Method, device and computer equipment for installing a pipe plugging device in a nuclear power plant

Abstract

The application relates to a method, device and computer equipment for installing a pipeline plugging device of a nuclear power plant. The method comprises the following steps: acquiring a calibration image collected by a collection device; wherein the calibration image comprises a calibration code installed on a flange ring, and the flange ring is installed on a primary loop pipeline to be plugged; adjusting the pose of the collection device according to the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image and the focal length of the collection device, so that the collection plane of the collection device is parallel to the plane where the flange ring is located; acquiring a thread image collected by the collection device under the condition that the collection plane of the collection device is parallel to the plane where the flange ring is located; wherein the thread image comprises at least three circular threads located on the flange ring; and installing a pipeline plugging device in the primary loop pipeline according to the thread image. The method can reduce the plugging error, and the plugging device can be accurately installed in the primary loop pipeline.

Description

Technical Field

[0001] This application relates to the field of nuclear power plant technology, and in particular to a method, apparatus, and computer equipment for installing a pipeline plugging device in a nuclear power plant. Background Technology

[0002] As nuclear power plants age, the corrosion and damage to the steam generator heat transfer tubes intensifies due to factors such as wear and tear and dents. Therefore, it is necessary to cut the primary main piping to disconnect the lower end cap of the steam generator from the primary main piping, allowing for the replacement of the damaged steam generator. However, during primary main piping cutting, iron filings and other waste generated can enter the main piping and fall along its inner wall to other parts, even entering the reactor core, forming foreign matter in the primary coolant loop. Therefore, before cutting, a piping sealing device must be used to seal the primary main piping.

[0003] Currently, the traditional method for pipe plugging is manual plugging. However, due to the complex environment of the primary loop pipeline, manual plugging is difficult and cannot guarantee personnel safety. At the same time, manual plugging can produce large plugging errors due to subjective factors, making it impossible to accurately install the plugging device in the primary loop main pipeline. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and computer equipment for installing a pipeline plugging device in a nuclear power plant to address the aforementioned technical problems. This method can reduce plugging errors and enable precise installation of the plugging device in the primary loop main pipeline.

[0005] In a first aspect, this application provides a method for installing a pipeline plugging device in a nuclear power plant, including:

[0006] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, the flange ring being installed on the primary main pipeline to be sealed;

[0007] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0008] When the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0009] According to the thread image, a pipe sealing device is installed in the primary main pipe.

[0010] In one embodiment, the pose of the acquisition device is adjusted based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, including:

[0011] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the homography matrix and the projection matrix of the acquisition device are determined; wherein, the homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device, and the world coordinate system is a coordinate system constructed with the vertex of the calibration code as the origin;

[0012] The extrinsic parameter matrix of the acquisition device is determined based on the projection matrix and the homography matrix.

[0013] The pose of the acquisition device is adjusted based on the extrinsic parameter matrix.

[0014] In one embodiment, the pixel information includes pixel coordinate information. Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the homography matrix and the projection matrix of the acquisition device are determined, including:

[0015] Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system;

[0016] The homography matrix is ​​determined based on the pixel coordinate information and world coordinate information of the calibration code;

[0017] The projection matrix of the acquisition device is determined based on the focal length of the acquisition device.

[0018] In one embodiment, adjusting the pose of the acquisition device based on the extrinsic parameter matrix includes:

[0019] Extract the rotation and translation components from the extrinsic matrix;

[0020] The attitude of the acquisition device is adjusted according to the rotation component, and the position of the acquisition device is adjusted according to the translation component.

[0021] In one embodiment, based on the threaded image, a pipe sealing device is installed in a primary loop main pipe, comprising:

[0022] Based on the thread image, determine the axis coordinate information of the primary main pipeline;

[0023] Based on the axis coordinate information, a pipe sealing device is installed in the primary loop main pipeline.

[0024] In one embodiment, determining the axis coordinate information of the primary main pipe based on the thread image includes:

[0025] An edge detection algorithm is used to obtain the edge information of each circular thread in the thread image;

[0026] The Hough gradient algorithm is used to determine the center coordinates of each circular thread based on the edge information of each circular thread.

[0027] The axis of the primary main pipeline is determined based on the center coordinates of each circular thread.

[0028] In one embodiment, the axis coordinate information of the primary main pipeline is determined based on the center coordinate information of each circular thread, including:

[0029] Based on the center coordinates of each circular thread, determine the centerline of the line segment between the centers of two adjacent circular threads in each circular thread.

[0030] The coordinates of the intersection points of each centerline are used as the axis of the primary loop main pipeline.

[0031] In one embodiment, acquiring the thread image captured by the acquisition device includes:

[0032] The number of images is determined based on the light intensity of the environment in which the flange ring is located;

[0033] The acquisition device is controlled to acquire the number of thread images.

[0034] In one embodiment, a pipe sealing device is installed in the primary main pipe according to the axis coordinate information, including:

[0035] The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline.

[0036] Based on the final axis coordinates of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

[0037] In one embodiment, before adjusting the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the method further includes:

[0038] The calibration image is denoised using a median filtering algorithm.

[0039] Secondly, this application also provides an installation device for a pipeline plugging device in a nuclear power plant, comprising:

[0040] The first acquisition module is used to acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, and the flange ring is installed on the primary main pipeline to be sealed;

[0041] The pose adjustment module is used to adjust the pose of the acquisition device according to the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0042] The second acquisition module is used to acquire a thread image acquired by the acquisition device when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; wherein the thread image includes at least three circular threads located on the flange ring;

[0043] The device installation module is used to install a pipe sealing device in the primary main pipe according to the thread image.

[0044] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0045] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, the flange ring being installed on the primary main pipeline to be sealed;

[0046] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0047] When the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0048] According to the thread image, a pipe sealing device is installed in the primary main pipe.

