Method and system for positioning horn cover of top cover penetration piece of reactor pressure vessel

Abstract

The invention relates to a reactor pressure vessel top cover penetration piece horn cover positioning method and system. The method comprises the steps of obtaining a target prior frame of a target horn cover pixel position; acquiring an initial position of a target horn cover; detecting the current position of the target horn cover by adopting a video target detection technology, and obtaining the current pixel position of the target horn cover in the picture; judging whether the current position of the target horn cover meets the pixel precision requirement or not according to the current pixel position and the target prior frame; if the pixel precision requirement is met, determining a target position of a target horn cover; if the pixel precision requirement is not met, performing fine adjustment on the mechanical equipment according to the fine adjustment parameter, and determining a motion adjustment parameter according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine adjustment data; and accurately positioning the target horn cover according to the motion adjustment parameters to obtain a target position of the target horn cover. According to the invention, the horn cover can be accurately positioned, and conditions are provided for nondestructive testing.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear reactors, and more particularly to a method and system for positioning a horn cover of a reactor pressure vessel top cover penetration piece. Background Art

[0002] The reactor pressure window top cover is the core equipment of the nuclear reactor. A number of penetrations are installed on the top cover through the corresponding holes. The penetrations are installed with thermowells inside. Each thermowell has a bell cover structure at the end. In order to perform related non-destructive testing tasks, the bell cover needs to be accurately positioned first.

[0003] Since the mechanical equipment currently used adopts the polar coordinate movement method, and there is a positional offset between the center of the top cover and the mechanical equipment, the positioning of the speaker cover becomes more difficult and accurate positioning cannot be achieved. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for positioning a horn cover of a reactor pressure vessel top cover penetration piece in view of the problems existing in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a method for positioning a horn cover of a reactor pressure vessel top cover penetration piece, comprising the following steps:

[0006] Get the target prior frame of the target horn cover pixel position;

[0007] Obtaining the initial position of the target horn cover;

[0008] Using video target detection technology to detect the current position of the target speaker cover, and obtain the current pixel position of the target speaker cover in the picture;

[0009] According to the current pixel position and the target prior frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0010] If the pixel accuracy requirement is met, determining the target position of the target horn cover;

[0011] If the pixel accuracy requirement is not met, fine-tune the mechanical device according to the fine-tuning parameters and determine the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data;

[0012] The target horn cover is accurately positioned according to the motion adjustment parameters to obtain the target position of the target horn cover.

[0013] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, the target prior frame for obtaining the pixel position of the horn cover includes:

[0014] Acquire image data of the target speaker cover during actual field work;

[0015] The image data is identified using video target detection technology to obtain a target priori frame of the pixel position of the target speaker cover.

[0016] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, obtaining the initial position of the target horn cover includes:

[0017] After controlling the mechanical device to move to below a first calibration horn cover, obtaining first position information of the mechanical device;

[0018] After controlling the mechanical device to move to below the second calibration horn cover, obtaining second position information of the mechanical device;

[0019] A calibration position is obtained by performing calculation according to the first position information, the second position information and a coordinate system calibration formula; the calibration position is the initial position of the target horn cover.

[0020] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, judging whether the current position of the target horn cover meets the pixel accuracy requirement according to the current pixel position and the target prior frame includes:

[0021] Calculating according to the current pixel position and the target a priori frame to obtain a position deviation between the current pixel position and the target a priori frame;

[0022] Whether the current position of the target horn cover meets the pixel accuracy requirement is determined based on the position deviation between the current pixel position and the target priori frame.

[0023] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, the fine-tuning parameters include: motion parameters of the rotating axis and motion parameters of the stepping axis;

[0024] If the pixel accuracy requirement is not met, fine-tuning the mechanical device according to the fine-tuning parameters and determining the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data includes:

[0025] If the pixel accuracy requirement is not met, the mechanical device is fine-tuned according to the motion parameters of the rotating axis and the motion parameters of the stepping axis, and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the pixel position of the target prior frame, the initial position and the fine-tuning data.

