Defect detection method and device for containment vessel of nuclear power station and electronic equipment

Abstract

The invention is suitable for the technical field of nuclear power stations, and provides a nuclear power station containment vessel defect detection method and device and electronic equipment.The nuclear power station containment vessel defect detection method comprises the steps that an image obtained by conducting image collection on the surface of a containment vessel through an image collection module is obtained, and the image collection module is carried on a cradle head; when the image contains the defect information of the containment, determining the distance between the defect information and the holder, and the current pitch angle and horizontal angle of the holder; and determining coordinates corresponding to the defect information according to the distance between the defect information and the holder, the current pitch angle and the horizontal angle of the holder, the surface radius of the containment and the vertical distance between the holder at the horizontal zero position and the surface of the containment. Through the method, the detection efficiency can be improved, and the cost can be reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of nuclear power plants, and in particular relates to a defect detection method, device, electronic equipment, computer-readable storage medium, and computer program product for a nuclear power plant containment vessel. Background Art

[0002] With the advancement of nuclear power technology, the structural design of nuclear power units has also evolved accordingly. For example, third-generation nuclear power units feature a double-containment design. This double-containment structure is an ultra-large concrete structure with an extremely high safety level. The double-containment shell is cylindrical with a hemispherical top, measuring 56 meters in height and 28.8 meters in diameter.

[0003] Due to the complex environment of the double-layer containment (for example, the annular corridor between the double-layer containment is usually equipped with a large number of equipment pipelines, steel supports, grid plate platforms, fire partitions and other facilities, resulting in a narrow space and complex environment in the annular corridor), the existing method for defect detection in the double-layer containment mainly adopts manual close-range visual observation of the defects. After the defects are found, the defect pattern is drawn, the length of the defect pattern is measured with an instrument such as a tape measure, and finally the characteristics of the defect are recorded.

[0004] However, the above method has the following shortcomings: ① In order to achieve the conditions for close visual observation of the containment surface by personnel, a large number of steel pipe scaffolding or work platforms need to be set up before inspection. The erection of scaffolding greatly increases the workload in the early stage and also introduces huge industrial safety risks; ② The manual visual inspection method is inefficient and requires a large amount of manpower input, which leads to a longer implementation cycle of the entire inspection work.

[0005] Therefore, it is necessary to provide a new method to solve the above technical problems. Summary of the Invention

[0006] The embodiments of the present application provide a method, device, and electronic equipment for detecting defects in the containment of a nuclear power plant, which can solve the problems of low efficiency and high cost in existing surface defect detection of the containment of a nuclear power plant.

[0007] In a first aspect, an embodiment of the present application provides a method for detecting defects in a containment vessel of a nuclear power plant, wherein the top of the containment vessel is hemispherical. The method for detecting defects in the containment vessel of a nuclear power plant comprises:

[0008] Acquiring an image obtained by an image acquisition module acquiring an image of the surface of the containment shell, wherein the image acquisition module is mounted on a pan-tilt platform;

[0009] When the image includes defect information of the containment shell, determining a distance between the defect information and the pan / tilt platform, and a current pitch angle and horizontal angle of the pan / tilt platform;

[0010] The coordinates corresponding to the defect information are determined based on the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

[0011] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0012] In the embodiment of the present application, since the top of the containment shell is hemispherical and the pan-tilt head is usually remotely controlled and movable, when the image acquisition module mounted on the pan-tilt head is used to acquire images of the surface of the containment shell, the integrity of the obtained image is improved. Furthermore, since when the image contains defect information of the containment shell, the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head are determined, and the coordinates corresponding to the defect information are determined based on the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head, the surface radius of the containment shell, and the vertical distance between the pan-tilt head and the surface of the containment shell when the pan-tilt head is at horizontal position 0, that is, when determining the coordinates of the defect information, there is no need to set up a large number of steel pipe scaffolding or work platforms, nor is there any need for manual close-range visual observation. Only a small amount of equipment is required, which is conducive to reducing the detection cycle and labor costs, thereby achieving lightweight and rapid detection.

[0013] In a second aspect, an embodiment of the present application provides a defect detection device for a containment vessel of a nuclear power plant, wherein the top of the containment vessel is hemispherical, and the defect detection device for the containment vessel of a nuclear power plant comprises:

[0014] an image acquisition module, configured to acquire an image obtained by an image acquisition module acquiring an image of the surface of the containment shell, wherein the image acquisition module is mounted on a pan-tilt platform;

[0015] a detection information acquisition module, configured to determine, when the image contains defect information of the containment shell, the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform;

[0016] The defect coordinate determination module is used to determine the coordinates corresponding to the defect information based on the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal 0 position.

