Pipeline valve body calibration device, method and equipment and storage medium

Abstract

The invention relates to the technical field of calibration, and discloses a pipeline valve body calibration device, method and equipment and a storage medium, the device comprises an interface layer, a sensor layer, a control layer and a driving layer; the interface layer is used for being in butt joint with a valve body to be calibrated; the sensor layer is used for collecting calibration data; and the control layer is used for controlling the driving layer to drive the floating ball cavity of the valve body to be calibrated to move along the pipeline based on the calibration data, continuously determining a calibration position based on the calibration data in the moving process, and controlling the driving layer to stop driving, so that the floating ball cavity is locked at the calibration position. Through layered modular architecture design and data-driven accurate control logic, the calibration position can be automatically found and locked, efficient and accurate pipeline valve calibration is achieved, the operation reliability of a pipeline exhaust and drainage system is greatly improved, it is ensured that the exhaust and drainage valve is always located at the optimal working position, and the safety of the pipeline exhaust and drainage system is guaranteed. And the safety and the high efficiency of medium conveying are guaranteed.

Description

Technical Field

[0001] This invention relates to the field of calibration technology, and specifically to a pipeline valve body calibration device, method, equipment, and storage medium. Background Technology

[0002] Industrial pipelines undergo posture changes due to settlement, thermal deformation, and vibration, causing misalignment between the highest point of the pipeline section where the vent valve needs to be connected and the lowest point of the pipeline section where the drain valve needs to be connected. This leads to incomplete venting by the vent valve, causing air blockage and equipment cavitation, while liquid accumulation in the drain valve causes pipeline corrosion and media contamination. Furthermore, in densely packed pipeline areas, some pipelines requiring venting and drainage may be obstructed by other pipelines, making it impossible to securely install vent and drain valves at their highest and lowest points. This results in air and contaminant accumulation during pipeline operation, affecting the stability and safety of media transport. Therefore, achieving precise calibration of vent and drain valves to ensure reliable venting and drainage capabilities at all times is a problem that needs to be solved. Summary of the Invention

[0003] This invention provides a pipeline valve body calibration device, method, equipment, and storage medium to solve the problem of calibrating pipeline exhaust valves and drain valves.

[0004] In a first aspect, the present invention provides a pipeline valve body calibration device, which includes an interface layer, a sensor layer, a control layer and a drive layer;

[0005] The interface layer is used for receiving and calibrating the valve body; The sensor layer is used to collect calibration data; The control layer is used to control the drive layer to move the float chamber of the valve body to be calibrated along the pipeline based on the calibration data, and continuously determine the calibration position based on the calibration data during the movement, control the drive layer to stop driving, and lock the float chamber at the calibration position.

[0006] This invention achieves docking with the valve body to be calibrated through an interface layer, providing a prerequisite for valve body calibration. After docking, the sensor layer collects multi-dimensional calibration data of the valve body and pipeline, providing data support for valve body calibration. The control layer controls the drive layer to move the float cavity through the calibration data. During the movement, the calibration data collected after each movement is analyzed to determine the calibration position and lock the float cavity at that calibration position, thus achieving pipeline valve body calibration. Through a layered modular architecture design and data-driven precise control logic, it can autonomously find and lock the calibration position, achieving efficient and accurate pipeline valve body calibration. This not only effectively solves problems such as incomplete venting and liquid accumulation caused by changes in pipeline posture, but also overcomes the installation and calibration limitations caused by obstruction in densely arranged pipeline areas, significantly improving the operational reliability of the pipeline venting and drainage system, ensuring that the venting and drainage valve body is always in the optimal working position, and guaranteeing the safety and efficiency of media transportation.

[0007] In one alternative implementation, the sensor layer includes an ultrasonic sensor, an attitude sensor, a liquid level sensor, and a position encoder. An ultrasonic sensor is used to obtain the relative distance of the float chamber in the pipe; Attitude sensors are used to measure the spatial attitude of pipelines; A liquid level sensor is used to obtain the liquid level in a pipeline. A position encoder is used to obtain the absolute distance of the float chamber in the pipe.

[0008] This embodiment constructs a high-precision and multi-dimensional data acquisition system through the collaborative configuration of multiple types of sensors, which can provide comprehensive and accurate data support for pipeline valve body calibration.

[0009] In one optional implementation, the control layer includes a main controller, a motion controller, a memory, a communication module, and a power module. The main controller is used to determine the calibration location based on the calibration data; Motion controller, used to control the movement and stopping of the drive layer; Memory, used to store calibration data and calibration location; The communication module is used for internal and external communication. The power module is used to supply power to the device.

[0010] This embodiment constructs an efficient, intelligent, and stable core control system through the collaborative division of labor and functional integration of multiple components in the control layer.

[0011] In a second aspect, the present invention provides a pipeline valve body calibration method, applied to the pipeline valve body calibration device of the first aspect or any corresponding embodiment thereof, the method comprising: For receiving and calibrating the valve body; Collect calibration data; Based on the calibration data, the control and driving layer drives the float chamber of the valve body to be calibrated to move along the pipeline, and continuously determines the calibration position based on the calibration data during the movement. The control drive layer stops driving, locking the float cavity in the calibration position.

[0012] This invention provides a prerequisite for valve body calibration by docking with the valve body to be calibrated. After docking, multi-dimensional calibration data of the valve body and pipeline are collected to provide data support for valve body calibration. The calibration data controls the drive layer to drive the movement of the float cavity. During the movement, the calibration data collected after each movement is analyzed to determine the calibration position and lock the float cavity at the calibration position. This achieves autonomous location and locking of the calibration position, thereby realizing efficient and accurate pipeline valve body calibration. It not only effectively solves the problems of incomplete venting and liquid accumulation caused by pipeline posture changes, but also overcomes the installation and calibration limitations caused by obstruction in densely arranged pipeline areas. It significantly improves the operational reliability of pipeline venting and drainage systems, ensures that the venting and drainage valve body is always in the optimal working position, and guarantees the safety and efficiency of media transportation.