[0049] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0050] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, the flange ring being installed on the primary main pipeline to be sealed;

[0051] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0052] When the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0053] According to the thread image, a pipe sealing device is installed in the primary main pipe.

[0054] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0055] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, the flange ring being installed on the primary main pipeline to be sealed;

[0056] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0057] When the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0058] According to the thread image, a pipe sealing device is installed in the primary main pipe.

[0059] The aforementioned pipeline plugging device installation method, device, and computer equipment in nuclear power plants, by introducing calibration codes installed on flange rings and accurately determining the position of the flange rings relative to the acquisition device through the actual physical characteristics of the calibration codes (such as the actual physical dimensions of the calibration codes), can efficiently and robustly adjust the orientation of the acquisition device. At the same time, since the thread image acquired by the acquisition device is acquired when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the position of the primary loop main pipeline can be accurately located through the thread image, thereby reducing the plugging error of the primary loop main pipeline. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is an application environment diagram of a pipeline plugging device installation method in a nuclear power plant, as shown in one embodiment.

[0062] Figure 2 This is a schematic flowchart illustrating the installation method of a pipeline plugging device in a nuclear power plant, as shown in one embodiment.

[0063] Figure 3 This is a flowchart illustrating the process of adjusting the pose of the acquisition device in one embodiment;

[0064] Figure 4 This is a flowchart illustrating the process of determining the projection matrix of the acquisition device in one embodiment;

[0065] Figure 5 This is a schematic diagram of the process for installing a pipe sealing device in a primary loop pipe in one embodiment.

[0066] Figure 6 This is a schematic diagram of the process for determining the axis of a primary loop main pipe in one embodiment;

[0067] Figure 7 This is a schematic diagram illustrating the determination of the center of the flange ring in one embodiment;

[0068] Figure 8 This is a schematic diagram of the process for installing a pipe sealing device in a primary loop pipe in another embodiment;

[0069] Figure 9 A schematic diagram showing the locations of the flange ring, calibration code, and data acquisition device;

[0070] Figure 10 This is a flowchart illustrating the installation method of a pipeline plugging device in a nuclear power plant, as shown in another embodiment.

[0071] Figure 11 This is a structural block diagram of a pipeline plugging device installation apparatus for a nuclear power plant, as shown in one embodiment.

[0072] Figure 12 A structural block diagram of a pipeline plugging device installation apparatus for a nuclear power plant, as shown in another embodiment;

[0073] Figure 13 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0075] The pipeline plugging device installation method for nuclear power plants provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the acquisition device 101 communicates with the control device 102 via a network. In this embodiment, the acquisition device 101 may be an industrial robot equipped with a camera. Optionally, the control device 102 acquires a calibration image of the calibration code installed on the flange ring acquired by the acquisition device 101, and adjusts the pose of the acquisition device 101 according to the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; further, when the acquisition plane of the acquisition device 101 is parallel to the plane where the flange ring is located, the acquisition device 101 acquires a thread image including at least three circular threads located on the flange ring, and installs a pipe sealing device in the primary loop main pipeline according to the thread image.

[0076] In one embodiment, such as Figure 2 As shown, a method for installing a pipeline plugging device in a nuclear power plant is provided, which can be applied to... Figure 1 Taking the control device 102 as an example, the following steps are included:

[0077] S201, acquire the calibration image collected by the acquisition device.

[0078] The data acquisition device is a device capable of taking pictures; in this embodiment, the data acquisition device may be an industrial robot equipped with a camera. The calibration image is an image captured by the data acquisition device; the calibration image includes a calibration code mounted on a flange ring, which is mounted on the primary main pipeline to be sealed. The calibration code is a two-dimensional label with shape characteristics; for example, the calibration code may be an April Tag calibration code.

[0079] Optionally, after the acquisition device acquires the calibration image, it will send the calibration image to the control device, which can then obtain the calibration image acquired by the acquisition device.

[0080] It should be noted that the calibration code needs to be installed on the flange ring in advance. For example, the end effector of the industrial robot tool center point can be controlled by teaching, and the calibration code can be installed on the flange ring of the primary loop main pipeline.

[0081] S202, based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, adjust the pose of the acquisition device so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0082] The actual physical size of the calibration code includes its actual length and width; the pixel information of the calibration code in the calibration image includes its pixel coordinate information.

[0083] Optionally, the position and orientation of the calibration code relative to the acquisition device can be calculated using the actual physical size of the calibration code and the focal length of the acquisition device. Based on the determined position and orientation, as well as the pixel coordinate information of the calibration code in the calibration image, the angle of rotation and the distance of translation required for the pose of the acquisition device can be determined. Then, the pose of the acquisition device can be adjusted according to the determined rotation angle and translation distance so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0084] It should be noted that the calibration images acquired by the acquisition device are subject to noise due to the irradiation environment. Therefore, after acquiring the calibration images, denoising processing is required. For example, median filtering can be used to denoise the calibration images. It is understandable that denoising the calibration images reduces noise interference and improves their expressive power.

[0085] S203, when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, acquire the thread image acquired by the acquisition device.

[0086] The threaded image includes at least three circular threads on the flange ring. Circular threads refer to the threaded holes on the flange ring used to secure the flange ring and the primary main piping.

[0087] Optionally, when the acquisition plane of the acquisition device is parallel to the plane of the flange ring, the acquisition device will take a picture of the thread containing at least three circular threads and send the picture of the thread to the control device, so that the control device can obtain the thread image acquired by the acquisition device.

[0088] It should be noted that, to ensure the accuracy of subsequent work, the acquired thread image can be denoised; for example, median filtering can be used to denoise the thread image.

