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

Abstract

The present invention relates to a method and system for positioning a horn cover of a reactor pressure vessel top cover penetration piece, comprising the steps of: obtaining a target priori frame of a pixel position of a target horn cover; obtaining an initial position of the target horn cover; detecting the current position of the target horn cover using video target detection technology to obtain the current pixel position of the target horn cover in an image; determining whether the current position of the target horn cover meets pixel accuracy requirements based on the current pixel position and the target priori frame; if the pixel accuracy requirements are met, determining a target position of the target horn cover; if the pixel accuracy requirements are not met, fine-tuning mechanical equipment based on fine-tuning parameters and determining motion adjustment parameters based on the current pixel position of the target horn cover, the pixel position of the target priori frame, the initial position, and fine-tuning data; and accurately positioning the target horn cover based on the motion adjustment parameters to obtain the target position of the target horn cover. The present invention can accurately position the horn cover, providing conditions for non-destructive 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 cover is a core component of a nuclear reactor. Several penetrations are installed through corresponding holes in the cover. Inside these penetrations are thermowells, each with a bell-shaped cap at the end. Precise positioning of the bell-shaped cap is essential for performing nondestructive testing.

[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 response to the problems existing in the prior art.

[0005] The technical solution adopted by the present invention to solve the technical problem is to construct 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] Get 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 image;

[0009] Determining 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;

[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-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;

[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 priori 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 target speaker cover pixel position.

[0016] In the method for positioning a horn cover of a reactor pressure vessel top cover penetration member according to 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 calculation is performed based on the first position information, the second position information and a coordinate system calibration formula to obtain a calibration position; the calibration position is the initial position of the target horn cover.

[0020] In the method for positioning a horn cover of a reactor pressure vessel top cover penetration member according to 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:

[0021] Calculating based on 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 parameter and determining the 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-tuning data includes:

[0025] 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.

[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 axis and the motion parameters of the stepping axis includes:

[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] Determining whether the current position of the target speaker cover meets the pixel accuracy requirement based on the first adjustment position and the target priori frame;

[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] Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the second adjusted position and the target priori frame;

[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] Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the third adjustment position and the target priori frame;

[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] Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the fourth adjusted position and the target priori frame;

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

[0044] If it is not satisfied, 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 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 according to 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 includes:

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

[0047] Calculating based on 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 based on 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 a horn cover of a reactor pressure vessel top cover penetration member according to the present invention, accurately positioning the target horn cover according to the motion adjustment parameter to obtain the target position of the target horn cover includes:

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

[0051] Determining whether the pixel accuracy requirement is met based on the current position of the target horn cover and the pixel position of the target priori frame;

[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 piece horn cover positioning system, which is applied to the above-mentioned reactor pressure vessel top cover penetration piece horn cover positioning method, comprising: a camera system, mechanical equipment and a control unit;

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

[0061] Determining 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;

[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-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;

[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 piece horn cover positioning system of the present invention further 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 target speaker cover pixel position.

[0069] The method and system for positioning the horn cover of a reactor pressure vessel top cover penetration member of the present invention have the following beneficial effects: comprising the steps of: obtaining a target priori 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 image; judging 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, determining the target position of the target horn cover; if the pixel accuracy requirements are 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 priori frame, the initial position and the fine-tuning data; accurately positioning the target horn cover according to the motion adjustment parameters and obtaining 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 piece provided by the present invention;

[0072] Figure 2 Schematic diagram of the target priori frame provided by the present invention;

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

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

[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0076] In view of the fact that the currently used mechanical equipment adopts the polar coordinate movement mode, and there is a positional offset between the center of the top cover and the mechanical equipment, the present invention uses the assistance of a camera system to calibrate the positions of the two speaker covers, calculate the offset of the coordinate system, and then realize the preliminary positioning of the target speaker cover. After the preliminary positioning of the target speaker cover is completed, by controlling the movement of the rotating axis and the stepping axis within a certain range and recording their respective pixel positions, the pixel change value corresponding to the unit distance of the rotating axis and the stepping axis movement (i.e., the correspondence between the unit distance of the rotating axis and the stepping axis movement and the pixel change) is calculated. 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 This is a flow chart of a preferred embodiment of a method for positioning a horn cover of a reactor pressure vessel top cover penetration piece provided by the present invention.

[0078] Specifically, such as 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 frame 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 target speaker cover pixel position 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. The present invention refers to satisfying the positioning requirements, which 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 5mm, 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 2mm. It should be noted that the present invention does not limit the specific numerical value that meets the positioning requirements, and it needs to be set or adjusted according to the actual situation during operation.

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

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

[0084] Specifically, in some embodiments, manual control (or, in other embodiments, automatic control) can be used to control the mechanical device to move to the bottom of the first calibration horn cover (such as horn cover A). 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). 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 horn 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 horn cover needs to be positioned, the initial positioning of the target horn 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] 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: 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 image.