[0013] In one optional implementation, the valve body to be calibrated is an exhaust valve; Based on calibration data, the control drive layer moves the float chamber of the valve body to be calibrated along the pipeline, and continuously determines the calibration position based on the calibration data during the movement, including: Based on the calibration data corresponding to the current position of the float cavity, calculate the distance deviation between the current position and the highest local point of the pipeline; The control drive layer drives the float cavity to move according to the distance deviation and the first moving step size, and obtains the calibration data corresponding to the position of the float cavity after the movement. The slope change is determined based on the calibration data before and after the movement, and the first movement step size is adjusted based on the slope change; Returning to the step of calculating the distance deviation between the current position and the local highest point of the pipeline based on the calibration data corresponding to the float cavity at the current position, until the slope change for the first preset number of consecutive times is less than the first preset threshold, the position after the last movement of the float cavity is taken as the calibration position.

[0014] This embodiment combines gradient ascent with spatial attitude analysis, employs a closed-loop iterative extreme point search mechanism and an adaptive step size adjustment strategy to ensure accurate search of the highest point in the pipeline section where the exhaust valve is located.

[0015] In one alternative implementation, the calibration data includes spatial attitude, relative distance, and absolute distance, whereby the spatial attitude includes pitch angle. Based on the calibration data corresponding to the float cavity at the current position, calculate the distance deviation between the current position and the highest local point of the pipeline, including: With the center of the float cavity as the origin and the direction of the pitch angle as the X-axis, the Y-axis and Z-axis are determined based on the X-axis to establish a pipeline coordinate system; The Z-axis coordinate of the center is determined based on the pipe radius and relative distance, while the absolute distance is used as the X-axis coordinate of the center. Based on the pitch angle, pipe radius, and absolute distance, construct the trajectory equation of the highest point; Substituting the X-axis coordinates of the center into the trajectory equation of the highest point, we obtain the local highest point of the pipeline. The difference between the Z-axis coordinates of the highest point and the center of the pipeline is defined as the height deviation. The distance deviation is calculated based on the altitude deviation and pitch angle.

[0016] This embodiment provides a scientific and accurate quantitative basis for determining the positional deviation of the exhaust valve calibration by constructing a local coordinate system for the pipeline and mathematically deriving the trajectory of the extreme point.

[0017] In one optional implementation, the valve body to be calibrated is a drain valve, and the calibration data also includes the pipeline liquid level; Based on calibration data, the control drive layer moves the float chamber of the valve body to be calibrated along the pipeline, and continuously determines the calibration position based on the calibration data during the movement, including: Use the current position of the float chamber of the valve body to be calibrated as the initial liquid level in the pipeline; The control and drive layer drives the float cavity to move to multiple target positions respectively, and establishes a position-liquid level correlation table based on the calibration data corresponding to each target position; The search direction is determined based on the location-liquid level association table; The control driving layer moves the float cavity in the search direction according to the second movement step size, obtains the pipe liquid level corresponding to the position of the float cavity after movement, and calculates the liquid level change rate based on the initial liquid level. Returning to the control drive layer in the search direction, the float cavity is driven to move according to the second movement step size. The liquid level in the pipeline corresponding to the position after the float cavity moves is obtained. The liquid level change rate is calculated based on the initial liquid level. This process continues until the liquid level change rate is less than the second preset threshold for the second consecutive preset number of times. The position after the last movement of the float cavity is then used as the calibration position.

[0018] This embodiment combines gradient descent with pipeline level analysis, employing a level data-driven search strategy and a closed-loop convergence determination mechanism to provide an efficient and reliable technical approach for accurately locating the lowest point in the pipeline section where the drain valve is located.

[0019] In one alternative implementation, the calibration data also includes absolute distance; The control and drive layer moves the float cavity to multiple target positions. Based on the calibration data corresponding to each target position, a position-level correlation table is established, including: For each target location, the control drive layer drives the float cavity to move to the target location according to the second movement step size, and obtains the pipeline liquid level and absolute distance corresponding to the target location; Using the absolute distance corresponding to the position before the first movement as the origin of the X-axis, we obtain the X-axis position and position change corresponding to the absolute distance of the target position after each movement. Using the pipe level corresponding to the position before the first movement as a benchmark, the liquid level change and the liquid level change rate are calculated based on the pipe level corresponding to the target position after each movement. Based on the X-axis position, pipeline liquid level, position change, liquid level change, and liquid level change corresponding to each target position, a position-liquid level association table is established.

[0020] This embodiment uses standardized data acquisition, benchmarked parameter conversion, and systematic data integration to intuitively present the correspondence between the axial position of the pipeline and the liquid level, providing accurate and comprehensive data support for the calibration of the lowest point of the drain valve.

[0021] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the pipeline valve body calibration method of the second aspect above or any corresponding embodiment thereof.

[0022] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the pipeline valve body calibration method of the second aspect above or any corresponding embodiment thereof. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a pipeline valve body calibration device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of another pipeline valve body calibration device according to an embodiment of the present invention; Figure 3 This is a flowchart of a pipeline valve body calibration method according to an embodiment of the present invention; Figure 4 This is a flowchart of the exhaust valve calibration according to an embodiment of the present invention; Figure 5 This is a flowchart of the drain valve calibration according to an embodiment of the present invention; Figure 6 This is a flowchart of another pipeline valve body calibration method according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0027] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] Achieving precise calibration of exhaust and drain valves to ensure reliable venting and drainage capabilities in pipelines is a key challenge. This invention, through a layered, modular architecture and data-driven precision control logic, autonomously locates and locks the calibration position, enabling efficient and accurate pipeline valve calibration. This not only effectively solves problems such as incomplete venting and liquid accumulation caused by changes in pipeline posture, but also overcomes installation and calibration limitations imposed by densely packed pipeline areas. This significantly improves the operational reliability of the pipeline venting and drainage system, ensuring that the exhaust and drain valves are always in their optimal working positions, thus guaranteeing the safety and efficiency of media transport.

[0029] Figure 1 This is a schematic diagram of a pipeline valve body calibration device according to an embodiment of the present invention, as shown below. Figure 1As shown, the device includes an interface layer, a sensor layer, a control layer, and a drive layer. The interface layer is used to interface with the valve body to be calibrated. The sensor layer is used to collect calibration data. The control layer is used to control the drive layer to move the float cavity of the valve body to be calibrated along the pipeline based on the calibration data, and continuously determine the calibration position based on the calibration data during the movement, and control the drive layer to stop driving, so that the float cavity is locked in the calibration position.

