A method, device and system for positioning control of a core plate pin

Abstract

The application discloses a kind of positioning control method, device and positioning system of pile core plate pin, belong to equipment maintenance technical field.The method includes: obtaining the overall image of the pile core plate collected by image acquisition equipment;Determine the standard movement vector of image acquisition equipment according to overall image;According to standard movement vector, control image acquisition equipment moves to first positioning point and second positioning point in turn;According to the actual movement vector and standard movement vector that image acquisition equipment moves from first positioning point to second positioning point occurs, calculate the movement deviation of image acquisition equipment;Using movement deviation controls image acquisition equipment to position the pin on the pile core plate.The method disclosed in the application can accurately control the trolley to position the pin on the pile core plate, there is no data iteration in the whole positioning process, and because using traditional image processing method, speed is fast, accuracy is high, easy to quickly optimize according to different environment.

Description

Technical Field

[0001] This invention relates to the field of equipment maintenance technology, and in particular to a positioning control method, device and positioning system for pins on a reactor core plate. Background Technology

[0002] The reactor internals consist of the upper and lower core support structures. Both structures contain plates for support and positioning, equipped with pins such as locating pins and cotter pins for fixing or supporting the core. As these plates are subjected to high temperatures and pressures, the pins are prone to cracking and bending. For example, the upper core plate in the upper support structure has locating pin holes for fixing control rod guide tubes, and locating pins on its lower surface for positioning fuel assemblies. During reactor operation, the upper core plate is subjected to high temperatures, high pressures, water pressure, and assembly vibrations, causing the locating pins to crack, bend, or fail, ultimately damaging the upper internals and fuel assemblies.

[0003] Because the working environment of the internal components is complex, personnel often cannot make close contact with them. Therefore, automated equipment is usually used to check the positioning pins on the shape plate. However, the existing automated positioning methods are slow, cumbersome to operate, and have low accuracy, and often cannot achieve fully automated operation. Summary of the Invention

[0004] To address at least one technical problem existing in the prior art, embodiments of the present invention provide a positioning control method, apparatus, and positioning system for pins on a reactor core plate. The technical solution is as follows:

[0005] In a first aspect, a method for positioning and controlling pins on a core plate is provided, the method comprising:

[0006] Acquire an overall image of the core plate captured by the image acquisition device;

[0007] Determine the standard movement vector of the image acquisition device based on the overall image;

[0008] The image acquisition device is controlled to move sequentially to the first positioning point and the second positioning point according to the standard movement vector. The first positioning point is aligned with the first positioning pin, and the second positioning point is aligned with the second positioning pin.

[0009] The movement deviation of the image acquisition device is calculated based on the actual movement vector of the image acquisition device from the first positioning point to the second positioning point and the standard movement vector.

[0010] The image acquisition device is used to control the movement deviation to position the pin to be positioned on the core plate.

[0011] Further, determining the standard motion vector of the image acquisition device based on the overall image includes:

[0012] Map the standard image of the core plate to the overall image, and determine the initial position of the image acquisition device based on the standard image;

[0013] The movement path of the image acquisition device is determined based on the initial position of the image acquisition device and the standard image, and the movement path includes the first positioning point and the second positioning point;

[0014] The vector formed by two adjacent positioning points in the movement path is the standard movement vector.

[0015] Further, controlling the image acquisition device to move to the first positioning point according to the standard movement vector includes:

[0016] The image acquisition device is controlled to move toward the first positioning point according to the standard movement vector, and a first partial image of the core plate acquired by the image acquisition device is obtained, wherein the first partial image includes the first positioning pin.

[0017] Calculate the first ratio between the shape parameter of the first pin to be positioned in the first local image and the actual shape parameter of the first pin, and convert the pixel distance from the center point of the image in the first local image to the center point of the first pin to be positioned into the first actual distance based on the first ratio.

[0018] Based on the first actual distance, the image acquisition device is controlled to move towards the first positioning point. When the pixel distance from the center point of the first local image to the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

[0019] Further, controlling the image acquisition device to move to the second positioning point according to the standard movement vector includes:

[0020] The image acquisition device is controlled to move from the first positioning point to the second positioning point to acquire a second partial image of the core plate acquired by the image acquisition device, the second partial image including the second positioning pin;

[0021] Calculate a second ratio between the shape parameter of the second pin to be positioned in the second local image and the actual shape parameter of the second pin to be positioned, and convert the pixel distance from the center point of the image in the second local image to the center point of the second pin to be positioned into a second actual distance according to the second ratio.

