CN108267087B

CN108267087B - Positioning device and positioning method

Info

Publication number: CN108267087B
Application number: CN201611261257.8A
Authority: CN
Inventors: 孙顺; 李广财; 刘飞
Original assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Current assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2020-02-07
Anticipated expiration: 2036-12-30
Also published as: CN108267087A

Abstract

The invention relates to a positioning device and a positioning method. The positioning device includes: the positioning component comprises a fixed end and a positioning end which are opposite; the supporting main body comprises a first member and a second member, the first member and the second member are intersected and fixedly arranged, the second member comprises a first end part and a second end part which are opposite, a reference positioning part is arranged at the top of the first end part, a positioning part is arranged at the second end part, the first member comprises a main body part and two extending end parts, and the two extending end parts are also respectively provided with a positioning part; the positioning part is connected to the first component and the second component through the fixed end, the datum positioning part comprises a datum positioning end, extension lines of central axes of the positioning parts arranged at two extending end parts of the first component intersect at the datum positioning end, and a connecting line of the central axes of the positioning parts arranged at the other end part of the first component and the datum positioning end intersects with the extension lines at a preset angle.

Description

Positioning device and positioning method

Technical Field

The invention relates to the technical field of measuring equipment, in particular to a positioning device and a positioning method.

Background

Wind energy has been used as a clean energy source, and various wind energy utilization devices have been attempted to be manufactured. With the development of science and technology, people produce wind driven generators to develop and utilize wind energy in modern society. The wind driven generator is a device for converting wind energy into electric energy, and mainly comprises a cabin, a hub, a tower, blades and other parts. Wind power generators are generally installed in a relatively open environment to improve the utilization rate of wind energy. After the wind driven generator is installed, the wind driven generator needs to be overhauled and maintained within a certain time. The tower serves as an important load bearing member to support the weight of the entire wind turbine as well as the wind induced stresses acting on the wind turbine. The tower needs to be inspected before the wind turbine is installed or after long-term operation.

In the prior art, based on the requirement of a load test of a tower barrel of a wind driven generator, a plurality of detection points need to be uniformly selected on the circumference of the bottom of the tower barrel. In order to ensure the accuracy of subsequent tests, the positions of the detection points are uniformly distributed along the circumferential direction of the bottom of the tower. However, the main means of taking points at present is to measure the circumference of the bottom of the tower drum by a manual tape-drawing ruler, and then to take the equally divided points, so as to determine the corresponding measuring points. This method of determining the measurement points is inefficient and not accurate enough.

Disclosure of Invention

The embodiment of the invention provides a positioning device which can quickly position a measuring point meeting the position requirement on a member to be measured, and has high positioning precision and high positioning work efficiency.

In one aspect, an embodiment of the present invention provides a positioning apparatus, including: the positioning component comprises a fixed end and a positioning end which are opposite;

the supporting main body comprises a first member and a second member, the first member and the second member are intersected and fixedly arranged, the second member comprises a first end part and a second end part which are opposite, a reference positioning part is arranged at the top of the first end part, a positioning part is arranged at the second end part, the first member comprises a main body part and two extending end parts, the two extending end parts bend to the second end part and extend in a scattering shape, and the two extending end parts are also respectively provided with the positioning part;

the positioning part is connected to the first component and the second component through the fixed end, the datum positioning part comprises a datum positioning end, extension lines of central axes of the positioning parts arranged at the two extending end parts of the first component are intersected at the datum positioning end of the datum positioning part, and a connecting line of the central axes of the positioning parts arranged at the datum positioning end of the datum positioning part and the second end part of the second component is intersected at a preset angle with the extension lines.

According to an aspect of the embodiment of the present invention, the second end portion of the second member and the two extending end portions of the first member are each provided with a mounting hole having an opening at a free end surface of each end portion, a center line of the mounting hole provided on the second end portion of the second member coincides with the connection line, and center lines of the mounting holes provided on the two extending end portions of the first member coincide with the extension lines, respectively.

According to an aspect of the embodiment of the invention, the predetermined angle is an acute angle.

According to an aspect of an embodiment of the invention, the predetermined angle is 45 °.

According to an aspect of the embodiment of the present invention, the positioning device further includes a position adjusting part including a sliding block, the second member further includes a guide portion connected between the first end portion and the second end portion of the second member, the sliding block is slidably engaged with the guide portion, and the sliding block moves in a direction approaching or separating from the reference positioning portion.

According to an aspect of the embodiment of the present invention, the position adjusting component further includes at least two support rods, one end of each of the at least two support rods is rotatably connected to the sliding block through a rotating shaft, the at least two support rods respectively include free ends, and the free ends of the at least two support rods and the reference positioning portion are located on the same side of the sliding block.

According to an aspect of the embodiment of the present invention, the position adjusting part further includes a swing lever having one end hinged to the second member and the other end hinged to the support lever.

According to an aspect of the embodiment of the present invention, the second member is provided with a fixing portion, the fixing portion is located on a moving path of the sliding block, and the position adjusting part further includes an elastic member disposed between the fixing portion and the sliding block.

According to an aspect of an embodiment of the present invention, the positioning device further includes a mounting bracket connected with the support body.

According to an aspect of an embodiment of the present invention, the positioning device further comprises an inclinometer connected with the support body.

According to an aspect of the embodiment of the present invention, the inclinometer reads the inclination angle and the inclination direction of the member to be measured, the positioning parts respectively provided at the two extending end parts are the first laser sensor and the second laser sensor, the positioning part provided at the second end part is the laser emitter, and when the reading of the inclinometer is equal to the inclination angle and the inclination direction of the member to be measured which are measured in advance, the first laser sensor, the second laser sensor and the laser emitter respectively position the first reference point, the second reference point and the third reference point on the inner wall of the member to be measured.

According to an aspect of an embodiment of the present invention, the positioning apparatus further includes: the signal receiving module is used for receiving a first distance measurement value from a first laser sensor to a first reference point measured by the first laser sensor and a second distance measurement value from a second laser sensor to a second reference point measured by the second laser sensor; the comparison module compares the first ranging value with the second ranging value; and the judging module judges whether the datum point positioned on the inner wall of the component to be detected by the first reference point, the second reference point, the third reference point and the datum positioning end is a circumferential quartering point on a plane vertical to the axis of the component to be detected or not according to the comparison result.

According to the positioning device provided by the embodiment of the invention, the positioning device comprises a positioning part and a supporting body, and the positioning part is used for quickly and accurately positioning the measuring point. The supporting body supports the positioning component to facilitate the positioning operation of the positioning component by an operator. The positioning end of the positioning component and the reference positioning end of the reference positioning part are matched together to complete positioning work quickly and accurately, and the positioning component is high in positioning precision and high in positioning work efficiency.

In the positioning device, the positioning parts at the two extending end parts of the first component can be laser sensors, the positioning part at the other end of the second component can be a laser emitter, and whether four measuring points positioned by the positioning device are circumference quartering points on a plane vertical to the axis of the component to be measured is judged by comparing whether laser distance measurement values respectively obtained by the two laser sensors are equal, so that the reliability of the positioning device and the positioning precision of the measuring points are improved.

In another aspect, an embodiment of the present invention further provides a method for positioning a point on an inner wall of a hollow member to be measured, including: the reference positioning part of the positioning device is abutted against the inner wall of the component to be measured so as to position a reference point; positioning a reference point on the inner wall of the component to be measured through a positioning part of the positioning device; the datum point and the reference point are located on the same plane, the plane is perpendicular to the axis of the component to be measured, and the datum point and the reference point equally divide the contour line of the inner wall of the cross section of the component to be measured.