[0026] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, the motion parameters of the rotating axis include: a preset angle; the motion parameters of the stepping axis include: a preset distance;

[0027] The fine-tuning of the mechanical device according to the motion parameters of the rotating shaft and the motion parameters of the stepping shaft comprises:

[0028] Controlling the mechanical device to move the preset angle in the positive direction of the rotation axis;

[0029] Detecting the current position of the target speaker cover using the video target detection technology to obtain a first adjustment position;

[0030] According to the first adjustment position and the target priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0031] If satisfied, determining the target position of the target horn cover;

[0032] If not, controlling the mechanical device to move the preset angle in the negative direction of the rotation axis;

[0033] Detecting the current position of the target speaker cover using the video target detection technology to obtain a second adjustment position;

[0034] According to the second adjustment position and the target priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0035] If satisfied, determining the target position of the target horn cover;

[0036] If not, controlling the mechanical device to move the preset distance in the positive direction of the stepping axis;

[0037] Detecting the current position of the target speaker cover using the video target detection technology to obtain a third adjustment position;

[0038] According to the third adjustment position and the target a priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0039] If satisfied, determining the target position of the target horn cover;

[0040] If not, controlling the mechanical device to move the preset distance in the negative direction of the stepping axis;

[0041] Detecting the current position of the target speaker cover using the video target detection technology to obtain a fourth adjustment position;

[0042] According to the fourth adjustment position and the target a priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0043] If satisfied, determining the target position of the target horn cover;

[0044] If it is not satisfied, the mechanical device is fine-tuned according to the fine-tuning parameters and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position are the fine-tuning data.

[0045] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, determining the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data comprises:

[0046] According to the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position, calculation is performed in combination with the preset angle and the preset distance to obtain a corresponding relationship between the unit distance of the rotation axis and the stepping axis movement and the pixel change;

[0047] Calculate according to the current pixel position of the target horn cover and the pixel position of the target priori frame to obtain a deviation value;

[0048] The motion adjustment parameter is obtained by performing calculation according to the correspondence between the unit distance of the rotation axis and the stepping axis movement and the pixel change, the deviation value and the initial position.

[0049] In the method for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention, the step of accurately positioning the target horn cover according to the motion adjustment parameter to obtain the target position of the target horn cover comprises:

[0050] Obtaining the current position of the target speaker cover;

[0051] According to the current position of the target horn cover and the pixel position of the target priori frame, determining whether the pixel accuracy requirement is met;

[0052] If satisfied, determining the target position of the target horn cover;

[0053] If not, the target horn cover is fine-tuned according to the motion adjustment parameters until the pixel accuracy requirement is met or the number of fine-tuning times is greater than a preset value, thereby completing the precise positioning of the target horn cover.

[0054] The present invention also provides a reactor pressure vessel top cover penetration member horn cover positioning system, which is applied to the reactor pressure vessel top cover penetration member horn cover positioning method described above, comprising: a camera system, mechanical equipment and a control unit;

[0055] The camera system is used to collect the image of the horn cover to obtain the image data of the horn cover;

[0056] The mechanical device is used to perform mechanical movement according to the control of the control unit;

[0057] The control unit is used for:

[0058] Get the target prior frame of the target horn cover pixel position;

[0059] Obtaining the initial position of the target horn cover;

[0060] Using video target detection technology to detect the current position of the target speaker cover, and obtain the current pixel position of the target speaker cover in the picture;

[0061] According to the current pixel position and the target prior frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement;

[0062] If the pixel accuracy requirement is met, determining the target position of the target horn cover;

[0063] If the pixel accuracy requirement is not met, fine-tune the mechanical device according to the fine-tuning parameters and determine the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data;

[0064] The target horn cover is accurately positioned according to the motion adjustment parameters to obtain the target position of the target horn cover.

[0065] The reactor pressure vessel top cover penetration member horn cover positioning system of the present invention also includes: a data processing unit;

[0066] The data processing unit is used for:

[0067] Acquire image data of the target speaker cover during actual field work;

[0068] The image data is identified using video target detection technology to obtain a target priori frame of the pixel position of the target speaker cover.

