CN114608565B - Method and device for determining target pipeline based on motion data of sphere device - Google Patents
Method and device for determining target pipeline based on motion data of sphere device Download PDFInfo
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Abstract
The application provides a method and a device for determining a target pipeline based on motion data of a sphere device, and relates to a data processing technology, wherein the method comprises the following steps: when the ball device moves in a preset pipeline, acquiring an acceleration value of the ball device at each moment through a triaxial accelerometer, and acquiring an angular velocity value of the ball device at each moment through a triaxial angular velocity meter; determining a motion track of the sphere device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment; according to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements. According to the method, the inner wall profile of the optimized target pipeline model is used for conveying spherical nuclear fuel elements, so that collision of shells of the spherical nuclear fuel elements is remarkably reduced during conveying, and the technical problem of more collisions of the spherical nuclear fuel elements is solved.
Description
Technical Field
The present disclosure relates to data processing technology, and in particular, to a method, apparatus, and device for determining a target pipeline based on motion data of a sphere apparatus.
Background
Currently, nuclear energy will play an indispensable role in achieving the goal of carbon neutralization, and a spherical nuclear reactor employs spherical nuclear fuel elements, so that a large number of spherical nuclear fuel elements need to be transported.
In the prior art, when a large number of spherical nuclear fuel elements are transported, the spherical nuclear fuel elements are usually transported through a pipeline. When the spherical nuclear fuel element is conveyed through the pipeline, the spherical nuclear fuel element can move in the pipeline by virtue of fluid driving and self gravity and possibly collide and rub with the inner wall of the pipeline, so that the shell of the spherical nuclear fuel element is worn, and the difficulty of stably conveying the spherical nuclear fuel element for a long time is further increased. It is desirable to identify a conduit suitable for transporting spherical nuclear fuel elements to reduce the difficulty of transporting spherical nuclear fuel elements.
Thus, there is a need for a method that can accurately determine the conduit suitable for transporting spherical nuclear fuel elements.
Disclosure of Invention
The application provides a method, a device and equipment for determining a target pipeline based on motion data of a sphere device, which are used for solving the technical problem of more collisions of a spherical nuclear fuel element.
In a first aspect, the present application provides a method of determining a target pipe based on motion data of a sphere device, in which a tri-axial accelerometer and a tri-axial angular velocity meter are disposed, the method comprising:
when the ball device moves in a preset pipeline, acquiring an acceleration value of the ball device at each moment through the triaxial accelerometer, and acquiring an angular velocity value of the ball device at each moment through the triaxial angular velocity meter;
determining a motion track of the ball device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment;
according to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements.
Further, determining a motion track of the ball device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment, including:
calculating the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value;
And determining the movement track of the ball device in a preset pipeline according to the speed value at each moment and the movement direction at each moment.
Further, the motion trail is located in a three-dimensional space, and the three-dimensional space is the three-dimensional space in which the preset pipeline is located.
Further, the method further comprises:
determining a difference value between the speed value at the previous moment and the speed value at the current moment;
if the difference value is not in the preset numerical value interval, determining that the ball device generates collision behavior in a preset pipeline, wherein the collision occurrence time of the collision behavior is the last time and/or the current time;
and determining a first adjustment factor of the ball device at the last moment and/or a second adjustment factor of the current moment, and correcting the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track.
Further, determining a first adjustment factor of the ball device at the previous moment and/or a second adjustment factor of the current moment, and performing correction processing on a motion track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected motion track, wherein the method comprises the following steps:
Determining a first three-dimensional position coordinate of the sphere device at the last moment, and determining a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate;
according to the first adjustment factor corresponding to the previous moment, correcting the motion trail of the previous moment and the moment before the previous moment to obtain a corrected first motion trail;
and/or determining a second three-dimensional position coordinate of the sphere device at the current moment, and determining a second adjustment factor corresponding to the current moment according to the second three-dimensional position coordinate;
and carrying out correction processing on the motion trail between the current moment and the previous moment according to a second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
Further, the method further comprises:
determining a first normal line corresponding to the last moment when the collision behavior occurs and/or a second normal line corresponding to the current moment;
and if the first normal line and/or the second normal line are determined not to be perpendicular to the inner wall of the pipeline, determining that a convex position or a concave position exists in the preset pipeline.
Further, the sphere device is composed of two half-shells in a sealing manner.
