Test tank door moving device, moving positioning method, terminal and medium

Abstract

The invention relates to a test tank door moving device, a moving positioning method, a terminal and a medium. The device comprises a moving mechanism, a tank door fixing mechanism and a tank door positioning system, wherein the moving mechanism guides a moving trolley through a tracking module; the tank door fixing mechanism clamps and fixes a tank door through a mechanical arm and a clamp. The positioning method comprises the following steps: S1, presetting an optimal distance value and a standard position; s2, the tank door is clamped and fixed to a moving mechanism; s3, distance signals, collected by the distance measuring mechanism, between the chassis and the moving trolley are obtained in real time; s4, an optical signal receiving unit collects an image, and the center position of the tank door is adjusted; s5, adjusting the distance between the underframe and the moving trolley to be close to the optimal distance value; and S6, the tank door and the tank body are positioned. The full-process automation of clamping, moving and positioning of the tank door is achieved, and the problems that existing manual operation is low in efficiency and insufficient in motor control precision are solved.

Description

Technical Field

[0001] The present invention belongs to the field of test tanks, and in particular relates to a test tank door moving device, a moving positioning method, a terminal and a medium. Background Art

[0002] In the field of insulation testing for power equipment, power frequency withstand voltage and partial discharge tests on test items such as insulation basins and insulating components must be conducted within a test tank filled with SF6 gas. During the test, the tank door is opened and closed at high frequencies, and the efficiency and accuracy of its movement and positioning directly impact the test progress and safety.

[0003] In the existing technology, the movement and positioning of the tank door are mainly carried out by manual operation or motor control. The manual operation method is to adjust the position of the tank door by a crane or manual handling device, and rely on the operator's experience for repeated calibration. This method requires a lot of manpower, and a single positioning takes up to tens of minutes. It is also affected by human factors, and it is difficult to ensure the center alignment and distance between the tank door and the tank body, which can easily lead to sealing failure or collision risks; the motor control method is to use a motor to drive the tank door to move. Although it reduces the manpower burden, the initial position and end position still need to be set manually, and the degree of automation is low. At the same time, this method has extremely high requirements on the rigidity of the mechanical structure and the accuracy of the guide rail. Long-term use is prone to positioning deviations due to mechanical wear, and it is impossible to dynamically adjust the relative position of the tank door and the tank body in real time. Especially when docking at close range, it is difficult to avoid overshoot or undershoot problems.

[0004] However, there are still certain problems in the existing technology: manual adjustment is time-consuming and labor-intensive, and motor control still requires manual intervention, which cannot meet the needs of automated testing; the positioning accuracy is insufficient, and it is difficult to ensure the dual precise alignment of distance and center position at the same time; during the movement, the tank door is prone to collision with the tank body due to position deviation, or SF6 gas leakage may occur due to poor sealing, posing a safety hazard. Summary of the Invention

[0005] In response to the problems in the prior art, the present invention provides a test tank door moving device, a moving positioning method, a terminal and a medium, which solve the problems in the prior art of using manual operation mode that is time-consuming and labor-intensive, or using motor control mode that has low precision, which may lead to collision between the tank door and the tank body, poor sealing and SF6 gas leakage.

[0006] The technical solution adopted in the present invention is as follows: In a first aspect, the present application provides a test tank door moving device, comprising: The moving mechanism includes a moving trolley, a tracking module and a chassis. The tracking module is used to guide the movement of the moving trolley, and the chassis is provided with a test tank body. The tank door fixing mechanism includes a mechanical arm and a clamp. The mechanical arm is set on the base frame, and the clamp is set at the end of the mechanical arm for clamping the tank door. The tank door positioning system includes a distance measuring mechanism and a positioning mechanism. At least one distance measuring mechanism is provided. The distance measuring mechanism is fixedly mounted on the chassis and / or the mobile trolley. The distance measuring mechanism is used to measure the distance between the chassis and the mobile trolley. The positioning mechanism includes an optical signal transmitting unit and an optical signal receiving unit. The optical signal transmitting unit is mounted on the mobile trolley, and the optical signal receiving unit is mounted on the chassis, and is used to determine the corresponding relationship between the center position of the tank body and the tank door.

[0007] Preferably, the distance measuring mechanism includes a long-distance laser distance measuring unit and a short-distance laser distance measuring unit, and the long-distance laser distance measuring unit and the short-distance laser distance measuring unit have different measurement ranges.