[0030] Specifically, the pipeline system includes two types of valve bodies: an air vent valve and a drain valve, which respectively perform the functions of venting and draining the pipeline. Depending on the type of valve body to be calibrated, the interface layer uses a corresponding adapter interface for connection. When the valve body to be calibrated is an air vent valve, it is connected to the valve body through the standardized mechanical and electrical interface of the interface layer. This interface has an anti-misinsertion design, and the connection force can be controlled within the range of 100-150N, ensuring both connection stability and preventing damage to the valve body interface. When the valve body to be calibrated is a drain valve, in addition to completing the mechanical and electrical interface connection, it also needs to be connected to the drain pipeline of the valve body through the 24° conical sealing pressure-resistant hose of the interface layer, ensuring no leakage under a working pressure of 2.5MPa. The sensor layer integrates multiple types of high-precision sensors and is the core unit for data acquisition. The sensors configured in it can achieve comprehensive acquisition of multi-dimensional data from the valve body and pipeline.

[0031] Figure 2 This is a schematic diagram of another pipeline valve body calibration device according to an embodiment of the present invention, such as... Figure 2 As shown, the drive layer includes a stepper motor and a transmission mechanism. The stepper motor is a two-phase hybrid type with a holding torque of 2 N·m, equipped with a 256 microstepping driver. The transmission mechanism uses a precision ball screw drive with a lead of 5 mm and a repeatability of ±0.05 mm. Optionally, a servo motor can be used instead of the stepper motor to achieve higher dynamic performance. Furthermore, the drive layer can be equipped with an automatic guidance function to achieve semi-autonomous operation.

[0032] During the calibration execution phase, the control layer issues commands. Upon receiving these commands, the drive layer, through the linkage of a stepper motor and a ball screw, moves the float chamber of the valve body to be calibrated along the pipeline direction. During this process, the sensor layer continuously collects calibration data at a preset frequency. The control layer analyzes the calibration data collected after each movement to determine if the current position is the calibration position. If the current position is the calibration position, the control layer immediately issues a stop command, the drive layer stops power output, and relying on the self-locking characteristic of the ball screw, the float chamber is stably locked at the calibration position, achieving efficient and accurate calibration of the pipeline valve body.

[0033] Optionally, the device's outer casing utilizes an aluminum alloy frame structure with a hard anodized surface, ensuring both structural strength and lightweight requirements while providing excellent wear and corrosion resistance. The internal compartmentalized design physically isolates electronic and mechanical components, effectively preventing mechanical vibration from interfering with precision electronic components. The overall protection rating reaches IP54, capable of withstanding harsh industrial environments with high dust and humidity, ensuring stable equipment operation. Furthermore, industrial pipelines often contain dozens or even hundreds of valves. After calibrating the current valve, the interface layer can be disconnected, and operators can transfer it to the next valve to be calibrated using the ergonomic handle. This multi-valve service model integrates sensing, control, and actuation components within the device, requiring only the basic mechanical structure of each valve. It eliminates the need for a separate control system for each valve, significantly reducing the hardware cost of single-point calibration and improving the overall efficiency of batch valve calibration.

[0034] In some alternative implementations, such as Figure 2 As shown, the sensor layer includes an ultrasonic sensor, an attitude sensor, a liquid level sensor, and a position encoder; the ultrasonic sensor is used to obtain the relative distance of the float cavity in the pipe; the attitude sensor is used to measure the spatial attitude of the pipe; the liquid level sensor is used to obtain the liquid level in the pipe; and the position encoder is used to obtain the absolute distance of the float cavity in the pipe.

[0035] Specifically, the ultrasonic sensor operates at a frequency of 40kHz, with a measurement range of 0.1-1m and an accuracy of ±1mm. It features temperature compensation to effectively counteract the interference of ambient temperature fluctuations on the distance measurement results, thus accurately capturing the relative distance between the float cavity and the pipe wall, i.e., the distance from the float cavity to the pipe wall at different locations. The attitude sensor uses a triaxial digital tilt sensor with a measurement range of ±30° and a resolution of 0.001°, used to measure the spatial attitude of the pipe, including pitch angle (the tilt angle of the pipe along its extension direction) and roll angle (the lateral tilt angle of the pipe along its radial direction). Optionally, the attitude sensor can also use a fiber optic gyroscope to meet higher accuracy requirements. The level sensor is used to read the liquid level data in the pipe during drain valve calibration, with a measurement range of 0-100% and an output of a 4-20mA standard signal. The position encoder uses a 24-bit absolute magnetic encoder with an accuracy of ±0.5mm and excellent anti-interference performance, unaffected by the electromagnetic environment of the industrial site, accurately feeding back the absolute distance of the float cavity, i.e., the linear position of the float cavity along the pipe axis.

[0036] In some optional implementations, the control layer includes a main controller, a motion controller, a memory, a communication module, and a power module; the main controller is used to determine the calibration position based on calibration data; the motion controller is used to control the movement and stopping of the drive layer; the memory is used to store calibration data and calibration position; the communication module is used for internal and external communication; and the power module is used to supply power to the device.

[0037] Specifically, the main controller employs a microprocessor supporting floating-point operations and DSP (Digital Signal Processing) instructions. It efficiently processes multi-dimensional calibration data collected from the sensor layer and accurately calculates and determines the calibration position of the float cavity using an adaptive intelligent calibration algorithm. The motion controller is a stepper motor control chip used to control the movement and stopping of the stepper motor. The memory uses 8GB Flash memory, supporting the storage of calibration data, historical records, and system parameters for easy traceability and analysis. Optionally, blockchain technology can be added to the memory to improve data security and traceability. The communication module supports CAN bus, RS485, Ethernet, and 4G wireless communication, enabling real-time data interaction between different layers within the device and remote communication with an external central management system, supporting data upload and remote monitoring functions. Optionally, the communication module can use an industrial wireless network instead of a wired connection to improve deployment flexibility. The power module uses an intelligent lithium battery management system with a capacity of 100Wh, supporting fast charging and power display, and featuring an intelligent charge / discharge protection mechanism to provide a continuous and safe power supply for stable device operation.