[0069] The method and system for positioning the horn cover of the reactor pressure vessel top cover penetration member of the present invention have the following beneficial effects: including the steps of obtaining a target prior frame of the pixel position of the target horn cover; obtaining the initial position of the target horn cover; using video target detection technology to detect the current position of the target horn cover and obtain the current pixel position of the target horn cover in the picture; judging whether the current position of the target horn cover meets the pixel accuracy requirement according to the current pixel position and the target prior frame; if the pixel accuracy requirement is met, determining the target position of the target horn cover; if the pixel accuracy requirement is not met, fine-tuning the mechanical equipment according to the fine-tuning parameters and determining the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; accurately positioning the target horn cover according to the motion adjustment parameters to obtain the target position of the target horn cover. The present invention can accurately position the horn cover and provide conditions for non-destructive testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0071] Figure 1 It is a schematic flow chart of a method for positioning a horn cover of a reactor pressure vessel top cover penetration member provided by the present invention;

[0072] Figure 2 It is a schematic diagram of a target priori frame provided by the present invention;

[0073] Figure 3 It is a schematic diagram of coordinate system calibration provided by the present invention;

[0074] Figure 4 It is a schematic diagram of the speaker cover detection and positioning provided by the present invention. DETAILED DESCRIPTION

[0075] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0076] In view of the polar coordinate movement mode adopted by the currently used mechanical equipment, and the positional offset between the center of the top cover and the mechanical equipment, the present invention uses the camera system to assist in calibrating the positions of the two speaker covers, calculates the offset of the coordinate system, and then realizes the preliminary positioning of the target speaker cover. After the preliminary positioning of the target speaker cover is completed, the pixel change value corresponding to the unit distance of the movement of the rotating axis and the stepping axis is calculated by controlling the rotation axis and the stepping axis to move within a certain range, and recording their respective pixel positions (i.e., the corresponding relationship between the unit distance of the movement of the rotating axis and the stepping axis and the pixel change). According to the deviation between the pixel position of the speaker cover after the initial positioning and the pixel position of the prior frame, the control amount of the rotating axis and the stepping axis is obtained to realize precise positioning and rapid positioning.

[0077] refer to Figure 1 , Figure 1 A schematic flow chart of a preferred embodiment of a method for positioning a horn cover of a reactor pressure vessel top cover penetration member provided by the present invention.

[0078] Specifically, Figure 1 As shown, the method for positioning the horn cover of the reactor pressure vessel top cover penetration piece includes the following steps:

[0079] Step S101: Obtain a target priori box of the target speaker cover pixel position.

[0080] In an embodiment of the present invention, obtaining a target priori frame of the pixel position of the horn cover includes: obtaining image data of the target horn cover in actual on-site work; using video target detection technology to identify the image data to obtain a target priori frame of the pixel position of the target horn cover.

[0081] Specifically, by collecting a large amount of image data of the target speaker cover in actual field work, and then using the video target detection algorithm for training, the target prior frame of the pixel position of the target speaker cover that meets the positioning requirements is identified. Among them, the coordinates of the target prior frame can be expressed as (P x , P y ). Figure 2 That is to say, the specific structure of the target prior frame is shown. Figure 2 As shown, the rectangular frame is the target prior frame, and the circle is the identified target horn cover. Meeting the positioning requirements referred to in the present invention means that there is a certain deviation range from the target position. For example, if the deviation from the target position is within plus or minus 5 mm, it is considered to meet the positioning requirements. There are some more stringent requirements that the deviation from the target position is within plus or minus 2 mm. It should be noted that the present invention does not limit the specific values ​​that meet the positioning requirements, and needs to be set or adjusted according to actual conditions during operation.

[0082] Step S102: Acquire the initial position of the target speaker cover.

