DETECTION DEVICE AND METHOD FOR DETECTING THE POSITION OF AN ADJUSTABLE ATTACHMENT ELEMENT

Description

[0001] The invention relates, among other things, to a method for detecting the position of an adjustable actuating element of a technical actuating device of a process engineering plant by forming a position indication that specifies the position of the actuating element.

[0002] A detection device capable of executing a method for detecting the position of an adjustable actuator and designed for use as an actuator in a valve is offered, for example, by TWTG R&D BV under the product name "NEON Valve Sensor". The previously known detection device comprises a magnetic field sensor for detecting the position of the actuator and a LoRaWAN interface for transmitting the position information to a higher-level central unit.

[0003] A detection device capable of performing a method according to the preamble of claim 1 is disclosed in the publication "The VIKINGS Autonomous Inspection Robot: Competing in the ARGOS Challenge" (Merriaux Pierre, Rossi Romain, Boutteau Remi, Vauchey Vincent, Qin Lei, Chanuc Pailin, Rigaud Florent, Roger Florent, Decoux Benoit, Savatier Xavier; IEEE ROBOTICS & AUTOMATION MAGAZINE, 20190301 IEEE SERVICE CENTER, PISCATAWAY, NJ, US - ISSN 1070-9932; Vol:26, Nr:1, Pages: 21 - 34).

[0004] The invention is based on the objective of providing a method for detecting the position of an adjustable actuating element that can be carried out with minimal technical effort.

[0005] This problem is solved according to the invention by a method with the features according to claim 1. Advantageous embodiments of the method according to the invention are specified in the dependent claims.

[0006] A significant advantage of the method according to the invention is that it can be carried out without interfering with the technical actuating device and without mounting additional components on the actuating device.

[0007] Another significant advantage of the method according to the invention is that it can be carried out without contact with the technical control device, i.e., possibly with a certain safety distance. This latter aspect can be particularly advantageous in environments containing explosive substances.

[0008] The position information can be obtained simply and therefore advantageously based on the digital image data if a marker is attached to the actuating element and the position of the actuating element is determined based on, or at least also based on, the orientation of the marker.

[0009] Image analysis software can advantageously be based on artificial intelligence. For example, multiple images of the actuator in various known positions can be captured, and the software can be trained to determine the position; training methods related to artificial intelligence are now widely known, so reference is made to the relevant literature.

[0010] The only advantageous method worth mentioning here is the so-called support vector machine (in technical terms, "support vector machine"). This method uses a set of training objects (in this case, image data) as the starting point for building the support vector machine. For each of these objects, the class to which it belongs and the actual position of the actuator are known. Each object, in this case image data, is represented by a vector in a vector space. The task of the support vector machine is to fit a hyperplane into this space, which acts as a dividing surface and separates the training objects into at least two classes that define, for example, the closed and open positions of the actuator.

[0011] It is particularly advantageous if the marking on the actuator bears a code that identifies the actuator and / or the actuator itself. In such a design, the marking has a dual function, as it enables both the recognition of the position and the identification of the actuator, ensuring that it is always clear to which actuator the respective position indication refers and thus preventing confusion.

[0012] The encoding is preferably formed by a barcode or a two-dimensional code.

[0013] Even when evaluating based on two markers, the image evaluation software can advantageously rely on artificial intelligence, as explained above.

[0014] It is also particularly advantageous if the marking on the actuator and the additional marking each bear a code that identifies the actuator and / or the actuator, and the relative alignment between the marking on the actuator and the additional marking is used to generate the position indication only when both codes identify the same actuator and / or the same actuator.

[0015] If, as illustrated by an example for better understanding of the invention (though not part of the invention itself), no further marking is present, the position of the actuating element is preferably determined by means of, or at least also by means of, an orientation indication that specifies the horizontal orientation of the image acquisition device during the generation of the digital image data. Even when evaluating based on the spatial orientation of the image acquisition device, the image evaluation software can advantageously be based on artificial intelligence, as already explained above.