In a second aspect, the present application provides an apparatus for determining a target pipeline based on movement data of a sphere apparatus, in which a tri-axial accelerometer, a tri-axial angular velocity meter are arranged, the apparatus comprising:
the acquisition unit is used for acquiring the acceleration value of the sphere device at each moment through the triaxial accelerometer and acquiring the angular velocity value of the sphere device at each moment through the triaxial angular velocity meter when the sphere device moves in a preset pipeline;
the first determining unit is used for determining the movement track of the ball device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment;
the generating unit is used for automatically generating a target pipeline model with a corresponding shape according to the motion trail; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements.
Further, the first determining unit includes:
the operation module is used for carrying out operation processing on the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value;
The first determining module is used for determining the movement track of the ball body device in a preset pipeline according to the speed value at each moment and the movement direction at each moment.
Further, the motion trail is located in a three-dimensional space, and the three-dimensional space is the three-dimensional space in which the preset pipeline is located.
Further, the apparatus further comprises:
a second determining unit, configured to determine a difference between the speed value at the previous time and the speed value at the current time;
a third determining unit, configured to determine that a collision behavior occurs in the preset pipeline by the ball device if the difference value is not located in a preset numerical value interval, where a collision occurrence time of the collision behavior is a previous time and/or a current time;
and the correction unit is used for determining a first adjustment factor of the ball device at the last moment and/or a second adjustment factor of the current moment, and correcting the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track.
Further, the correction unit includes:
the second determining module is used for determining a first three-dimensional position coordinate of the sphere device at the last moment and determining a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate;
The first correction module is used for correcting the motion trail at the previous moment and the moment before the previous moment according to the first adjustment factor corresponding to the previous moment to obtain a corrected first motion trail;
and/or a third determining module, configured to determine a second three-dimensional position coordinate of the sphere device at the current time, and determine a second adjustment factor corresponding to the current time according to the second three-dimensional position coordinate;
and the second correction module is used for correcting the motion trail between the current moment and the previous moment according to a second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
Further, the apparatus further comprises:
a fourth determining unit, configured to determine a first normal line corresponding to a previous time when the collision behavior occurs, and/or a second normal line corresponding to a current time;
and the fifth determining unit is used for determining that a convex position or a concave position exists in the preset pipeline if the first normal line and/or the second normal line are determined not to be perpendicular to the inner wall of the pipeline.
Further, the sphere device is composed of two half-shells in a sealing manner.
In a third aspect, the present application provides an electronic device, including a memory, a processor, where the memory stores a computer program executable on the processor, and where the processor implements the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for performing the method of the first aspect when executed by a processor.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect.
According to the method, the device and the equipment for determining the target pipeline based on the movement data of the sphere device, when the sphere device moves in the preset pipeline, the acceleration value of the sphere device at each moment is obtained through the triaxial accelerometer, and the angular velocity value of the sphere device at each moment is obtained through the triaxial angular velocity meter; determining a motion track of the sphere device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment; according to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements. According to the technical scheme, the acceleration value of the sphere device at each moment can be obtained through the triaxial accelerometer, the angular velocity value of the sphere device at each moment can be obtained through the triaxial angular velocity meter, then the complete movement track of the sphere device in the preset pipeline is determined according to the acceleration value at each moment and the angular velocity value at each moment, finally, the target pipeline model with the corresponding shape is automatically generated according to the movement track, namely the inner wall contour of the target pipeline model with the corresponding shape is automatically generated, the movement track of the spherical nuclear fuel element in the preset pipeline is simulated by the spherical device, the spherical device is small in size and is not easy to block, the sphere device can work in a high-pressure pipeline, fluid in the pipeline does not need to be emptied, the power consumption is low, the use is flexible, the inner wall contour of the optimized target pipeline model obtained according to the movement track is suitable for conveying the spherical nuclear fuel element, and therefore, the collision of the spherical nuclear fuel element shell is remarkably reduced during conveying, and the technical problem of more collision of the spherical nuclear fuel element is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow chart of a method for determining a target pipeline based on motion data of a sphere device according to an embodiment of the present application;
FIG. 2 is a flow chart of another method for determining a target pipeline based on motion data of a sphere apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a device for determining a target pipeline based on motion data of a sphere device according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another apparatus for determining a target pipeline based on motion data of a sphere apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure.