[0089] S204, Based on the thread diagram, install a pipe sealing device in the primary main pipe.

[0090] Optionally, based on the circular threads in the thread image, the center of the circular threads is located using positioning technology, and the specific location of the primary main pipeline is determined according to the positional relationship between the circular threads. Further, a pipeline sealing device can be installed in the primary main pipeline based on its specific location. For example, the pipeline sealing device can be installed in the primary main pipeline using intelligent industrial equipment, which can further reduce sealing errors.

[0091] In the aforementioned installation method for the pipeline plugging device in nuclear power plants, a calibration code installed on the flange ring is introduced. The position of the flange ring relative to the acquisition device is accurately determined by the actual physical characteristics of the calibration code (such as the actual physical size of the calibration code). This allows for efficient and robust adjustment of the position of the acquisition device. At the same time, since the thread image acquired by the acquisition device is acquired when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the position of the primary loop main pipeline can be accurately located through the thread image, thereby reducing the plugging error of the primary loop main pipeline.

[0092] Optionally, to make the acquisition plane of the acquisition device parallel to the plane of the flange ring and reduce offset error, based on the above embodiments, in one embodiment, such as... Figure 3 As shown, a method for adjusting the pose of a data acquisition device is provided, specifically including the following steps:

[0093] S301, based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, determine the homography matrix and the projection matrix of the acquisition device.

[0094] The homography matrix characterizes the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The world coordinate system is constructed with the vertices of the calibration code as the origin. For example, if the calibration code is rectangular, the top-left vertex of the calibration code can be used as the origin, the x-axis along the length of the rectangle can be used as the x-axis, the y-axis along the width of the rectangle can be used as the x-axis, and the z-axis can be determined according to the right-hand screw rule. The projection matrix of the acquisition device characterizes the parameters equipped on the acquisition device.

[0095] Optionally, the position and orientation of the calibration code relative to the acquisition device can be determined based on the actual physical size of the calibration code and its pixel information in the calibration image, thereby determining the homography matrix; furthermore, the projection matrix of the acquisition device can be determined based on the construction rules of the acquisition device's projection matrix and the focal length of the acquisition device.

[0096] S302, Determine the extrinsic parameter matrix of the acquisition device based on the projection matrix and homography matrix.

[0097] The extrinsic parameter matrix of the acquisition device is a homogeneous transformation matrix, representing the position and orientation of the acquisition device in the world coordinate system. In this embodiment, the extrinsic parameter matrix of the acquisition device is the extrinsic parameter matrix of the camera in the acquisition device.

[0098] Optionally, based on the transformation relationship between the projection matrix, homography matrix, and extrinsic parameter matrix, the extrinsic parameter matrix of the acquisition device is determined according to the known projection matrix and homography matrix. Specifically, the extrinsic parameter matrix of the acquisition device can be determined by the following formula:

[0099] (1)

[0100] (2)

[0101] According to formula (2), expanding formula (1) yields formula (3):

[0102] (3)

[0103] in, Represents the homography matrix; Represents the projection matrix; and Indicates the focal length of the data acquisition device; Represents the extrinsic parameter matrix; The scaling factor is represented by the external parameter matrix, which consists of a rotation matrix and a translation vector, and the rotation matrix and translation vector can be represented by formulas (4) and (5), respectively:

[0104] (4)

[0105] (5)

[0106] in, This represents a rotation matrix, where the values ​​are rotation components. These rotation components characterize the rotation angle and direction that the acquisition device needs to rotate. This represents the translation vector, where the values ​​are translation components. These translation components characterize the translation distance and direction that the acquisition device needs to translate.

[0107] S303 adjusts the pose of the acquisition device based on the extrinsic parameter matrix.

[0108] Optionally, according to the above formulas (1), (4) and (5), the rotation matrix and translation matrix in the external parameter matrix are extracted, and the acquisition device is rotated according to each rotation component in the rotation matrix, and the acquisition device is translated according to each translation component in the translation matrix, thereby adjusting the pose of the acquisition device.

[0109] In this embodiment, by introducing the homography matrix and the projection matrix of the acquisition device, the extrinsic parameter matrix is ​​accurately calculated; and the pose of the acquisition device can be precisely adjusted based on the extrinsic parameter matrix.

[0110] Optionally, to improve the accuracy of the projection matrix of the determined acquisition device, in one embodiment, such as Figure 4 As shown, a method for determining the projection matrix of a data acquisition device is provided, specifically including the following steps:

[0111] S401, based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system.

[0112] The world coordinate information of the calibration code in the world coordinate system includes the coordinate values ​​of the calibration code in each coordinate axis direction in the world coordinate system.

[0113] Optionally, since the world coordinate system is established with the vertex of the calibration code as the origin, the length of the calibration code in the x-axis direction of the world coordinate system can be used as the coordinate value in the x-axis direction, and the length of the calibration code in the y-axis direction of the world coordinate system can be used as the coordinate value in the y-axis direction, based on the actual physical size of the calibration code. Since the calibration code is a two-dimensional label, the coordinate value of the calibration code in the z-axis direction of the world coordinate system is 0, and thus the world coordinate information of the calibration code in the world coordinate system can be determined.

[0114] For example, if the calibration code is rectangular in shape, and the length of the calibration code is a and the width of the calibration code is b, then the top left corner of the calibration code can be taken as the origin of the coordinate system, the direction along the length of the calibration code rectangle can be taken as the x-axis, and the direction along the width of the calibration code rectangle can be taken as the y-axis; in this case, the world coordinates of the calibration code in the world coordinate system can be determined as (a, b, 0).

[0115] S402, determine the homography matrix based on the pixel coordinate information and world coordinate information of the calibration code.