[0016] If, as an example for better understanding of the invention (though not part of the invention itself), no marking is present at all, including none on the actuating element, the position of the actuating element is preferably determined based on its orientation relative to the spatial orientation of the image acquisition device during the generation of the digital image data. Even when evaluating based on the spatial orientation of the actuating element and the spatial orientation of the image acquisition device, the image evaluation software can advantageously rely on artificial intelligence, as explained above.

[0017] The method can be advantageously used by maintenance or service personnel with the aid of a mobile device. To make this simple and cost-effective, it is considered beneficial if at least the image capture device is integrated into a mobile device, or in other words, if a camera of a mobile device is used as the image capture device of the detection system. Maintenance or service personnel only need to photograph the actuators of the process plant's control systems with the mobile device; the evaluation of the image data and the generation of the position information occur automatically in the background with minimal or even no errors.

[0018] In a first preferred embodiment of the latter "smartphone" variant, it is provided that the computing device which determines the position information is also integrated into the mobile device and that the position information is determined in the mobile device by including a software module containing the image evaluation software, in particular an app, of the mobile device.

[0019] In a second preferred embodiment of the "smartphone" variant, the computing unit that determines the position is integrated into a central unit separate from the mobile device. This central unit could, for example, be a control center for the process equipment. In this latter embodiment, the mobile device preferably serves only to acquire the raw data (image data, orientation information if available, etc.). The acquisition unit is thus divided into two spatially separate components: a local component integrated into the mobile device, comprising the image capture unit, and a remote component integrated into the central unit, comprising the computing unit and the image processing software.

[0020] The central facility can be formed in a cloud using cloud functionality.

[0021] In the first preferred embodiment of the "smartphone" variant, the mobile terminal preferably transmits the position information to the central unit via mobile communication, and in the second preferred embodiment of the "smartphone" variant, preferably at least the image data.

[0022] The mobile device transmits the image data and / or position information to the central unit preferably immediately after generating the image data and / or position information. In the event of a lost mobile connection, transmission preferably occurs after intermediate storage in the mobile device and after the mobile connection is restored.

[0023] The position indicator preferably shows whether the actuating element is in a closed position, an open position or an intermediate position, and / or preferably quantitatively describes an actuating angle of the actuating element.

[0024] The technical actuating device is preferably a valve and the actuating element is a valve actuating element.

[0025] The invention further relates to a detection device for detecting the position of an adjustable actuating element of a technical actuating device, generating a position indication that specifies the position of the actuating element. According to the invention, the characterizing features of claim 11 are provided.

[0026] As mentioned above, the image evaluation software can advantageously rely on artificial intelligence and, for example, be based on a support vector method.

[0027] In a preferred embodiment of the detection device, the image acquisition device, the image evaluation software, and the computing device that determines the position are integrated into a mobile communication device. Particularly preferably, the entire detection device is thus comprised solely of a mobile communication device.

[0028] In another preferred embodiment, the image acquisition device is integrated into a mobile communication device, while the image processing software and the computing unit that determines the position are integrated into a central unit. In this latter embodiment, the acquisition device is thus divided into two spatially separate components: a local component integrated into the mobile communication device and a remote component integrated into the central unit. The two components, i.e., the mobile communication device and the computing unit, can preferably be connected via a mobile communication link, through which the image data from the image acquisition device is transmitted to the central unit.

[0029] The invention is explained in more detail below with reference to exemplary embodiments; these show, by way of example, Figure 1 shows an embodiment of an arrangement with an actuating device and a detection device formed by or integrated into a mobile communication device, wherein the Figure 1 Figure 2 shows the embodiment in the closed position of the actuating element. Figure 2Figure 3 shows an embodiment of an arrangement with an actuator and a detection device, which is partly implemented in a mobile communication device and partly in a central unit; Figure 4 shows an embodiment of an arrangement with a detection device and an actuator, on which two codings are attached; Figure 5 shows an embodiment of an arrangement with a detection device and an actuator, in which a coding is attached to an actuator, wherein the detection device takes into account the coding on the actuator or its position as well as another coding that is attached to a wall; and Figure 6 shows an embodiment of an arrangement with an actuator and a detection device that operates without taking codings into account.