[0017] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on an electronic device, enables the electronic device to execute the method described in the first aspect above.

[0020] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art.

[0022] Figure 1 This is a flow chart of a defect detection method for a nuclear power plant containment vessel provided in one embodiment of the present application;

[0023] Figure 2 This is a structural diagram of a pan / tilt platform and a laser rangefinder provided in one embodiment of the present application;

[0024] Figure 3 1 is a schematic diagram of a decomposition of a vertical component of a defect point provided by an embodiment of the present application;

[0025] Figure 4 This is a decomposition diagram of the horizontal component of a defect point provided by an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of a broken line provided by another embodiment of the present application;

[0027] Figure 6 is a schematic diagram of a polygon provided by an embodiment of the present application;

[0028] Figure 7 This is a schematic structural diagram of a defect detection device for a nuclear power plant containment vessel provided in another embodiment of the present application;

[0029] Figure 8 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0031] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0032] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0033] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized.

[0034] Currently, when defect detection is performed on a double containment structure of a nuclear power plant, the defects are mainly detected by close-range manual visual observation, and the characteristics of the defects measured on the surface of the double containment are recorded.

[0035] However, when using the above method for defect detection, the labor cost is high and the cycle is long.

[0036] In order to shorten the cycle and reduce labor costs, an embodiment of the present application provides a defect detection method for a nuclear power plant containment vessel.

[0037] The defect detection method for the nuclear power plant containment vessel provided in the embodiment of the present application is described below with reference to the accompanying drawings.

[0038] Figure 1 A flow chart of a method for detecting defects in a nuclear power plant containment vessel provided by an embodiment of the present application is shown. The defect detection method can be applied to electronic equipment and is described in detail as follows:

[0039] S11, obtaining an image obtained by an image acquisition module acquiring an image of the surface of the containment shell, wherein the image acquisition module is mounted on a pan-tilt platform.

[0040] Among them, the image acquisition module can use a high-performance 4K camera core with 3x optical zoom (supports 12x digital zoom). This type of camera core can clearly observe various defects and has functions such as video preview, video storage, and high-definition capture (or photo taking).

[0041] In the embodiment of the present application, the containment vessel of the nuclear power plant is relatively large. Therefore, the image acquisition module is mounted on a pan-tilt platform, and the movement of the image acquisition module is controlled by the movement of the pan-tilt platform, which helps the image acquisition module to capture a more complete image of the surface of the containment vessel, and further facilitates subsequent more comprehensive defect detection on the surface of the containment vessel.

[0042] Optionally, considering that the top of the containment vessel is hemispherical, the containment vessel can be divided into multiple detection areas to solve the line of sight problem. When the image acquisition module acquires images in the same detection area, the image acquisition module can capture images of various positions in the detection area.

[0043] S12, when the image includes defect information of the containment shell, determining the distance between the defect information and the gimbal, and the current pitch angle and horizontal angle of the gimbal.

[0044] The above-mentioned defect information is information about the defect, such as the shape of the defect and / or the color of the defect, etc.

[0045] Specifically, a pre-trained neural network model can be used to detect whether the image contains defect information of the containment shell. Of course, the image captured by the image acquisition module can also be displayed, and the staff can observe whether the displayed image contains defect information of the containment shell.

[0046] In this embodiment of the present application, when an image is determined to contain defect information about a containment vessel, the defect corresponding to the defect information is located on the containment vessel, and the actual distance between the located defect and the pan / tilt head is determined. Optionally, the distance between the defect and the pan / tilt head can be determined using a tape measure, a rangefinder, a radar device, or the like, which is not limited herein.

[0047] In the embodiments of the present application, the current pitch angle of the pan-tilt platform refers to the pan-tilt platform's pitch angle at the time the image acquisition module captures an image currently determined to contain defect information about the containment vessel. Similarly, the current horizontal angle of the pan-tilt platform refers to the horizontal angle of the pan-tilt platform at the time the image acquisition module captures an image currently determined to contain defect information about the containment vessel. Optionally, the current pitch angle and horizontal angle of the pan-tilt platform can be measured using a theodolite or total station, and are not limited here.