In one example, nuclear energy will play an indispensable role in achieving the goal of carbon neutralization, and a spherical nuclear reactor employs spherical nuclear fuel elements, so a large number of spherical nuclear fuel elements need to be transported. In the prior art, when a large number of spherical nuclear fuel elements are transported, the spherical nuclear fuel elements are usually transported through a pipeline. When the spherical nuclear fuel element is conveyed through the pipeline, the spherical nuclear fuel element can move in the pipeline by virtue of fluid driving and self gravity and possibly collide and rub with the inner wall of the pipeline, so that the shell of the spherical nuclear fuel element is worn, and the difficulty of stably conveying the spherical nuclear fuel element for a long time is further increased. It is desirable to identify a conduit suitable for transporting spherical nuclear fuel elements to reduce the difficulty of transporting spherical nuclear fuel elements. Thus, there is a need for a method that can accurately determine the conduit suitable for transporting spherical nuclear fuel elements.
The application provides a method, a device and equipment for determining a target pipeline based on motion data of a sphere device, and aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for determining a target pipeline based on motion data of a sphere device according to an embodiment of the present application, in which a triaxial accelerometer and a triaxial angular velocity meter are disposed, as shown in fig. 1, and the method includes:
101. when the ball device moves in the preset pipeline, the acceleration value of the ball device at each moment is obtained through the triaxial accelerometer, and the angular velocity value of the ball device at each moment is obtained through the triaxial angular velocity meter.
The execution subject of the present embodiment may be, for example, an electronic device, or a terminal device, or an apparatus or device for determining a target pipeline based on motion data of a sphere apparatus, or other apparatus or device that may execute the present embodiment, without limitation. In this embodiment, the execution body is described as an electronic device.
The sphere device comprises a shell, wherein the shell is a detachable 2 half-shells, a triaxial accelerometer, a triaxial angular velocity meter, a battery, an inertial measurement unit, a processor, a memory, a switch, an input/output (I/O) unit and the like are arranged in the shell, the 2 half-shells are sealed shells which are integrally connected through welding, bonding, fastening or the like, and the joint width of the 2 half-shells after being assembled is smaller than 0.5mm, so that the influence on a flow field is limited; the battery comprises a rechargeable battery, a charging module and the like; and the balancing weights are arranged in different areas inside the shell, so that the gravity center position and the triaxial moment of inertia of the sphere device are adjusted. When the ball device moves in the preset pipeline, the electronic equipment can acquire the acceleration value of the ball device at each moment through the triaxial accelerometer, and acquire the angular velocity value of the ball device at each moment through the triaxial angular velocity meter.
For example, after sealing the 2 half-shells of the sphere device together, the two half-shells are released into a high-pressure preset pipeline, so that the sphere device moves along with the fluid flow in the preset pipeline. When the preset device moves along the axis of the preset pipeline, collides with the pipe wall or rotates, the electronic equipment acquires the acceleration value of the ball device at each moment through the triaxial accelerometer, acquires the angular velocity value of the ball device at each moment through the triaxial angular velocity meter, and transmits the acceleration value at each moment and the angular velocity value at each moment to the processor, wherein the processor can be the processor of the electronic equipment.
102. And determining the movement track of the ball device in the preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment.
The electronic device may perform an arithmetic processing on the acceleration value at each time and the angular velocity value at each time, to obtain a velocity value corresponding to the acceleration value at each time and a movement direction corresponding to the angular velocity value at each time, so as to determine a complete movement track of the sphere device in the preset pipeline according to the velocity value at each time and the movement direction at each time.
For example, when the processor of the electronic device receives the acceleration value at each moment and the angular velocity value at each moment, the acceleration value at each moment and the angular velocity value at each moment are respectively processed by calculation to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value, then a complete movement track of the velocity value and the movement direction in a preset pipeline is determined, and finally the complete movement track in the preset pipeline is stored in the memory. The battery continuously supplies power to the inertial measurement unit, the triaxial accelerometer, the triaxial angular velocity meter, the memory and the processor. After detection, taking out the sphere device from the preset pipeline, if the sphere device comprises a wireless transmission module, exporting data to a computer in a wireless transmission mode, analyzing and processing the data, and also separating 2 half shells to export the data through an input/output (I/O) unit and a cable; the switch in the sphere device can control the on-off state of the sphere device; the battery may also be charged to continue the measurement.