According to another aspect of the embodiment of the present invention, a first predetermined angle for determining an inclination angle of a member to be measured and a second predetermined angle for determining an inclination direction of the member to be measured are measured in advance; and abutting the reference positioning part of the positioning device against the inner wall of the component to be measured to position a reference point, and operating the positioning device to enable the reading of the inclinometer to be equal to the first preset angle and the second preset angle respectively, so that the positioning part of the positioning device positions a reference point on the inner wall of the component to be measured.

According to another aspect of an embodiment of the invention, the inclinometer is a single axis inclinometer or a dual axis inclinometer.

According to another aspect of the embodiment of the present invention, the step of the positioning part positioning the reference point on the inner wall of the member to be measured includes: respectively positioning a first reference point and a second reference point on the inner wall of the component to be measured through positioning parts respectively arranged at the two extending end parts, wherein the positioning parts are respectively a first laser sensor and a second laser sensor; and a third reference point is positioned on the inner wall of the component to be measured through a positioning part arranged at the second end part, and the positioning part is a laser emitter.

Specifically, a first distance measurement value from a first laser sensor to a first reference point measured by a first laser sensor and a second distance measurement value from a second laser sensor to a second reference point measured by a second laser sensor are received; comparing the first ranging value with the second ranging value; and judging whether the reference points positioned on the inner wall of the component to be detected by the first reference point, the second reference point, the third reference point and the reference positioning end are the circumference quartering points on the plane vertical to the axis of the component to be detected or not according to the comparison result.

According to the positioning method provided by the embodiment of the invention, the positioning end of the positioning component and the reference positioning end of the reference positioning part are matched together so as to quickly and accurately complete the positioning work. Specifically, the reference point is first located as a measuring point, and then the positioning member of the positioning device locates the corresponding measuring point by the emitted laser beam.

Furthermore, laser rays emitted by the laser sensors respectively positioned at the two extending end parts are acquired and respectively returned to laser ranging values, the two laser ranging values are compared, whether the four measuring points positioned by the positioning device are planar circumference quartering measuring points or not is judged according to the comparison result, and a data basis is provided for evaluating whether the positioning device is accurate and adjusting the positioning result.

Drawings

Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic view of the overall structure of a positioning device according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a support body of an embodiment of the present invention.

Fig. 3 is a schematic top view of a positioning device according to an embodiment of the invention.

Fig. 4 is a schematic view of a positioning device according to an embodiment of the present invention in a state of use in a cylindrical member.

Fig. 5 is a schematic top view of the structure of fig. 4.

Fig. 6 is a schematic view of a state in which a member to be measured is vertically placed in a three-dimensional coordinate system according to an embodiment of the present invention.

Fig. 7 is a schematic view of a state in which a member to be measured is arbitrarily placed in a three-dimensional coordinate system according to an embodiment of the present invention.

Fig. 8 is a schematic block diagram of a positioning device of another embodiment of the present invention.

Fig. 9 is a schematic block diagram of a positioning apparatus according to still another embodiment of the present invention.

Fig. 10 is a flowchart illustrating a positioning method according to an embodiment of the present invention.

Fig. 11 is a block diagram illustrating an exemplary hardware architecture of a computing device capable of implementing a positioning apparatus and method according to embodiments of the present invention.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Description of the labeling:

1. a support body; 10. a positioning device;

2. a first member; 21. a main body portion; 22. an extension end portion;

3. a second member; 31. a first end portion; 311. a reference positioning part; 32. a first connection portion; 33. a guide portion; 34. a second connecting portion; 35. a second end portion; 36. a fixed part; 37. a limiting plate;

4. a positioning member; 41. a fixed end; 42. a positioning end;

5. a position adjusting member; 51. a sliding block; 52. a support bar; 53. a swing lever; 54. an elastic member;

6. an inclinometer;

7. mounting a bracket; 71. a fixed seat; 72. a universal joint; 73. a connecting rod;

8. an extension line;

9. a central axis; 99. a cylindrical member; 991. an axis;

100. a plane;

α, an included angle between the extension line and the connecting line;

β, a first predetermined angle;

gamma, a second predetermined angle;

110. a first laser sensor; 120. a second laser sensor; 130. a signal receiving module; 140. a comparison module; 150. a decision module; 160. an alarm module;

200. a computing device; 201. an input device; 202. an input interface; 203. a central processing unit; 204. a memory; 205. an output interface; 206. an output device; 210. a bus.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the described embodiments.

In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper," "lower," "inner," "outer," and the like, refer to orientations or positional relationships that are used for convenience in describing the present invention and to simplify description, but do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

After the tubular member 99 has been in use for a certain period of time, it needs to be subjected to a load test to prevent the tubular member 99 from failing due to a reduction in load capacity that no longer meets the use requirements. Particularly in the field of wind power generation, a wind power generator includes a cylindrical member 99 such as a tower and a blade. The tower drum of the wind driven generator is used for bearing the weight of the whole wind driven generator, so that the normal use of the tower drum is guaranteed by carrying out load test on the tower drum of the wind driven generator, and the potential safety hazard of the tower drum due to insufficient bearing capacity is avoided. The blades of the wind driven generator are mainly used for bearing wind load, so that the blades need to be detected in load performance before being installed, the load capacity data of the blades are recorded in time, and reference is provided for subsequent installation, maintenance or repair. When a tower tube or a blade is subjected to a load test, firstly, measuring points need to be selected on the circumference of the inner wall of the tower tube or the blade, and usually, a plurality of measuring points, generally four measuring points, are selected. The measuring points are on the same plane, and the plane is perpendicular to the central axis of the tower or the root of the blade. And after a plurality of measuring points are determined, carrying out load test on the tower barrel or the blade.

As shown in fig. 1 and 2, a positioning device 10 according to an embodiment of the present invention includes a support main body 1, a positioning member 4, and a position adjustment member 5. When the positioning device 10 of the embodiment of the present invention is used to perform measurement positioning work on the inner wall surface of the cylindrical member 99, the supporting body 1, the positioning member 4, and the position adjusting member 5 need to be used in cooperation to quickly position a desired measurement point on the inner wall of the cylindrical member 99. The positioning device 10 of the embodiment of the invention has the advantages of simple operation, high precision of positioning measuring points and high positioning work efficiency.

As shown in fig. 1, the support body 1 of the present embodiment includes a first member 2 and a second member 3. The first member 2 of this embodiment is a cross member that includes a main body portion 21 and two curved extended end portions 22. The two curved extended end portions 22 are located on the same side of the main body portion 21. Two curved extending end portions 22 are divergently extended from opposite ends of the main body portion 21. First mounting holes (not shown) are formed at the same positions on the end surfaces of the two bent extension end portions 22. Extension lines of center lines of the two first mounting holes intersect at one point. The second member 3 of the present embodiment includes a first end portion 31 connected perpendicularly to the main body portion 21, and a first connecting portion 32 perpendicular to both the first end portion 31 and the main body portion 21, a guide portion 33 connected perpendicularly to the first connecting portion 32 and extending in reverse parallel to the first end portion 31, a second connecting portion 34 connected perpendicularly to the guide portion 33 and extending in parallel and in the same direction as the first connecting portion 32, and a second end portion 35 connected perpendicularly to the second connecting portion 34 and extending in reverse parallel to the guide portion 33.

The top of the first end portion 31 is provided with a reference positioning portion 311. The reference positioning portion 311 includes a reference positioning end. The reference positioning end is used to position a reference point on the cylindrical member 99. The reference positioning end of the present embodiment is conical. The end face of the second end portion 35 is provided with a second mounting hole (not shown). The datum locating end (such as the conical tip described above) is located on the extension of the centre line of the second mounting hole. A third mounting hole (not shown) is provided on a surface of the second end portion 35 intersecting the second connecting portion 34.