[0008] Preferably, the optical signal receiving unit is a camera, and the camera is used to capture the image of the light emitted by the optical signal emitting unit.

[0009] In a second aspect, the present application provides a method for moving and positioning a test tank door, which is implemented using the moving device described in the first aspect, and includes the following steps: Step S1, presetting the optimal distance D between the chassis and the mobile vehicle and the standard position of the center point of the optical signal receiving unit; Step S2: clamping the tank door with a tank door clamp and fixing the tank door on the moving mechanism with a robotic arm; Step S3: The mobile trolley moves along the tracking module and obtains the distance signal between the base frame and the mobile trolley collected by the distance measuring mechanism in real time. When the distance between the base frame and the mobile trolley is less than the first adjustment threshold, step S4 is executed; Step S4: The optical signal receiving unit collects an image containing the light emitted by the optical signal emitting unit and adjusts the center position of the tank door; Step S5: collecting distance signals through the distance measuring mechanism, adjusting the distance between the chassis and the mobile trolley to approach the optimal distance value D. When the difference between the distance between the chassis and the mobile trolley and the preset optimal distance value D is less than a second adjustment threshold, proceeding to step S6; Step S6: The robotic arm starts to move to position the tank door and the tank body.

[0010] Preferably, in step S4, the following steps are included: Step S4-1, collecting an image including light emitted by the optical signal emitting unit; Step S4-2: Identify and process feature points of the image, determine the image offset of the feature points relative to the standard position, and determine the difference between the image offset and a second adjustment threshold. If the image offset is greater than the second adjustment threshold, jump to step S4-3; otherwise, jump to step S5. Step S4-3: According to the offset, send a command to the moving mechanism to align the center of the tank door with the center of the tank body, and jump to step S4-1.

[0011] Preferably, in step S5, a closed-loop control algorithm is used to control the rotation of the wheels of the mobile cart. The input of the closed-loop control algorithm is the difference between the real-time measured distance and the optimal distance value D, and the output is the rotation speed and distance of the two wheels of the mobile cart.

[0012] Preferably, the closed-loop control algorithm adopts an incremental PID algorithm, and the formula is:

[0013]

[0014] in is the output after sampling, is the proportionality coefficient, is the differential coefficient, is the deviation at time k, is the deviation at time k-1, is the deviation at k-2 moment, is the change increment of the controlled parameter at time k.

[0015] Preferably, a set deviation threshold is introduced, and the change increment is:

[0016] in is the set deviation threshold, is the integration coefficient.

[0017] In a third aspect, the present application provides a terminal, including: A memory, used for storing a tank door movement positioning program; A processor is used to implement the steps of the tank door movement and positioning method as described in the second aspect when executing the tank door movement and positioning program.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes a tank door movement and positioning method as described in the second aspect.

[0019] It can be seen from the above technical solutions that the present invention has the following advantages: 1. By setting up a test tank door moving device including a moving mechanism, a tank door fixing mechanism and a tank door positioning system, the automatic gripping, movement and positioning of the test tank door are realized, which can effectively improve the efficiency and safety of the tank door installation and removal process, reduce the risk of manual operation, and enhance the automation and intelligence level of the test process; By introducing long-range and short-range laser ranging units, the ranging mechanism can cover the measurement requirements of different distance segments, and has good accuracy and responsiveness in both long-range rapid positioning and short-range fine adjustment, thus improving the distance perception and stability of the overall system. By setting the optical signal receiving unit as a camera, image capture of the light emitted by the optical signal transmitting unit is achieved. Combined with image recognition and processing technology, image-guided precise alignment of the center of the tank door and the center of the tank body can be achieved, enhancing the system's visual perception ability and positioning accuracy.