[0083] In the embodiment of the present invention, obtaining the initial position of the target speaker cover includes: controlling the mechanical device to move to the bottom of the first calibration speaker cover, obtaining the first position information of the mechanical device; controlling the mechanical device to move to the bottom of the second calibration speaker cover, obtaining the second position information of the mechanical device; and calculating according to the first position information, the second position information and the coordinate system calibration formula to obtain the calibration position. The calibration position is the initial position of the target speaker cover.

[0084] Specifically, in some embodiments, a manual control method (or, in some other embodiments, an automatic control method) can be used to control the mechanical device to move to the bottom of the first calibration horn cover (such as horn cover A), and then the mechanical device is monitored by the camera system so that the three lasers coincide with the outer edge of the horn cover. At this time, the current angle X of the rotation axis is recorded. a With stepper axis position Y a , that is, the first position information (X a , Y a Then, continue to use manual control (or, in some other embodiments, automatic control) to control the mechanical device to move to the bottom of the second calibration horn cover (such as horn cover B), and then monitor the mechanical device through the camera system so that the three lasers coincide with the outer edge of the horn cover. At this time, the current angle X of the rotation axis is recorded. b With stepper axis position Y b , that is, the first position information (X b , Y b ). Finally, the coordinate system calibration formula is used to calculate and obtain the initial position of the target horn cover. Figure 3 As shown in the figure, the positions of all the original speaker covers can be obtained after the coordinate system is calibrated to obtain the positions in the new coordinate system, that is, the calibration positions. When the target speaker cover needs to be positioned, the initial positioning of the target speaker cover can be achieved after the coordinate system is calibrated, and the angle X of the current rotation axis can be recorded. c With stepper axis position Y c , that is (X c , Y c ).

[0085] Among them, the coordinate system calibration formula is as follows:

[0086]

[0087] (1) In the formula, (X, Y) is the coordinate of the point in the XOY coordinate system, (X1, Y1) is the coordinate of the point (X, Y) relative to the coordinate system X1O1Y1, a is the horizontal offset between the XOY coordinate system and the X1O1Y1 coordinate system, b is the vertical offset between the XOY coordinate system and the X1O1Y1 coordinate system, and θ is the offset angle between the XOY coordinate system and the X1O1Y1 coordinate system. Therefore, the initial position (X) of the target horn cover can be calculated by formula (1). c , Y c ).

[0088] Step S103: Use video target detection technology to detect the current position of the target speaker cover and obtain the current pixel position of the target speaker cover in the image.

[0089] Specifically, in the embodiment of the present invention, in step S102, the initial positioning of the target speaker cover is completed to obtain the initial position (X c , Y c ), firstly, the camera system is used to collect the image of the target horn cover to obtain the current image of the target horn cover, and the video target detection technology is used to detect the current image to obtain the current pixel position of the target horn cover in the image. Among them, the current pixel position of the target horn cover in the image can be expressed as (P x0 , P y0 ).

[0090] Step S104: judging whether the current position of the target speaker cover meets the pixel accuracy requirement according to the current pixel position and the target prior frame.

[0091] In an embodiment of the present invention, judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the current pixel position and the target prior frame includes: performing calculations based on the current pixel position and the target prior frame to obtain the position deviation between the current pixel position and the target prior frame; judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the position deviation between the current pixel position and the target prior frame.

[0092] Specifically, in step S103, the current pixel position (P x0 , P y0 ) and calculate the current pixel position (P x0 , P y0 ) and the target prior box (P x , P y ) and determines whether the pixel accuracy requirement is met based on the position deviation. x0 , P y0 ) and the target prior box (P x , P y ) can be calculated by the following formula:

[0093]

[0094] In formula (2), the position deviation is the pixel position deviation. In the embodiment of the present invention, the position deviation can be represented by ΔP, and the pixel accuracy requirement can be represented by ε, where the value of ε can be determined according to actual conditions. For example, ε can be 5, that is, 5 pixel deviations.

[0095] After ΔP is calculated by formula (2), ΔP is compared with ε. If ΔP is less than or equal to ε, it is determined that the requirement is met; otherwise, it is determined that the requirement is not met.

[0096] Step S105: If the pixel accuracy requirement is met, the target position of the target speaker cover is determined.

