cylinders on the opposite sides of the device to be measured through tools or manually. They are all arranged on the same horizontal plane and can be arranged relatively or in a cross pattern. The more measuring cylinders are used, the more accurate the measurement value is; 2) Start the measuring cylinders and use the positioning module inside the measuring cylinders to position the position; 3) The data acquisition module acquires the positioned data and sends it to an external device through a wireless network for alignment calculation; 4) Adjust the measuring cylinders on both sides through tools or manually with the calculated data. When adjusting, move the device together. After the infrared heads on both sides correspond, the alignment of the devices on both sides is achieved.

3. The alignment method of the automatic alignment device according to claim 2, characterized in that: The specific alignment calculation in step 3) includes the following steps: S1. Organize the data located by the positioning module in step 2). This data includes longitude, latitude, and altitude information; S2. Construct a three-dimensional coordinate system with point O as the coordinate origin; S3. Point information conversion: Through the positioning module, obtain the longitude, latitude, and altitude information of points A / B / C, and convert points A / B / C into points in the three-dimensional coordinate system to obtain the coordinates of these three points respectively; S4. Determination of the straight line equation: Obtain the parametric equations of straight lines OA and BC through the coordinate information of points O / A / B / C. The equations of the two straight lines are respectively: Straight line OA: r1 = a1 + t·b1; Straight line BC: r2 = a2 + s·b2; Where a1 and a2 are position vectors, b1 and b2 are direction vectors, and t and s are parameters; S5. Fix straight line OA as the reference straight line to be calibrated, and straight line BC as the straight line to be adjusted; S6. Translate the straight line. Translate straight line BC so that it intersects with straight line OA to obtain the translation parameter. The translation vector is: a1 - a2; S7. Translate straight line BC according to the translation parameter; S8. According to the translation result, obtain the new straight line equation BC′ of straight line BC: r2′ = a1 + t·b2; S9. According to the translation result, determine whether straight line BC intersects with straight line OA. If it intersects, enter the stage of rotating the straight line. If it does not intersect, repeat steps S6 - S8 until the two straight lines intersect; S10. Rotate the straight line: Rotate BC′ so that its direction vector b2 coincides with b1, and calculate the rotation parameter; S11. Rotate straight line BC′ according to the rotation parameter; S12. Obtain the new straight-line equation BC″ of the straight line BC according to the rotation result: r2″ = a1 + s·R·b2; S13. Determine the coincidence condition. When R·b2 = b1, the two straight lines coincide. According to the rotation result, judge whether the two straight lines coincide. If they coincide, the adjustment is completed. If not, repeat steps S10 - S12 to continue the adjustment until the two straight lines coincide.

4. The alignment method of the automatic alignment device according to claim 3, characterized in that: The specific rotation steps in step S10 are as follows: S10.

1. Calculate the rotation axis: The rotation axis is b1×b2; S10.

2. Calculate the rotation angle: The rotation angle θ satisfies: Then, through the inverse trigonometric function, obtain the final rotation angle; S10.

3. Apply the rotation matrix: Use the rotation matrix R to rotate b2 to the direction of b1 to obtain the rotation parameters.

5. The alignment method of the automatic alignment device according to claim 2, characterized in that The positioning module is specifically a 5G positioning module.

6. The alignment method of the automatic alignment device according to claim 2, characterized in that: The wireless module includes one or a combination of a 5G module, a WIFI module, or a Bluetooth module.

7. The alignment method of the automatic alignment device according to claim 2, characterized in that: The external device is a computer.

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