[0020] 2. Combining distance measurement and image processing technology, distance control and center positioning operations are carried out in stages to ensure coarse-to-fine closed-loop control during the tank door installation process, thereby improving positioning reliability and assembly accuracy; By introducing image feature point recognition and offset judgment mechanisms, the positioning process is equipped with adaptive correction capabilities. When the image offset exceeds the threshold, the tank door position is automatically readjusted until alignment is achieved, effectively improving the adaptive capability and robustness of positioning driven by image recognition. By introducing a closed-loop control algorithm during the positioning process to control the rotation of the mobile trolley wheels, and using the real-time measured distance error as input, the trolley's moving speed and distance can be dynamically adjusted, thereby improving the execution accuracy and response speed of the tank door alignment process. By using the incremental PID algorithm in closed-loop control, proportional and differential adjustments can be made according to the error change trend, effectively avoiding the integral saturation and control oscillation problems of the traditional PID algorithm in scenarios with high sampling frequencies, and improving the stability and accuracy of the control system; By introducing the deviation threshold and integral coefficient, the control system has higher steady-state accuracy when the error is small and faster response speed when the error is large, further improving the sensitivity and robustness of the PID algorithm in the tank door alignment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1This is a schematic structural diagram of a tank door moving device in an embodiment of a specific embodiment of the present invention; Figure 2 This is a structural diagram of the chassis and the mobile trolley in an embodiment of a specific embodiment of the present invention; Figure 3 This is a flow chart of a tank door moving and positioning method in a specific embodiment of the present invention.

[0023] In the figure: 1. Test tank body; 2. Tank door; 3. Robotic arm; 4. Base frame; 5. Positioning mechanism; 6. Distance measuring mechanism; 7. Mobile trolley; 8. Long-range laser ranging unit; 9. Short-range laser ranging unit; 10. Camera; 11. Optical signal transmitting unit. DETAILED DESCRIPTION

[0024] In the detailed description below, various embodiments of the present disclosure will be described more fully. The present disclosure can have various embodiments, and adjustments and changes can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather that the present disclosure should be understood to encompass all adjustments, equivalents, and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0025] The following are some explanations of terms in this plan to facilitate a better understanding of this plan: A test tank is a sealed container used for performance verification and gas testing of electrical equipment. It is commonly used in testing scenarios such as insulation performance, gas leakage, and temperature fluctuations on high-voltage electrical equipment. Test tanks are typically made of pressure-resistant materials, offering excellent sealing and structural strength, capable of withstanding extreme conditions such as high voltage, high-pressure gas, or vacuum. During the development of gas-insulated equipment, test tanks can be used to simulate the operating environments of equipment such as substations and switchgear. By injecting target gases (such as SF6, air, and nitrogen), multiple rounds of testing are conducted to compare and analyze parameters such as insulation strength, thermal stability, arcing behavior, and long-term sealing performance. In electrical engineering, test tanks can also incorporate sensor systems to collect data such as voltage, current, temperature, and pressure, supporting subsequent equipment design, optimization, and reliability assessment. With increasing environmental protection requirements, some test tanks are also used for comparative performance testing of new, environmentally friendly alternatives to SF6. To improve testing efficiency, modern test tanks are often equipped with automated control systems, enabling closed-loop operation for parameter adjustment, data acquisition, and fault protection, ensuring test safety and accurate results.

[0026] SF6 (sulfur hexafluoride) is a colorless, odorless, non-toxic, and non-flammable inert gas with extremely high electrical insulation strength and excellent arc-extinguishing properties. Therefore, it is widely used in power systems such as high-voltage switchgear and gas-insulated substations (GIS). SF6's breakdown voltage is much higher than that of air or nitrogen, enabling equipment to achieve high-voltage insulation in a smaller volume, significantly reducing the size and installation space of power equipment. SF6 also exhibits strong thermal and chemical stability, preventing rapid decomposition under high-temperature arc conditions. This effectively interrupts the current flow and prevents equipment damage. However, SF6 is also a potent greenhouse gas with a global warming potential (GWP) approximately 23,000 times that of carbon dioxide. Therefore, its use, storage, and recycling must strictly adhere to environmental regulations. During use, equipment must be regularly inspected for gas leaks and recycled to prevent atmospheric leakage. Furthermore, to reduce reliance on SF6, research and development of alternative gases, such as C4-FN mixtures and CO2 composite gases, has been ongoing in recent years to reduce environmental impact while maintaining insulation performance.

[0027] 3. Triangulation is a spatial positioning technology based on geometric principles, widely used in navigation, target tracking, distance measurement, and industrial inspection. This method uses the known angles between two observation points and the target, combined with the known baseline distance between the two observation points, to construct a triangle structure, thereby calculating the target's precise position. The core of this method lies in the precise measurement of angles and accurate determination of baseline lengths, often achieved with the help of devices such as optical sensors, radar, and laser rangefinders. In the automatic control of electrical or mechanical systems, triangulation can be used to position mobile equipment or robotic arms, ensuring accurate and repeatable movement paths. In power systems, this method is also used by intelligent devices such as overhead line inspection robots and drones to identify the position of conductors and equipment. In industrial manufacturing, triangulation is embedded in machine vision systems to achieve high-precision measurement of part size, position, or displacement. Triangulation is not only intuitive and highly accurate, but also adaptable to complex environments. It is particularly suitable for real-time and dynamic measurement systems, becoming a fundamental tool in various measurement and control systems.