[0116] The pixel information of the calibration code includes the pixel coordinate information of the calibration code, that is, the coordinate information of the calibration code in the calibration image under the image coordinate system corresponding to the acquisition device.

[0117] Optionally, since the homography matrix represents the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device, the homography matrix can be calculated using the Direct Linear Transform (DLT) algorithm based on the pixel coordinate information and world coordinate information of the calibration code.

[0118] S403, determine the projection matrix of the acquisition device based on the focal length of the acquisition device.

[0119] Optionally, according to formula (1) in the above embodiments, the projection matrix of the acquisition device is constructed by the focal length of the acquisition device. Therefore, the focal length of the acquisition device can be used to replace the focal length of the acquisition device in the projection matrix of the acquisition device in formula (1). and This allows us to determine the projection matrix of the acquisition device. This represents the focal length of the acquisition device along the x-axis in the image coordinate system corresponding to the acquisition device. This represents the focal length of the acquisition device along the y-axis in the image coordinate system corresponding to the acquisition device.

[0120] In this embodiment, by introducing a world coordinate system, since the world coordinate system is established with the vertex of the calibration code as the origin, the homography matrix can be accurately determined by checking the mapping relationship between the pixel coordinate information of the calibration code and the world coordinate information.

[0121] Optionally, in order to accurately install the pipe sealing device in the primary loop main pipeline, based on the above embodiments, in one embodiment, such as... Figure 5 As shown, a method for installing a pipe sealing device in a primary loop main pipeline is provided, specifically including the following steps:

[0122] S501, Based on the thread image, determine the axis coordinate information of the primary main pipeline.

[0123] In the embodiments of this application, the so-called axis coordinate information of the primary loop main pipeline is the coordinate information of the axis of the primary loop main pipeline.

[0124] Optionally, the center of the circular thread in the thread image can be located based on the center positioning technology, and the center coordinate information of the flange ring can be determined based on the relationship between the centers of the circular threads. Then, the center coordinate information of the flange ring can be used as the axis coordinate information of the primary main pipeline.

[0125] S502, Install a pipe sealing device in the primary loop main pipeline according to the axis coordinate information.

[0126] Optionally, the intelligent industrial equipment can be controlled to install the pipe sealing device in the primary main pipeline when the center of the pipe sealing device is aligned with the axis of the primary main pipeline.

[0127] In this embodiment, by introducing the axis of the primary loop main pipeline, the pipeline sealing device can be accurately installed according to the axis, which reduces the sealing error caused by subjective factors to a certain extent.

[0128] Optionally, in order to accurately determine the axis of the primary loop main pipe, based on the above embodiments, in one embodiment, a method for determining the axis of the primary loop main pipe is provided, such as... Figure 6 As shown, the specific steps include:

[0129] S601 uses an edge detection algorithm to obtain the edge information of each circular thread in the thread image.

[0130] The edge information of each circular thread includes the gradient information of the edge points of each circular thread.

[0131] Optionally, an edge detection algorithm, such as the Canny edge detection algorithm, can be used to smooth the thread image using Gaussian filtering. The specific processing procedure is shown in the following formula (6):

[0132] (6)

[0133] in, This represents a thread image that has been smoothed using a Gaussian filter. Represents a thread image; , These are the coordinates of the thread image in the image coordinate system corresponding to the acquisition device. Represents the Gaussian function. This is the corresponding scaling factor.

[0134] Furthermore, the edge points of the thread image are determined by the maxima of the first derivative, while pixels with drastic and slow grayscale changes are determined by the zero-crossing points of the second derivative. After smoothing, the edge points of the thread image are... Direction By identifying local maxima, edge information of each circular thread in the thread image can be obtained based on the detected edge points; where... Let the magnitude of the gradient vector be . The direction of the gradient vector is defined as shown in the following formulas (7) and (8):

[0135] (7)

[0136] (8)

[0137] S602 uses the Hough gradient algorithm to determine the center coordinates of each circular thread based on the edge information of each circular thread.

[0138] In the embodiments of this application, the center coordinate information of each circular thread is the coordinate information of the center of the circular thread.

[0139] Optionally, for each circular thread, a center space is established, which includes the coordinates of each intersection point and the voting value corresponding to each intersection point; wherein, the voting value corresponding to each intersection point is initially 0.

[0140] Furthermore, after obtaining the edge information of the circular thread, using the gradient information of each edge point, a line is drawn starting from each edge point along the direction of the gradient vector. The coordinates of the intersection points of each pair of line segments are stored in the center space, and the voting value corresponding to all intersection points traversed by the line segment is incremented by 1. After traversing all edge points, the coordinates of the intersection point corresponding to the highest voting value are used as the center coordinate information of the circular thread.

[0141] S603, determine the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread.

[0142] Optionally, the positional relationship between the centers of each circular thread can be determined based on the center coordinate information of each circular thread, and the center coordinate information of the flange ring can be determined based on the positional relationship between the centers of each circular thread. Then, the center coordinate information of the flange ring can be used as the axis coordinate information of the primary main pipeline.

[0143] To improve the accuracy of the determined primary main pipeline, the centerline of the line segment between the centers of two adjacent circular threads can be determined based on the center coordinates of each circular thread. The intersection of these centerlines is then used as the axis coordinates of the primary main pipeline. For example, if the captured thread image contains three circular threads, such as... Figure 7 The diagram illustrates a method for determining the center of a flange ring. It can be understood that by introducing a centerline, the axis of the primary main pipeline can be accurately and easily determined based on the centers of each circular thread.

[0144] In this embodiment of the application, by using the center of each circular thread, a mathematical transformation method is provided to convert the axis of the primary main pipeline, which cannot be directly measured, into the center of a measurable small-sized circular thread, thereby improving the accuracy of determining the axis of the primary main pipeline.

