Method for positioning plane centroid of pipe orifice image of condenser

Abstract

The invention discloses a method for positioning a plane centroid of a pipe orifice image of a condenser. The method comprises the following steps of: (1) calibrating a camera; (2) controlling a hand-eye mechanism of a robot to move along an optical axis of the camera, continuously shooting gray aerial views of a pipe plate area to be cleaned, selecting a clear image from the gray aerial views, pre-processing the clear image to obtain a plurality of binary images of which pipe orifices and backgrounds are in black-white contrast, and distributing the pipe orifices in the pipe plate area to becleaned in a horizontal and longitudinal staggered mode; (3) drawing a column pixel gray value accumulated sum curve S1 and a line pixel gray value accumulated sum curve S2, counting horizontal coordinates of a local minimal value point set at a column trough in the S1 and longitudinal coordinates of the local minimal value point set at a line trough in the S2, and thus obtaining a centroid roughcoordinate set; and (4) eliminating falsified centroids to roughly position the centroid in a multi-target mode. The method has the advantages of high accuracy and small calculation amount.

Description

technical field [0001] The invention mainly relates to the technical field of image processing, in particular to a plane centroid positioning method of a nozzle image of a condenser. Background technique [0002] The circulating cooling water of large unit condensers in my country's thermal power, solar and nuclear power plants mostly uses rivers, lakes, seas and groundwater as supplementary water. If the height is increased, the dirt in the condensation pipe will be blocked and the pipe will be scaled. Most of the condensing pipes are brass and carbon steel. Due to improper treatment of circulating water, under-deposit corrosion, brass dezincification corrosion, galvanic corrosion, stress corrosion and impact corrosion are prone to occur, resulting in perforation and leakage of condenser condensing pipes, resulting in downtime accidents . Scaling and corrosion of condensing pipes lead to a decrease in the vacuum degree in the pipe, a serious reduction in heat transfer effi...

AI Technical Summary

Problems solved by technology

Since the tube sheet is located in the water chamber, the underwater lighting method is converging light illumination. The light at the center of the tube sheet is the strongest and gradually weakens in the radial direction, resulting in uneven distribution of gray levels in the background area of ​​the image; and the water and the turbidity in the water There are refraction, scattering and convolution effects on light, and uneven brightness produces many stray white and bright color clusters, resulting in a decrease in image signal-to-noise ratio, false contours, self-shadowing and noise

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