[0028] 4. A closed-loop control algorithm is an automatic control strategy based on feedback mechanisms. It continuously measures the system output, compares it with the desired value, and adjusts the control input to achieve the target state. It is widely used in industrial automation, robotic control, electrical systems, temperature regulation, speed control, and other fields. A closed-loop system typically consists of four core components: sensors, controllers, actuators, and the controlled object. Sensors collect real-time information about the system's current state (such as temperature, speed, and pressure) and provide feedback to the controller. The controller then calculates the error based on a pre-set algorithm (such as PID or fuzzy control) and outputs an adjustment signal to drive the actuator to change the system state, thus forming a closed loop. The advantage of this control approach is that the system has self-correcting capabilities, is resilient to external disturbances and inherent nonlinearities, and achieves stable and precise dynamic response. Compared to open-loop control, closed-loop control is more reliable and suitable for scenarios requiring high control accuracy. However, closed-loop control design is also more complex, requiring the appropriate setting of feedback channels, control parameters, and system models to avoid problems such as oscillation, delay, and instability. In practical applications, simulation analysis or experimental parameter adjustment are often used to ensure system stability and robustness.

[0029] In response to the problems in the prior art, the present invention provides a test tank door moving device, a moving positioning method, a terminal and a medium, which solve the problems in the prior art of using manual operation mode that is time-consuming and labor-intensive, or using motor control mode that has low precision, which may lead to collision between the tank door and the tank body, poor sealing and SF6 gas leakage.

[0030] Example 1: like Figure 1 and Figure 2 As shown, the present application provides a test tank door moving device, comprising: The moving mechanism includes a moving trolley 7, a tracking module and a chassis 4. The tracking module is used to guide the movement of the moving trolley 7. The chassis 4 is provided with a test tank body 1. The tank door 2 fixing mechanism includes a mechanical arm 3 and a clamp. The mechanical arm 3 is arranged on the base frame 4. The clamp is arranged at the end of the mechanical arm 3 for clamping the tank door 2. The tank door 2 positioning system includes a distance measuring mechanism 6 and a positioning mechanism 5. At least one distance measuring mechanism 6 is provided. The distance measuring mechanism 6 is fixedly mounted on the base frame 4 and / or the mobile trolley 7. The distance measuring mechanism 6 is used to measure the distance between the base frame 4 and the mobile trolley 7. The positioning mechanism 5 includes an optical signal transmitting unit 11 and an optical signal receiving unit. The optical signal transmitting unit 11 is mounted on the mobile trolley 7, and the optical signal receiving unit is mounted on the base frame 4, and is used to determine the corresponding relationship between the center position of the tank body and the tank door 2.

[0031] In a specific embodiment, the mobile trolley 7 includes a mounting plate, a driving wheel, a guide wheel and a motor. The driving wheel and the guide wheel are mounted on the bottom of the mounting plate. The motor drives the driving wheel to rotate to move the trolley forward or backward. The tracking module is a magnetic tape or optical guide rail embedded in the ground track. It is identified by a magnetic sensor or optical sensor at the bottom of the trolley and automatically travels along its path to ensure the controllability and repeatability of the movement. The chassis 4 is provided with a bearing structure for mounting the test tank body 1, including a limit block, a shock-absorbing rubber pad and an anti-slip panel, which not only ensures the stable positioning of the tank body, but also prevents vibration or slippage. The clamp adopts a splint structure with a rubber pad, which is controlled to open and close by a cylinder or an electric screw, effectively avoiding mechanical damage to the surface of the tank door 2. This structure is suitable for test tank doors 2 of various sizes and weight levels, which improves the versatility of the equipment.