[0038] This invention achieves docking with the valve body to be calibrated through an interface layer, providing a prerequisite for valve body calibration. After docking, the sensor layer collects multi-dimensional calibration data of the valve body and pipeline, providing data support for valve body calibration. The control layer controls the drive layer to move the float cavity through the calibration data. During the movement, the calibration data collected after each movement is analyzed to determine the calibration position and lock the float cavity at that calibration position, thus achieving pipeline valve body calibration. Through a layered modular architecture design and data-driven precise control logic, it can autonomously find and lock the calibration position, achieving efficient and accurate pipeline valve body calibration. This not only effectively solves problems such as incomplete venting and liquid accumulation caused by changes in pipeline posture, but also overcomes the installation and calibration limitations caused by obstruction in densely arranged pipeline areas, significantly improving the operational reliability of the pipeline venting and drainage system, ensuring that the venting and drainage valve body is always in the optimal working position, and guaranteeing the safety and efficiency of media transportation.

[0039] According to an embodiment of the present invention, a method for calibrating a pipeline valve body is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0040] This embodiment provides a pipeline valve body calibration method, which can be used in the aforementioned pipeline valve body calibration device. Figure 3 This is a flowchart of a pipeline valve body calibration method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Calibrate the receiving valve body.

[0041] Specifically, before calibration, the device is powered on and initialized, reads the valve body identification information, establishes a device file, and performs a self-test. If the self-test passes, the device is matched with the valve body to be calibrated according to its type. If the self-test fails, the device may malfunction, triggering an alarm and terminating the calibration.

[0042] Step S302: Collect calibration data.

[0043] Specifically, the sensor layer of the device collects multi-dimensional calibration data of the pipeline and the valve body to be calibrated, providing data support for subsequent calibration.

[0044] Step S303: Based on the calibration data, the control drive layer drives the float chamber of the valve body to be calibrated to move along the pipeline, and continuously determines the calibration position based on the calibration data during the movement.

[0045] Specifically, the control layer of the device controls the drive layer to move the float cavity along the pipeline axis. The control layer combines the calibration data collected in real time by the sensor layer and uses an adaptive intelligent calibration algorithm to determine whether the current position is the calibration position.

[0046] Step S304: Control the drive layer to stop driving, so that the float cavity is locked in the calibration position.

[0047] Specifically, after determining the calibration position, the control layer controls the drive layer to stop driving, locking the float cavity at the calibration position. At this time, the exhaust valve can precisely connect to the highest point of its pipeline section to achieve efficient discharge of trapped air, and the drain valve can closely fit the lowest point of its pipeline section to ensure thorough collection and discharge of accumulated liquid, thus completing the efficient and accurate calibration of the valve body.

[0048] Optionally, after completing the calibration of the current valve body to be calibrated, the calibration location, calibration data, and calibration timestamp are recorded, and the calibration data is bound to the valve body identifier for storage.

[0049] This invention provides a prerequisite for valve body calibration by docking with the valve body to be calibrated. After docking, multi-dimensional calibration data of the valve body and pipeline are collected to provide data support for valve body calibration. The calibration data controls the drive layer to drive the movement of the float cavity. During the movement, the calibration data collected after each movement is analyzed to determine the calibration position and lock the float cavity at the calibration position. This achieves autonomous location and locking of the calibration position, thereby realizing efficient and accurate pipeline valve body calibration. It not only effectively solves the problems of incomplete venting and liquid accumulation caused by pipeline posture changes, but also overcomes the installation and calibration limitations caused by obstruction in densely arranged pipeline areas. It significantly improves the operational reliability of pipeline venting and drainage systems, ensures that the venting and drainage valve body is always in the optimal working position, and guarantees the safety and efficiency of media transportation.

[0050] This embodiment provides a pipeline valve body calibration method, which can be used in the aforementioned pipeline valve body calibration device. The method specifically includes the following steps: Step S401: Calibrate the receiving valve body. See details below. Figure 3 Step S301 of the illustrated embodiment will not be described again here.

[0051] Step S402: Collect calibration data. For details, please refer to [link to relevant documentation]. Figure 3 Step S302 of the illustrated embodiment will not be described again here.

[0052] Step S403: Based on the calibration data, the control drive layer drives the float chamber of the valve body to be calibrated to move along the pipeline, and continuously determines the calibration position based on the calibration data during the movement.

[0053] Specifically, when the valve body to be calibrated is an exhaust valve, the above step S403 includes: Step S4031: Based on the calibration data corresponding to the float cavity at the current position, calculate the distance deviation between the current position and the local highest point of the pipeline. The calibration data includes spatial attitude, relative distance and absolute distance. The spatial attitude includes pitch angle.

[0054] Specifically, step S4031 includes: Step a1: With the center of the float cavity as the origin and the direction of the pitch angle as the X-axis, determine the Y-axis and Z-axis based on the X-axis to establish the pipeline coordinate system.

[0055] Specifically, when the valve to be calibrated is an exhaust valve, gas will naturally accumulate at the highest point of the pipeline due to gravity. Only by precisely aligning the float chamber of the exhaust valve with the highest point of its respective pipeline section can the trapped gas be completely discharged, eliminating the risk of gas blockage and cavitation. Therefore, a spatial coordinate system adapted to the pipeline orientation must first be established to achieve precise positioning. It should be noted that the highest point of the pipeline is not the global physical highest point of the entire pipeline, but rather the local highest point within the specific pipeline section where the exhaust valve is located. Since each exhaust valve is only responsible for the gas discharge of its installation section, it does not need to be aligned with the overall extreme point of the pipeline.

[0056] With the geometric center of the float cavity as the origin of the coordinate system, the direction of the pipe pitch angle extension (i.e., the pipe axis) is defined as the X-axis. According to the right-hand coordinate system rule, the Y-axis is established perpendicular to the X-axis and in the horizontal direction of the pipe radial direction, and the Z-axis is established in the vertical direction of the pipe radial direction. The pipe coordinate system is established to provide a unified reference for subsequent calculations.

[0057] Step a2: Determine the Z-axis coordinate of the center based on the pipe radius and relative distance, and use the absolute distance as the X-axis coordinate of the center.