[0030] For the sake of clarity, the same reference symbols are always used in the figures for identical or comparable components.

[0031] The Figure 1 Figure 1 shows an embodiment of a technical actuating device 10 in the form of a valve, which is equipped with an actuating element 11 in the form of a valve lever as the valve actuating element. The actuating device 10 forms part of a process engineering plant 100, which is not shown further. Figure 1 Figure 1 shows the closed position of the actuating element 11, in which the flow of a fluid F through the actuating device 10 is blocked.

[0032] The actuator 11 has a code 12 attached to it, which uniquely identifies the actuator 10 and thus the actuator 11. In the embodiment according to Figure 1The coding 12 is formed by a barcode, the coding bars 12a of which are, for example, vertically aligned in the closed position of the actuating element 11.

[0033] The Figure 2 The actuator 10 shows according to Figure 1 in the open position of the actuating element 11, in which a flow of fluid F through the actuating device 10 is possible.

[0034] It can be seen that the adjustment of the actuating element 11 is determined by the one in the Figure 1 shown closed position in the Figure 2 The open position shown and vice versa are each achieved by swiveling by 90 degrees.

[0035] The Figure 1 and 2 Furthermore, it can be seen that by pivoting the actuating element 11, the orientation of the coding lines 12a of the coding 12 is also pivoted by 90 degrees; the coding lines 12a are horizontally aligned in the open position of the actuating element 11.

[0036] The Figure 1 and 2 Furthermore, they show an image acquisition device 20 for capturing digital image data BD, which represents an image of the actuating element 11. The image acquisition device 20 can, for example, be integrated into a mobile communication device 30.

[0037] In the embodiment according to the Figure 1 and 2 The mobile communication device 30 also integrates a computing unit 40, which is programmed by means of image evaluation software BAS to evaluate the digital image data BD to generate a position indicator SA specifying the position of the actuating element 11. The mobile communication device 30 alone thus constitutes an embodiment of a detection device ER according to the invention for detecting the position of the adjustable actuating element 11. The image evaluation software BAS can, for example, be based on artificial intelligence and be trained using sample images or sample data.

[0038] It is advantageous if the image evaluation software BAS is designed such that it detects the orientation of the coding lines 12a of the coding 12 and generates the position information SA based on the orientation, which is vertical in the closed position of the actuating element 11 and horizontal in the open position. When determining the spatial orientation of the coding lines 12a, an orientation information AG, which specifies the spatial orientation of the image acquisition device 20 during the generation of the digital image data BD, is preferably used, for example in the form of an angle relative to the horizontal.

[0039] The image evaluation software BAS can also be designed in such a way that it evaluates the alignment of the coding lines 12a of the coding 12 by forming a positioning angle indication that quantitatively describes the respective positioning angle of the actuating element 11, for example in order to be able to detect intermediate positions of the actuating element 11 and to indicate them in the position indication SA.

[0040] After determining the position information SA, the mobile terminal 30 transmits this preferably together with an ID identifying the actuating element 11 and / or the actuating device 10 to a central unit, which may be, for example, a control center 50 of the process plant 100; the transmission preferably takes place via a mobile communication MFB immediately after the position information SA has been generated or as soon as it is possible to establish a mobile communication MFB.

[0041] In the embodiment according to the Figure 1 and2 The mobile terminal 30 determines the position SA itself; alternatively, it can be provided that the mobile terminal 30 only captures the digital image data BD and transmits it to the control center 50 of the process plant 100, as exemplified in the Figure 3 as shown. In the latter variant, the computing unit 40 and the image analysis software BAS are preferably integrated in the control center 50.

[0042] The embodiment of an ER acquisition device according to the invention, consisting of the image acquisition device 20, the computing device 40, and the image evaluation software BAS, is thus distributed across two spatially separate components that are in contact, or at least can be brought into contact, via a mobile communication link MFB. The above statements apply in connection with the Figure 1 and 2 for the embodiment according to Figure 3 accordingly.