[0022] The image acquisition device is controlled to move toward the second positioning point based on the second actual distance. When the pixel distance from the center point of the second local image to the center point of the second positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the second positioning point.

[0023] Further, the step of calculating the movement deviation of the image acquisition device based on the actual movement vector of the image acquisition device moving from the first positioning point to the second positioning point and the standard movement vector includes:

[0024] Calculate the angle between the actual movement vector of the image acquisition device from the first positioning point to the second positioning point and the standard movement vector, whereby the angle is the movement deviation.

[0025] Further, the step of using the movement deviation to control the image acquisition device to position the positioning pin on the core plate includes:

[0026] The image acquisition device is controlled to move sequentially to each positioning point according to the movement path, and the actual movement vector of the image acquisition device between two adjacent positioning points is corrected according to the movement deviation.

[0027] Secondly, a positioning control device for pins on a core plate is provided, the device comprising:

[0028] The image acquisition module is used to acquire an overall image of the core plate captured by the image acquisition device;

[0029] A standard motion vector determination module is used to determine the standard motion vector of the image acquisition device based on the overall image.

[0030] The pre-positioning module is used to control the image acquisition device to move sequentially to a first positioning point and a second positioning point according to the standard movement vector, wherein the first positioning point is aligned with a first positioning pin and the second positioning point is aligned with a second positioning pin.

[0031] The motion deviation acquisition module is used to calculate the motion deviation of the image acquisition device based on the actual motion vector of the image acquisition device moving from the first positioning point to the second positioning point and the standard motion vector.

[0032] The positioning module is used to control the image acquisition device to position the pin to be positioned on the core plate using the movement deviation.

[0033] Furthermore, the standard movement vector determination module includes:

[0034] The initial position determination module is used to map the standard image of the core plate to the overall image and determine the initial position of the image acquisition device based on the standard image.

[0035] The moving path determination module is used to determine the moving path of the image acquisition device based on the initial position of the image acquisition device and the standard image. The moving path includes a first positioning point and a second positioning point, and the vector formed by two adjacent positioning points in the moving path is the standard moving vector.

[0036] Furthermore, the pre-positioning module includes:

[0037] The image acquisition device control module is used to control the image acquisition device to move towards the first positioning point according to the standard movement vector, and to acquire the first partial image of the core plate acquired by the image acquisition device, wherein the first partial image includes the first positioning pin;

[0038] The calculation module is used to calculate the first ratio between the shape parameters of the first pin to be positioned in the first local image and the actual shape parameters of the first pin, and to convert the pixel distance from the center point of the image in the first local image to the center point of the first pin to be positioned into the first actual distance based on the first ratio.

[0039] The control module is also used to control the image acquisition device to move towards the first positioning point according to the first actual distance. When the pixel distance from the center point of the first local image to the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

[0040] Furthermore, the pre-positioning module includes:

[0041] The image acquisition device control module is also used to control the image acquisition device to move towards the first positioning point according to the standard movement vector, and to acquire the first partial image of the core plate acquired by the image acquisition device, wherein the first partial image includes the first positioning pin;

[0042] The calculation module is also used to calculate a first ratio between the shape parameters of the first pin to be positioned in the first local image and the actual shape parameters of the first pin, and to convert the pixel distance from the center point of the image in the first local image to the center point of the first pin to be positioned into a first actual distance based on the first ratio.

[0043] The control module is also used to control the image acquisition device to move towards the first positioning point according to the first actual distance. When the pixel distance from the center point of the first local image to the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

[0044] Furthermore, the pre-positioning module includes:

[0045] The image acquisition device control module controls the image acquisition device to move from the first positioning point to the second positioning point, and acquires a second partial image of the core plate acquired by the image acquisition device, the second partial image including the second pin to be positioned;

[0046] The calculation module calculates a second ratio between the shape parameters of the second pin to be positioned in the second local image and the actual shape parameters of the second pin to be positioned, and converts the pixel distance from the center point of the image in the second local image to the center point of the second pin to be positioned into a second actual distance based on the second ratio.

[0047] The control module controls the image acquisition device to move towards the second positioning point based on the second actual distance. When the pixel distance between the center point of the second local image and the center point of the second positioning pin meets the preset threshold, it determines that the image acquisition device has moved to the second positioning point.