[0058] Specifically, based on the known pipe radius and the distance between the float cavity and the upper pipe wall measured by the ultrasonic sensor, the difference between "pipe radius - relative distance" is used as the Z-axis coordinate of the float cavity center, representing the height of the float cavity in the pipe radial direction. If the float cavity has not yet been moved, the current position is set as the coordinate reference, and the position encoder reading is reset to zero, meaning the absolute distance of the float cavity is 0, and the corresponding X-axis coordinate is also 0. If the float cavity has been moved, since the position encoder was reset to zero before the movement, the absolute distance collected by the position encoder after the movement is the actual displacement of the float cavity along the pipe axial direction, which can be directly used as the X-axis coordinate of the float cavity center to determine its spatial position in the pipe extension direction.

[0059] Step a3: Based on the pitch angle, pipe radius, and absolute distance, construct the trajectory equation of the highest point.

[0060] Specifically, industrial pipelines are not perfectly horizontal or vertical; they can have a certain pitch angle due to various factors. Geometrically, the highest radial point of an inclined pipeline will form an inclined trajectory along the axial direction consistent with the pipeline's pitch angle. For every distance the axial direction moves, the radial height of the highest point will increase or decrease accordingly with the pitch angle. For example, when the pipeline's X-axis is upward (pitch angle is positive), the float chamber moves along the positive X-axis, and the Z-axis coordinate of the corresponding highest point of the pipeline will rise. If the pipeline's X-axis is downward (pitch angle is negative), the Z-axis coordinate of the highest point will decrease with axial movement. Therefore, when the float chamber is in different X-axis positions, the Z-axis coordinate of the local highest point that the exhaust valve needs to connect to will change accordingly.

[0061] By constructing the trajectory equation of the highest point shown in equation (1), we can determine the Z-axis coordinate of the local highest point of the pipeline in the corresponding section when the float cavity moves to any X-axis position under ideal conditions. That is, the local highest point of the pipeline.

[0062] (1) In the formula, Indicates the highest point in a localized part of the pipeline; R Indicates the pipe radius; X Indicates absolute distance; α Indicates the pitch angle.

[0063] Step a4: Substitute the X-axis coordinates of the center into the trajectory equation of the highest point to obtain the local highest point of the pipeline.

[0064] Specifically, since the pipe radius is known, the pitch angle can be collected in real time by the attitude sensor, and the X-axis coordinate is the absolute distance, the local highest point of the pipe can be obtained by substituting the X-axis coordinate of the center of the float cavity into the above formula (1).

[0065] Step a5: Determine the difference between the Z-axis coordinates of the highest local point and the center of the pipeline as the height deviation.

[0066] Specifically, the difference between the Z-axis coordinates of the highest local point in the pipeline and the center of the float cavity is calculated, representing the gap between the float cavity and the highest local point in the pipeline.

[0067] Step a6: Calculate the distance deviation based on the altitude deviation and pitch angle.

[0068] Specifically, the height deviation is the radial vertical difference between the float cavity and the highest point of the local pipeline. Since the float cavity can only move axially along the pipeline, the relationship between the radial height and the axial distance shown in the following formula (2) is established by the pitch angle. The height deviation is converted into the axial distance deviation. Then, the position of the float cavity is precisely controlled by the drive layer, and finally, the precise docking with the highest point of the local pipeline is achieved.

[0069] (2) In the formula, Indicates distance deviation; This indicates a height deviation.

[0070] Step S4032: Control the driving layer to drive the float cavity to move according to the distance deviation and the first moving step size, and obtain the calibration data corresponding to the position of the float cavity after the movement.

[0071] Specifically, the distance deviation is used to indicate the direction of movement: when the distance deviation is positive, the drive float cavity moves along the positive X-axis, approaching the highest point on the uphill side of the pipeline section; when the distance deviation is negative, the drive float cavity moves along the negative X-axis, returning to its original position on the downhill side of the pipeline section. The initial first movement step is 50mm. The drive layer moves the distance of the first movement step according to the movement direction indicated by the distance deviation, acquiring the calibration data collected in real time by the sensor layer at this time.

[0072] Step S4033: Determine the slope change based on the calibration data before and after the movement, and adjust the first movement step size based on the slope change.

[0073] Specifically, when calibrating the exhaust valve, the slope is the core indicator for determining the highest point of the pipeline section. The slope of the uphill section of the pipeline is positive, and the slope of the downhill section is negative. When the slope change approaches 0, it indicates that the highest point with a gentle slope in the section has been reached.

[0074] The difference between the two pitch angle tangents in the calibration data collected before and after the movement is calculated, which is the slope change, used to quantify the fluctuation range of the pipeline's axial tilt. When the slope change is greater than the preset value (e.g., 0.5), it indicates that the tilt of the current pipeline section fluctuates greatly and has not yet approached the highest point of the section. The first movement step is adjusted to 20mm to balance search efficiency and positioning stability. When the slope change is less than the preset value (e.g., 0.1), it indicates that it has approached the highest point area with a gentle slope. The first movement step is adjusted to 5mm to achieve accurate positioning through small steps.

[0075] Step S4034: Return to the step of calculating the distance deviation between the current position and the local highest point of the pipeline based on the calibration data corresponding to the float cavity at the current position, until the slope change for the first preset number of consecutive times is less than the first preset threshold, and take the position after the last movement of the float cavity as the calibration position.

[0076] Specifically, returning to step S4031, the difference between the float cavity and the highest point is recalculated based on the moved position, and the difference is eliminated again by moving the float. When the slope change obtained after the first preset number of consecutive moves (e.g., 3) is less than the first preset threshold (e.g., 0.1), it is considered that the local highest point of the pipeline section where the exhaust valve is located has been accurately located. Therefore, the position after the last move is used as the calibration position of the exhaust valve to ensure that the exhaust valve can stably connect to the area where gas accumulates, while effectively avoiding premature convergence and oscillation.

[0077] By combining gradient ascent with spatial attitude analysis, and employing a closed-loop iterative extreme point search mechanism and adaptive step size adjustment strategy, the highest point of the pipeline section where the exhaust valve is located is accurately searched.