[0089] Specifically, in the embodiment of the present invention, in step S102, the initial positioning of the target speaker cover is completed, and the initial position (X c , Y c ), the target horn cover is first imaged by the camera system to obtain the current image of the target horn cover, and the current image is detected using the video target detection technology 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 based on 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 requirements 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 requirements 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 ), calculate the current pixel position (P x0 , P y0 ) and the target prior box (P x , P y ) position deviation, and based on the position deviation, determine whether the pixel accuracy requirement is met. Among them, the current pixel position (P 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. The value of ε can be determined based on the actual situation. For example, ε can be 5, which is 5 pixel deviation.

[0095] After ΔP is calculated using formula (2), ΔP is compared with ε. If ΔP is less than or equal to ε, the requirement is met; otherwise, 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 requirements are 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, including: if the pixel accuracy requirements are 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 requirements 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 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 requirements 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 based on 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 based on 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 motion and the pixel change; calculating based on the current pixel position of the target horn cover and the pixel position of the target prior frame to obtain the deviation value; calculating based on the correspondence between the unit distance of the rotation axis and the stepping axis motion 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, where 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 the empirical value, such as Figure 4 Then, 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 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 using 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. 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, the target horn cover is precisely positioned according to the motion adjustment parameters, and obtaining the target position of the target horn cover includes: obtaining the current position of the target horn cover; judging whether the pixel accuracy requirement is met based on 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 by the camera system to obtain the current image of the target speaker cover, and the target speaker cover is detected by 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, stop the movement; if ΔP5 is greater than ε, then 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, which 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 an embodiment of the present invention, the reactor pressure vessel top cover penetration piece 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 horn housing positioning system also includes a data processing unit configured to obtain image data of a target horn housing during actual field operations and identify the image data using video target detection technology to obtain a target priori frame for the pixel position of the target horn housing.

[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 precise positioning of the trumpet cover of the top cover penetration piece of the nuclear power plant reactor pressure vessel, providing a favorable basis for inspection agencies to perform non-destructive testing tasks.

[0120] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[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 above description has generally described the components and steps of each example according to their functions. 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 beyond the scope of the present invention.

[0122] The steps of the methods or algorithms 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), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, 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 intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. All equivalent variations and modifications within the scope of the claims of the present invention are intended to be covered by 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: Obtaining a target priori frame of the target horn cover pixel position; obtaining the target priori frame of the target horn cover pixel position 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 the target priori frame of the target horn cover pixel position; Obtaining the initial position of the target horn cover; obtaining the initial position of the target horn cover includes: controlling the mechanical device to move to below a first calibration horn cover, obtaining first position information of the mechanical device; controlling the mechanical device to move to below a second calibration horn cover, obtaining second position information of the mechanical device; calculating according to the first position information, the second position information and a coordinate system calibration formula to obtain a calibration position; the calibration position is 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 image; Judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the current pixel position and the target a priori frame; judging whether the current position of the target horn cover meets the pixel accuracy requirement based on the current pixel position and the target a priori frame comprises: performing calculations based on 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; 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 a priori 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 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; 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 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 parameter and determining the 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-tuning data 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.

3. The method for positioning the horn cover of the reactor pressure vessel top cover penetration piece according to claim 2, 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 axis and the motion parameters of the stepping axis includes: 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; Determining whether the current position of the target speaker cover meets the pixel accuracy requirement based on the first adjustment position and the target priori frame; 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; Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the second adjusted position and the target priori frame; 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; Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the third adjustment position and the target priori frame; 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; Determining whether the current position of the target horn cover meets the pixel accuracy requirement based on the fourth adjusted position and the target priori frame; If satisfied, determining the target position of the target horn cover; If it is not satisfied, 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 first adjustment position, the second adjustment position, the third adjustment position and the fourth adjustment position are the fine-tuning data.

4. The method for positioning the horn cover of a reactor pressure vessel top cover penetration piece according to claim 3, characterized in that: The determining of 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 includes: According to the first adjustment position, the second adjustment position, the third adjustment position, and the fourth adjustment position, a calculation is performed in combination with the preset angle and the preset distance to obtain a correspondence between a unit distance of movement of the rotation axis and the stepping axis and a pixel change; Calculating based on 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 based on 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.

5. The method for positioning the horn cover of a reactor pressure vessel top cover penetration piece according to claim 1, characterized in that: The accurately positioning the target horn cover according to the motion adjustment parameter to obtain the target position of the target horn cover includes: Obtaining the current position of the target speaker cover; Determining whether the pixel accuracy requirement is met based on the current position of the target horn cover and the pixel position of the target priori frame; 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.

6. A reactor pressure vessel top cover penetration piece horn cover positioning system, applied to the reactor pressure vessel top cover penetration piece horn cover positioning method according to any one of claims 1 to 5, characterized in that: include: camera systems, mechanical equipment, and control units; The camera system is used to collect an image of the horn cover to obtain 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; Get 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 image; Determining 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; 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 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; The target horn cover is accurately positioned according to the motion adjustment parameters to obtain the target position of the target horn cover.

7. The reactor pressure vessel top cover penetration piece horn cover positioning system according to claim 6, 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 target speaker cover pixel position.

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