[0048] Furthermore, the movement deviation acquisition module is specifically used for:

[0049] The angle between the actual movement vector and the standard movement vector of the image acquisition device as it moves from the first positioning point to the second positioning point is calculated, and the angle is the movement deviation.

[0050] Furthermore, the positioning module is specifically used for:

[0051] The image acquisition device is controlled to move sequentially to each positioning point according to the movement path, and the actual movement vector of the image acquisition device between two adjacent positioning points is corrected according to the movement deviation.

[0052] Fourthly, a positioning system for a pin on a reactor core plate is provided. The positioning system is used to perform positioning of the pin on the reactor core plate using the control method described in any one of the first aspects. The positioning system includes: an image acquisition device, an adjustment component, and a moving device. The adjustment component includes:

[0053] A first rotating shaft is connected to the image acquisition device;

[0054] At least one second pivot, the second pivot comprising: a first rod and a second rod vertically connected, the second pivot hinged to the first pivot, the first pivot adapted to rotate about the axis at the hinge point of the first pivot and the second pivot;

[0055] A third rotating shaft is connected to the mobile device and hinged to the second rotating shaft, the second rotating shaft being adapted to rotate about the axis at the hinge point between the second rotating shaft and the third rotating shaft.

[0056] Fourthly, an electronic device is provided, comprising:

[0057] One or more processors; and

[0058] A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the method as described in any of the first aspects.

[0059] Fifthly, a computer-readable medium is provided having a computer program stored thereon, wherein the program, when executed by a processor, implements the method as described in any of the first aspects.

[0060] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows:

[0061] The coarse calibration function is to move the image acquisition device to the vicinity of the initial position based on the projective transformation of the overall image of the core plate and the standard image, determine the detection sequence of the positioning pins, and calculate the standard movement vector in the standard image coordinate system based on the standard image.

[0062] Fine calibration function: Considering the observed distortion of the positioning pin under projective transformation, the image acquisition device is moved to the first positioning point to continuously reduce the influence of affine transformation, and finally to achieve the positioning accuracy of the center of the positioning pin.

[0063] Coordinate system optimization: The movement vector calculated according to the drawings should be the movement in the upper core plate coordinate system, i.e. the drawing coordinate system. However, since there is an angle deviation α between the movement coordinate system of the image acquisition device and the standard image coordinate system, the image acquisition device is moved to the second positioning point again. Based on the standard movement vectors of the first positioning point and the second positioning component and the actual movement vector of the image acquisition device, the offset difference between the two is calculated by fine positioning.

[0064] Through the above three processing steps, the image acquisition device is positioned at a known location on the standard image and its direction of movement is determined, under the condition that the image acquisition device is parallel to the core plate. Therefore, the trolley can be precisely controlled to position the pins on the core plate. The entire positioning process involves no data iteration, and because it uses traditional image processing methods, it is fast, accurate, and highly interpretable, and easy to optimize quickly under different environments. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a flowchart of the positioning control method for pins on a core plate provided in an embodiment of the present invention;

[0067] Figure 2 This is a schematic diagram of the core plate structure provided in an embodiment of the present invention;

[0068] Figure 3 This is a schematic diagram of the coordinate matching between the overall image and the standard image of the core plate provided in the embodiment of the present invention;

[0069] Figure 4 This is a schematic diagram of the movement deviation provided in the embodiments of the invention;

[0070] Figure 5 This is a schematic diagram of the positioning system structure of the pin on the core plate provided in an embodiment of the present invention;

[0071] Figure 6 This is a motion path diagram of the positioning system provided in an embodiment of the present invention;

[0072] Figure 7 This is a schematic diagram of the positioning control device for the pin on the core plate provided in an embodiment of the present invention;

[0073] Figure 8 This is a schematic diagram of the electronic device structure provided in an embodiment of the present invention. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0075] like Figure 1 As shown, a method for positioning pins on a core plate includes:

[0076] S1. Acquire an overall image of the core plate from the image acquisition device.

[0077] The above-mentioned overall image shows the entire area of ​​the reactor core plate, including all pins on the core plate. To ensure the image acquisition device can capture the overall image of the core plate, it needs to be placed underwater near the center of the core plate at its initial height from the seabed, with its acquisition plane parallel to the core plate. This initial height should allow the image acquisition device to precisely capture the entire image of the core plate; this initial position is the initial position of the image acquisition device. Specifically, for example, image detection technology can be used to determine whether the entire area of ​​the core plate is displayed in the overall image: acquire multiple images captured by the image acquisition device, detect the edges of the core plate and small components on the core plate in the images. If the edges and pins of the core plate can be identified in the images, compare the images showing the largest core plate size in the overall image, and select the image with the largest core plate size as the overall image of the core plate. Figure 2 The image shown is an example of an overall image of an upper core plate, which includes 5 circular holes and 4 rectangular holes. Positioning pins are provided at both ends of the secondary diagonal of the circular holes, and the positioning pins are positioned using an image acquisition device.