[0032] Preferably, the distance measuring mechanism 6 includes a long-distance laser distance measuring unit 8 and a short-distance laser distance measuring unit 9, and the long-distance laser distance measuring unit 8 and the short-distance laser distance measuring unit 9 have different measurement ranges; In order to ensure the accuracy of the distance positioning between the tank body and the tank door 2, the long-distance laser ranging unit 8 and the short-distance laser ranging unit 9 use the triangulation method to measure the distance; The long-distance laser ranging unit 8 has a measuring range of 200mm-1000mm and an accuracy of 1.5mm; the short-distance laser ranging unit 9 has a measuring range of 100mm-400mm and an accuracy of 0.075mm.

[0033] Specifically, the long-distance laser ranging unit 8 is a laser radar module fixedly mounted on the front end of the chassis 4, and its emission angle adjustment range is ±30°. It is used to detect the relative distance information of the mobile trolley 7 approaching the tank body in advance, and realize preliminary warning and speed pre-adjustment. The short-distance laser ranging unit 9 is installed at the front end or both sides of the trolley, and is used to achieve millimeter-level precision positioning correction when approaching the installation position of the tank door 2. It is combined with the use of triangulation to perform data calculation, that is, a triangular structure with a fixed angle is formed by the laser beam emission point, reflection point and receiving point, and the distance to be measured is calculated by the known angle and side length. It has the advantages of non-contact, high precision and good stability. The above-mentioned long and short distance measuring units work together to form a multi-level and multi-precision distance detection scheme to ensure that the matching positioning between the tank door 2 and the tank body is stable and reliable.

[0034] In this embodiment, the optical signal receiving unit is a camera 10 , and the camera 10 is used to capture the image of the light emitted by the optical signal emitting unit 11 .

[0035] Specifically, the optical signal transmitting unit 11 is a laser dot matrix module or a high-brightness LED light source with adjustable focal length. By controlling its emission angle and spot pattern, it can achieve alignment with the guide marker. The camera 10 uses an industrial-grade CCD module and is equipped with an infrared filter to enhance image recognition accuracy. The system uses image processing algorithms to extract feature points in the emission pattern, such as the laser center, contour boundary, or spot position, and calculates their relative offset for subsequent control adjustments. This configuration not only achieves high-precision visual positioning but also maintains stable recognition performance in environments with complex lighting or background interference, effectively enhancing the intelligence and adaptability of the entire positioning system.

[0036] Example 2: like Figure 3 As shown, the present application provides a method for moving and positioning a test tank door, which is implemented using the moving device as described in Example 1, and includes the following steps: Step S1, presetting the optimal distance D between the chassis and the mobile vehicle and the standard position of the center point of the optical signal receiving unit; Step S2: clamping the tank door with a tank door clamp and fixing the tank door on the moving mechanism with a robotic arm; Step S3: The mobile trolley moves along the tracking module and obtains the distance signal between the base frame and the mobile trolley collected by the distance measuring mechanism in real time. When the distance between the base frame and the mobile trolley is less than the first adjustment threshold, step S4 is executed; Step S4: The optical signal receiving unit collects an image containing the light emitted by the optical signal emitting unit and adjusts the center position of the tank door; Step S5: collecting distance signals through the distance measuring mechanism, adjusting the distance between the chassis and the mobile trolley to approach the optimal distance value D. When the difference between the distance between the chassis and the mobile trolley and the preset optimal distance value D is less than a second adjustment threshold, proceeding to step S6; Step S6: The robotic arm starts to move to position the tank door and the tank body.

[0037] In actual applications, in order to improve the response efficiency of the system, the trolley movement process in step S3 adopts a segmented deceleration control method, that is, when the measured distance is close to the first adjustment threshold, the running speed of the mobile trolley is automatically reduced to avoid the influence of overshoot or vibration on the subsequent positioning accuracy. The action of adjusting the center position of the tank door in step S4 is completed by controlling the lateral fine-tuning motor of the moving mechanism. The motor is connected to the fixture base and can be adjusted left and right by ±5mm. In step S6, the robotic arm adopts a five-degree-of-freedom linkage structure, and its motion trajectory is dynamically generated by the control system according to the positioning data to ensure that the clamped tank door can smoothly dock with the tank flange, avoid beveling or eccentricity, and enhance assembly reliability. This method combines visual recognition with precise motion control to greatly improve the automation and accuracy of the tank door positioning operation of the test tank.