[0078] In some alternative implementations, Figure 4This is a flowchart of the exhaust valve calibration according to an embodiment of the present invention, such as... Figure 4 As shown, when the valve body to be calibrated is an exhaust valve, the exhaust valve is connected, and calibration data is collected. A pipeline coordinate system is established based on the current position of the float cavity, and the trajectory equation of the highest point is established. Based on the position of the float cavity in the pipeline coordinate system and the trajectory equation of the highest point, the height deviation between the current float cavity and the local highest point of the pipeline is calculated and converted into an axial distance deviation. The drive layer drives the float cavity to move according to the distance deviation and the first movement step. Based on the spatial attitude collected before and after the movement, the slope change is determined, and the first movement step is adjusted according to the slope change. It is determined whether the slope change is less than the first preset threshold. If it is not less than the first preset threshold, the pipeline coordinate system is established again based on the position of the float cavity after the movement and the collected calibration data, and the corresponding movement is performed. If it is less than the first preset threshold, it is determined whether the number of consecutive times the slope change is less than the first preset threshold has reached the first preset number. If it has not reached the first preset number, the process returns to the step of establishing the pipeline coordinate system. If it has reached the first preset number, it means that the float cavity has now moved to the local highest point of the pipeline section where the exhaust valve is located. The position after the last movement is determined as the calibration position, and the float cavity is locked at this position.

[0079] Specifically, when the valve body to be calibrated is a drain valve, the above step S403 includes: Step S4035: Take the liquid level in the pipeline corresponding to the current position of the float chamber of the valve body to be calibrated as the initial liquid level.

[0080] Specifically, when the valve to be calibrated is a drain valve, the accumulated liquid will naturally collect at the lowest point of the pipeline under gravity. Only by precisely aligning the drain valve's float chamber with the lowest point of its pipeline section can the stagnant liquid in the pipeline be completely drained, avoiding the risk of pipeline corrosion and blockage caused by liquid accumulation. It should be noted that this lowest point of the pipeline is not the global physical lowest point of the entire pipeline, but rather the local lowest point within the specific pipeline section where the drain valve is located. Since each drain valve is only responsible for draining the accumulated liquid in its installation section, it does not need to be aligned with the overall extreme point of the pipeline. Specifically, assuming the float chamber has not been moved, the pipeline liquid level collected by the level sensor at this time is taken as the initial liquid level.

[0081] Step S4036: Control the driving layer to drive the float cavity to move to multiple target positions respectively. Based on the calibration data corresponding to each target position, establish a position-liquid level association table. The calibration data includes pipeline liquid level, spatial attitude and absolute distance.

[0082] Specifically, step S4036 includes: Step b1: For each target position, the control drive layer drives the float cavity to move to the target position according to the second movement step size, and obtains the pipeline liquid level and absolute distance corresponding to the target position.

[0083] Specifically, based on the current position of the float cavity, multiple target positions are determined within a range of ±50mm along its axis, such as +10mm, -10mm, +20mm, -20mm, +30mm, -30mm, +40mm, and -40mm. For each target position, the drive layer drives the float cavity to move precisely to the corresponding position, acquiring the calibration data collected by the sensor layer at that time.

[0084] Step b2: Using the absolute distance corresponding to the position before the first movement as the origin of the X-axis, obtain the X-axis position and position change corresponding to the absolute distance of the target position after each movement.

[0085] Specifically, in order to establish a unified position reference benchmark, the absolute distance collected before the float cavity moves for the first time is calibrated as the origin of the X-axis coordinate (i.e., X=0). Based on the absolute distance collected after each movement, the X-axis coordinates corresponding to each position are calculated. At the same time, the difference in absolute distance between two adjacent movements is calculated, which is the change in position.

[0086] Assume the absolute distance before the first movement is 1250mm (X=0), the absolute distance after the first movement is 1260mm, corresponding to an X-axis position of 1260mm-1250mm=10mm, or X=10, with a position change of 10mm; the absolute distance after the second movement is 1270mm, corresponding to an X-axis position of 1270mm-1250mm=20mm, or X=20, with a position change of 20mm-10mm=10mm compared to the first movement; the absolute distance after the third movement is 1240mm, corresponding to an X-axis position of 1240mm-1250mm=-10mm, or X=-10, with a position change of -10mm-20mm=-30mm compared to the second movement.

[0087] Step b3: Using the pipe level corresponding to the position before the first movement as a benchmark, calculate the liquid level change and the liquid level change rate based on the pipe level corresponding to the target position after each movement.

[0088] Specifically, to quantify the change in pipeline liquid level with axial position, the pipeline liquid level collected at the position before the float chamber moves for the first time is set as the liquid level reference value. For the pipeline liquid level collected at each target position after each movement, the difference between the liquid level and the reference value is calculated to obtain the liquid level change at each target position. The ratio of the liquid level change to the corresponding position change is then used as the liquid level change rate.

[0089] Assuming the pipe level before the first movement is 85mm (X=0), and the pipe level after the first movement is 88mm, the corresponding change in liquid level is 88mm-85mm=3mm. The change in position after the first movement is 10mm. Therefore, the liquid level change rate is 3 / 10×100%=30%.

[0090] Step b4: Based on the X-axis position, pipeline liquid level, position change, liquid level change, and liquid level change corresponding to each target position, establish a position-liquid level association table.

[0091] Specifically, by integrating the X-axis position, pipeline level, position change, level change, and level change obtained from moving to each target position, a position-level correlation table is established, which can intuitively present the correspondence between the pipeline's axial position and the liquid level.

[0092] Step S4037: Determine the search direction based on the location-liquid level association table.

[0093] Specifically, the X-axis position with the lowest pipe liquid level in the location-liquid level correlation table is analyzed, and its axial direction is the priority search direction. For example, if the pipe liquid level of 71mm at the target location (X=-20mm) is the lowest in the entire table, it indicates that there is a possibility of an even lower liquid level in the negative X-axis direction, so the search direction is the negative X-axis direction.

[0094] Step S4038: Control the driving layer to move in the search direction and drive the float cavity to move according to the second moving step size, obtain the pipeline liquid level corresponding to the position of the float cavity after moving, and calculate the liquid level change rate based on the initial liquid level.