The first connecting portion 32 is provided with pivot brackets at opposite sides thereof. The two pivot brackets are symmetrically disposed with respect to the guide portion 33. The pivot frame of this embodiment includes a boss connected to the first connecting portion 32, and a pivot shaft disposed on the boss toward the first end portion 31. The first connecting portion 32 is provided with a fixing portion 36 on a surface facing the second connecting portion 34. The fixing portion 36 of the present embodiment is a ring-shaped member connected to the first connecting portion 32.

The two curved extending end portions 22 of the first member 2 of the present embodiment extend in a scattered manner from the opposite ends of the main body portion 21 toward the second end portion 35 of the second member 3. The first member 2 and the second member 3 of the present embodiment have a square outer contour line in cross section, but may be a closed smooth curve or other polygonal shape. The support main body 1 of the embodiment has a simple structure, effectively reduces the self weight, and is convenient to carry. The two bent extending end portions 22 of the first member 2 and the second connecting portion 34 of the second member 3 of the present embodiment are both located on the same side of the main body portion 21 of the first member 2. The support body 1 of the present embodiment may be integrally formed and manufactured using a resin, nylon, engineering plastic, or aluminum alloy material, or may be separately manufactured and assembled.

Two stopper plates 37 extending in the axial direction of the first end 31 are provided on a region where the body portion 21 of the first member 2 and the first end 31 of the second member 3 intersect. The two stopper plates 37 are arranged in parallel. An inclinometer 6 (shown in fig. 1) is interposed between the two parallel stopper plates 37. The inclinometer 6 of the present embodiment is a biaxial inclinometer. Through the inclinometer 6, an operator can judge the position of the positioning device 10 more conveniently and carry out fixing or adjusting work according to the data of the inclinometer 6, thereby improving the working efficiency of positioning a measuring point.

As shown in fig. 1 and 3, the positioning member 4 is mounted and fixed to each of the two first mounting holes of the first member 2 and the second mounting hole of the second member 3. The positioning member 4 includes opposite fixed ends 41 and a positioning end 42.

The reference positioning end of the reference positioning portion 311 is located on the extension line 8 of the central axis of the positioning part 4 provided at the two extending end portions 22 of the first member 2. The reference positioning end of the reference positioning portion 311 is located on the connecting line 9 between the positioning end 42 of the positioning part 4 provided to the second member 3 and the reference positioning end of the reference positioning portion 311.

The positioning member 4 is fixedly connected to the first mounting hole or the second mounting hole through the fixing end 41. The locating end 42 is used to locate a reference point on the inner wall of the tubular member 99. An extension line 8 in which the center axes of the positioning members 4 in the two first mounting holes are extended toward the reference positioning portion 311, and a connecting line 9 between the positioning end 42 of the positioning member 4 in the second mounting hole and the reference positioning portion 311 intersect, and the reference positioning end of the reference positioning portion 311 is located at the intersection point. The two extension lines 8 and the connecting line 9 are located in the same plane. In the present embodiment, the center axis of the positioning member 4 provided in the first mounting hole coincides with the extension line 8, and the center axis of the positioning member 4 provided in the second mounting hole coincides with the connection line 9.

As shown in fig. 3, a predetermined angle α is formed between the two extension lines 8 and the connection line 9, the predetermined angle α between each of the two extension lines 8 and the connection line 9 is the same, the predetermined angle α of the present embodiment is an acute angle, preferably, the predetermined angle α is 45 °, the contour line of the inner wall of the cross section of the cylindrical member 99 of the present embodiment is a circle, and when the predetermined angle α is 45 °, the reference point located by the reference positioning portion 311 and the reference points located by the three positioning members 4 can quarterly divide the circle contour line of the cross section of the cylindrical member 99 to be measured.

The positioning member 4 of the present embodiment is a laser transmitter. The laser generated by the laser emitter has the characteristics of good linearity, strong penetrating power, convenience in identification and the like, and a reference point is conveniently positioned on the cylindrical member 99, so that the positioning working time is saved, and the positioning working efficiency is improved. After the positioning device 10 is arranged inside the cylindrical component 99 to be measured and the reference point is positioned, the laser transmitters in the first mounting hole and the second mounting hole are started, laser emitted by the laser transmitters can irradiate on the inner wall of the cylindrical component 99, and an operator makes measuring point marks on the inner wall of the cylindrical component 99 according to the positions of the irradiation points. Extension lines of the laser and the laser in opposite emitting directions intersect with the reference point.

As shown in fig. 2, the position adjusting member 5 of the present embodiment includes a slide block 51, a support rod 52, a swing rod 53, and an elastic member 54. The slide block 51 is slidably engaged with the guide portion 33 of the support body 1, and when the slide block 51 is driven, the slide block 51 can move on the guide portion 33 between the first connecting portion 32 and the second connecting portion 34 to approach or separate from the reference positioning portion 311 of the second member 3. The sliding block 51 of the present embodiment is a hollow annular member, and the sliding block 51 is sleeved on the guide portion 33 to realize a sliding fit therebetween. The outer circumferential surface of the sliding block 51 is provided with a rotation shaft 511. The axis of the rotation shaft 511 is parallel to the axis of the first connection portion 32. The rotation shaft 511 is located between the first connection portion 32 and the second connection portion 34. The support rod 52 includes a connected end and a free end. The connecting end is provided with a pin joint hole. The free end is pointed. The support rod 52 is pivotally connected to the rotating shaft 511 of the sliding block 51 through a pivot hole, and the free end faces the reference positioning portion 311. The number of the support rods 52 is two in this embodiment. The two support rods 52 are symmetrically disposed at both sides of the guide 33. The two support rods 52 are pivotally connected to the rotating shaft 511 of the sliding block 51, so that the two support rods 52 can swing toward or away from the guide portion 33. The support rod 52 is provided with an elongated groove on its surface facing the guide 33. A hole communicated with the groove is formed in one side wall of the groove, and a pin is installed in the hole. In another embodiment, the number of the support rods 52 may be more than two.

The swing lever 53 of this embodiment has one end pivotally connected to a pin on the support lever 52 and the other end pivotally connected to a pivot on the second member 3. The support rod 52 will rotate around the rotation shaft 511 of the sliding block 51 to swing in a direction to get close to or away from the guide part 33, and at the same time, the support rod 52 can drive the swing rod 53 to swing around the pivot shaft, so that the free end of the support rod 52 and the reference positioning part 311 on the second member 3 jointly abut against the tubular member to be measured 99. In another embodiment, the two ends of the swing lever 53 are ball-hinged to the guide portion 33 and the support lever 52, respectively.

An elastic member 54 is disposed between the fixing portion 36 disposed on the first connecting portion 32 of the second member 3 and the sliding block 51. The fixed part 36 is located on the moving path of the sliding block 51. One end of the elastic member 54 is connected to the fixing portion 36, and the other end is connected to the rotating shaft 511 of the sliding block 51. When the opening and closing of the support rod 52 are adjusted so that the free end of the support rod 52 and the reference positioning portion 311 on the second member 3 jointly abut against the cylindrical member to be measured 99, the support rod 52 can drive the sliding block 51 to move along the guide portion 33. When the sliding block 51 moves along the guide part 33, the elastic member 54 is pulled or compressed by the sliding block 51, thereby accumulating elastic potential energy. After the positioning device 10 is used to complete the positioning, the supporting rod 52 is separated from the abutting state with the inner wall of the cylindrical member to be measured 99, and the elastic piece 54 releases the accumulated elastic potential energy, so that the sliding block 51 returns to the initial position. The elastic member 54 of the present embodiment is a coil spring, and may be a rubber band.