103. According to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements.
For example, the electronic device may automatically generate a target pipeline model having a shape corresponding to the motion trajectory, where the shape of the target pipeline model represents the shape of the inner wall contour of the target pipeline model, and the target pipeline model obtained according to the motion trajectory is suitable for transporting the spherical nuclear fuel element because the motion trajectory of the spherical nuclear fuel element in the preset pipeline is simulated by the spherical device, and thus the target pipeline model is used for transporting the spherical nuclear fuel element.
In the embodiment of the application, when the ball device moves in the preset pipeline, the acceleration value of the ball device at each moment is obtained through the triaxial accelerometer, and the angular velocity value of the ball device at each moment is obtained through the triaxial angular velocity meter. And determining the movement track of the ball device in the preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment. According to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements. According to the technical scheme, the acceleration value of the sphere device at each moment can be obtained through the triaxial accelerometer, the angular velocity value of the sphere device at each moment can be obtained through the triaxial angular velocity meter, then the complete movement track of the sphere device in the preset pipeline is determined according to the acceleration value at each moment and the angular velocity value at each moment, finally, the target pipeline model with the corresponding shape is automatically generated according to the movement track, namely the inner wall contour of the target pipeline model with the corresponding shape is automatically generated, the movement track of the spherical nuclear fuel element in the preset pipeline is simulated by the spherical device, the spherical device is small in size and is not easy to block, the sphere device can work in a high-pressure pipeline, fluid in the pipeline does not need to be emptied, the power consumption is low, the use is flexible, the inner wall contour of the optimized target pipeline model obtained according to the movement track is suitable for conveying the spherical nuclear fuel element, and therefore, the collision of the spherical nuclear fuel element shell is remarkably reduced during conveying, and the technical problem of more collision of the spherical nuclear fuel element is solved.
Fig. 2 is a flowchart of another method for determining a target pipeline based on motion data of a sphere apparatus according to an embodiment of the present application, as shown in fig. 2, the method includes:
201. when the ball device moves in the preset pipeline, the acceleration value of the ball device at each moment is obtained through the triaxial accelerometer, and the angular velocity value of the ball device at each moment is obtained through the triaxial angular velocity meter.
In one example, the sphere device is comprised of two hemispherical seals.
Illustratively, this step may refer to step 101 in fig. 1, and will not be described in detail.
202. And calculating the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value.
For example, the electronic device may perform an arithmetic process on the acceleration value at each time and the angular velocity value at each time, respectively, to obtain a velocity value corresponding to the acceleration value at each time and a movement direction corresponding to the angular velocity value at each time.
203. And determining the movement track of the ball body device in the preset pipeline according to the speed value at each moment and the movement direction at each moment.
In one example, the motion trail is located in a three-dimensional space, and the three-dimensional space is a three-dimensional space in which the preset pipeline is located.
The electronic device may determine a complete motion trajectory of the ball device in the preset pipeline according to the speed value at each time and the motion direction at each time, and may determine a three-dimensional space in which the complete motion trajectory is located, where the three-dimensional space in which the motion trajectory is located is equal to the three-dimensional space in which the preset pipeline is located due to the movement of the ball device in the preset pipeline.
204. A difference between the speed value at the previous time and the speed value at the current time is determined.
The motion trajectory is determined by the speed value and the motion direction of the ball device at different moments, and the electronic device may acquire the speed value at each moment and determine the difference between the speed values at two consecutive moments, so the electronic device may calculate and determine the difference between the speed value at the last moment and the speed value at the current moment.
205. If the difference value is not in the preset numerical value interval, determining that the ball device generates collision behavior in the preset pipeline, wherein the collision occurrence time of the collision behavior is the last time and/or the current time.
The preset value interval is a preset value range of the electronic device, the electronic device may determine whether the difference value is within the preset value interval, if the difference value is not within the preset value interval, it indicates that a change between a speed value at a previous time and a speed value at a current time is relatively large, so as to determine that a collision behavior of the ball device occurs in a preset pipeline, and a collision occurrence time of the collision behavior is the previous time and/or the current time.
206. And determining a first adjustment factor of the ball device at the previous moment and/or a second adjustment factor of the ball device at the current moment, and carrying out correction processing on the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track.