[0145] It is understandable that the image clarity captured by the acquisition device varies under different light intensities due to the influence of ambient brightness. In the embodiments of this application, such as... Figure 7 As shown, the circular thread area in the thread image is small, and its proportion in the thread image is also relatively small. Therefore, if the clarity of the thread image is too low, it will seriously affect the performance of the edge detection algorithm. Thus, more thread images need to be captured to reduce the detection error of the circular thread. Therefore, the number of images can be determined based on the light intensity of the environment where the flange ring is located; the number of thread images acquired by the acquisition device can be controlled. The number of images is inversely proportional to the light intensity of the environment where the flange ring is located; that is, the lower the light intensity of the environment where the flange ring is located, the more images are acquired. Based on this, in one embodiment, such as... Figure 8As shown, a method for installing a pipe sealing device in a primary loop main pipeline is provided, specifically including the following steps:

[0146] S801 uses the average value of the axis center coordinate information determined based on each thread image as the final axis center coordinate information of the primary main pipeline.

[0147] Optionally, according to the method in the above embodiments, for each thread image, the determined axis coordinate information based on the thread image can be obtained; further, the average of the abscissas in all axis coordinate information can be obtained to get the final abscissa, and the average of the ordinates in all axis coordinate information can be obtained to get the final ordinate; the final abscissa and the final ordinate are used as the final axis coordinate information of the primary loop main pipeline.

[0148] S802, Install a pipe sealing device in the primary main pipeline based on the final axis coordinate information of the primary main pipeline.

[0149] Optionally, based on the final axis coordinates of the primary main pipeline, the intelligent industrial equipment is controlled to install the pipe sealing device in the primary main pipeline when the center of the pipe sealing device is aligned with the axis of the primary main pipeline.

[0150] In this embodiment, by introducing the average value of each axis coordinate information, the accuracy of the final determined axis coordinate information is improved, and the error caused by image clarity is reduced.

[0151] Optionally, to more intuitively demonstrate the positional relationship between the data acquisition device, calibration code, and flange ring, such as... Figure 9 The diagram shows the positions of the acquisition device, calibration code, and flange ring in the process of determining the extrinsic parameter matrix. In the diagram, 901 represents the flange ring; 902 represents the calibration code; 903 represents the circular thread on the flange ring; and 904 represents the acquisition device.

[0152] Figure 10 This is a flowchart illustrating the installation method of a pipeline plugging device in a nuclear power plant according to another embodiment. Based on the above embodiments, this embodiment provides an optional example of the installation method of a pipeline plugging device in a nuclear power plant. (Combined with...) Figure 10 The specific implementation process is as follows:

[0153] S1001, acquire the calibration image collected by the acquisition device.

[0154] The calibration image includes calibration codes installed on the flange ring, which is installed on the primary main pipeline to be sealed.

[0155] S1002 uses a median filtering algorithm to denoise the calibration image.

[0156] S1003. Based on the actual physical size of the calibration code, the pixel information of the calibration code in the denoised calibration image, and the focal length of the acquisition device, determine the homography matrix and the projection matrix of the acquisition device.

[0157] The homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The world coordinate system is a coordinate system constructed with the vertex of the calibration code as the origin.

[0158] Optionally, the world coordinate information of the calibration code in the world coordinate system is determined based on the actual physical size of the calibration code; the homography matrix is ​​determined based on the pixel coordinate information and world coordinate information of the calibration code; and the projection matrix of the acquisition device is determined based on the focal length of the acquisition device.

[0159] S1004. Determine the extrinsic parameter matrix of the acquisition device based on the projection matrix and homography matrix.

[0160] S1005, adjust the pose of the acquisition device according to the external parameter matrix so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0161] Optionally, the rotation and translation components in the extrinsic parameter matrix are extracted; the attitude of the acquisition device is adjusted according to the rotation component, and the position of the acquisition device is adjusted according to the translation component.

[0162] S1006, when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, acquire the thread image acquired by the acquisition device.

[0163] The threaded image includes at least three circular threads located on the flange ring.

[0164] S1007 uses an edge detection algorithm to obtain the edge information of each circular thread in the thread image.

[0165] S1008 uses the Hough gradient algorithm to determine the center coordinates of each circular thread based on the edge information of each circular thread.

[0166] S1009, Based on the center coordinate information of each circular thread, determine the axis coordinate information of the primary main pipeline.

[0167] Optionally, based on the center coordinates of each circular thread, the centerline of the line segment between the centers of two adjacent circular threads in each circular thread is determined; the coordinates of the intersection of each centerline are used as the axis coordinates of the primary main pipeline.

[0168] S1010, Install a pipe sealing device in the primary loop main pipeline according to the axis coordinate information.

[0169] The specific processes of S1001-S1010 described above can be found in the description of the above method embodiments. Their implementation principles and technical effects are similar, and will not be repeated here.

[0170] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0171] Based on the same inventive concept, this application also provides a pipeline plugging device installation device for nuclear power plants to implement the above-mentioned pipeline plugging device installation method for nuclear power plants. The solution provided by this device is similar to the solution described in the above-described method. Therefore, the specific limitations of one or more embodiments of the pipeline plugging device installation device for nuclear power plants provided below can be found in the limitations of the pipeline plugging device installation method for nuclear power plants described above, and will not be repeated here.

[0172] In one exemplary embodiment, such as Figure 11 As shown, a pipeline plugging device installation device 1 for nuclear power plants is provided, comprising: a first acquisition module 10, a position adjustment module 20, a second acquisition module 30, and a device installation module 40, wherein:

[0173] The first acquisition module 10 is used to acquire the calibration image collected by the acquisition device; wherein, the calibration image includes the calibration code installed on the flange ring, and the flange ring is installed on the primary main pipeline to be sealed.