As shown in fig. 1, the positioning device 10 of the present embodiment further includes a mounting bracket 7. The mounting bracket 7 includes a fixing base 71, a universal joint 72, and a connecting rod 73. The fixing base 71 may be a magnetic base or an air-adsorbing base. The magnetic fixing base 71 is applied to the cylindrical member 99 to be measured which is manufactured by processing a magnetic conductive material, and the air adsorption type base is applied to the cylindrical member 99 to be measured which is manufactured by processing a magnetic conductive material or a non-magnetic conductive material. The fixed seat 71 and the universal joint 72 are connected through a connecting rod 73, and the universal joint 72 and the third mounting hole of the second component 3 are also connected through the connecting rod 73. The fixing base 71 can fix the positioning device 10 of the embodiment of the present invention on the inner wall of the to-be-measured cylindrical member 99, so as to facilitate the user to adjust the position of the positioning device 10. The universal joint 72 makes the position adjustment process of the positioning device 10 more flexible and the adjustment range is wider.

The invention also relates to a positioning method for positioning a measuring point on the inner wall of the hollow member to be measured, and referring to the use state shown in fig. 4 and 5, the positioning method of the embodiment of the invention comprises the following steps:

the reference positioning portion 311 of the positioning device 10 of the embodiment of the present invention is first abutted against the inner wall of the member to be measured to position the reference point on the inner wall of the member to be measured.

A reference point is then located on the inner wall of the component to be measured by the locating means 4.

The reference point and the reference point are located on the same plane 100, and the plane 100 is perpendicular to the axis 991 of the member to be measured. The datum point and the reference point equally divide the contour line of the inner wall of the cross section of the member to be measured. And marking the reference points and the reference points on the inner wall of the component to be detected to serve as measuring points meeting the requirements for subsequent detection. The hollow component to be measured may be a tower or a blade of the wind turbine generator system, or may be other hollow cylindrical components such as a pipeline or a chimney.

Further, in the above positioning method, the positioning device 10 further includes the inclinometer 6, the first predetermined angle β for determining the inclination angle of the member to be measured and the second predetermined angle γ for determining the inclination direction of the member to be measured are determined in advance, the reference positioning portion 311 of the positioning device 10 is abutted against the surface of the member to be measured to position a reference point, and then the positioning device 10 is operated so that the readings of the inclinometer 6 are equal to the first predetermined angle β and the second predetermined angle γ, respectively, the positioning part 4 of the positioning device 10 positions a reference point on the surface of the member to be measured.

When the inclinometer 6 is a single-axis inclinometer, the positioning device 10 is operated and the reading of the single-axis inclinometer is observed, and when the reading of the single-axis inclinometer is the same as the first predetermined angle β, the positioning device 10 can position a reference point opposite to the reference point, and the line connecting the reference point and the axis of the member to be measured intersects perpendicularly, and then the single-axis inclinometer is rotated 90 ° on the same plane so as to be perpendicular to the previous position of the single-axis inclinometer, that is, the positioning device 10 is rotated around the line connecting the reference point and the reference point, and when the reading of the single-axis inclinometer is the same as the second predetermined angle γ, the positioning device 10 positions other reference points.

To further illustrate the positioning method of the present embodiment, a process of positioning an inner wall of a cylindrical tubular member 99 (such as a tower or a blade of a wind turbine generator system) by using the positioning device 10 of the present embodiment is described with reference to fig. 6 and 7, where the positioning device 10 of the present embodiment has a biaxial inclinometer and a laser emitter. The X axis of the biaxial inclinometer is parallel to the connecting line between the reference positioning part 311 of the positioning device 10 and the emission center of the laser emitter mounted on the second mounting hole. The Y-axis of the biaxial inclinometer of the present embodiment is parallel to the axis of the main body 21 of the positioning device 10.

This example, which does not limit the scope of the invention, is described below:

the first embodiment is as follows:

fig. 6 shows a set three-dimensional coordinate system with which the position of the cylindrical tubular member 99 is referred to. The XOY plane of the three-dimensional coordinate system is parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane.

The first predetermined angle β of the cylindrical tubular member 99 of the present embodiment is the angle between the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99 (the plane 100 being a virtual plane) and the XOY plane, the second predetermined angle γ is the angle between the axis 991 of the cylindrical tubular member 99 and the XOZ plane, and the axis 991 of the cylindrical tubular member 99 passes through the origin of the three-dimensional coordinate system.

As shown in FIG. 6, the cylindrical tubular member 99 is vertically disposed, i.e., the axis 991 of the cylindrical tubular member 99 is perpendicular to the XOY plane, at this time, the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99 is parallel to the XOY plane, the axis 991 of the cylindrical tubular member 99 is parallel to the XOZ plane, and the first predetermined angle β and the second predetermined angle γ are both zero degrees, the first predetermined angle β and the second predetermined angle γ are previously measured and recorded values in the established three-dimensional coordinate system.

The positioning device 10 of the present embodiment is then placed inside the cylindrical tubular member 99, and the fixing base 71 of the mounting bracket 7 is attracted to the inner wall of the cylindrical tubular member 99. The supporting body 1 is manually adjusted so that the reference positioning portion 311 of the second member 3 and the free end of the supporting rod 52 are each abutted against the inner wall of the cylindrical tubular member 99. In this embodiment, in the three-dimensional coordinate system, a connection line between the reference positioning portion 311 and the emission center of the laser emitter mounted on the second mounting hole is parallel to the XOY plane.

Then, the readings of the biaxial inclinometer are observed, and when the inclination angle value of the X axis of the biaxial inclinometer is zero, the laser emitted by the laser emitter installed on the second installation hole irradiates the inner wall of the tubular member 99 along the direction parallel to the XOY plane. The laser beam emitted by the laser emitter on the second end 35 of the positioning device 10 is parallel to the XOY plane, and at this time, the line connecting the reference positioning portion 311 and the emission center of the laser emitter mounted on the second mounting hole is also parallel to the XOY plane, the laser beam is in the plane 100 perpendicular to the axis 991 of the cylindrical barrel-shaped member 99, the irradiation point of the laser beam on the inner wall of the cylindrical barrel-shaped member 99 is a positioned reference point, and the reference point is in the plane 100 perpendicular to the axis 991 of the cylindrical barrel-shaped member 99.

The reading of the dual-axis inclinometer is then observed again, and when the value of the inclination of the Y axis of the dual-axis inclinometer is zero, the axis of the main body portion 21 of the first member 2 is parallel to the XOY plane. At this time, the two laser beams emitted from the laser emitters on the two extension portions 22 of the main body portion 21 are both parallel to the XOY plane and also in the above-described plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99. So that the irradiation points of the two laser beams on the inner wall of the cylindrical tubular member 99 are respectively located at two other reference points in the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99.

The reference point where the reference positioning portion 311 is positioned and the three reference points are in the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99, so that the reference points and the three reference points bisect the inner wall of the cylindrical tubular member 99. Assuming that the reference point located by the reference positioning portion 311 is 0 ° on the circumference of the inner wall of the cylindrical barrel member 99, the three reference points located above are at positions of 90 °, 180 °, and 270 °, respectively.

The positions of the reference points and the three reference points are marked on the inner wall of the cylindrical member 99, so that subsequent detection work can be conveniently carried out according to the marked measuring points after the positioning device 10 is removed.

Example two:

fig. 7 shows a three-dimensional coordinate system xyz set where the XOY plane is parallel to the horizontal plane and the Z axis is perpendicular to the XOY plane, to which the position of the cylindrical member 99 is referred, a first predetermined angle β of the cylindrical member 99 of the present embodiment is an angle between a plane 100 perpendicular to the axis 991 of the cylindrical member 99 and the XOY plane, a second predetermined angle γ is an angle between the axis 991 of the cylindrical member 99 and the XOZ plane, and the axis 991 of the cylindrical member 99 passes through the origin of the three-dimensional coordinate system.