In one example, step 206 includes: determining a first three-dimensional position coordinate of the sphere device at the last moment, and determining a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate; according to a first adjustment factor corresponding to the previous moment, correcting the motion trail at the previous moment and the moment before the previous moment to obtain a corrected first motion trail; and/or determining a second three-dimensional position coordinate of the sphere device at the current moment, and determining a second adjustment factor corresponding to the current moment according to the second three-dimensional position coordinate; and carrying out correction processing on the motion trail between the current moment and the previous moment according to a second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
For example, the electronic device may correct the motion trajectory according to an adjustment factor, where the adjustment factor is determined according to coordinates of a collision point of the collision behavior in the preset pipeline, and since a three-dimensional space of the motion trajectory is equal to a three-dimensional space of the preset pipeline, the coordinates of the collision point are three-dimensional coordinates. When the collision occurrence time of the collision behavior is determined to be the last moment, the electronic equipment firstly determines a first three-dimensional position coordinate of the sphere device in the preset pipeline at the last moment, determines a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate, and then corrects the motion trail at the last moment and the moment before the last moment according to the first adjustment factor corresponding to the last moment to obtain a corrected first motion trail.
And/or when the collision occurrence time of the collision behavior is determined to be the current moment, the electronic equipment firstly determines the second three-dimensional position coordinate of the sphere device at the current moment, determines the second adjustment factor corresponding to the current moment according to the second three-dimensional position coordinate, and then corrects the motion trail between the current moment and the last moment according to the second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
207. According to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements.
For example, the electronic device may automatically generate a target pipe model of a corresponding shape according to the motion trajectory, the shape of the target pipe model representing the shape of the inner wall contour of the target pipe model, and thus the spherical nuclear fuel element may be transported through the target pipe model in an actual scenario.
208. And determining a first normal line corresponding to the last moment of collision behavior and/or a second normal line corresponding to the current moment.
For example, the electronic device may determine a first normal line corresponding to a last time of occurrence of the collision behavior, and/or a second normal line corresponding to a current time. For example, the first normal line corresponding to the last time is the first normal line of the 3 rd second, the ball device is located at the first three-dimensional position coordinate in the preset pipeline at the 3 rd second, the last time of the 3 rd second is the 2 nd second, the next time of the 3 rd second is the 4 th second, the ball device can be known to move to the first three-dimensional position coordinate at the 2 nd second, the ball device reaches the first three-dimensional position coordinate at the 3 rd second, and the ball device rebounds to the next three-dimensional position coordinate from the first three-dimensional position coordinate at the 4 th second, so that the first normal line corresponding to the 3 rd second can be obtained.
209. If the first normal line and/or the second normal line are/is not perpendicular to the inner wall of the pipeline, determining that a convex position or a concave position exists in the preset pipeline.
The electronic device determines whether the first normal line and/or the second normal line are perpendicular to the inner wall of the pipeline, and if the first normal line and/or the second normal line are determined not to be perpendicular to the inner wall of the pipeline, determines that a plurality of positions to be improved such as a protruding position or a recessed position exist in the preset pipeline.
For example, with a preset normal line perpendicular to the inner wall of the pipeline as a standard, comparing the first normal line corresponding to the 3 rd second with the preset normal line, if the first normal line corresponding to the 3 rd second is not parallel to the preset normal line, and the first normal line corresponding to the 3 rd second is located at the position side of the preset normal line where the 2 nd second is located, determining that the first normal line is not perpendicular to the inner wall of the pipeline, and further determining that a protruding position or a recessed position exists in the preset pipeline, so that the ball device rebounds.