[0078] S2. Determine the standard movement vector of the image acquisition device based on the overall image.

[0079] The standard movement vector, as described above, is the theoretically generated vector for the image acquisition device to move between two positioning points. Determining the standard movement vector requires using a standard image of the core plate, which is either a one-to-one scale image of the actual core plate structure or an image scaled down to a certain ratio. For example, the standard image could be a drawing of the core plate.

[0080] In one embodiment, step S2 includes:

[0081] Map the standard image of the core plate to the overall image, and determine the initial position of the image acquisition device based on the standard image;

[0082] Based on the initial position of the image acquisition device and the standard image, the moving path of the image acquisition device is determined, and the moving path includes the first positioning point and the second positioning point;

[0083] The vector formed by two adjacent positioning points in the movement path is the standard movement vector.

[0084] As mentioned above, although the acquisition plane of the image acquisition device is parallel to the core plate, due to the complex underwater environment, the image acquisition device is affected by water flow, the flatness of the bottom surface, etc., and its movement direction will deviate during the positioning and movement process. Therefore, it is necessary to clarify the deviation between the coordinates corresponding to the actual movement vector of the image acquisition device and the coordinates of the standard image of the core plate. Figure 3As shown, the standard image of the reactor core plate is matched with the overall image, so that the coordinate system of the standard image is aligned with the coordinate system of the overall image. There is an offset angle α between the coordinate systems of the standard image and the overall image. Therefore, when the image acquisition device is moved, its actual movement vector has a certain offset angle from the corresponding movement vector in the standard image. In step S1, the image acquisition device acquires an overall image of the reactor core plate at a general position near the center of the core plate underwater. However, the exact position of the image acquisition device is unknown, making it impossible to control its movement and positioning. Therefore, it is necessary to determine the initial position of the image acquisition device based on the overall image and the standard image.

[0085] In step S2 above, mapping the standard image of the core plate to the overall image and determining the initial position of the image acquisition device based on the standard image includes:

[0086] Correct the overall image and eliminate distortions in the overall image;

[0087] Feature points in the overall image are detected, and these feature points are matched with those in the standard image. The projective transformation between the overall image and the standard image is calculated, and the center coordinates of the overall image are mapped to the center of the standard image. The initial position of the image acquisition device is obtained based on the projective transformation.

[0088] As mentioned above, feature points on the overall image can be obtained through Hough circle detection. Specifically, the feature points can be the center points of the openings in the core plate.

[0089] After determining the initial position of the image acquisition device, its movement path can be determined according to the principle of shortest movement path. The movement path represents the positioning sequence of the pins on the core plate by the image acquisition device. The standard movement vector is the vector formed between two adjacent positioning points in the movement path. After determining the standard movement vector, the actual movement vector of the image acquisition device moving between two adjacent positioning points along the movement path can be corrected based on the standard movement vector. The first positioning point and the second positioning point are nodes of the movement path, and the first positioning point and the second positioning point are respectively aligned with the two pins on the core plate.

[0090] S3. The image acquisition device is moved sequentially to the first positioning point and the second positioning point according to the standard movement vector control.

[0091] As described above, step S3 involves pre-positioning two pins on the core plate according to the standard movement vector. This pre-positioning determines the movement direction of the image acquisition device and the offset between the actual movement vector of the image acquisition device and the standard movement vector. The first and second positioning points can be the positioning points corresponding to the selected pins, or they can be the first and second positioning points selected according to the movement path.

[0092] In one embodiment, controlling the image acquisition device to move to a first positioning point according to a standard motion vector includes:

[0093] According to the standard movement vector, the image acquisition device is controlled to move towards the first positioning point to acquire the first partial image of the core plate acquired by the image acquisition device, which includes the first positioning pin.

[0094] Calculate the first ratio between the shape parameter of the first pin to be positioned in the first local image and the actual shape parameter of the first pin to be positioned, and convert the pixel distance from the center point of the first local image to the center point of the first pin to be positioned into the first actual distance based on the first ratio.