[0038] In this embodiment, step S4 includes the following steps: Step S4-1, collecting an image including light emitted by the optical signal emitting unit; Step S4-2: Identify and process feature points of the image, determine the image offset of the feature points relative to the standard position, and determine the difference between the image offset and a second adjustment threshold. If the image offset is greater than the second adjustment threshold, jump to step S4-3; otherwise, jump to step S5. Step S4-3: According to the offset, send a command to the moving mechanism to align the center of the tank door with the center of the tank body, and jump to step S4-1.

[0039] In step S4-2, image recognition processing is performed by an embedded vision processing unit. This unit is pre-loaded with a feature extraction algorithm (such as SIFT or SURF) to extract key point information from the spot or stripe pattern. Using template matching techniques, it determines the pixel offset relative to the reference center point. After comparing the image offset with a second adjustment threshold (e.g., ±5 pixels), the system determines whether fine-tuning is required. In step S4-3, a fine-tuning command is sent via the CAN bus to the vehicle's lateral control actuator. A servo motor drives the fine-tuning slide to compensate for the displacement, achieving a control accuracy of 0.01mm. To enhance robustness, the system sets a maximum number of repeated adjustments (e.g., three). If the image offset exceeds the limit after three consecutive attempts, an alarm is triggered or manual assistance mode is entered.

[0040] In this embodiment, in step S5, a closed-loop control algorithm is used to control the rotation of the wheels of the mobile cart. The input of the closed-loop control algorithm is the difference between the real-time measured distance and the optimal distance value D, and the output is the rotation speed and distance of the two wheels of the mobile cart.

[0041] Furthermore, the closed-loop control algorithm is integrated into the main control unit. The main control unit continuously collects the real-time distance signal returned by the laser ranging unit, compares and calculates it with the preset optimal distance value D, and outputs speed adjustment instructions to the left and right drive motors of the trolley in real time, forming a complete closed-loop feedback system. In order to avoid oscillations caused by large-scale errors, the system sets a distance threshold graded control. When the error is greater than 30mm, the wheels maintain a high speed forward. When the error is less than 10mm, it enters a low-speed precision adjustment mode. At the same time, the control cycle is shortened to less than 100ms to improve response sensitivity. The above control process realizes the dynamic automatic alignment of the test tank door position without affecting the stability of the system, ensuring assembly efficiency and accuracy.

[0042] In this embodiment, the closed-loop control algorithm adopts an incremental PID algorithm, and the formula is:

[0043]

[0044] in is the output after sampling, is the proportionality coefficient, is the differential coefficient, is the deviation at time k, is the deviation at time k-1, is the deviation at k-2 moment, is the change increment of the controlled parameter at time k.

[0045] In this embodiment, a set deviation threshold is introduced, and the change increment is:

[0046] in is the set deviation threshold, is the integration coefficient.

[0047] In specific applications, the PID algorithm is executed by an embedded control chip with a sampling period of 50ms. The proportional term is used to quickly respond to current deviations, the integral term is used to eliminate long-term deviations, and the differential term is used to suppress system oscillations. To avoid system oscillations caused by integral accumulation, an integral limit mechanism is set in the algorithm. When the accumulated integral error exceeds the upper limit (for example, ±200), the integral gain is automatically frozen. Control parameter K p , K i , K d This is optimized using the Ziegler-Nichols tuning method or field measurements based on actual operating conditions. Once the deviation threshold is introduced, the trolley will no longer adjust when the error falls below the set range, preventing minor system oscillations or back-and-forth jitters. This ensures the smoothness and robustness of the test tank door moving device's positioning process.

[0048] Example 3: This application provides a terminal, including: A memory, used for storing a tank door movement positioning program; The processor is configured to implement the steps of the tank door movement and positioning method as described in the second embodiment when executing the tank door movement and positioning program.

[0049] Example 4: The present application provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes a tank door movement and positioning method as described in Example 2.

[0050] It is understood that the systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or physical devices, or by products having certain functions. A typical implementation device is a computer, which may be a personal computer, a laptop computer, a personal digital assistant, a tablet computer, a wearable device, or a combination of any of these devices.

[0051] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0052] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0053] The terms used in one or more embodiments of this specification are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a," "an," "the," and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0054] It should be understood that although the terms first, second, third, etc. may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when..." or "when..." or "in response to determining."

[0055] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included in the scope of protection of one or more embodiments of this specification.