In the embodiment of the application, when the ball device moves in the preset pipeline, the acceleration value of the ball device at each moment is obtained through the triaxial accelerometer, and the angular velocity value of the ball device at each moment is obtained through the triaxial angular velocity meter. And calculating the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value. And determining the movement track of the ball body device in the preset pipeline according to the speed value at each moment and the movement direction at each moment. A difference between the speed value at the previous time and the speed value at the current time is determined. If the difference value is not in the preset numerical value interval, determining that the ball device generates collision behavior in the preset pipeline, wherein the collision occurrence time of the collision behavior is the last time and/or the current time. And determining a first adjustment factor of the ball device at the previous moment and/or a second adjustment factor of the ball device at the current moment, and carrying out correction processing on the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track. According to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements. And determining a first normal line corresponding to the last moment of collision behavior and/or a second normal line corresponding to the current moment. If the first normal line and/or the second normal line are/is not perpendicular to the inner wall of the pipeline, determining that a convex position or a concave position exists in the preset pipeline. According to the scheme, the acceleration value of the sphere device at each moment can be obtained through the triaxial accelerometer, the angular velocity value of the sphere device at each moment can be obtained through the triaxial angular velocity meter, then the complete motion track of the sphere device in the preset pipeline is determined according to the acceleration value at each moment and the angular velocity value at each moment, finally, the target pipeline model with the corresponding shape is automatically generated according to the motion track, namely, the inner wall contour of the target pipeline model with the corresponding shape is automatically generated. Moreover, the convex position or the concave position existing in the preset pipeline can be determined through the normal line corresponding to the moment of collision behavior which is determined for a plurality of times, so that a user can conveniently improve the inner wall profile of the preset pipeline according to the determined convex position or concave position, for example, the inner wall profile of the target pipeline model is obtained through a plurality of times of optimization at the position with more convex positions or concave positions, namely, the position with dense collision, the curvature radius is increased, and the like, so that the optimized target pipeline model is obtained. Therefore, the inner wall contour of the optimized target pipeline model is used for conveying spherical nuclear fuel elements, so that the collision of the shells of the spherical nuclear fuel elements is obviously reduced during conveying, and the technical problem of more collisions for conveying the spherical nuclear fuel elements is solved.
Fig. 3 is a schematic structural diagram of a device for determining a target pipeline based on motion data of a sphere device according to an embodiment of the present application, in which a triaxial accelerometer and a triaxial angular velocity meter are disposed, as shown in fig. 3, the device includes:
and an acquisition unit 31 for acquiring an acceleration value of the ball device at each moment by a triaxial accelerometer and acquiring an angular velocity value of the ball device at each moment by a triaxial angular velocity meter when the ball device moves in a preset pipe.
A first determining unit 32, configured to determine a movement track of the ball device in the preset pipe according to the acceleration value at each moment and the angular velocity value at each moment.
A generating unit 33, configured to automatically generate a target pipeline model with a corresponding shape according to the motion trail; wherein the shape of the target pipe model characterizes an inner wall profile of the target pipe model for transporting spherical nuclear fuel elements.
The device of the embodiment may execute the technical scheme in the above method, and the specific implementation process and the technical principle are the same and are not described herein again.
Fig. 4 is a schematic structural diagram of another apparatus for determining a target pipeline based on motion data of a sphere apparatus according to an embodiment of the present application, and based on the embodiment shown in fig. 3, as shown in fig. 4, a first determining unit 32 includes:
The operation module 321 is configured to perform an operation on the acceleration value at each time and the angular velocity value at each time to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value.
The first determining module 322 is configured to determine a movement track of the ball device in the preset pipeline according to the speed value at each moment and the movement direction at each moment.
In one example, the motion trail is located in a three-dimensional space, and the three-dimensional space is a three-dimensional space in which the preset pipeline is located.
In one example, the apparatus further comprises:
a second determining unit 41 for determining a difference between the speed value at the previous time and the speed value at the current time.
And a third determining unit 42, configured to determine that the ball device has a collision behavior in the preset pipeline if the difference value is not within the preset value interval, where the collision occurrence time of the collision behavior is the last time and/or the current time.
The correction unit 43 is configured to determine a first adjustment factor of the ball device at a previous time and/or a second adjustment factor of the ball device at a current time, and perform correction processing on the motion track of the ball device according to the first adjustment factor and/or the second adjustment factor, so as to obtain a corrected motion track.
In one example, the correction unit 43 includes:
the second determining module 431 is configured to determine a first three-dimensional position coordinate of the ball device at a previous time, and determine a first adjustment factor corresponding to the previous time according to the first three-dimensional position coordinate.
The first correction module 432 is configured to perform correction processing on the motion track at the previous time and the time before the previous time according to the first adjustment factor corresponding to the previous time, so as to obtain a corrected first motion track.
And/or a third determining module 433, configured to determine a second three-dimensional position coordinate of the sphere device at the current time, and determine a second adjustment factor corresponding to the current time according to the second three-dimensional position coordinate.
The second correction module 434 is configured to perform correction processing on the motion trail between the current time and the previous time according to a second adjustment factor corresponding to the current time, so as to obtain a corrected second motion trail.