[0095] Based on the first actual distance, the image acquisition device is controlled to move towards the first positioning point. When the pixel distance between the center point of the first local image and the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

[0096] As described above, because the actual movement vector of the image acquisition device deviates from the standard movement vector, the image acquisition device can only move to the vicinity of the first positioning point and then adjust to the first positioning point successively. When the image acquisition device moves to the first positioning point for the first time to acquire the first local image according to the standard movement vector, the image acquisition device needs to rise from the first height of the initial position to the second height to meet the imaging accuracy of the first positioning pin.

[0097] Image detection technology is used to identify the first pin to be positioned in the first local image, and the shape parameters of the first pin to be positioned are obtained. The shape parameters can be the diameter or height of the first pin to be positioned, etc. When there is a distance between the image acquisition device and the first positioning point, the shape of the first pin to be positioned obtained by the image acquisition device is distorted from the actual shape of the first pin to be positioned. For example, the actual shape of the first pin to be positioned is circular, but because the image acquisition device is not centered, the shape of the first pin to be positioned is elliptical. The two shape parameters have a proportional relationship. The difference between the pixel coordinates of the center point of the first local image and the pixel coordinates of the center point of the positioning pin is calculated. For example, if the image center is at (50, 50) and the positioning pin is at (20, 50), then the pixel distance is the distance between the two coordinates. Here, it is a distance of 30 pixels. The distance of 30 pixels can be converted into the first actual distance according to the proportional relationship of the shape parameters.

[0098] Moving towards the first positioning point according to the first actual distance, the image acquisition device cannot directly move to the first positioning point due to the offset angle between the actual movement vector and the standard movement vector; it needs to move multiple times. Each time the image acquisition device moves, it acquires a first local image, calculates the pixel distance from the center point of the first local image to the first positioning pin, and compares the pixel distance with a preset threshold. If the threshold is met, the image acquisition device is considered to have moved to the first positioning point.

[0099] The above-mentioned method involves moving the image acquisition device from its initial position to the first positioning point and acquiring the first local image. This allows the direction of movement of the image acquisition device to be determined, which serves as a coarse calibration for the image acquisition device.

[0100] In one embodiment, controlling the image acquisition device to move to the second positioning point according to a standard motion vector includes:

[0101] The image acquisition device is controlled to move from the first positioning point to the second positioning point to acquire a second partial image of the core plate acquired by the image acquisition device. The second partial image includes the second pin to be positioned.

[0102] Calculate a second ratio between the shape parameters of the second pin to be positioned in the second local image and the actual shape parameters of the second pin to be positioned, and convert the pixel distance from the center point of the second local image to the center point of the second pin to be positioned into a second actual distance based on the second ratio.

[0103] The image acquisition device is controlled to move towards the second positioning point based on the second actual distance. When the pixel distance between the center point of the second local image and the center point of the second positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the second positioning point.

[0104] As described above, moving the image acquisition device from the first positioning point to the second positioning point yields the actual movement vector of the image acquisition device relative to the standard movement vector. Based on the movement deviation between the actual and standard movement vectors, precise calibration of the image acquisition device can be achieved. The process of moving the image acquisition device to the second positioning point is essentially the same as moving it to the first positioning point, and will not be repeated here. This process continues until the pixel distance between the center point of the second local image and the center point of the second positioning pin is small enough to meet a preset threshold, at which point it is determined that the image acquisition device has moved to the second positioning point.

[0105] S4. Calculate the movement deviation of the image acquisition device based on the actual movement vector and the standard movement vector of the image acquisition device as it moves from the first positioning point to the second positioning point.

[0106] The above, such as Figure 4As shown, vector a is the actual movement vector, and vector b is the standard movement vector. The deviation vector c can be calculated from vector a and vector b, and then the offset angle α can be calculated. Both the deviation vector c and the offset angle α can be used as the movement deviation of the image acquisition device.

[0107] Preferably, in one embodiment, step S4 includes:

[0108] The angle between the actual movement vector and the standard movement vector of the image acquisition device as it moves from the first positioning point to the second positioning point is calculated; this angle is the movement deviation.

[0109] S5. Use the image acquisition equipment to control the movement deviation to locate the pins to be positioned on the core plate.

