KR20130036412A

KR20130036412A - System for generating tube map of heat exchanger and method for measuring position

Info

Publication number: KR20130036412A
Application number: KR1020110100463A
Authority: KR
Inventors: 성 최
Original assignee: 대우조선해양 주식회사
Priority date: 2011-10-04
Filing date: 2011-10-04
Publication date: 2013-04-12

Abstract

PURPOSE: A tube map generating system of a heat exchanger and a location measuring method are provided to grasp the alignment patterns and the location information of a tube using a vision sensor regardless of the size of the heat exchanger and updates the location information on a real-time basis. CONSTITUTION: A tube map generating system of a heat exchanger comprises a shell and a vision sensing unit. The vision sensing unit photographs the vision images of a tube(10) for the tube type heat exchanger, thereby obtaining alignment patterns and the location information of the tube. The tube map generating system generates a tube map with the alignment patterns and the location information of the tube obtained by the vision sensing unit.

Description

SYSTEM FOR GENERATING TUBE MAP OF HEAT EXCHANGER AND METHOD FOR MEASURING POSITION}

The present invention relates to a tube map generation system and a position measuring method of a heat exchanger, and more particularly to a heat exchange that generates a tube map using the arrangement pattern and position information of the tube in order to automate the manufacturing process of the shell and tube type heat exchanger. The present invention relates to a tube map generation system and a positioning method of a device.

In general, welding and expansion operations are performed in the process of manufacturing a shell and tube type heat exchanger. 1 illustrates performing a conventional welding process, and FIG. 2 illustrates performing a conventional expansion process. As shown in Figure 1 and 2, the welding and expansion work is performed by the operator manually or by using a semi-automatic equipment. Reference numeral 101 denotes a tube, 102 a tube sheet, and 103 a welding site.

Conventionally, in order to manufacture a heat exchanger, the positional information of a tube is input in advance via drawings, such as CAD, offline. As a result, since the drawing information is stored in advance and used offline, the equipment and the workpiece must be fixed at all times.

However, in the related art, since location information is stored and used in advance through a drawing offline, it is impossible to update the real-time location information, and there is a problem in that work is impossible when equipment or a work object is misplaced.

In order to solve such a conventional problem, in the present invention, when performing the welding and expansion process using the shell and tube type heat exchanger automation equipment automatically to obtain the array pattern and position information of the heat exchanger tube using the vision sensor It provides a tube map generation system and positioning method of the heat exchanger.

The tube map generation system of the heat exchanger according to the present invention comprises a vision sensing unit for acquiring a vision image of a shell and tube type heat exchanger tube, and obtaining the arrangement pattern and position information of the tube, and obtained from the vision sensing unit. A tube map having the arrangement pattern and the position information of the tube is generated.

In addition, the vision sensing unit divides the vision measuring surface of the tube into a plurality of areas, measures each position, and combines to generate one tube map.

In this case, the vision sensing unit comprises a sensor unit for measuring the tube of the heat exchanger through vision, a feature point extracting unit for finding a feature point on the measurement surface image, an image combination unit and image coordinates for combining the divided images into one space It includes a coordinate system conversion unit for converting the coordinates of the image.

On the other hand, the tube position measurement method of the heat exchanger according to the present invention, by using a vision sensing unit, imaging the vision image of the shell and tube type heat exchanger tube, and generates a tube map having the arrangement pattern and position information of the tube.

Tube map generation system and position measurement method of the heat exchanger according to the present invention can determine the arrangement pattern and position information of the tube through the vision sensor regardless of the heat exchanger size, can update the real-time position information, narrow space and mobile platform It is a very useful invention implemented to enable automated processes in equipment.

1 illustrates performing a conventional welding process,
Figure 2 illustrates performing a conventional expansion process,
3 is a schematic diagram showing an automated heat exchanger manufacturing process according to an embodiment of the present invention,
Figure 4 illustrates a feature point according to an embodiment of the present invention,
5 is a diagram illustrating photographing by dividing an image into four regions according to an exemplary embodiment;
6 illustrates a combination of images according to an embodiment of the present invention.
7 is a perspective view showing the application of the tube map generation system of the heat exchanger according to an embodiment of the present invention to a mobile platform equipment,
8 is a flowchart illustrating a method of measuring a tube position of a heat exchanger according to an embodiment of the present invention.

Hereinafter, the technical configuration of the tube map generation system and the position measurement method of the heat exchanger according to the accompanying drawings in detail as follows.

3 is a schematic diagram showing an automated heat exchanger manufacturing process according to an embodiment of the present invention, Figure 4 shows a feature point according to an embodiment of the present invention, Figure 5 according to an embodiment of the present invention 6 shows an image obtained by dividing the image into four regions, and FIG. 6 illustrates a combination of images according to an embodiment of the present invention. FIG. 7 is a tube of a heat exchanger according to an embodiment of the present invention. 8 is a perspective view illustrating an application of a map generation system to mobile platform equipment, and FIG. 8 is a flowchart illustrating a method for measuring a tube position of a heat exchanger according to an exemplary embodiment of the present invention.