[0043] The Figure 4 Figure 1 shows a third embodiment of a technical actuating device 10 with an actuating element 11, the position of which is detected by means of a detection device ER. In contrast to the embodiments according to the Figures 1 to 3 In the embodiment according to Figure 4 and according to the invention, a further marking is attached to a section of the actuating device 10 that is immobile when the actuating element 11 is adjusted, which is preferably identical to the coding 12 on the actuating element 11 and forms a further coding 13.

[0044] In the embodiment according to Figure 4The image evaluation software BAS is designed to detect the orientation of the two codes 12 and 13 relative to each other: If the codes 12 and 13 are perpendicular to each other, the closed position of the actuator 11 is determined; if the codes 12 and 13 are parallel to each other, the open position of the actuator 11 is determined. Preferably, the position indicator SA is only generated if it is determined that the codes 12 and 13 are identical; otherwise, an error signal is preferably generated.

[0045] In the embodiment according to Figure 4 The ER detection device is used to generate the position indicator SA – as in the exemplary embodiment according to the Figure 1 and 2- formed solely by the mobile terminal 30; alternatively, the recording device ER can be distributed between the mobile terminal 30 and the control center 50, as in connection with the Figure 3 This was explained. Furthermore, the above statements apply in connection with the Figures 1 to 3 for the embodiment according to Figure 4 accordingly.

[0046] The Figure 5 A fourth embodiment of a technical actuating device 10 with an actuating element 11, the position of which is detected by means of a detection device ER, is shown. In contrast to the embodiment according to Figure 4 is in the embodiment according to Figure 5A further coding 14, preferably identical to coding 12 on the actuating element 11, is mounted at a fixed location separate from the actuating device 10, for example on a wall. The detection device ER determines the alignments between codings 12 and 14 and generates the position signal SA depending on the relative alignment, preferably only if it is determined that codings 12 and 14 are identical; otherwise, an error signal is preferably generated.

[0047] Furthermore, the above statements apply in connection with the Figure 4 for the embodiment according to Figure 5 Accordingly. For example, the image analysis software BAS and the computing unit 40 can be integrated into the mobile device 30, as in Figure 5 shown, and / or integrated into the control center 50, as in connection with the Figure 3 was explained.

[0048] The Figure 6A fifth embodiment of a technical actuating device 10 with an actuating element 11, the position of which is detected by means of a detection device ER, is shown. The detection device ER according to the Figure 6 The image evaluation software BAS is designed in such a way that it determines the position specification SA solely on the basis of the horizontal orientation of the longitudinal direction L of the actuating element 11 relative to the horizontal orientation of the image acquisition device 20, which is defined by the orientation specification AG, for example in the form of an angle relative to the horizontal.

[0049] Furthermore, the ER recording device can be used in accordance with the Figure 6The image evaluation software BAS is designed in such a way that it determines the position SA solely on the basis of the horizontal orientation of the longitudinal direction L of the actuating element 11 relative to the orientation of prominent plant components, such as the pipes leading to the valve, for example in the form of an angle relative to the horizontal.

[0050] The image elements, whose edges are to serve as reference lines, are communicated to the image evaluation software BAS, e.g. by training.

[0051] The position SA can, for example, be output as an angle relative to the horizontal. In the exemplary embodiment, the actuating element 11 or the actuating device 10 is coded according to... Figure 6 not available, so no identifying ID is transmitted to the central institution.

[0052] Although the invention has been further illustrated and described in detail by means of preferred embodiments, the invention is not limited by the disclosed examples and other variations can be derived from them by the person skilled in the art without leaving the scope of protection of the invention. Reference symbol list

[0053] 10 Actuating device 11 Actuating element 12 Coding 12a Coding bars 13 Further coding 14 Further coding 20 Image acquisition device 30 Mobile radio device 40 Computer device 50 Control center / Central unit 100 Process engineering plant AG Orientation specification BAS Image evaluation software BD Image data ER Acquisition device F Fluid ID Identifying specification LL Longitudinal direction MFB Mobile radio connection SA Position specification