[0110] As described above, after determining the movement deviation, the movement of the image acquisition device between positioning points can be successively corrected based on the movement deviation, such as... Figure 4 As shown, the theoretical movement vector of the image acquisition device is the standard movement vector a. When the image acquisition device is positioned, it first moves the actual movement vector b, and then moves the deviation vector c. However, the image acquisition device can reach the corresponding positioning point after two movements, without the need for the multiple movements mentioned above during pre-positioning.

[0111] In one embodiment, step S5 includes:

[0112] The image acquisition device is controlled to move sequentially to each positioning point according to the movement path, and the actual movement vector of the image acquisition device between two adjacent positioning points is corrected according to the movement deviation.

[0113] As described above, each pin to be positioned on the core plate is positioned sequentially according to the movement path. The movement deviation can be calculated by pre-positioning the first and second pins to be positioned, and then the movement deviation can be used to correct the positioning of other pins on the movement path by the image acquisition device.

[0114] Based on the positioning method of the pin on the core plate disclosed in the above embodiments of the present invention, such as Figure 5 As shown, this embodiment of the invention also provides a positioning system for pins on a core plate, used to perform the above-described positioning method. The positioning system includes: an image acquisition device, an adjustment component, and a moving device. The adjustment component includes: a first rotating shaft, a second rotating shaft, and a third rotating shaft. The first rotating shaft is connected to the image acquisition device, the second rotating shaft is hinged to the first and third rotating shafts, and the third rotating shaft is connected to the moving device. The first rotating shaft is rotatable about the axis where the hinge point of the first and second rotating shafts is located, used to adjust the acquisition angle and height of the image acquisition device. The second rotating shaft is rotatable about the axis where the hinge point of the second and third rotating shafts is located, used to adjust the acquisition angle and height of the image acquisition device. The moving device and the adjustment component are used to drive the image acquisition device to move relative to the core plate under the control of the positioning method.

[0115] Figure 5 It includes three second rotating shafts. Figure 5 The A-axis is the first rotation axis, the B, C, and D axes are the second rotation axes, and the E axis is the third rotation axis. The A, B, and C axes are mainly responsible for the 3D environment rotation of the image acquisition device, with the C axis handling some height compensation; the D axis is mainly responsible for height adjustment, and works with the E axis to rotate the device, enabling shooting from all angles as needed.

[0116] The positioning system for the pins on the core plate, under the control of the positioning control method, positions the pins on the core plate according to the following positioning process, including:

[0117] S1' The mobile device delivers the adjustment components and image acquisition device to their initial positions;

[0118] The S2' adjustment component sends the image acquisition device to a predetermined height, and the image acquisition device takes a picture of the entire area of ​​the core plate to obtain an overall image. The image acquisition device then transmits the overall image back.

[0119] S3' The mobile device moves to the first positioning point according to the positioning control command.

[0120] The S4' adjustment component moves the image acquisition device to a predetermined height of two, and the image acquisition device takes a picture of the first positioning pin on the core plate to obtain a first partial image;

[0121] The S5' mobile device moves to the second positioning point according to the positioning control command;

[0122] The S6' image acquisition device captures a second partial image of the second pin to be positioned on the core plate.

[0123] S7' The mobile device moves along the moving path according to the positioning control command. The adjustment component adjusts the acquisition plane of the image acquisition device to be parallel to the core plate and ensures that the height of the image acquisition device is at a predetermined height of 2, thereby positioning the other pins on the core plate except for the first pin to be positioned and the second pin to be positioned.

[0124] Figure 6 The diagram shows the complete picture of all the upper core plates in the reactor. It includes 18 core plates, and the arrows indicate the overall movement path required by the mobile device to locate the pins. Following this path, the mobile device starts from its initial position, detects all the pins on the core plate corresponding to that position, and then moves to the next core plate, repeating the algorithm to complete the traversal of the entire core plate map.

[0125] Based on the positioning method of the pin on the core plate disclosed in the above embodiments of the present invention, such as Figure 7 As shown, this embodiment of the invention also provides a positioning control device for pins on a reactor core plate, comprising:

[0126] Image acquisition module 701 is used to acquire an overall image of the core plate captured by the image acquisition device;

[0127] The standard motion vector determination module 702 is used to determine the standard motion vector of the image acquisition device based on the overall image.

[0128] The pre-positioning module 703 is used to control the image acquisition device to move sequentially to the first positioning point and the second positioning point according to the standard movement vector, with the first positioning point aligned with the first positioning pin and the second positioning point aligned with the second positioning pin.