[0097] Specifically, after ΔP is calculated by formula (2), if ΔP is less than or equal to ε, it is determined that the requirement is met. At this time, the target position of the target horn cover can be determined, that is, the current pixel position (P x0 , P y0 ) is the target position of the target horn cover.

[0098] Step S106: If the pixel accuracy requirement is not met, the mechanical device is fine-tuned according to the fine-tuning parameters and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data.

[0099] In the embodiment of the present invention, the fine-tuning parameters include: motion parameters of the rotation axis and motion parameters of the stepping axis.

[0100] Among them, if the pixel accuracy requirement is not met, the mechanical equipment is fine-tuned according to the fine-tuning parameters and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data. The method includes: If the pixel accuracy requirement is not met, the mechanical equipment is fine-tuned according to the motion parameters of the rotating axis and the motion parameters of the stepping axis, and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the pixel position of the target prior frame, the initial position and the fine-tuning data.

[0101] In the embodiment of the present invention, the motion parameters of the rotating axis include: a preset angle; and the motion parameters of the stepping axis include: a preset distance.

[0102] In an embodiment of the present invention, fine-tuning the mechanical device according to the motion parameters of the rotating axis and the motion parameters of the stepping axis includes: controlling the mechanical device to move a preset angle in the positive direction of the rotating axis; using video target detection technology to detect the current position of the target horn cover to obtain a first adjustment position; judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the first adjustment position and the target prior frame; if so, determining the target position of the target horn cover; if not, controlling the mechanical device to move a preset angle in the negative direction of the rotating axis; using video target detection technology to detect the current position of the target horn cover to obtain a second adjustment position; judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the second adjustment position and the target prior frame; if so, determining the target position of the target horn cover; if not, controlling the mechanical device to move a preset distance in the positive direction of the stepping axis; using video The target detection technology detects the current position of the target horn cover and obtains the third adjustment position; determines whether the current position of the target horn cover meets the pixel accuracy requirement based on the third adjustment position and the target prior frame; if so, determines the target position of the target horn cover; if not, controls the mechanical equipment to move a preset distance in the negative direction of the stepping axis; uses the video target detection technology to detect the current position of the target horn cover and obtains the fourth adjustment position; determines whether the current position of the target horn cover meets the pixel accuracy requirement based on the fourth adjustment position and the target prior frame; if so, determines the target position of the target horn cover; if not, fine-tunes the mechanical equipment according to the fine-tuning parameters and determines the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position are the fine-tuning data.

[0103] Among them, determining the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and fine-tuning data includes: calculating according to the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position, combined with the preset angle and the preset distance, to obtain the correspondence between the unit distance of the rotation axis and the stepping axis movement and the pixel change; calculating according to the current pixel position of the target horn cover and the pixel position of the target prior frame to obtain the deviation value; calculating according to the correspondence between the unit distance of the rotation axis and the stepping axis movement and the pixel change, the deviation value and the initial position to obtain the motion adjustment parameters.

[0104] In the embodiment of the present invention, the preset angle is ΔX and the preset distance is ΔY, wherein ΔX and ΔY are both empirical values.