In one example, the apparatus further comprises:
a fourth determining unit 44, configured to determine a first normal line corresponding to a previous time when the collision behavior occurs, and/or a second normal line corresponding to a current time.
And a fifth determining unit 45, configured to determine that a protrusion position or a recess position exists in the preset pipe if it is determined that the first normal line and/or the second normal line are not perpendicular to the inner wall of the pipe.
In one example, the sphere device is composed of two half-shells sealed.
The device of the embodiment may execute the technical scheme in the above method, and the specific implementation process and the technical principle are the same and are not described herein again.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where, as shown in fig. 5, the electronic device includes: a memory 51, and a processor 52.
The memory 51 stores a computer program executable on the processor 52.
The processor 52 is configured to perform the method as provided by the above-described embodiments.
The electronic device further comprises a receiver 53 and a transmitter 54. The receiver 53 is for receiving instructions and data transmitted from an external device, and the transmitter 54 is for transmitting instructions and data to the external device.
Fig. 6 is a block diagram of an electronic device, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., provided in an embodiment of the present application.
The apparatus 600 may include one or more of the following components: a processing component 602, a memory 604, a power component 606, a multimedia component 608, an audio component 610, an input/output (I/O) interface 612, a sensor component 614, and a communication component 616.
The processing component 602 generally controls overall operation of the apparatus 600, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 602 can include one or more modules that facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.
The memory 604 is configured to store various types of data to support operations at the apparatus 600. Examples of such data include instructions for any application or method operating on the apparatus 600, contact data, phonebook data, messages, pictures, videos, and the like. The memory 604 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply component 606 provides power to the various components of the device 600. The power supply components 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 600.
The multimedia component 608 includes a screen between the device 600 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation. In some embodiments, the multimedia component 608 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the apparatus 600 is in an operational mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 610 is configured to output and/or input audio signals. For example, the audio component 610 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 600 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, audio component 610 further includes a speaker for outputting audio signals.
The I/O interface 612 provides an interface between the processing component 602 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 614 includes one or more sensors for providing status assessment of various aspects of the apparatus 600. For example, the sensor assembly 614 may detect the on/off state of the device 600, the relative positioning of the assemblies, such as the display and keypad of the device 600, the sensor assembly 614 may also detect the change in position of the device 600 or one of the assemblies of the device 600, the presence or absence of user contact with the device 600, the orientation or acceleration/deceleration of the device 600, and the change in temperature of the device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 616 is configured to facilitate communication between the apparatus 600 and other devices in a wired or wireless manner. The device 600 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.
In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as memory 604, including instructions executable by processor 620 of apparatus 600 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
Embodiments of the present application also provide a non-transitory computer-readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the method provided by the above embodiments.
The embodiment of the application also provides a computer program product, which comprises: a computer program stored in a readable storage medium, from which at least one processor of an electronic device can read, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any one of the embodiments described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A method of determining a target pipeline based on motion data of a sphere device, wherein a triaxial accelerometer and a triaxial angular velocity meter are arranged in the sphere device, the method comprising:
when the ball device moves in a preset pipeline, acquiring an acceleration value of the ball device at each moment through the triaxial accelerometer, and acquiring an angular velocity value of the ball device at each moment through the triaxial angular velocity meter;
determining a motion track of the ball device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment;
according to the motion trail, automatically generating a target pipeline model with a corresponding shape; wherein the shape of the target pipeline model characterizes an inner wall profile of the target pipeline model for transporting spherical nuclear fuel elements;
the method further comprises the steps of:
Determining a difference value between the speed value at the previous moment and the speed value at the current moment;
if the difference value is not in the preset numerical value interval, determining that the ball device generates collision behavior in a preset pipeline, wherein the collision occurrence time of the collision behavior is the last time and/or the current time;
and determining a first adjustment factor of the ball device at the last moment and/or a second adjustment factor of the current moment, and correcting the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track.
2. The method according to claim 1, wherein determining the trajectory of movement of the sphere device within a preset conduit from the acceleration value at each instant and the angular velocity value at each instant comprises:
calculating the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value;
and determining the movement track of the ball device in a preset pipeline according to the speed value at each moment and the movement direction at each moment.
3. The method of claim 1, wherein the motion profile is located in a three-dimensional space, the three-dimensional space being a three-dimensional space in which the predetermined pipe is located.