[0048] Optionally, in order to improve the accuracy of defect positioning, a laser rangefinder can be used to determine the distance between the defect and the pan-tilt head. Specifically, the laser rangefinder is set on the pan-tilt head. Turn on the laser rangefinder so that a light spot (such as a red light spot) is displayed on the wall of the containment shell. After determining that the image contains the defect information of the containment shell, adjust the laser rangefinder so that the light spot displayed on the wall is located on the defect (or defect position) corresponding to the defect information of the containment shell, and then use the laser rangefinder to calculate the distance between it and the defect. Since the laser rangefinder is set on the pan-tilt head, the distance between the laser rangefinder and the defect is equivalent to the distance between the pan-tilt head and the defect.

[0049] Since the laser rangefinder can display a light spot on the wall of the containment vessel after it is turned on, it is helpful for the user to more accurately determine whether the distance determined by the laser rangefinder is the distance between him and the defect.

[0050] In order to more clearly describe the relationship between the PTZ and the laser rangefinder, the following Figure 2 Provide a description.

[0051] exist Figure 2 In the embodiment of the present application, the digital pan-tilt head is equivalent to the pan-tilt head of the embodiment of the present application, wherein the digital pan-tilt head is a technical device for monitoring cameras, which electronically controls the movement, rotation, zoom and other functions of the camera. Unlike traditional mechanical pan-tilt heads, the digital pan-tilt head uses digital signal processing and electronic image stabilization technology to adjust the camera's field of view without physical movement. The pitch angle and horizontal angle of the digital pan-tilt head can be transmitted back to the corresponding control terminal (the control terminal can also be called an electronic device) in real time. The control terminal can remotely control the digital pan-tilt head to perform two-axis movement of pitch and rotation (60° vertical electric pitch, 360° horizontal electric rotation).

[0052] exist Figure 2 In the embodiment, the laser ranging module is equivalent to the laser rangefinder of the embodiment of the present application, and the 4K image acquisition is equivalent to the image acquisition module of the embodiment of the present application.

[0053] Figure 2 The system also includes a bottom mounting plate, an integrated cable connector, and two fill light modules. The bottom mounting plate is used to connect to the measurement tripod or to the payload components of an inspection robot or drone. The integrated cable connector is used to transmit images and control signals from the 4K image acquisition system, as well as power the gimbal, 4K image acquisition system, and laser rangefinder. The fill light module is used to adjust the light intensity and provide fill light for video surveillance or photography within the measurement range.

[0054] S13, determining the coordinates corresponding to the defect information based on the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

[0055] The horizontal zero position refers to the initial position of the horizontal dial on the device where the PTZ is located. It is primarily used for centering, leveling, and benchmark setting. For example, when using a theodolite or total station, the device must be centered and leveled, and the horizontal dial reading adjusted to 0 degrees to ensure measurement accuracy.

[0056] The surface radius of the containment shell refers to the surface radius of the spherical structure of the containment shell. Considering the spherical structure has a certain thickness, when performing defect detection on the outer surface of the containment shell, the surface radius of the containment shell is set to the outer surface radius of the containment shell to improve the accuracy of the subsequently determined coordinates. For example, when performing defect detection on the outer surface of the inner containment shell of the containment shell, the surface radius of the containment shell is set to the outer surface radius of the inner containment shell.

[0057] In an embodiment of the present application, a coordinate system is constructed with the gimbal as the origin, and a corresponding trigonometric function relationship is constructed based on the defect position, the gimbal, the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal position 0, etc., and the coordinates corresponding to the defect information are calculated using the trigonometric function relationship and the arc-chord length relationship (i.e., the relationship between the arc length and the chord length).

[0058] In the embodiment of the present application, since the top of the containment shell is hemispherical and the pan-tilt head is usually remotely controlled and movable, when the image acquisition module mounted on the pan-tilt head is used to acquire images of the surface of the containment shell, the integrity of the obtained image is improved. Furthermore, since when the image contains defect information of the containment shell, the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head are determined, and the coordinates corresponding to the defect information are determined based on the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head, the surface radius of the containment shell, and the vertical distance between the pan-tilt head and the surface of the containment shell when the pan-tilt head is at horizontal position 0, that is, when determining the coordinates of the defect information, there is no need to set up a large number of steel pipe scaffolding or work platforms, nor is there any need for manual close-range visual observation. Only a small amount of equipment is required, which is conducive to reducing the detection cycle and labor costs, thereby achieving lightweight and rapid detection.