[0105] Specifically, in step S104, if it is determined that the pixel accuracy requirement is not met, fine-tuning is required, that is, first, the mechanical device is controlled to execute (X c +ΔX,Y c) movement, ΔX is an empirical value, such as Figure 4 Next, the target horn cover is imaged by the camera system to obtain the current image of the target horn cover, and the target horn cover is detected by using the video target detection technology to obtain the first adjustment position of the target horn cover, that is, (P X1 ,P y1 ), according to (P X1 ,P y1 ) and (P X ,P y ) is calculated to obtain ΔP1. If ΔP1 is less than or equal to ε, the movement is stopped. At this time, the first adjustment position is the target position of the target horn cover. If ΔP1 is greater than ε, fine-tuning is continued, that is, the mechanical equipment is controlled to execute (X c ―ΔX,Y c ) movement; the target horn cover is imaged by the camera system to obtain the current image of the target horn cover, and the target horn cover is detected by the video target detection technology to obtain the second adjustment position of the target horn cover, that is, (P X2 ,P y2 ), according to (P X2 ,P y2 ) and (P X ,P y ) is calculated to obtain ΔP2. If ΔP2 is less than or equal to ε, the movement is stopped. At this time, the second adjustment position is the target position of the target horn cover. If ΔP2 is greater than ε, fine-tuning is continued, that is, the mechanical equipment is controlled to execute (X c ,Y c +ΔY) movement; the target horn cover is imaged by the camera system to obtain the current image of the target horn cover, and the target horn cover is detected by using the video target detection technology to obtain the third adjustment position of the target horn cover, that is, (P X3 ,P y3 ), according to (P X3 ,P y3 ) and (P X ,P y ) is calculated to obtain ΔP3. If ΔP3 is less than or equal to ε, the movement is stopped. At this time, the third adjustment position is the target position of the target horn cover. If ΔP3 is greater than ε, fine-tuning is continued, that is, the mechanical equipment is controlled to execute (X c ,Y c ―ΔY) movement; the target horn cover is imaged by the camera system to obtain the current image of the target horn cover, and the target horn cover is detected by using the video target detection technology to obtain the fourth adjustment position of the target horn cover, that is, (P X4 ,P y4 ), according to (P X4 ,P y4 ) and (PX ,P y ) is calculated to obtain ΔP4. If ΔP4 is less than or equal to ε, the movement is stopped. At this time, the third adjustment position is the target position of the target horn cover. If ΔP4 is greater than ε, then according to (P X1 ,P y1 )、(P X2 ,P y2 )、(P X3 ,P y3 )、(P X4 ,P y4 )、ΔX、ΔY、(P x0 , P y0 ) calculates the corresponding relationship between the unit distance of the rotation axis and the stepping axis movement and the pixel change. Among them, the corresponding relationship between the unit distance of the rotation axis and the stepping axis movement and the pixel change can be calculated by the following formula:

[0106]

[0107] (3) In the formula, ΔX t is the deviation of the rotation axis, ΔY t is the deviation of the stepper axis.

[0108] Therefore, the motion adjustment parameter ΔX can be calculated by formula (3): t and ΔY t Among them, the motion adjustment parameter ΔX t and ΔY t It can be calculated by the following formula:

[0109]

[0110] Step S107: accurately positioning the target speaker cover according to the motion adjustment parameters to obtain the target position of the target speaker cover.

[0111] In an embodiment of the present invention, a target horn cover is accurately positioned according to motion adjustment parameters, and obtaining the target position of the target horn cover includes: acquiring the current position of the target horn cover; judging whether the pixel accuracy requirement is met according to the current position of the target horn cover and the pixel position of the target prior frame; if so, determining the target position of the target horn cover; if not, fine-tuning the target horn cover according to the motion adjustment parameters until the pixel accuracy requirement is met or the number of fine-tuning times is greater than a preset value, thereby completing the precise positioning of the target horn cover.

[0112] Specifically, after the motion adjustment parameters are calculated in step S106, the target speaker cover is imaged through the camera system to obtain the current image of the target speaker cover, and the target speaker cover is detected using the video target detection technology to obtain the current position of the target speaker cover, which is set as (P X5,P y5 ), according to (P X5 ,P y5 ) and (P X ,P y ) to calculate and obtain ΔP5. If ΔP5 is less than or equal to ε, the movement is stopped; if ΔP5 is greater than ε, according to ΔX t and ΔY t Control execution (X c +ΔX t ,Y c +ΔY t ) until the pixel accuracy ε is reached or the number of fine-tuning exceeds the preset value N (usually 3 times), at which point the position of the target horn cover is no longer its target position.

[0113] The present invention also provides a reactor pressure vessel top cover penetration piece horn cover positioning system, and the reactor pressure vessel top cover penetration piece horn cover positioning system can be applied to the reactor pressure vessel top cover penetration piece horn cover positioning method disclosed in the embodiment of the present invention.