4. The method according to claim 1, wherein determining a first adjustment factor of the ball device at the previous time and/or a second adjustment factor of the current time, and performing correction processing on the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track comprises:
determining a first three-dimensional position coordinate of the sphere device at the last moment, and determining a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate;
according to the first adjustment factor corresponding to the previous moment, correcting the motion trail of the previous moment and the moment before the previous moment to obtain a corrected first motion trail;
and/or determining a second three-dimensional position coordinate of the sphere device at the current moment, and determining a second adjustment factor corresponding to the current moment according to the second three-dimensional position coordinate;
And carrying out correction processing on the motion trail between the current moment and the previous moment according to a second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
5. The method according to claim 1, wherein the method further comprises:
determining a first normal line corresponding to the last moment when the collision behavior occurs and/or a second normal line corresponding to the current moment;
and if the first normal line and/or the second normal line are determined not to be perpendicular to the inner wall of the pipeline, determining that a convex position or a concave position exists in the preset pipeline.
6. A method according to any one of claims 1-5, characterized in that the sphere means consist of two half-shell seals.
7. A device for determining a target pipeline based on motion data of a sphere device, wherein a triaxial accelerometer and a triaxial angular velocity meter are arranged in the sphere device, and the device comprises:
the acquisition unit is used for acquiring the acceleration value of the sphere device at each moment through the triaxial accelerometer and acquiring the angular velocity value of the sphere device at each moment through the triaxial angular velocity meter when the sphere device moves in a preset pipeline;
The first determining unit is used for determining the movement track of the ball device in a preset pipeline according to the acceleration value at each moment and the angular velocity value at each moment;
the generating unit is used for automatically generating a target pipeline model with a corresponding shape according to the motion trail; wherein the shape of the target pipeline model characterizes an inner wall profile of the target pipeline model for transporting spherical nuclear fuel elements;
the apparatus further comprises:
a second determining unit, configured to determine a difference between the speed value at the previous time and the speed value at the current time;
a third determining unit, configured to determine that a collision behavior occurs in the preset pipeline by the ball device if the difference value is not located in a preset numerical value interval, where a collision occurrence time of the collision behavior is a previous time and/or a current time;
and the correction unit is used for determining a first adjustment factor of the ball device at the last moment and/or a second adjustment factor of the current moment, and correcting the movement track of the ball device according to the first adjustment factor and/or the second adjustment factor to obtain a corrected movement track.
8. The apparatus according to claim 7, wherein the first determining unit includes:
the operation module is used for carrying out operation processing on the acceleration value at each moment and the angular velocity value at each moment to obtain a velocity value corresponding to the acceleration value and a movement direction corresponding to the angular velocity value;
the first determining module is used for determining the movement track of the ball body device in a preset pipeline according to the speed value at each moment and the movement direction at each moment.
9. The apparatus of claim 7, wherein the motion profile is located in a three-dimensional space, the three-dimensional space being a three-dimensional space in which the predetermined conduit is located.
10. The apparatus according to claim 7, wherein the correction unit includes:
the second determining module is used for determining a first three-dimensional position coordinate of the sphere device at the last moment and determining a first adjustment factor corresponding to the last moment according to the first three-dimensional position coordinate;
the first correction module is used for correcting the motion trail at the previous moment and the moment before the previous moment according to the first adjustment factor corresponding to the previous moment to obtain a corrected first motion trail;
And/or a third determining module, configured to determine a second three-dimensional position coordinate of the sphere device at the current time, and determine a second adjustment factor corresponding to the current time according to the second three-dimensional position coordinate;
and the second correction module is used for correcting the motion trail between the current moment and the previous moment according to a second adjustment factor corresponding to the current moment to obtain a corrected second motion trail.
11. The apparatus of claim 7, wherein the apparatus further comprises:
a fourth determining unit, configured to determine a first normal line corresponding to a previous time when the collision behavior occurs, and/or a second normal line corresponding to a current time;
and the fifth determining unit is used for determining that a convex position or a concave position exists in the preset pipeline if the first normal line and/or the second normal line are determined not to be perpendicular to the inner wall of the pipeline.
12. A device according to any one of claims 7-11, characterized in that the sphere means consist of two half-shell seals.
13. An electronic device comprising a memory, a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the method of any of the preceding claims 1-6 when the computer program is executed.
14. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-6.
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