[0059] In some embodiments, when the image includes defect information of the containment vessel, the step S12 of determining the distance between the defect information and the gimbal, and the current pitch angle and horizontal angle of the gimbal includes:

[0060] When the image includes defect information of the containment vessel, and the defect information indicates that the defect is an independent point, the distance between the independent point and the pan-tilt platform, and the current pitch angle and horizontal angle of the pan-tilt platform are determined.

[0061] Correspondingly, the above S13, determining the coordinates corresponding to the defect information based on the distance between the defect information and the pan / tilt platform, the current pitch angle and horizontal angle of the pan / tilt platform, the surface radius of the containment shell, and the vertical distance between the pan / tilt platform and the surface of the containment shell when the pan / tilt platform is at a horizontal position of zero, includes:

[0062] The coordinates corresponding to the independent point are determined based on the distance between the independent point and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

[0063] In an embodiment of the present application, when the defect information indicates that the defect is an independent point (i.e., an independent point), it indicates that the shape of the defect is point-shaped. At this time, the distance between the defect information and the pan-tilt head is actually the distance between the independent point and the pan-tilt head, and the coordinates corresponding to the defect information are actually the coordinates corresponding to the independent point.

[0064] In order to more clearly describe the calculation process of the coordinates of independent points, the following Figure 3 and Figure 4 Provide a description.

[0065] Assume that when the gimbal is horizontally at position 0, the vertical distance from the device where the gimbal is located to the surface of the containment is d1. The image contains defect information of the containment, and when the defect information is an independent point, the distance between the independent point and the gimbal is L, and the current pitch angle of the gimbal is θ. v , the current horizontal angle of the gimbal is θ h .

[0066] First, decompose the key point coordinates into vertical Y and horizontal X coordinates.

[0067] Y direction, reference Figure 3 , using the gimbal to construct the coordinate system, the decomposition diagram of the vertical component of the defect point:

[0068] θ v is the pitch angle of the pitch sensor, △OBC is a right triangle, and the vertical component L v =L·sinθ v , then the vertical coordinate Y calculation formula is: Y = L sinθ v .

[0069] X direction, reference Figure 4 , decomposition diagram of the horizontal component of the defect point:

[0070] △OAD is a right triangle, L v To obtain the vertical component, d1 is the known distance between the equipment where the PTZ is located and the surface of the containment. Therefore:

[0071]

[0072] In △OAB, the horizontal chord length L is obtained according to the law of cosines. h :

[0073]

[0074] Among them, θ h is the horizontal angle of the horizontal sensor. Points A and B are on the concrete wall outside the containment vessel. L t is the distance from the gimbal to point A, the L t It can be measured by a laser rangefinder. L is the distance between the independent point B and the pan / tilt head. This L can be measured by a laser rangefinder.

[0075] Known horizontal chord length L h Calculate the horizontal arc length Lx from the radius R of the containment shell outer surface, and convert it from the arc chord length formula:

[0076] Lx=2R*arcsin[L h / (2R)].

[0077] The calculation formula of horizontal coordinate X is: X=Lx=2R*arcsin[L h / (2R)].

[0078] Assuming that the coordinate point of the point defect is (x, y), according to the obtained horizontal coordinate X and vertical coordinate Y, the coordinates of the currently measured defect coordinate point (i.e., the independent coordinate point) are:

[0079] (x,y)=(X,Y)=(2R*arcsin[L h / (2R)],L·sinθ v ).

[0080] The above describes how to calculate the coordinates of an independent point when the defect information indicates that the defect is an independent point. Considering that in actual situations, the defect may also have other shapes, such as a straight line. In some embodiments, the above S12, when the image includes defect information of the containment vessel, determines the distance between the defect information and the gimbal, and the current pitch angle and horizontal angle of the gimbal, including:

[0081] When the above-mentioned image contains defect information of the above-mentioned containment shell, and the above-mentioned defect information indicates that the defect is a straight line, determine the distance between the starting point of the above-mentioned straight line and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal, and determine the distance between the end point of the above-mentioned straight line and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal.

