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Machine vision positioning system and positioning method of reactor detector component removal device

A detector component and positioning system technology, applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problem of not being able to meet the positioning accuracy requirements of dismantled detector components, and achieve shortened pre-installation time, strong adaptability, and accuracy requirements Reduced effect

Active Publication Date: 2021-05-18
NUCLEAR POWER INSTITUTE OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the method of pre-calibrating the position of the loading and unloading machine cannot meet the positioning accuracy requirements of the detector assembly when the detector assembly is removed.

Method used

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  • Machine vision positioning system and positioning method of reactor detector component removal device
  • Machine vision positioning system and positioning method of reactor detector component removal device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0075] Such as figure 1 Shown:

[0076] The machine vision positioning system for the dismantling device of the reactor detector assembly includes a loading and unloading track 8 located at the edge of the reactor internals pool. The loading and unloading track is equipped with a trolley 2 that moves along the loading and unloading track. A mobile cart 1, the bottom of which is inserted below the water surface 7 of the internal component pool, and the bottom of the cart is equipped with an underwater radiation-resistant camera 4 and a guide cylinder 3, and the guide cylinder 3 is equipped with Detector assembly removal device;

[0077] It also includes a controller, the controller obtains the photographed image of the underwater radiation-resistant camera 4, analyzes the position of the target detector assembly to be removed according to the photographed image, and obtains the position coordinates of the target detector assembly to be removed, and the controller according to ...

Embodiment 2

[0087] Such as figure 2 Shown:

[0088] Based on the positioning method of the machine vision positioning system for the removal device of the reactor detector assembly, the controller performs position analysis on the target detector assembly to be removed according to the captured image and uses the group vision positioning method for position analysis,

[0089] Include the following steps:

[0090] S1, reset:

[0091]The controller uses the position data measured by the laser range finder on the cart and trolley as a reference to calculate the theoretical position coordinates of the detector assembly removal device in the internal component pool, and then the controller uses the theoretical position of the detector assembly removal device The coordinates drive the cart and trolley to move, so that the detector assembly removal device moves to the position directly above the center of the reactor internals as the zero point according to its theoretical position coordinate...

Embodiment 3

[0102] Such as figure 2 Shown: Based on the positioning method of the machine vision positioning system of the reactor detector assembly removal device, the controller performs position analysis on the target detector assembly to be removed according to the captured image, and when the position analysis is performed using the point-by-point visual positioning method,

[0103] Include the following steps:

[0104] M1, reset:

[0105] The controller uses the position data measured by the laser range finder on the cart and trolley as a reference to calculate the theoretical position coordinates of the detector assembly removal device in the internal component pool, and then the controller uses the theoretical position of the detector assembly removal device The coordinates drive the cart and trolley to move, so that the detector assembly removal device moves to the position directly above the center of the reactor internals as the zero point according to its theoretical positio...

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Abstract

The invention discloses a machine vision positioning system and a positioning method for a reactor detector component removal device, comprising a trolley component, a lifting component, a rotating component, and a camera and lighting component; the trolley component is equipped with a front proximity sensor, a rear proximity sensor, a There are detection holes; the detection station point of the front proximity sensor, the detection station point of the rear proximity sensor, and the center of the detection hole are located on the same arc line, and the center of the detection hole is located at the detection station point of the front proximity sensor and the detection station point of the rear proximity sensor; the center of the arc is the center of the reactor pressure vessel flange; when the detection hole is located directly above the screw hole on any reactor pressure vessel flange, the screw If the hole is a screw hole to be checked, the detection station point of the front proximity sensor is located on the tangent line A of any screw hole in front of the screw hole to be checked, and the detection station point of the rear proximity sensor is located behind the screw hole to be checked On the tangent line B of any screw hole.

Description

technical field [0001] The invention relates to the field of nuclear power plant equipment detection, in particular to a machine vision positioning system and a positioning method for a reactor detector component removal device. Background technique [0002] The "Hualong No. 1" reactor has canceled the lower head penetration of the reactor pressure vessel, and the core measurement instruments need to be introduced from the top of the reactor. There are a total of 48 reactor core measurement detector assemblies, including 44 core neutron-temperature detector assemblies and 4 pressure vessel water level detector assemblies, which are divided into 12 groups and distributed on 12 core measurement tube sockets. There are 3-4 neutron-temperature detector assemblies (SVRD) on each socket. The self-powered neutron detector (SPND) integrated in the SVRD needs to be removed and replaced every 2-3 refueling cycles. Before each removal and replacement of the detector assembly, the det...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 安彦波余志伟李娜杨其辉湛卉张超黄宗仁钟元章张翼瓮松峰罗英李燕王炳炎陈书华王尚武
Owner NUCLEAR POWER INSTITUTE OF CHINA