[0174] The pose adjustment module 20 is used to adjust the pose of the acquisition device according to the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0175] The second acquisition module 30 is used to acquire a thread image acquired by the acquisition device when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; wherein the thread image includes at least three circular threads located on the flange ring.

[0176] The device installation module 40 is used to install a pipe sealing device in a primary loop main pipe based on a thread image.

[0177] The aforementioned pipeline plugging device installation equipment in nuclear power plants uses calibration codes installed on flange rings. By incorporating these calibration codes and their actual physical characteristics (such as their actual physical dimensions), the device accurately determines the position of the flange ring relative to the acquisition device. This allows for efficient and robust adjustment of the acquisition device's orientation. Furthermore, since the thread image acquired by the acquisition device is obtained when the acquisition plane of the acquisition device is parallel to the plane of the flange ring, the thread image can accurately locate the position of the primary loop main pipeline, thereby reducing the plugging error of the primary loop main pipeline.

[0178] In one embodiment, in Figure 11 On the basis of, such as Figure 12 As shown, the pose adjustment module 20 includes:

[0179] The first determining unit 21 is used to determine the homography matrix and the projection matrix of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device; wherein, the homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device, and the world coordinate system is a coordinate system constructed with the vertex of the calibration code as the origin.

[0180] The second determining unit 22 is used to determine the external parameter matrix of the acquisition device based on the projection matrix and the homography matrix.

[0181] The pose adjustment unit 23 is used to adjust the pose of the acquisition device according to the external parameter matrix.

[0182] In one embodiment, the pixel information includes pixel coordinate information, and the first determining unit 21 is specifically used for:

[0183] Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system; based on the pixel coordinate information and world coordinate information of the calibration code, determine the homography matrix; based on the focal length of the acquisition device, determine the projection matrix of the acquisition device.

[0184] In one embodiment, the pose adjustment unit 23 is specifically used for:

[0185] Extract the rotation and translation components from the extrinsic parameter matrix; adjust the attitude of the acquisition device based on the rotation components, and adjust the position of the acquisition device based on the translation components.

[0186] In one embodiment, the device mounting module 40 includes:

[0187] The axis determination unit is used to determine the axis coordinate information of the primary main pipeline based on the thread image.

[0188] The device installation unit is used to install a pipe sealing device in a primary loop main pipeline based on the axis coordinate information.

[0189] In one embodiment, the axis determining unit includes:

[0190] The information acquisition unit is used to acquire the edge information of each circular thread in the thread image by employing an edge detection algorithm.

[0191] The center determination element is used to determine the center coordinates of each circular thread using the Hough gradient algorithm, based on the edge information of each circular thread.

[0192] The axis determination unit is used to determine the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread.

[0193] In one embodiment, axis determination from the unit is specifically used for:

[0194] Based on the center coordinates of each circular thread, the centerline of the line segment between the centers of two adjacent circular threads in each circular thread is determined; the coordinates of the intersection of each centerline are used as the axis coordinates of the primary main pipeline.

[0195] In one embodiment, the second acquisition module 30 can be used to:

[0196] The number of images is determined based on the light intensity of the environment where the flange ring is located; the number of thread images acquired by the acquisition device is controlled.

[0197] In one embodiment, the device mounting unit can be used for:

[0198] The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline; based on the final axis center coordinate information of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

[0199] In one embodiment, the pipeline plugging device installation apparatus 1 of the nuclear power plant further includes:

[0200] The denoising module is used to denoise the calibration image using a median filtering algorithm.

[0201] The various modules in the pipeline plugging device installation apparatus of the aforementioned nuclear power plant can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0202] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13 As shown, the computer device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for installing a pipe sealing device in a nuclear power plant.

[0203] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0204] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0205] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on the flange ring, which is installed on the primary main pipeline to be sealed;

[0206] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0207] When the acquisition plane of the acquisition device is parallel to the plane of the flange ring, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0208] Based on the thread diagram, install a pipe sealing device in the primary loop main pipe.

[0209] In one embodiment, when the processor executes a computer program to adjust the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, it also performs the following steps:

[0210] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the homography matrix and the projection matrix of the acquisition device are determined. The homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The world coordinate system is a coordinate system constructed with the vertices of the calibration code as the origin. Based on the projection matrix and the homography matrix, the extrinsic parameter matrix of the acquisition device is determined. Based on the extrinsic parameter matrix, the pose of the acquisition device is adjusted.

[0211] In one embodiment, the pixel information includes pixel coordinate information. When the processor executes the computer program to determine the homography matrix and the projection matrix of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, it also performs the following steps:

[0212] Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system; based on the pixel coordinate information and world coordinate information of the calibration code, determine the homography matrix; based on the focal length of the acquisition device, determine the projection matrix of the acquisition device.

[0213] In one embodiment, when the processor executes a computer program to adjust the pose of the acquisition device based on the extrinsic parameter matrix, it also performs the following steps:

[0214] Extract the rotation and translation components from the extrinsic parameter matrix; adjust the attitude of the acquisition device based on the rotation components, and adjust the position of the acquisition device based on the translation components.

[0215] In one embodiment, when the processor executes a computer program to install a pipe sealing device in a primary loop pipe based on a thread image, it also performs the following steps:

[0216] Based on the thread image, determine the axis coordinates of the primary main pipeline; based on the axis coordinates, install a pipeline sealing device in the primary main pipeline.

[0217] In one embodiment, when the processor executes a computer program to determine the axis coordinate information of the primary main pipe based on the thread image, it also performs the following steps:

[0218] An edge detection algorithm is used to obtain the edge information of each circular thread in the thread image; the Hough gradient algorithm is used to determine the center coordinate information of each circular thread based on the edge information; and the axis coordinate information of the primary main pipeline is determined based on the center coordinate information of each circular thread.