[0129] The motion deviation acquisition module 704 is used to calculate the motion deviation of the image acquisition device based on the actual motion vector and the standard motion vector of the image acquisition device as it moves from the first positioning point to the second positioning point.

[0130] The positioning module 705 is used to locate the pin to be positioned on the core plate by using the image acquisition device to control the movement deviation.

[0131] The above-described overall image displays the entire area of ​​the reactor core plate, showing all pins on the core plate. The standard movement vector is the vector theoretically generated when the image acquisition device moves between two positioning points. The first and second positioning points can be the positioning points corresponding to the selected pins, or they can be the first and second positioning points selected according to the movement path. The movement deviation can be the offset angle or deviation vector between the standard movement vector and the actual movement vector.

[0132] In one embodiment, the standard movement vector determination module 702 includes:

[0133] The initial position determination module is used to map the standard image of the core plate to the overall image and determine the initial position of the image acquisition device based on the standard image.

[0134] The moving path determination module is used to determine the moving path of the image acquisition device based on the initial position of the image acquisition device and the standard image. The moving path includes a first positioning point and a second positioning point, and the vector formed by two adjacent positioning points in the moving path is the standard moving vector.

[0135] In one embodiment, the pre-positioning module 703 includes:

[0136] The image acquisition device control module is also used to control the image acquisition device to move towards the first positioning point according to the standard movement vector, and to acquire the first partial image of the core plate acquired by the image acquisition device, wherein the first partial image includes the first positioning pin;

[0137] The calculation module is also used to calculate a first ratio between the shape parameters of the first pin to be positioned in the first local image and the actual shape parameters of the first pin, and to convert the pixel distance from the center point of the image in the first local image to the center point of the first pin to be positioned into a first actual distance based on the first ratio.

[0138] The control module is also used to control the image acquisition device to move towards the first positioning point according to the first actual distance. When the pixel distance from the center point of the first local image to the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

[0139] In one embodiment, the pre-positioning module 703 includes:

[0140] The image acquisition device control module controls the image acquisition device to move from the first positioning point to the second positioning point, and acquires a second partial image of the core plate acquired by the image acquisition device, the second partial image including the second pin to be positioned;

[0141] The calculation module calculates a second ratio between the shape parameters of the second pin to be positioned in the second local image and the actual shape parameters of the second pin to be positioned, and converts the pixel distance from the center point of the image in the second local image to the center point of the second pin to be positioned into a second actual distance based on the second ratio.

[0142] The control module controls the image acquisition device to move towards the second positioning point based on the second actual distance. When the pixel distance between the center point of the second local image and the center point of the second positioning pin meets the preset threshold, it determines that the image acquisition device has moved to the second positioning point.

[0143] In one embodiment, the movement deviation acquisition module 704 is specifically used for:

[0144] The angle between the actual movement vector and the standard movement vector of the image acquisition device as it moves from the first positioning point to the second positioning point is calculated, and the angle is the movement deviation.

[0145] In one embodiment, the positioning module 705 is specifically used for:

[0146] The image acquisition device is controlled to move sequentially to each positioning point according to the movement path, and the actual movement vector of the image acquisition device between two adjacent positioning points is corrected according to the movement deviation.

[0147] The positioning control device for pins on the core plate disclosed in this invention executes the main steps of the positioning method disclosed in this invention through the image acquisition module 701, the standard movement vector determination module 702, the pre-positioning module 703, the movement deviation acquisition module 704, and the positioning module 705. This device can be set up separately in the hardware device or can be nested in the control system of the image acquisition device.

[0148] In addition, this invention also provides an electronic device, including:

[0149] One or more processors; and

[0150] A memory associated with the one or more processors, the memory being used to store program instructions, which, when read and executed by the one or more processors, perform the positioning method for pins on the core board disclosed in the above embodiments.

[0151] Among them, such as Figure 8 As shown, computer device 12 is represented as a general-purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing units 16). Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0152] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0153] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (not shown, commonly referred to as a "hard disk drive"). Although not shown in the figures, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disk drives for reading and writing to removable non-volatile optical disks (e.g., CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0154] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0155] The computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via the input / output (I / O) interface 22. Furthermore, in this embodiment, the display 24 of the computer device 12 is not an independent entity, but is embedded in a mirror, so that when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface visually blend together. Moreover, the computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0156] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28.

[0157] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0158] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

[0159] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of the present invention, and will not be described in detail here.