As shown in fig. 7, the cylindrical member 99 is placed at an arbitrary position in the three-dimensional coordinate system, and at this time, a plane 100 perpendicular to the axial direction of the cylindrical member 99 forms a first predetermined angle β with the XOY plane, and the axis 991 of the cylindrical member 99 forms a second predetermined angle γ with the XOZ plane, the first predetermined angle β and the second predetermined angle γ are previously measured and recorded values in the established three-dimensional coordinate system.

The positioning device 10 of the present embodiment is then placed inside the cylindrical tubular member 99, and the fixing base 71 of the mounting bracket 7 is attracted to the inner wall of the cylindrical tubular member 99. The supporting body 1 is manually adjusted so that the reference positioning portion 311 of the second member 3 and the free end of the supporting rod 52 are each abutted against the inner wall of the cylindrical tubular member 99.

Then, the readings of the biaxial inclinometer are observed, when the inclination angle of the X axis of the biaxial inclinometer is equal to the first predetermined angle β, the laser beam emitted by the laser emitter installed on the second installation hole is irradiated onto the inner wall of the cylindrical member 99 along the direction of the XOY plane at the same angle as the first predetermined angle β. the laser beam emitted by the laser emitter on the second end 35 of the positioning device 10 is at the same angle as the first predetermined angle β with respect to the X axis. at this time, the connecting line between the reference positioning part 311 and the emission center of the laser emitter installed on the second installation hole is also at the same angle as the first predetermined angle β with respect to the X axis. the laser beam emitted by the laser emitter on the second end 35 is in the plane 100 perpendicular to the axis 991 of the cylindrical member 99, and the irradiation point of the laser beam onto the inner wall of the cylindrical member 99 is a reference point for positioning.

Then, the readings of the two-axis inclinometer are observed again, when the value of the inclination angle of the Y axis of the two-axis inclinometer is equal to the second predetermined angle γ, the axis of the main body 21 of the first member 2 and the Y axis form an angle equal to the second predetermined angle γ, and at this time, the two laser beams emitted by the laser emitters on the two extending portions 22 of the main body 21 are both in the above-mentioned plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99, so that the irradiation points of the two laser beams on the inner wall of the cylindrical tubular member 99 are respectively located at two other reference points, which are in the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99.

The reference point where the reference positioning portion 311 is positioned and the three reference points are in the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99, so that the reference points and the three reference points bisect the inner wall of the cylindrical tubular member 99. That is, assuming that the reference point located by the reference positioning portion 311 is 0 ° on the circumference of the inner wall of the cylindrical barrel member 99, the three reference points located above are at positions of 90 °, 180 °, and 270 °, respectively.

When the cylindrical tubular member 99 is at any position in the three-dimensional coordinate system of the present embodiment, the first predetermined angle β and the second predetermined angle γ measured in advance under the reference of the three-dimensional coordinate system can use the positioning method of the second embodiment to position the reference point and the three reference points, which are located in the plane 100 perpendicular to the axis 991 of the cylindrical tubular member 99 by the positioning means, the reference point and the three reference points being capable of quartering the inner wall of the cylindrical tubular member 99 into the reference point and the three reference points.

By using the positioning method provided by the embodiment of the invention, the measuring point meeting the requirement can be quickly and accurately positioned on the inner contour line of the cross section of the hollow member to be measured, and the measuring point precision and the measuring point working efficiency are improved.

It should be noted that the positioning device 10 provided by the embodiment of the present invention can realize positioning on the inner wall of the cylindrical member 99 presenting any inclination angle, and the cylindrical member 99 can be cylindrical or conical, or even have any curved shape. As long as the first angle and the second angle of the part of the cylindrical member 99 to be positioned can be obtained in advance, the four measurement points can be positioned on the inner wall of the part using the positioning device 10.

In the above embodiment, the mechanical design of the positioning device 10 can already satisfy the function of positioning the measuring points equally, but in practical application, the mechanical positioning of the positioning device 10 always has positioning accuracy deviation caused by the influence of some special working conditions or the material problem of the tool itself, so that the reliability of the positioning device 10 for determining the circumference equally-divided measuring points is affected.

In order to realize precision control and reliability verification when measuring point positioning is performed on the positioning device 10 for circumferentially equally dividing measuring points, the positioning device 10 in another embodiment of the present invention will be described below with reference to fig. 8, taking the member to be measured as a cylindrical member as an example. Fig. 8 shows a schematic block diagram of a positioning device 10 according to another embodiment of the invention.

It should be noted that, in the schematic block diagram of the positioning apparatus 10 of the present embodiment, not all details of the mechanical structure of the positioning apparatus 10 are shown, but only the first laser sensor 110 and the second laser sensor 120 in the mechanical structure of the positioning apparatus 10 are schematically shown, and the mechanical structure of the non-shown portion of the positioning apparatus 10 in the present embodiment may refer to the positioning apparatus 10 as described in the embodiment shown in fig. 1.

In the present embodiment, the inclinometer 6 (not shown) of the positioning device 10 is configured to read the inclination angle and the inclination direction of the member to be measured, the positioning parts 4 provided at the two extending end portions 22 are the first laser sensor 110 and the first laser sensor 120, respectively, the positioning part 4 provided at the second end portion 35 is the laser emitter, and the first laser sensor 110, the first laser sensor 120, and the laser emitter are configured to position the first reference point, the second reference point, and the third reference point on the inner wall of the member to be measured, respectively, when the positioning device is operated such that the readings of the inclinometer 6 are equal to the inclination angle and the inclination direction of the member to be measured, respectively, which are measured in advance.

In the foregoing embodiments of the present invention, the process of adjusting the support structure of the positioning device 10 and observing the readings of the inclinometer 6 to find the plane perpendicular to the axis of the cylindrical member, in both cases of the member to be measured, such as a cylindrical member, being placed vertically and in any position in a three-dimensional coordinate system, is described in detail, and will not be described again here.

In the embodiment of the present invention, the plane found perpendicular to the axis of the member to be measured may be referred to as a positioning plane.

In the present embodiment, when the positioning device 10 is operated so that the readings of the inclinometer 6 are equal to the inclination angle and the inclination direction of the member to be measured, which are measured in advance, respectively, the first laser sensor 110, the second laser sensor 120, and the laser emitter emit laser beams to the inner wall of the cylindrical tubular member simultaneously or respectively, an included angle of 45 degrees is formed between two adjacent laser beams, after the laser beams are emitted, the contact points with the member to be measured are the first reference point, the second reference point, and the third reference point, respectively, and the first reference point, the second reference point, the third reference point, and the reference point, which is located on the inner wall of the member to be measured by the reference positioning end of the positioning device 10, are in the positioning plane.

As shown in fig. 8, the positioning device 10 in the present embodiment may further include: a signal receiving module 130, which receives a first distance measurement value from the first laser sensor 110 to a first reference point measured by the first laser sensor 110 and a second distance measurement value from the first laser sensor 120 to a second reference point measured by the first laser sensor 120; a comparison module 140 for comparing the first ranging value with the second ranging value; and the judging module 150 judges whether the reference points positioned on the surface of the component to be measured by the first reference point, the second reference point, the third reference point and the reference positioning end are the circumference quartering points on the positioning plane vertical to the axis of the component to be measured or not according to the comparison result.

Specifically, in some embodiments, the determining module 150 determines that the first reference point, the second reference point, the third reference point and the reference point are the quartering points on the positioning plane when the comparison result is that the first ranging value and the second ranging value are equal.

Optionally, when the comparison result shows that the first ranging value is not equal to the second ranging value, the determining module 150 determines that the first reference point, the second reference point, the third reference point, and the reference point are not equal to the circumference quartering point on the positioning plane.

In other embodiments, the determination result allows the first ranging value and the second ranging value to be not completely equal, i.e., allows a certain error between the first ranging value and the second ranging value.

Specifically, the comparing module 140 further compares a difference between the first ranging value and the second ranging value with a preset error tolerance value when the first ranging value and the second ranging value are not equal to each other.