[0082] Correspondingly, the above S13, determining the coordinates corresponding to the defect information based on the distance between the defect information and the pan / tilt platform, the current pitch angle and horizontal angle of the pan / tilt platform, the surface radius of the containment shell, and the vertical distance between the pan / tilt platform and the surface of the containment shell when the pan / tilt platform is at a horizontal position of zero, includes:

[0083] The coordinates corresponding to the starting point of the straight line are determined based on the distance between the starting point of the straight line and the gimbal, the current pitch angle, horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal position 0; the coordinates corresponding to the end point of the straight line are determined based on the distance between the end point of the straight line and the gimbal, the current pitch angle, horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal position 0.

[0084] Specifically, when the defect is a straight line (or line segment), the starting point and end point of the line can be determined. For example, to determine the starting point of the line, the light spot emitted by the laser rangefinder is moved to the starting point of the line and the distance from the starting point to the pan / tilt head is determined. To determine the end point of the line, the light spot emitted by the laser rangefinder is moved to the end point of the line and the distance from the end point to the pan / tilt head is determined. Finally, the coordinates of the starting point and the end point are calculated according to the method for calculating the coordinates of independent points described above.

[0085] Optionally, in addition to determining the starting point and end point of the straight line, the length of the straight line can also be calculated. That is, after determining the coordinates corresponding to the end point of the straight line, the following steps are also included:

[0086] The length of the straight line is calculated based on the coordinates corresponding to the starting point of the straight line and the coordinates corresponding to the end point of the straight line.

[0087] Specifically, the length of the straight line is calculated based on the two-point distance formula and the starting point and end point of the straight line.

[0088] Optionally, when the defect information indicates that the defect is a broken line composed of multiple straight lines, the starting point and end point of each straight line constituting the broken line are determined respectively, and then the length of each straight line is calculated respectively, and the length of each straight line is accumulated to obtain the length of the corresponding broken line.

[0089] like Figure 5As shown, it is assumed that the polyline consists of two straight lines, where the starting point and end point of one straight line are point 1# (x1, y1) and point 2# (x2, y2), and the starting point and end point of the other straight line are point 2# (x2, y2) and point 3# (x3, y3).

[0090] The length of each segment is:

[0091]

[0092] Therefore Figure 5 The length of the broken line is L d , the L d The calculation formula is: L d =L 12 +L 23 Of course, if the number of straight lines forming the broken line is greater than 2, the lengths of the other straight lines will continue to be accumulated, which is not limited here.

[0093] As can be seen from the above description, the defect indicated by the defect information may be an independent point or a straight line. Considering that in actual situations, the defect may also be in other shapes, such as a plane. That is, in some embodiments, the above S12, when the above image contains the defect information of the above containment vessel, determines the distance between the above defect information and the above gimbal, and the current pitch angle and horizontal angle of the above gimbal, including:

[0094] When the above-mentioned image contains defect information of the above-mentioned containment shell, and the above-mentioned defect information indicates that the defect is a plane, N points are selected on the above-mentioned plane to obtain N selected points, where N is greater than 3, and the line connecting the N above-mentioned selected points can reflect the outline of the above-mentioned plane; for each of the above-mentioned selected points, the distance between the above-mentioned selected point and the above-mentioned pan-tilt head, the current pitch angle and horizontal angle of the above-mentioned pan-tilt head are determined, and the distance between the above-mentioned selected point and the above-mentioned pan-tilt head, the current pitch angle and horizontal angle of the above-mentioned pan-tilt head are determined.

[0095] Correspondingly, the above S13, determining the coordinates corresponding to the defect information based on the distance between the defect information and the pan / tilt platform, the current pitch angle and horizontal angle of the pan / tilt platform, the surface radius of the containment shell, and the vertical distance between the pan / tilt platform and the surface of the containment shell when the pan / tilt platform is at a horizontal position of zero, includes:

[0096] For each of the above-mentioned selected points, the coordinates corresponding to the above-mentioned selected point are determined based on the distance between the above-mentioned selected point and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal, the surface radius of the above-mentioned containment shell, and the vertical distance between the above-mentioned gimbal and the surface of the above-mentioned containment shell when the above-mentioned gimbal is at horizontal position 0.

[0097] In the embodiment of the present application, considering that when the defect is a plane, selecting only a single point within the plane, or selecting only the starting point and end point of a straight line within the plane, makes it difficult for the user to obtain intuitive information about the plane. Therefore, N points are selected on the plane to obtain N selected points. Since N is greater than 3, and the line connecting the N selected points can reflect the outline of the plane, once the coordinates of the N selected points are determined, the user can obtain the approximate area of the plane on the containment shell based on the coordinates of the N selected points.