[0160] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for positioning and controlling pins on a core plate, characterized in that, include: Acquire an overall image of the core plate captured by the image acquisition device; Determining the standard movement vector of the image acquisition device based on the overall image includes: Map the standard image of the core plate to the overall image, and determine the initial position of the image acquisition device based on the standard image; The movement path of the image acquisition device is determined based on the initial position of the image acquisition device and the standard image, and the movement path includes a first positioning point and a second positioning point. The vector formed by two adjacent positioning points in the movement path is the standard movement vector. The image acquisition device is controlled to move sequentially to the first positioning point and the second positioning point according to the standard movement vector. The first positioning point is aligned with the first positioning pin, and the second positioning point is aligned with the second positioning pin. The movement deviation of the image acquisition device is calculated based on the actual movement vector of the image acquisition device from the first positioning point to the second positioning point and the standard movement vector, including: Calculate the angle between the actual movement vector of the image acquisition device as it moves from the first positioning point to the second positioning point and the standard movement vector, where the angle is the movement deviation; Using the aforementioned movement deviation to control the image acquisition device to position the pin to be positioned on the core plate includes: The image acquisition device is controlled to move sequentially to each positioning point according to the movement path, and the actual movement vector of the image acquisition device between two adjacent positioning points is corrected according to the movement deviation.

2. The method as described in claim 1, characterized in that, Controlling the image acquisition device to move to the first positioning point according to the standard movement vector includes: The image acquisition device is controlled to move toward the first positioning point according to the standard movement vector, and a first partial image of the core plate acquired by the image acquisition device is obtained, wherein the first partial image includes the first positioning pin. Calculate the first ratio between the shape parameter of the first pin to be positioned in the first local image and the actual shape parameter of the first pin; and convert the pixel distance from the center point of the image in the first local image to the center point of the first pin to be positioned into the first actual distance based on the first ratio. Based on the first actual distance, the image acquisition device is controlled to move towards the first positioning point. When the pixel distance from the center point of the first local image to the center point of the first positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the first positioning point.

3. The method as described in claim 2, characterized in that, Controlling the image acquisition device to move to the second positioning point according to the standard movement vector includes: The image acquisition device is controlled to move from the first positioning point to the second positioning point to acquire a second partial image of the core plate acquired by the image acquisition device, the second partial image including the second positioning pin; Calculate a second ratio between the shape parameter of the second pin to be positioned in the second local image and the actual shape parameter of the second pin to be positioned, and convert the pixel distance from the center point of the image in the second local image to the center point of the second pin to be positioned into a second actual distance according to the second ratio. The image acquisition device is controlled to move toward the second positioning point based on the second actual distance. When the pixel distance from the center point of the second local image to the center point of the second positioning pin meets the preset threshold, it is determined that the image acquisition device has moved to the second positioning point.

4. A positioning control device for pins on a reactor core plate, used to implement the method as described in any one of claims 1-3, characterized in that, include: The image acquisition module is used to acquire an overall image of the core plate captured by the image acquisition device; A standard motion vector determination module is used to determine the standard motion vector of the image acquisition device based on the overall image. The pre-positioning module is used to control the image acquisition device to move sequentially to a first positioning point and a second positioning point according to the standard movement vector, wherein the first positioning point is aligned with a first positioning pin and the second positioning point is aligned with a second positioning pin. The motion deviation acquisition module is used to calculate the motion deviation of the image acquisition device based on the actual motion vector of the image acquisition device moving from the first positioning point to the second positioning point and the standard motion vector. The positioning module is used to control the image acquisition device to position the pin to be positioned on the core plate using the movement deviation.

5. A positioning system for pins on a core plate, characterized in that, The positioning system is used to perform positioning of pins on a reactor core plate using the control method described in any one of claims 1-3. The positioning system includes: an image acquisition device, an adjustment component, and a moving device. The adjustment component includes: A first rotating shaft is connected to the image acquisition device; At least one second pivot, the second pivot comprising: a first rod and a second rod vertically connected, the second pivot hinged to the first pivot, the first pivot adapted to rotate about the axis at the hinge point of the first pivot and the second pivot; A third rotating shaft is connected to the mobile device and hinged to the second rotating shaft, the second rotating shaft being adapted to rotate about the axis at the hinge point between the second rotating shaft and the third rotating shaft.

6. An electronic device, characterized in that, include: One or more processors; as well as A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the method as described in any one of claims 1-3.

7. A computer-readable medium having a computer program stored thereon, wherein, When the program is executed by the processor, it implements the method as described in any one of claims 1-3.

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