[0095] Specifically, the liquid level change rate during drain valve calibration is the core indicator for determining the lowest point of a pipeline section. In areas where the lowest point has not yet been reached, as the float chamber moves along the direction of liquid accumulation, the liquid level will show a significant downward trend as the displacement increases (i.e., the liquid level change rate is relatively large). When approaching the lowest point, the axial slope of the pipeline tends to be gentle, the liquid accumulation gradient narrows significantly, the fluctuation amplitude of the liquid level with axial displacement will be significantly reduced, and the liquid level change rate will approach 0.

[0096] The driving layer drives the float cavity to move axially along the search direction determined in the above steps with a preset second moving step size, and obtains the liquid level in the pipeline collected by the sensor layer at this time. Combined with the initial liquid level in step S4035, the liquid level change rate of this movement is calculated.

[0097] Step S4039: Return to the control drive layer and move the float cavity in the search direction according to the second movement step size. Obtain the pipeline liquid level corresponding to the position after the float cavity moves. Calculate the liquid level change rate based on the initial liquid level. Continue until the liquid level change rate is less than the second preset threshold for the second consecutive preset number of times. Use the position after the last movement of the float cavity as the calibration position.

[0098] Specifically, return to step S4038 to continue driving the float chamber to move until the liquid level change rate for the second preset number of consecutive times (e.g., 5) is less than the second preset threshold (e.g., 0.5). It is then considered that the float chamber has reached the lowest point of liquid accumulation. The position after the last movement is used as the calibration position of the drain valve to ensure that the drain valve can efficiently drain the stagnant liquid in the pipeline, while effectively avoiding premature convergence and oscillation.

[0099] By combining gradient descent with pipeline level analysis, and employing a level data-driven search strategy and closed-loop convergence determination mechanism, an efficient and reliable technical approach is provided for accurately locating the lowest point of the pipeline section where the drain valve is located.

[0100] In some alternative implementations, Figure 5 This is a flowchart of the drain valve calibration according to an embodiment of the present invention, such as... Figure 5 As shown, when the valve body to be calibrated is a drain valve, the drain valve is connected, calibration data is collected, and the current pipeline liquid level is used as the initial liquid level. The float chamber is driven to move to multiple target positions, and the pipeline liquid level corresponding to each target position is collected. The liquid level change and liquid level change rate are calculated to form a position-liquid level correlation table, and the search direction is determined based on this table. The drive layer drives the float chamber to move according to the search direction and the second movement step, and collects the pipeline liquid level after the movement. The liquid level change rate is determined based on the initial liquid level. It is determined whether the liquid level change rate is less than the second preset threshold. If it is not less than the second preset threshold, the float chamber is driven to move according to the search direction and the second movement step. If it is less than the second preset threshold, it is determined whether the number of consecutive times the liquid level change rate is less than the second preset threshold has reached the second preset number. If it has not reached the second preset number, the float chamber is driven to move according to the search direction and the second movement step. If it has reached the second preset number, it means that the float chamber has now moved to the local lowest point of the pipeline section where the drain valve is located. The position after the last movement is determined as the calibration position, and the float chamber is locked at this position.

[0101] Step S404: Control the drive layer to stop driving, locking the float cavity in the calibration position. For details, please refer to [link to relevant documentation]. Figure 3 Step S304 of the illustrated embodiment will not be described again here.

[0102] In some alternative implementations, Figure 6 This is a flowchart of another pipeline valve body calibration method according to an embodiment of the present invention, such as... Figure 6As shown, when the valve body to be calibrated is an exhaust valve, the gradient ascent method combined with spatial attitude analysis is used to search for the local highest point in the pipeline section where the exhaust valve is located. If the convergence condition is met, that is, the slope change for the first consecutive preset number of times is less than the first preset threshold, then the local highest point in the pipeline is considered to have been found, and the position after the last movement is determined as the calibration position, locking the float cavity at this position; if the convergence condition is not met, the search continues. When the valve body to be calibrated is a drain valve, the gradient descent method combined with pipeline level analysis is used to search for the local lowest point in the pipeline section where the drain valve is located. If the convergence condition is met, that is, the rate of change of the liquid level for the second consecutive preset number of times is less than the second preset threshold, then the local lowest point in the pipeline is considered to have been found, and the position after the last movement is determined as the calibration position, locking the float cavity at this position; if the convergence condition is not met, the search continues.

[0103] This invention provides a prerequisite for valve body calibration by docking with the valve body to be calibrated. After docking, multi-dimensional calibration data of the valve body and pipeline are collected to provide data support for valve body calibration. The calibration data controls the drive layer to drive the movement of the float cavity. During the movement, the calibration data collected after each movement is analyzed to determine the calibration position and lock the float cavity at the calibration position. This achieves autonomous location and locking of the calibration position, thereby realizing efficient and accurate pipeline valve body calibration. It not only effectively solves the problems of incomplete venting and liquid accumulation caused by pipeline posture changes, but also overcomes the installation and calibration limitations caused by obstruction in densely arranged pipeline areas. It significantly improves the operational reliability of pipeline venting and drainage systems, ensures that the venting and drainage valve body is always in the optimal working position, and guarantees the safety and efficiency of media transportation.

[0104] The present invention has the following beneficial effects: (1) Significantly improved calibration accuracy: Spatial attitude measurement accuracy and position positioning accuracy reach the millimeter level; (2) Significantly reduced system costs: A single device can serve a large number of valve bodies, reducing the total cost; (3) Strong adaptability: It can automatically adapt to various complex working conditions such as pipeline settlement, thermal deformation, and vibration; (4) Simple and efficient operation: Standardized processes and intelligent algorithms greatly reduce the technical requirements for operators; (5) High reliability: Based on rigorous mathematical principles and multi-sensor redundancy design, it ensures the accuracy and uniqueness of extreme point identification; (6) Easy maintenance: Modular design and quick-connect interface reduce maintenance time; (7) High level of intelligence: It has data recording, analysis and remote monitoring functions, and supports preventive maintenance; (8) Energy saving and environmental protection: Optimized control algorithms and power management reduce energy consumption.