[0219] In one embodiment, when the processor executes a computer program to determine the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread, it also performs the following steps:

[0220] Based on the center coordinates of each circular thread, the centerline of the line segment between the centers of two adjacent circular threads in each circular thread is determined; the coordinates of the intersection of each centerline are used as the axis coordinates of the primary main pipeline.

[0221] In one embodiment, when the processor executes a computer program to acquire the thread image captured by the acquisition device, it also performs the following steps:

[0222] The number of images is determined based on the light intensity of the environment where the flange ring is located; the number of thread images acquired by the acquisition device is controlled.

[0223] In one embodiment, when the processor executes a computer program to install a pipe sealing device in a primary loop main pipe based on the axis coordinate information, it also performs the following steps:

[0224] The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline; based on the final axis center coordinate information of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

[0225] In one embodiment, before the processor executes the computer program to adjust the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the following steps are also performed:

[0226] The median filtering algorithm is used to denoise the calibration image.

[0227] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0228] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on the flange ring, which is installed on the primary main pipeline to be sealed;

[0229] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0230] When the acquisition plane of the acquisition device is parallel to the plane of the flange ring, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0231] Based on the thread diagram, install a pipe sealing device in the primary loop main pipe.

[0232] In one embodiment, when the computer program adjusts the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the process further includes the following steps:

[0233] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the homography matrix and the projection matrix of the acquisition device are determined. The homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The world coordinate system is a coordinate system constructed with the vertices of the calibration code as the origin. Based on the projection matrix and the homography matrix, the extrinsic parameter matrix of the acquisition device is determined. Based on the extrinsic parameter matrix, the pose of the acquisition device is adjusted.

[0234] In one embodiment, the pixel information includes pixel coordinate information. When the computer program determines the homography matrix and the projection matrix of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the following steps are also implemented:

[0235] Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system; based on the pixel coordinate information and world coordinate information of the calibration code, determine the homography matrix; based on the focal length of the acquisition device, determine the projection matrix of the acquisition device.

[0236] In one embodiment, when the computer program adjusts the pose of the acquisition device based on the extrinsic parameter matrix and is executed by the processor, it also performs the following steps:

[0237] Extract the rotation and translation components from the extrinsic parameter matrix; adjust the attitude of the acquisition device based on the rotation components, and adjust the position of the acquisition device based on the translation components.

[0238] In one embodiment, when the computer program, based on a thread image, is executed by the processor to install a pipe sealing device in a primary loop pipe, the following steps are also performed:

[0239] Based on the thread image, determine the axis coordinates of the primary main pipeline; based on the axis coordinates, install a pipeline sealing device in the primary main pipeline.

[0240] In one embodiment, when the computer program determines the axis coordinates of the primary main pipe based on the thread image and the processor executes the following steps:

[0241] An edge detection algorithm is used to obtain the edge information of each circular thread in the thread image; the Hough gradient algorithm is used to determine the center coordinate information of each circular thread based on the edge information; and the axis coordinate information of the primary main pipeline is determined based on the center coordinate information of each circular thread.

[0242] In one embodiment, when the computer program determines the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread, the processor also performs the following steps:

[0243] Based on the center coordinates of each circular thread, the centerline of the line segment between the centers of two adjacent circular threads in each circular thread is determined; the coordinates of the intersection of each centerline are used as the axis coordinates of the primary main pipeline.

[0244] In one embodiment, when the computer program acquires the thread image captured by the acquisition device and is executed by the processor, it also performs the following steps:

[0245] The number of images is determined based on the light intensity of the environment where the flange ring is located; the number of thread images acquired by the acquisition device is controlled.

[0246] In one embodiment, when the computer program installs a pipe sealing device in a primary loop main pipe based on the axis coordinate information, the processor also performs the following steps:

[0247] The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline; based on the final axis center coordinate information of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

[0248] In one embodiment, before the computer program adjusts the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the following steps are also implemented:

[0249] The median filtering algorithm is used to denoise the calibration image.

[0250] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0251] Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on the flange ring, which is installed on the primary main pipeline to be sealed;

[0252] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the pose of the acquisition device is adjusted so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located.

[0253] When the acquisition plane of the acquisition device is parallel to the plane of the flange ring, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring;

[0254] Based on the thread diagram, install a pipe sealing device in the primary loop main pipe.

[0255] In one embodiment, when the computer program adjusts the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the process further includes the following steps:

[0256] Based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the homography matrix and the projection matrix of the acquisition device are determined. The homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The world coordinate system is a coordinate system constructed with the vertices of the calibration code as the origin. Based on the projection matrix and the homography matrix, the extrinsic parameter matrix of the acquisition device is determined. Based on the extrinsic parameter matrix, the pose of the acquisition device is adjusted.

[0257] In one embodiment, the pixel information includes pixel coordinate information. When the computer program determines the homography matrix and the projection matrix of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the following steps are also implemented:

[0258] Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system; based on the pixel coordinate information and world coordinate information of the calibration code, determine the homography matrix; based on the focal length of the acquisition device, determine the projection matrix of the acquisition device.

[0259] In one embodiment, when the computer program adjusts the pose of the acquisition device based on the extrinsic parameter matrix and is executed by the processor, it also performs the following steps:

[0260] Extract the rotation and translation components from the extrinsic parameter matrix; adjust the attitude of the acquisition device based on the rotation components, and adjust the position of the acquisition device based on the translation components.

[0261] In one embodiment, when the computer program, based on a thread image, is executed by the processor to install a pipe sealing device in a primary loop pipe, the following steps are also performed:

[0262] Based on the thread image, determine the axis coordinates of the primary main pipeline; based on the axis coordinates, install a pipeline sealing device in the primary main pipeline.