[0114] In the embodiment of the present invention, the reactor pressure vessel top cover penetration member horn cover positioning system includes: a camera system, mechanical equipment and a control unit.

[0115] Among them, the camera system is used to capture the image of the horn cover and obtain image data of the horn cover; the mechanical equipment is used to perform mechanical movement according to the control of the control unit.

[0116] The control unit is used to: obtain a target priori frame of the pixel position of the target horn cover; obtain the initial position of the target horn cover; use video target detection technology to detect the current position of the target horn cover and obtain the current pixel position of the target horn cover in the picture; determine whether the current position of the target horn cover meets the pixel accuracy requirements based on the current pixel position and the target priori frame; if the pixel accuracy requirements are met, determine the target position of the target horn cover; if the pixel accuracy requirements are not met, fine-tune the mechanical equipment according to the fine-tuning parameters and determine the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target priori frame, the initial position and the fine-tuning data; accurately position the target horn cover according to the motion adjustment parameters to obtain the target position of the target horn cover.

[0117] Furthermore, the reactor pressure vessel top cover penetration member horn cover positioning system also includes: a data processing unit. The data processing unit is used to: obtain image data of the target horn cover in actual on-site work; use video target detection technology to identify the image data and obtain a target priori frame of the pixel position of the target horn cover.

[0118] Specifically, the specific coordination operation process between the various units in the reactor pressure vessel top cover penetration member horn cover positioning system can refer to the above-mentioned reactor pressure vessel top cover penetration member horn cover positioning method, which will not be repeated here.

[0119] The present invention utilizes coordinate system calibration and video target detection technology to achieve automatic and accurate positioning of the trumpet cover of the nuclear power plant reactor pressure vessel top cover penetration piece, providing a favorable basis for the inspection agency to perform non-destructive testing tasks.

[0120] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0121] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0122] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0123] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot limit the scope of protection of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for positioning a horn cover of a reactor pressure vessel top cover penetration piece, characterized in that: The following steps are involved: Get the target prior frame of the target horn cover pixel position; Obtaining the initial position of the target horn cover; Using video target detection technology to detect the current position of the target speaker cover, and obtain the current pixel position of the target speaker cover in the picture; According to the current pixel position and the target prior frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If the pixel accuracy requirement is met, determining the target position of the target horn cover; If the pixel accuracy requirement is not met, fine-tune the mechanical device according to the fine-tuning parameters and determine the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; The target horn cover is accurately positioned according to the motion adjustment parameters to obtain the target position of the target horn cover.

2. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The target prior frame for obtaining the pixel position of the speaker cover includes: Acquire image data of the target speaker cover during actual field work; The image data is identified using video target detection technology to obtain a target priori frame of the pixel position of the target speaker cover.

3. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The step of obtaining the initial position of the target horn cover comprises: After controlling the mechanical device to move to below a first calibration horn cover, obtaining first position information of the mechanical device; After controlling the mechanical device to move to below the second calibration horn cover, obtaining second position information of the mechanical device; A calibration position is obtained by performing calculation according to the first position information, the second position information and a coordinate system calibration formula; the calibration position is the initial position of the target horn cover.

4. The method for positioning the horn cover of a reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The step of judging whether the current position of the target horn cover meets the pixel accuracy requirement according to the current pixel position and the target priori frame includes: Calculating according to the current pixel position and the target a priori frame to obtain a position deviation between the current pixel position and the target a priori frame; According to the position deviation between the current pixel position and the target a priori frame, it is determined whether the current position of the target horn cover meets the pixel accuracy requirement.

5. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The fine-tuning parameters include: motion parameters of the rotating axis and motion parameters of the stepping axis; If the pixel accuracy requirement is not met, fine-tuning the mechanical device according to the fine-tuning parameters and determining the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data includes: If the pixel accuracy requirement is not met, the mechanical device is fine-tuned according to the motion parameters of the rotating axis and the motion parameters of the stepping axis, and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the pixel position of the target prior frame, the initial position and the fine-tuning data.

6. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 5, characterized in that: The motion parameters of the rotating axis include: a preset angle; the motion parameters of the stepping axis include: a preset distance; The fine-tuning of the mechanical device according to the motion parameters of the rotating shaft and the motion parameters of the stepping shaft comprises: Controlling the mechanical device to move the preset angle in the positive direction of the rotation axis; Detecting the current position of the target speaker cover using the video target detection technology to obtain a first adjustment position; According to the first adjustment position and the target priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If satisfied, determining the target position of the target horn cover; If not, controlling the mechanical device to move the preset angle in the negative direction of the rotation axis; Detecting the current position of the target speaker cover using the video target detection technology to obtain a second adjustment position; According to the second adjustment position and the target priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If satisfied, determining the target position of the target horn cover; If not, controlling the mechanical device to move the preset distance in the positive direction of the stepping axis; Detecting the current position of the target speaker cover using the video target detection technology to obtain a third adjustment position; According to the third adjustment position and the target a priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If satisfied, determining the target position of the target horn cover; If not, controlling the mechanical device to move the preset distance in the negative direction of the stepping axis; Detecting the current position of the target speaker cover using the video target detection technology to obtain a fourth adjustment position; According to the fourth adjustment position and the target a priori frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If satisfied, determining the target position of the target horn cover; If it is not satisfied, the mechanical device is fine-tuned according to the fine-tuning parameters and the motion adjustment parameters are determined according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position are the fine-tuning data.

7. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 6, characterized in that: The step of determining the motion adjustment parameter according to the current pixel position of the target horn cover, the pixel position of the target priori frame, the initial position and the fine-tuning data comprises: According to the first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position, calculation is performed in combination with the preset angle and the preset distance to obtain a corresponding relationship between the unit distance of the rotation axis and the stepping axis movement and the pixel change; Calculate according to the current pixel position of the target horn cover and the pixel position of the target priori frame to obtain a deviation value; The motion adjustment parameter is obtained by performing calculation according to the corresponding relationship between the unit distance of the rotation axis and the stepping axis movement and the pixel change, the deviation value and the initial position.

8. The method for positioning the horn cover of a reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The step of accurately positioning the target horn cover according to the motion adjustment parameter to obtain the target position of the target horn cover comprises: Obtaining the current position of the target speaker cover; According to the current position of the target horn cover and the pixel position of the target priori frame, determining whether the pixel accuracy requirement is met; If satisfied, determining the target position of the target horn cover; If not, the target horn cover is fine-tuned according to the motion adjustment parameters until the pixel accuracy requirement is met or the number of fine-tuning times is greater than a preset value, thereby completing the precise positioning of the target horn cover.

9. A reactor pressure vessel top cover penetration member horn cover positioning system, applied to the reactor pressure vessel top cover penetration member horn cover positioning method according to any one of claims 1 to 8, characterized in that: include: Camera systems, mechanical equipment and control units; The camera system is used to collect the image of the horn cover to obtain the image data of the horn cover; The mechanical device is used to perform mechanical movement according to the control of the control unit; The control unit is used for: Get the target prior frame of the target horn cover pixel position; Obtaining the initial position of the target horn cover; Using video target detection technology to detect the current position of the target speaker cover, and obtain the current pixel position of the target speaker cover in the picture; According to the current pixel position and the target prior frame, determining whether the current position of the target horn cover meets the pixel accuracy requirement; If the pixel accuracy requirement is met, determining the target position of the target horn cover; If the pixel accuracy requirement is not met, fine-tune the mechanical device according to the fine-tuning parameters and determine the motion adjustment parameters according to the current pixel position of the target horn cover, the pixel position of the target prior frame, the initial position and the fine-tuning data; The target horn cover is accurately positioned according to the motion adjustment parameters to obtain the target position of the target horn cover.

10. The reactor pressure vessel top cover penetration piece horn cover positioning system according to claim 9, characterized in that: Also includes: Data processing unit; The data processing unit is used for: Acquire image data of the target speaker cover during actual field work; The image data is identified using video target detection technology to obtain a target priori frame of the pixel position of the target speaker cover.

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