3 to 8, the tube map generation system of the heat exchanger according to an embodiment of the present invention captures a vision image of the shell and tube type heat exchanger tube 10, thereby And a vision sensing unit for acquiring the arrangement pattern and the positional information, and generating a tube map having the arrangement pattern and the positional information of the tube 10 obtained from the vision sensing unit.

That is, as shown in FIG. 3, the means 200 for acquiring the tube position and the arrangement pattern information by imaging the entire tube T image of the tube sheet S, and the means 210 for generating the tube map and the work file 210. Can be used, and through these means tube welding and tube expansion operations are performed.

In this case, the vision sensing unit is configured to generate a single tube map by dividing the vision measuring surface of the tube 10 into a plurality of regions, measuring each position, and then combining them.

That is, the vision sensing unit includes a sensor unit 20 for measuring the tube 10 of the heat exchanger through vision, a feature point extracting unit for finding a feature point on a measurement surface image, and an image combination unit combining the divided images into one. And a coordinate map converting unit for converting image coordinates into coordinates in space, and a tube map having a tube array pattern and positional information.

In the case of measuring a medium and large heat exchanger through the vision sensing unit, it is impossible to measure the whole at a close distance, and in order to sense the entire heat exchanger, a sufficient separation distance must be secured. In this case, the accuracy of the vision sensing unit is reduced, and the task distance of the sensor measurement distance needs to be large enough.

In the tube map generation system of the heat exchanger according to an embodiment of the present invention, first, five feature points 11, 12, 13, 14, and 15 are displayed on the heat exchanger tube 10, and the heat exchanger is moved to the vision sensing unit at a close distance. The measurement is performed by dividing into four areas S1, S2, S3, and S4. After the measurement, the segmented measured images are combined into one using the feature points 11, 12, 13, 14 and 15 to generate a tube map having the array pattern and the position information, and the heat exchanger automation equipment is welded through the generated tube map. And expansion work.

In this case, since the measurement is made at the current position where the equipment is installed, the position compensation is possible when the equipment and the work object are mismatched and distorted and can be used at close distances, so that the present invention can be applied even in a narrow space. It is also applicable to mobile platforms. That is, as shown in FIG. 7, the controller 50, the sensor unit 20, and the work table 40 are installed on the movable platform 60, and the tube 10 fixed to the tube sheet 90 is imaged. Based on this, a tube map having an array pattern and position information of the tube 10 is generated to perform welding and expansion work.

In the present embodiment, although the feature points 11, 12, 13, 14, and 15 are set to 12 o'clock, 3 o'clock, 6 o'clock, 9 o'clock, and center directions, respectively, the feature points are properly positioned. Design changes are possible. The illustrated tube sheet 90 is a means for fixing the tube 10, the tube 10 is a means for performing heat exchange by forming a flow path for the fluid flow therein.

On the other hand, the tube position measuring method of the heat exchanger according to an embodiment of the present invention using a vision sensing unit, as shown in Figure 8, by imaging the vision image of the shell and tube type heat exchanger tube 10, the tube ( A tube map having the arrangement pattern and the positional information of 10) is generated.

That is, the feature points are displayed in five areas, and the heat exchanger is divided and sensed. Thereafter, a feature point is extracted and a segmented image is combined. Based on the combined image, a tube map having the arrangement pattern and the position information of the tube is generated, and the image coordinate value is converted into the spatial coordinate value.

Until now, the tube map generation system and the position measuring method of the heat exchanger according to the present invention have been described with reference to the embodiments shown in the drawings, which are merely exemplary, and those skilled in the art may have various modifications and other equivalent embodiments therefrom. I understand that it is possible. Accordingly, the scope of the true technical protection should be determined by the technical idea of the appended claims.

10 tube 20 sensor part
40: workbench 50: controller
60: removable platform 90: tube sheet

Claims

Arrangement of the tube 10 obtained from the vision sensing unit having a vision sensing unit for capturing the vision image of the shell and tube type heat exchanger tube 10 to obtain the arrangement pattern and position information of the tube 10. A tube map generation system of a heat exchanger, characterized in that for generating a tube map having a pattern and position information.

The method according to claim 1,
The vision sensing unit,
The tube map generation system of the heat exchanger, characterized in that the division of the vision measuring surface of the tube (10) into a plurality of areas to measure each position and then combine to generate one tube map.

The method according to claim 2,
The vision sensing unit:
A sensor unit 20 for measuring the tube 10 of the heat exchanger through vision;
A feature point extraction unit for finding a feature point on the measurement plane image;
An image combining unit for combining the divided images into one; And
And a coordinate system transformation unit for converting image coordinates into coordinates in space.

Using the vision sensing unit, the tube position of the heat exchanger is characterized by imaging a vision image of the shell and tube type heat exchanger tube 10 and generating a tube map having the arrangement pattern and position information of the tube 10. How to measure.