Claims

1. A test tank door moving device, characterized in that: include: A moving mechanism, the moving mechanism comprising a moving trolley (7), a tracking module and a base frame (4), the tracking module being used to guide the moving trolley (7) to move, and the base frame (4) being provided with a test tank body (1); The tank door (2) fixing mechanism comprises a mechanical arm (3) and a clamp, the mechanical arm (3) is arranged on the base frame (4), and the clamp is arranged at the end of the mechanical arm (3) for clamping the tank door (2); A tank door (2) positioning system includes a distance measuring mechanism (6) and a positioning mechanism (5). At least one distance measuring mechanism (6) is provided. The distance measuring mechanism (6) is fixedly mounted on a base frame (4) and / or a mobile trolley (7). The distance measuring mechanism (6) is used to measure the distance between the base frame (4) and the mobile trolley (7). The positioning mechanism (5) includes a light signal transmitting unit (11) and a light signal receiving unit. The light signal transmitting unit (11) is mounted on the mobile trolley (7), and the light signal receiving unit is mounted on the base frame (4). The light signal transmitting unit (11) is used to determine the corresponding relationship between the center position of the tank body and the tank door (2).

2. The tank door moving device according to claim 1, characterized in that: The distance measuring mechanism (6) comprises a long-distance laser distance measuring unit (8) and a short-distance laser distance measuring unit (9), and the long-distance laser distance measuring unit (8) and the short-distance laser distance measuring unit (9) have different measurement ranges.

3. The tank door moving device according to claim 1, characterized in that: The light signal receiving unit is a camera (10), and the camera (10) is used to capture the image of the light emitted by the light signal emitting unit (11).

4. A method for moving and positioning a test tank door, characterized in that: The method is implemented by using the mobile device according to any one of claims 1 to 3, comprising the following steps: Step S1, presetting the optimal distance D between the chassis and the mobile vehicle and the standard position of the center point of the optical signal receiving unit; Step S2: clamping the tank door with a tank door clamp and fixing the tank door on the moving mechanism with a robotic arm; Step S3: The mobile trolley moves along the tracking module and obtains the distance signal between the base frame and the mobile trolley collected by the distance measuring mechanism in real time. When the distance between the base frame and the mobile trolley is less than the first adjustment threshold, step S4 is executed; Step S4: The optical signal receiving unit collects an image containing the light emitted by the optical signal emitting unit and adjusts the center position of the tank door; Step S5: collecting distance signals through the distance measuring mechanism, adjusting the distance between the chassis and the mobile trolley to approach the optimal distance value D. When the difference between the distance between the chassis and the mobile trolley and the preset optimal distance value D is less than a second adjustment threshold, proceeding to step S6; Step S6: The robotic arm starts to move to position the tank door and the tank body.

5. The tank door moving and positioning method according to claim 4, characterized in that: In step S4, the following steps are included: Step S4-1, collecting an image including light emitted by the optical signal emitting unit; Step S4-2: Identify and process feature points of the image, determine the image offset of the feature points relative to the standard position, and determine the difference between the image offset and a second adjustment threshold. If the image offset is greater than the second adjustment threshold, jump to step S4-3; otherwise, jump to step S5. Step S4-3: According to the offset, send a command to the moving mechanism to align the center of the tank door with the center of the tank body, and jump to step S4-1.

6. The tank door moving and positioning method according to claim 4, characterized in that: In step S5, a closed-loop control algorithm is used to control the rotation of the wheels of the mobile cart. The input of the closed-loop control algorithm is the difference between the real-time measured distance and the optimal distance value D, and the output is the rotation speed and distance of the two wheels of the mobile cart.

7. The tank door moving and positioning method according to claim 6, characterized in that: The closed-loop control algorithm uses an incremental PID algorithm, and the formula is: in is the output after sampling, is the proportionality coefficient, is the differential coefficient, is the deviation at time k, is the deviation at time k-1, is the deviation at k-2 moment, is the change increment of the controlled parameter at time k.

8. The tank door moving and positioning method according to claim 7, characterized in that: Introducing a set deviation threshold, the change increment is: in is the set deviation threshold, is the integration coefficient.

9. A terminal, characterized in that: include: A memory, used for storing a tank door movement positioning program; A processor is used to implement the steps of the tank door movement and positioning method according to any one of claims 4 to 8 when executing the tank door movement and positioning program.

10. A computer-readable storage medium, characterized in that The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the tank door movement and positioning method according to any one of claims 4 to 8.

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