Specifically, when the comparison result is that the difference value between the first ranging value and the second ranging value is within the range of the preset error tolerance value, the first reference point, the second reference point, the third reference point and the reference point are determined to be the circumference quartering point on the positioning plane, and when the comparison result is that the difference value exceeds the range of the preset error tolerance value, the first reference point, the second reference point, the third reference point and the reference point are determined not to be the circumference quartering point on the positioning plane.

Fig. 9 shows a schematic block diagram of a positioning apparatus 10 according to still another embodiment of the present invention. As shown in fig. 9, the same reference numerals are used for the same modules or components in fig. 9 as those in fig. 8, except that the positioning device 10 may further include an alarm module 160 for sending an alarm signal when the determination result is that the reference point, the first reference point, the second reference point, and the third reference point are not the circumferential quartering points on the positioning plane.

Specifically, the input end of the alarm module 160 is connected to the determination module 150, and the output end thereof is connected to an alarm, which may be a light alarm, a sound alarm or an audible and visual comprehensive alarm, for example, the alarm may be a light emitting diode LED. When the judgment result is that the reference point, the first reference point, the second reference point and the third reference point are not the circumference quartering points on the positioning plane, the light-emitting diode flashes in red light, and the buzzer gives an alarm or the loudspeaker gives a voice prompt; when the judgment result is that the datum point, the first reference point, the second reference point and the third reference point are the circumference quartering points on the positioning plane, the light-emitting diode keeps the green light to be normally on.

In other embodiments, the positioning device 10 may further include a display module for displaying the first and second distance measurement values measured by the first and

second laser sensors

110 and 120, respectively.

Specifically, the display module may be connected to the determination module 150 to display the first distance measurement value, the second distance measurement value and the determination result, and the display module may be a display or a computer, and the measurement point positioning of the positioning device 10 can be efficiently guided by the feedback of the data given by the display module.

To describe in more detail how the positioning device 10 determines the positioning accuracy by using the distance measurement values of the first laser sensor 110 and the second laser sensor 120, a positioning method applied to the positioning device 10 according to another embodiment of the present invention is described below with reference to the drawings, taking a member to be measured as an example of a tower.

First, a principle of determining the positioning accuracy of the positioning device 10 using the comparison result of the distance measurement values of the first laser sensor 110 and the second laser sensor 120 will be described.

In the embodiment of the present invention, the positioning device 10 is used for positioning a positioning plane perpendicular to the axis of the component to be measured and a circumference quartering measuring point on the positioning plane, and the positioning part 4 of the positioning device 10 includes, for example: a laser transmitter, a first laser sensor 110 and a first laser sensor 120 located on a locating plane.

In order to ensure that the measuring points positioned by the positioning device 10 are the measuring points which are equally divided into four parts on the circumference of the positioning plane vertical to the axis of the inner wall of the tower, after the reference point is positioned at the reference positioning end of the positioning device 10, the positioning device is operated to enable the reading of the inclinometer 6 to be equal to the first preset angle and the second preset angle respectively, so that the positioning plane vertical to the axis of the component to be measured is found.

The laser emitter, the first laser sensor 110 and the first laser sensor 120 are arranged on the positioning plane such that: the first reverse direction extension line of the laser beam emitted by the laser emitter forms an intersection point with the second reverse direction extension line of the laser beam emitted by the first laser sensor 110 and the third reverse direction extension line of the laser beam emitted by the first laser sensor 120 on the inner wall of the member to be measured via the center point of the positioning plane, and the second reverse direction extension line, the third reverse direction extension line and the first reverse direction extension line described in the above embodiments form an included angle of 45 degrees, and the first laser sensor 110 and the first laser sensor 120 are equal in distance to the intersection point.

With reference to the positioning device 10 provided in the embodiment of the present invention, the intersection point is a reference point located by the reference positioning end of the positioning device 10, and a third reference point is located on the surface of the member to be measured by a positioning component, i.e. a laser emitter, disposed at the second end of the second member; the first reference point and the second reference point are respectively located on the inner wall of the tower by locating components respectively arranged at the two extending ends, such as the first laser sensor 110 and the first laser sensor 120.

The laser beam emitted by the first laser sensor 110 contacts the inner wall of the tower, the contact point is set as a first reference point, after the laser beam is reflected by the first reference point, part of scattered light returns and is received by the first laser sensor 110, the first laser sensor 110 can record the time from the emission of the laser beam to the return of the laser beam, and the distance S1 from the emission point to the corresponding first reference point on the inner wall of the tower can be measured by combining the speed of light.

Likewise, the first laser sensor 120 may emit a laser beam toward the interior wall of the tower to locate a second reference point on the interior wall of the tower, and the first laser sensor 120 may determine a distance S2 from the emission point to the corresponding second reference point on the interior wall of the tower.

Based on the arrangement of the positioning components in the above embodiments, the first reference point, the second reference point and the third reference point can be respectively located by the first laser sensor 110, the first laser sensor 120 and the laser emitter, a circumference quartering measuring point on a locating plane perpendicular to the axis of the tower and contacting with the inner wall of the tower is formed by combining the reference points located by the reference locating ends, and the distance S1 from the laser beam of the first laser sensor 110 to the first reference point is equal to the distance S2 from the laser beam of the first laser sensor 120 to the inner wall of the tower.

Therefore, it is possible to provide a data basis and a judgment basis for whether the positioning result of the positioning device 10 is within the accuracy range by comparing whether the distance measurement values of the first laser sensor 110 and the first laser sensor 120 are equal.

In the embodiment of the present invention, the step of positioning the reference point on the inner wall of the component to be measured by the positioning part 4 of the positioning device 10 includes: a first reference point and a second reference point are respectively positioned on the inner wall of the component to be measured through the positioning parts 4 respectively arranged on the two extension end parts 22, wherein the positioning parts 4 are respectively a first laser sensor 110 and a first laser sensor 120; and a third reference point is positioned on the inner wall of the component to be measured through a positioning part arranged at the other end part, and the positioning part 4 is a laser emitter.

Fig. 10 shows a flow chart of a positioning method according to an embodiment of the invention. As shown in fig. 10, a positioning method 1000 in an embodiment of the invention includes the steps of:

step S110, receiving a first distance measurement value from the first laser sensor 110 to a first reference point measured by the first laser sensor 110 and a second distance measurement value from the first laser sensor 120 to a second reference point measured by the first laser sensor 120; step S120, comparing the first distance measurement value with the second distance measurement value; and step S130, judging whether the reference points positioned on the inner wall of the component to be measured by the first reference point, the second reference point, the third reference point and the reference positioning end are the circumference quartering points on the positioning plane vertical to the axis of the component to be measured or not according to the comparison result.

In step S110, the first distance measurement value is a first distance measurement value S1 indicating a distance from the first emitting point to the corresponding first reference point on the inner wall of the tower by the first laser beam emitted by the first laser sensor 110, and the second distance measurement value is a second distance measurement value S2 indicating a distance from the emitting point to the corresponding first reference point on the inner wall of the tower by the second laser beam emitted by the first laser sensor 120.

Next, a process of determining the positioning accuracy of the circumferential quartering measurement points of the positioning plane by the distance measurement values of the first laser sensor 110 and the first laser sensor 120 will be described with reference to the coordinate system referred to by the position of the cylindrical member in fig. 6 in conjunction with the positioning method of the positioning apparatus 10 described in the embodiment shown in fig. 6.

In fig. 6, a cylindrical member such as a tower is vertically placed, as an example, if the positioning device 10 rotates around a line connecting the reference positioning portion 311 and the emission center of the laser emitter installed in the second installation hole as a central axis during the actual installation of the positioning device 10 or during the circumferential survey point positioning work, in this case, the first reference point and the second reference point, at which the first laser sensor 110 and the first laser sensor 120 are respectively positioned, will be located on planes of different heights, which will result in the first distance measurement value S1 and the second distance measurement value S2 being different due to the different inner diameters of the tower itself at different heights.