[0105] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0106] The following is a detailed reference. Figure 7 This diagram illustrates a suitable structural schematic for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 701, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 702 or a program loaded from memory 708 into random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the electronic device. The processor 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0107] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 708 including, for example, magnetic tapes, hard disks, etc.; and communication devices 709. Communication device 709 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0108] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 709, or installed from a memory 708, or installed from a ROM 702. When the computer program is executed by the processor 701, it performs the functions defined in the pipeline valve body calibration method of the embodiments of the present invention.

[0109] Figure 7 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0110] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the pipeline valve calibration method shown in the above embodiments is implemented.

[0111] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0112] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A pipeline valve body calibration device, characterized in that, The device includes an interface layer, a sensor layer, a control layer, and a drive layer; The interface layer is used to receive and calibrate the valve body; The sensor layer is used to collect calibration data; The control layer is used to control the drive layer to drive the float cavity of the valve body to be calibrated to move along the pipeline based on the calibration data, and continuously determine the calibration position based on the calibration data during the movement, control the drive layer to stop driving, and lock the float cavity at the calibration position.

2. The apparatus according to claim 1, characterized in that, The sensor layer includes an ultrasonic sensor, an attitude sensor, a liquid level sensor, and a position encoder; The ultrasonic sensor is used to obtain the relative distance of the float cavity in the pipe; The attitude sensor is used to measure the spatial attitude of the pipeline; The liquid level sensor is used to obtain the liquid level in the pipeline; The position encoder is used to obtain the absolute distance of the float cavity in the pipe.

3. The apparatus according to claim 1, characterized in that, The control layer includes a main controller, a motion controller, a memory, a communication module, and a power module; The main controller is used to determine the calibration position based on the calibration data; The motion controller is used to control the movement and stopping of the drive layer; The memory is used to store the calibration data and the calibration location; The communication module is used for internal and external communication; The power module is used to supply power to the device.

4. A method for calibrating a pipeline valve body, characterized in that, The method, applied to the pipeline valve body calibration device according to any one of claims 1 to 3, comprises: For receiving and calibrating the valve body; Collect calibration data; Based on the calibration data, the control drive layer drives the float chamber of the valve body to be calibrated to move along the pipeline, and continuously determines the calibration position based on the calibration data during the movement. The drive layer is controlled to stop driving, thereby locking the float cavity at the calibration position.

5. The method according to claim 4, characterized in that, The valve body to be calibrated is an exhaust valve; The step of controlling the drive layer based on the calibration data to move the float chamber of the valve body to be calibrated along the pipeline, and continuously determining the calibration position based on the calibration data during the movement, includes: Based on the calibration data corresponding to the current position of the float cavity, calculate the distance deviation between the current position and the local highest point of the pipeline; The driving layer is controlled to drive the float cavity to move according to the distance deviation and the first moving step size, and the calibration data corresponding to the position of the float cavity after the movement is obtained. The slope change is determined based on the calibration data before and after the movement, and the first movement step size is adjusted based on the slope change; Returning to the step of calculating the distance deviation between the current position and the local highest point of the pipeline based on the calibration data corresponding to the current position of the float cavity, until the slope change for a first preset number of consecutive times is less than the first preset threshold, the position after the last movement of the float cavity is taken as the calibration position.

6. The method according to claim 5, characterized in that, The calibration data includes spatial attitude, relative distance, and absolute distance, and the spatial attitude includes pitch angle; The step of calculating the distance deviation between the current position and the highest local point of the pipeline based on the calibration data corresponding to the current position of the float cavity includes: With the center of the float cavity as the origin and the direction of the pitch angle as the X-axis, the Y-axis and Z-axis are determined based on the X-axis to establish a pipeline coordinate system; The Z-axis coordinate of the center is determined based on the pipe radius and the relative distance, and the absolute distance is used as the X-axis coordinate of the center; Based on the pitch angle, the pipe radius, and the absolute distance, construct the trajectory equation of the highest point; Substituting the X-axis coordinates of the center into the trajectory equation of the highest point, we obtain the local highest point of the pipeline; The difference between the Z-axis coordinates of the highest local point of the pipeline and the center is determined as the height deviation; The distance deviation is calculated based on the altitude deviation and the pitch angle.

7. The method according to claim 4, characterized in that, The valve body to be calibrated is a drain valve, and the calibration data also includes the pipeline liquid level; The step of controlling the drive layer based on the calibration data to move the float chamber of the valve body to be calibrated along the pipeline, and continuously determining the calibration position based on the calibration data during the movement, includes: The initial liquid level is taken as the pipe liquid level corresponding to the current position of the float cavity of the valve body to be calibrated. The driving layer is controlled to move the float cavity to multiple target positions respectively, and a position-liquid level association table is established based on the calibration data corresponding to each target position; The search direction is determined based on the location-liquid level association table; Control the driving layer to move the float cavity in the search direction according to the second moving step size, obtain the pipe liquid level corresponding to the position of the float cavity after the movement, and calculate the liquid level change rate based on the initial liquid level; Returning to the control drive layer in the search direction, the float cavity is driven to move according to the second movement step size. The liquid level in the pipeline corresponding to the position after the float cavity moves is obtained. The liquid level change rate is calculated based on the initial liquid level. This process continues until the liquid level change rate is less than the second preset threshold for a second consecutive preset number of times. The position after the last movement of the float cavity is then taken as the calibration position.

8. The method according to claim 7, characterized in that, The calibration data also includes absolute distance; The control layer drives the float cavity to move to multiple target positions. Based on the calibration data corresponding to each target position, a position-liquid level association table is established, including: For each target position, the driving layer is controlled to drive the float cavity to move to the target position according to the second movement step size, and the pipe liquid level and absolute distance corresponding to the target position are obtained; Using the absolute distance corresponding to the position before the first movement as the origin of the X-axis, we obtain the X-axis position and position change corresponding to the absolute distance of the target position after each movement. Using the pipe level at the position before the first movement as a benchmark, the change in pipe level and the rate of change in pipe level are calculated based on the pipe level at the target position after each movement. Based on the X-axis position, pipeline liquid level, position change, liquid level change, and liquid level change corresponding to each target position, the position-liquid level association table is established.

9. An electronic device, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the pipeline valve body calibration method according to any one of claims 4 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the pipeline valve body calibration method according to any one of claims 4 to 8.

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