[0263] In one embodiment, when the computer program determines the axis coordinates of the primary main pipe based on the thread image and the processor executes the following steps:

[0264] An edge detection algorithm is used to obtain the edge information of each circular thread in the thread image; the Hough gradient algorithm is used to determine the center coordinate information of each circular thread based on the edge information; and the axis coordinate information of the primary main pipeline is determined based on the center coordinate information of each circular thread.

[0265] In one embodiment, when the computer program determines the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread, the processor also performs the following steps:

[0266] Based on the center coordinates of each circular thread, the centerline of the line segment between the centers of two adjacent circular threads in each circular thread is determined; the coordinates of the intersection of each centerline are used as the axis coordinates of the primary main pipeline.

[0267] In one embodiment, when the computer program acquires the thread image captured by the acquisition device and is executed by the processor, it also performs the following steps:

[0268] The number of images is determined based on the light intensity of the environment where the flange ring is located; the number of thread images acquired by the acquisition device is controlled.

[0269] In one embodiment, when the computer program installs a pipe sealing device in a primary loop main pipe based on the axis coordinate information, the processor also performs the following steps:

[0270] The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline; based on the final axis center coordinate information of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

[0271] In one embodiment, before the computer program adjusts the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the following steps are also implemented:

[0272] The median filtering algorithm is used to denoise the calibration image.

[0273] It should be noted that the calibration images and thread images involved in this application are all data that have been fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0274] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0275] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0276] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of installing a pipe plug device for a nuclear power plant, characterized by, The method includes: Acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, the flange ring being installed on the primary main pipeline to be sealed; Based on the actual physical size of the calibration code, determine the world coordinate information of the calibration code in the world coordinate system; the world coordinate system is a coordinate system constructed with the vertex of the calibration code as the origin; Based on the world coordinate information and the pixel coordinate information of the calibration code in the calibration image, a homography matrix is ​​determined; the homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device. The projection matrix of the acquisition device is determined based on the focal length of the acquisition device; The extrinsic parameter matrix of the acquisition device is determined based on the projection matrix and the homography matrix. Extract the rotation and translation components from the extrinsic matrix; The attitude of the acquisition device is adjusted according to the rotation component, and the position of the acquisition device is adjusted according to the translation component, so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; When the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located, the thread image acquired by the acquisition device is obtained; wherein, the thread image includes at least three circular threads located on the flange ring; According to the thread image, a pipe sealing device is installed in the primary main pipe.

2. The method of claim 1, wherein, The step of installing a pipe sealing device in the primary main pipe according to the thread image includes: Based on the thread image, determine the axis coordinate information of the primary main pipeline; Based on the axis coordinate information, a pipe sealing device is installed in the primary loop main pipeline.

3. The method of claim 2, wherein, Determining the axis coordinate information of the primary main pipeline based on the thread image includes: An edge detection algorithm is used to obtain the edge information of each circular thread in the thread image; The Hough gradient algorithm is used to determine the center coordinates of each circular thread based on the edge information of each circular thread. Based on the center coordinates of each circular thread, the axis coordinates of the primary main pipeline are determined.

4. The method of claim 3, wherein, Determining the axis coordinate information of the primary main pipeline based on the center coordinate information of each circular thread includes: Based on the center coordinates of each circular thread, determine the centerline of the line segment between the centers of two adjacent circular threads in each circular thread. The coordinates of the intersection points of each centerline are used as the axis coordinates of the primary main pipeline.

5. The method according to claim 2, characterized in that, The process of acquiring the thread image captured by the acquisition device includes: The number of images is determined based on the light intensity of the environment in which the flange ring is located; The acquisition device is controlled to acquire the number of thread images.

6. The method according to claim 5, characterized in that, The step of installing a pipe sealing device in the primary main pipeline based on the axis coordinate information includes: The average value of the axis center coordinate information determined based on each thread image is used as the final axis center coordinate information of the primary main pipeline. Based on the final axis coordinates of the primary main pipeline, a pipeline sealing device is installed in the primary main pipeline.

7. The method according to claim 1, characterized in that, Before adjusting the pose of the acquisition device based on the actual physical size of the calibration code, the pixel information of the calibration code in the calibration image, and the focal length of the acquisition device, the method further includes: The calibration image is denoised using a median filtering algorithm.

8. An installation device for a pipeline plugging device in a nuclear power plant, characterized in that, The device includes: The first acquisition module is used to acquire calibration images collected by the acquisition device; wherein, the calibration images include calibration codes installed on a flange ring, and the flange ring is installed on the primary main pipeline to be sealed; The pose adjustment module is used to determine the world coordinate information of the calibration code in the world coordinate system based on the actual physical size of the calibration code; the world coordinate system is a coordinate system constructed with the vertex of the calibration code as the origin; determine the homography matrix based on the world coordinate information and the pixel coordinate information of the calibration code in the calibration image; the homography matrix is ​​used to characterize the mapping relationship between the world coordinate system and the image coordinate system corresponding to the acquisition device; determine the projection matrix of the acquisition device based on the focal length of the acquisition device; determine the extrinsic parameter matrix of the acquisition device based on the projection matrix and the homography matrix; extract the rotation and translation components from the extrinsic parameter matrix; adjust the pose of the acquisition device based on the rotation component, and adjust the position of the acquisition device based on the translation component, so that the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; The second acquisition module is used to acquire a thread image acquired by the acquisition device when the acquisition plane of the acquisition device is parallel to the plane where the flange ring is located; wherein the thread image includes at least three circular threads located on the flange ring; The device installation module is used to install a pipe sealing device in the primary main pipe according to the thread image.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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