As another example, if the positioning device 10 rotates around the axis of the main body 21, the plane formed by the reference point, the first reference point, the second reference point, and the third reference point is not a positioning plane perpendicular to the tower axis, and although the first distance measurement value S1 and the second distance measurement value S2 are equal, the four measurement points are not the four measurement points on the circumference of the positioning plane.

As an example, if the positioning device 10 does not rotate around the axis in the above example, i.e., the datum point, the first reference point, the second reference point, and the third reference point are in the positioning plane and are the four quarters of the circumference of the positioning plane intersecting the tower inner wall, the first distance measurement value S1 and the second distance measurement value S2 are equal.

In the embodiment of the present invention, a cylindrical member such as a tower is vertically arranged, when the positioning device 10 is installed and used, a reference point is first determined by the reference positioning end, and then an operator can find a positioning plane perpendicular to the axis of the tower by operating the positioning device 10 to make the inclination angle and the reading of the inclination direction read by the inclinometer 6 zero. The positioning of the measurement point on the found positioning plane can improve the accuracy of the positioning of the measurement point, and when the first distance measurement value and the second distance measurement value measured by the laser sensor are equal, the positioning device 10 can be prevented from rotating around the Y axis as the central axis.

In summary, a determination basis can be provided for whether the reference point, the first reference point, the second reference point, and the third reference point are the quartering points on the positioning plane by whether the first distance measurement value S1 and the second distance measurement value S2 are equal.

Specifically, in some embodiments, the step of determining whether the reference point, the first reference point, the second reference point, and the third reference point, which are located on the surface of the to-be-measured member by the reference locating end, are the circumferential quartering points on the locating plane perpendicular to the axis of the to-be-measured member according to the comparison result in step S230 may further include:

and if the comparison result shows that the first ranging value is equal to the second ranging value, judging that the reference point, the first reference point, the second reference point and the third reference point are the circumference quartering points on the positioning plane.

Correspondingly, in some embodiments, if the comparison result is that the first ranging value and the second ranging value are not equal, it is determined that the reference point, the first reference point, the second reference point, and the third reference point are not the circumference quartering point on the positioning plane.

In other examples, the determination result may allow the first ranging value and the second ranging value to be not completely equal, i.e., allow a certain error between the first ranging value and the second ranging value.

Specifically, if the comparison result is that the first ranging value and the second ranging value are not equal, the difference between the first ranging value and the second ranging value is compared with a preset error tolerance value.

Specifically, in step S130, when the comparison result is that the difference between the first ranging value and the second ranging value is within the range of the preset error tolerance value, it is determined that the reference point, the first reference point, the second reference point, and the third reference point are the quartering points on the locating plane, and when the comparison result is that the difference between the first ranging value and the second ranging value exceeds the range of the preset error tolerance value, it is determined that the reference point, the first reference point, the second reference point, and the third reference point are not the quartering points on the locating plane.

In some embodiments, when the determination result is that the reference point, the first reference point, the second reference point and the third reference point are not the circumferential quartering points on the positioning plane, an alarm signal is sent.

In some embodiments, data display is performed on the first ranging value and the second ranging value, so that the positioning process can be guided more intuitively, the positioning precision is improved, and the positioning precision deviation caused by the influence of some special working conditions or the material problem of the positioning device is avoided.

In other embodiments of the present invention, referring to the three-dimensional coordinate system shown in fig. 7 in the previous embodiment, a member to be measured, for example, a cylindrical member, is placed at an arbitrary position in the three-dimensional coordinate system.

In this case, the positioning apparatus 10 previously measures the inclination angle of the member to be measured to obtain a first predetermined angle and obtains a second predetermined angle for determining the inclination direction of the member to be measured before performing the positioning work. When mounting the positioning device 10, the positioning device 10 is operated and adjusted and the readings of the inclinometer 6 are made at a first predetermined angle and a second predetermined angle, respectively, to find a positioning plane perpendicular to the axis of the member to be measured.

After finding the positioning plane perpendicular to the axis, a first reference point and a second reference point are positioned on the inner wall of the member to be measured by the first laser sensor 110 and the first laser sensor 120 respectively disposed at the two extending end portions 22 of the positioning device 10, and a first distance measurement value and a second distance measurement value are obtained, and a third reference point is positioned on the inner wall of the member to be measured by the laser emitter disposed at the other end portion of the positioning device 10.

At this time, the evaluation method and the steps of the positioning accuracy of the obtained circumference quartered measuring points are the same as those of the case that the member to be measured is vertically placed, and will not be described again.

In other embodiments of the present invention, the signal receiving module 130, the comparing module 140, and the determining module 150 in the positioning apparatus 10 may be packaged in a signal processing module, which may be implemented by a computing device that is removably or fixedly mounted on the positioning apparatus. Fig. 11 is a block diagram illustrating an exemplary hardware architecture of a computing device capable of implementing the methods and apparatus of the signal processing module according to embodiments of the present invention. As shown in fig. 11, computing device 200 includes an input device 201, an input interface 202, a central processor 203, a memory 204, an output interface 205, and an output device 206. The input interface 202, the central processing unit 203, the memory 204, and the output interface 205 are connected to each other through a bus 210, and the input device 201 and the output device 206 are connected to the bus 210 through the input interface 202 and the output interface 205, respectively, and further connected to other components of the computing device 200. Specifically, the input device 201 receives input information from the outside (e.g., the first laser sensor 110 and the second laser sensor 120 mounted on the pointing device 10), and transmits the input information to the central processor 203 through the input interface 202; the central processor 203 processes the input information based on computer-executable instructions stored in the memory 204 to generate output information, stores the output information temporarily or permanently in the memory 204, and then transmits the output information to the output device 206 through the output interface 205; output device 206 outputs the output information outside of computing device 400 for use by the user.

That is, the signal processing module including the signal receiving module 130, the comparing module 140, and the determining module 150 shown in fig. 8 or 9 may also be implemented to include: a memory storing computer-executable instructions; and a processor, which when executing computer executable instructions, may implement the positioning apparatus and method for performing circumferential measurement point positioning and bisection on the mechanism to be measured, such as the inner wall of a tower, described in conjunction with fig. 8 to 10. Here, a processor such as a single chip microcomputer or a digital signal processor or comparator may communicate with the battery management system and the first laser sensor 110 and the first laser sensor 120 mounted on the positioning device 10 to execute computer executable instructions based on the relevant information from the first laser sensor 110 and the first laser sensor 120 to implement the apparatus and method for circumferential measurement point positioning bisection of the mechanism under test using the positioning device 10 described in conjunction with fig. 8 to 10.

It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A positioning device (10), comprising:

a positioning component (4) comprising a fixed end (41) and a positioning end (42) which are opposite;

the supporting body (1) comprises a first member (2) and a second member (3), the first member (2) and the second member (3) are intersected and fixedly arranged, the second member (3) comprises a first end portion (31) and a second end portion (35) which are opposite, a reference positioning portion (311) is arranged at the top of the first end portion (31), the positioning component (4) is arranged at the second end portion (35), the first member (2) comprises a main body portion (21) and two extending end portions (22), the two extending end portions (22) bend to the second end portion (35) and extend in a scattering mode, and the two extending end portions (22) are respectively provided with the positioning component (4);

wherein, the positioning component (4) is connected with the first member (2) and the second member (3) through the fixed end (41), the reference positioning part (311) comprises a reference positioning end, an extension line (8) of the central axis of the positioning component (4) arranged at the two extending end parts (22) of the first member (2) is intersected at the reference positioning end of the reference positioning part (311), and a connecting line (9) of the central axis of the positioning component (4) arranged at the reference positioning end of the reference positioning part (311) and the second end part (35) of the second member (3) is intersected with the extension line (8) at a preset angle.