Claims

1. A method for detecting the position of an adjustable positioning element (11) in a technical positioning device (10) of a processing facility (100) to form a position specification (SA) specifying the position of the positioning element (11), wherein - digital image data (BD), which comprise a depiction of the positioning element (11) or at least a part of the positioning element (11), are generated using an image recording device (20), and - the digital image data (BD) are evaluated using a computing device (40) programmed by means of image evaluation software (BAS) to form the position specification (SA), characterized in that - a marking detected by the digital image data (BD) is attached to the positioning element (11), a further marking detected by the digital image data (BD) is attached to a section of the positioning device (10) immobile during the adjustment of the positioning element (11) or to another immobile object in the vicinity of the positioning element (11), and the position of the positioning element (11) is determined on the basis of or at least also on the basis of a relative alignment between the marking attached to the positioning element (11) and the further marking using the computing device (40) programmed by means of the image evaluation software (BAS) and the digital image data (BD).

2. The method as claimed in claim 1, characterized in that the marking attached to the positioning element (11) bears a code (12) that identifies the positioning device (10) and / or the positioning element (11).

3. The method as claimed in claim 2, characterized in that the code (12) is formed by a barcode or a two-dimensional code.

4. The method as claimed in any one of the preceding claims, characterized in that - the marking attached to the positioning element (11) and the further marking each bear a code (12, 13, 14), which each identify the positioning device (10) and / or the positioning element (11), and - the relative alignment between the marking attached to the positioning element (11) and the further marking is exclusively used to generate the position specification (SA) if both codes (12, 13, 14) each identify the same positioning device (10) and / or the same positioning element (11).

5. The method as claimed in any one of the preceding claims, characterized in that the position of the positioning element (11) is formed on the basis of or at least also on the basis of an alignment specification (AG), which specifies the spatial alignment of the image recording device (20) during the generation of the digital image data (BD).

6. The method as claimed in any one of the preceding claims, characterized in that the image recording device (20) is integrated in a mobile wireless terminal (30) and the image data (BD) and / or the position specification (SA) are transmitted via mobile wireless to a central device (50), whether directly after generating the image data (BD) or, in particular in case of an absent mobile wireless connection (MFB), after temporary storage in the mobile wireless terminal (30).

7. The method as claimed in claim 6, characterized in that - the computing device (40) which determines the position specification (SA) is integrated in the mobile wireless terminal (30) and - the position specification (SA) is determined with incorporation of a software module containing the image evaluation software (BAS), in particular an app, of the mobile wireless terminal (30) in the mobile wireless terminal (30).

8. The method as claimed in any one of the preceding claims, characterized in that - the image evaluation software (BAS) and the computing device (40), which determines the position specification (SA), are integrated in a central device (50) and - the position specification (SA) is determined in the central device (50).

9. The method as claimed in any one of the preceding claims, characterized in that the position specification (SA) indicates whether the positioning element (11) assumes a closed position, an open position, or an intermediate position, and / or quantitatively describes a positioning angle of the positioning element (11).

10. The method as claimed in any one of the preceding claims, characterized in that the technical positioning device (10) is a valve and the positioning element (11) is a valve operating element.

11. A detection device (ER) for detecting the position of an adjustable positioning element (11) of a technical positioning device (10) to form a position specification (SA) specifying the position of the positioning element (11), wherein the detection device (ER) comprises: - an image recording device (20) for recording digital image data (BD), which represent a depiction of the positioning element (11) or at least a part of the positioning element (11), and - a computing device (40), which is programmed by means of image evaluation software (BAS) to evaluate the digital image data (BD) to form the position specification (SA) characterized in that - the computing device (40) is programmed by means of the image evaluation software (BAS) to determine the position of the positioning element (11) on the basis of or at least also on the basis of a relative alignment between a marking attached to the positioning element (11) and detected by the digital image data (BD) and a further marking detected by the digital image data (BD), which is attached to a section of the positioning device (10) immobile during the adjustment of the positioning element (11) or to another immobile object in the vicinity of the positioning element (11).