2. The positioning device (10) according to claim 1, wherein the second end portion (35) of the second member (3) and the end surfaces of the two extending end portions (22) of the first member (2) are provided with mounting holes, the center line of the mounting hole provided on the second end portion (35) of the second member (3) coincides with the connection line (9), and the center line of the mounting hole provided on the two extending end portions (22) of the first member (2) coincides with the extension line (8), respectively.

3. The positioning device (10) according to claim 1, wherein the predetermined angle is an acute angle.

4. The positioning device (10) according to claim 3, characterized in that said predetermined angle is 45 °.

5. The positioning device (10) according to claim 1, further comprising a position adjustment component (5), wherein the position adjustment component (5) comprises a sliding block (51), wherein the second member (3) further comprises a guide portion (33) connected between the first end portion (31) and the second end portion (35) of the second member (3), wherein the sliding block (51) is in sliding fit with the guide portion (33), and wherein the sliding block (51) moves in a direction approaching or departing from the reference positioning portion (311).

6. The positioning device (10) according to claim 5, wherein the position adjusting member (5) further comprises at least two support rods (52), one end of each of the at least two support rods (52) is rotatably connected with the sliding block (51) through a rotating shaft (511), the at least two support rods (52) respectively comprise free ends, and the free ends of the at least two support rods (52) and the reference positioning portion (311) are located on the same side of the sliding block (51).

7. The positioning device (10) according to claim 6, wherein the position adjustment means (5) further comprises a swinging lever (53), one end of the swinging lever (53) being hinged with the second member (3) and the other end being hinged with the support lever (52).

8. The positioning device (10) according to claim 5, wherein the second member (3) is provided with a fixing portion (36), the fixing portion (36) is located on a moving path of the sliding block (51), and the position adjusting means (5) further comprises an elastic member (54) disposed between the fixing portion (36) and the sliding block (51).

9. The positioning device (10) according to claim 1, further comprising a mounting bracket (7), the mounting bracket (7) being connected with the support body (1).

10. The positioning device (10) according to claim 1, further comprising an inclinometer (6), said inclinometer (6) being connected with said supporting body (1).

11. The positioning device (10) according to claim 10, wherein the inclinometer (6) reads the inclination angle and the inclination direction of the component to be measured, the positioning parts (4) respectively provided at the two extending ends (22) are a first laser sensor (110) and a second laser sensor (120), and the positioning part (4) provided at the second end (35) is a laser emitter;

when the reading of the inclinometer (6) is respectively equal to the pre-measured inclination angle and inclination direction of the component to be measured, a first reference point, a second reference point and a third reference point are respectively positioned on the inner wall of the component to be measured by the first laser sensor (110), the second laser sensor (120) and the laser transmitter.

12. The positioning device (10) according to claim 11, wherein the positioning device (10) further comprises:

a signal receiving module (130) for receiving a first ranging value of the first laser sensor (110) to the first reference point measured by the first laser sensor (110) and a second ranging value of the second laser sensor (120) to the second reference point measured by the second laser sensor (120);

a comparison module (140) that compares the first ranging value and the second ranging value;

and the judging module (150) judges whether the reference points positioned on the inner wall of the component to be detected by the first reference point, the second reference point, the third reference point and the reference positioning end are the circumference quartering points on a plane vertical to the axis of the component to be detected or not according to the comparison result.

13. The positioning device (10) according to claim 12,

when the comparison result is that the first ranging value and the second ranging value are equal, the determination module (150) determines that the first reference point, the second reference point, the third reference point and the reference point are the circumference quartering points on the plane.

14. The positioning device (10) according to claim 12,

when the first ranging value and the second ranging value are not equal, the comparison module (140) compares the difference value of the first ranging value and the second ranging value with a preset error tolerance value;

when the comparison result is that the difference value is within the range of the preset error tolerance value, determining that the first reference point, the second reference point, the third reference point and the reference point are the circumference quartering points on the plane,

and when the comparison result is that the difference value exceeds the range of the preset error tolerance value, judging that the first reference point, the second reference point, the third reference point and the reference point are not the circumference quartering points on the plane.

15. The positioning device (10) according to claim 14, further comprising:

and the alarm module (160) sends out an alarm signal when the judgment result shows that the first reference point, the second reference point, the third reference point and the reference point are not the circumference quartering points on the plane.

16. A positioning method for taking a point on an inner wall of a hollow member to be measured, comprising:

abutting the reference positioning portion (311) of the positioning device (10) according to claim 1 against the inner wall of the member to be measured to position a reference point;

positioning a reference point on the inner wall of the component to be measured through a positioning part (4) of the positioning device (10);

the datum point and the reference point are located on the same plane (100), the plane (100) is perpendicular to the axis (991) of the member to be measured, and the datum point and the reference point equally divide the contour line of the inner wall of the cross section of the member to be measured.

17. The positioning method according to claim 16, characterized in that it further comprises an inclinometer (6), said inclinometer (6) being connected with said supporting body (1), said positioning method comprising:

a first predetermined angle for determining an inclination angle of the member to be measured and a second predetermined angle for determining an inclination direction of the member to be measured are measured in advance;

and abutting a reference positioning part (311) of the positioning device (10) against the inner wall of the component to be measured to position a reference point, operating the positioning device (10) to enable the reading of the inclinometer (6) to be equal to the first preset angle and the second preset angle respectively, and positioning the reference point on the inner wall of the component to be measured by a positioning part (4) of the positioning device (10).

18. The positioning method according to claim 17, characterized in that the inclinometer (6) is a uniaxial inclinometer or a biaxial inclinometer.

19. The positioning method according to claim 17, wherein the step of positioning a reference point on the inner wall of the member to be measured by the positioning means (4) comprises:

respectively positioning a first reference point and a second reference point on the inner wall of the component to be measured through the positioning parts (4) respectively arranged on the two extension end parts (22), wherein the positioning parts (4) are respectively a first laser sensor (110) and a second laser sensor (120);

and a third reference point is positioned on the inner wall of the component to be measured through the positioning part (4) arranged at the second end part (35), wherein the positioning part (4) is a laser emitter.

20. The method of claim 19, further comprising:

receiving a first ranging value of the first laser sensor (110) to the first reference point measured by the first laser sensor (110) and a second ranging value of the second laser sensor (120) to the second reference point measured by the second laser sensor (120);

comparing the first ranging value and the second ranging value;

and judging whether the datum point, the first reference point, the second reference point and the third reference point which are positioned on the inner wall of the component to be detected by the datum positioning end are the circumference quartering points on the plane vertical to the axis of the component to be detected or not according to the comparison result.

21. The positioning method according to claim 20, wherein the step of determining whether the reference point, the first reference point, the second reference point, and the third reference point, which are located by the reference positioning end on the inner wall of the member to be measured, are the circumferential quartering points on the plane perpendicular to the axis of the member to be measured, based on the comparison result, comprises:

and if the comparison result shows that the first ranging value is equal to the second ranging value, judging that the reference point, the first reference point, the second reference point and the third reference point are circumference quartering points on the plane.

22. The method of claim 21, further comprising:

and if the comparison result shows that the first ranging value and the second ranging value are not equal, comparing the difference value of the first ranging value and the second ranging value with a preset error tolerance value.

23. The method of claim 22, further comprising:

when the comparison result is that the difference value is within the range of the preset error tolerance value, determining that the reference point, the first reference point, the second reference point and the third reference point are circumference quartering points on the plane;

and when the comparison result is that the difference value exceeds the range of the preset error tolerance value, determining that the reference point, the first reference point, the second reference point and the third reference point are not the circumference quartering points on the plane.