[0098] In some embodiments, in order to enable the user to more intuitively know the size of the plane, after determining the coordinates corresponding to the selected points, the following steps are further included:

[0099] The area of the plane is calculated based on the coordinates corresponding to each of the selected points.

[0100] Specifically, when the area of a plane can be calculated based on the distance between selected points, the distance between the two selected points is first calculated, and then the area of the plane is calculated based on the calculated distance. For example, if the plane is a rectangle, the four vertices of the rectangle can be used as the four selected points. The coordinates of each of the four selected points are calculated, and then the distance between two adjacent selected points is calculated to obtain the length and width of the rectangle. The area of the plane is calculated based on the length and width.

[0101] Optionally, when the area of a plane cannot be calculated based on the distance between the selected points, the plane may be divided into multiple triangles before calculation. In this case, the area of the plane is calculated based on the coordinates corresponding to each of the selected points, including:

[0102] According to each of the above selected points, the above plane is divided into multiple triangles; for each of the above triangles, the area of the above triangle is calculated according to the above selected points corresponding to the above triangle; the areas of the above triangles are accumulated to obtain the area of the above plane.

[0103] Specifically, the laser rangefinder is controlled to move along the contour of the plane, and the distance between the feature point (or corner point) of the contour and the pan / tilt head is determined, so that the coordinates of the feature point can be subsequently calculated based on the distance.

[0104] like Figure 6 As shown, assuming that the six selected points are A, B, C, D, E, and F, and the coordinates of each selected point have been calculated, when calculating the area of the polygon enclosed by A, B, C, D, E, and F, the polygon can be divided into n triangles with point A as the base point, and the area of each triangle can be calculated separately. Finally, the area of the polygon can be obtained by adding up the areas. In triangle △ABC, point A is (x1, y1) and point B is (x2, y2):

[0105]

[0106] The calculation formula for the area of the polygon is: S △ABCDEF =|S △ABC +S △ACD +S △ADE +S △AEF |.

[0107] In some embodiments, after calculating the coordinates of a point (such as the coordinates of an independent point, the coordinates of the starting point of a straight line, the coordinates of the end point of a straight line, and the coordinates of N selected points on a plane), the coordinates of the point can be stored in a corresponding database for subsequent viewing.

[0108] In some embodiments, after the length of a straight line (or the length of a broken line) is calculated, the length of the straight line (or the length of a broken line) may be stored in a corresponding database for subsequent viewing.

[0109] In some embodiments, after the area of a plane is calculated, the area of the plane may be stored in a corresponding database for subsequent viewing.

[0110] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0111] Corresponding to the defect detection method for the nuclear power plant containment vessel described in the above embodiment, Figure 7 A structural block diagram of a defect detection device for a nuclear power plant containment vessel provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0112] Reference Figure 7 The defect detection device 7 for the containment vessel of a nuclear power plant can be applied to electronic equipment. The top of the containment vessel is hemispherical. The defect detection device 7 for the containment vessel of a nuclear power plant comprises: an image acquisition module 71, a detection information acquisition module 72, and a defect coordinate determination module 73. Among them:

[0113] The image acquisition module 71 is used to acquire the image obtained by the image acquisition module from acquiring the image of the surface of the above-mentioned containment shell, wherein the above-mentioned image acquisition module is mounted on the pan-tilt platform.

[0114] The detection information acquisition module 72 is used to determine the distance between the defect information and the pan-tilt platform, and the current pitch angle and horizontal angle of the pan-tilt platform when the image contains defect information of the containment shell.

[0115] The defect coordinate determination module 73 is used to determine the coordinates corresponding to the above-mentioned defect information based on the distance between the above-mentioned defect information and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal, the surface radius of the above-mentioned containment shell, and the vertical distance between the above-mentioned gimbal and the surface of the above-mentioned containment shell when the above-mentioned gimbal is in the horizontal 0 position.

[0116] In the embodiment of the present application, since the top of the containment shell is hemispherical and the pan-tilt head is usually remotely controlled and movable, when the image acquisition module mounted on the pan-tilt head is used to acquire images of the surface of the containment shell, the integrity of the obtained image is improved. Furthermore, since when the image contains defect information of the containment shell, the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head are determined, and the coordinates corresponding to the defect information are determined based on the distance between the defect information and the pan-tilt head, the current pitch angle and horizontal angle of the pan-tilt head, the surface radius of the containment shell, and the vertical distance between the pan-tilt head and the surface of the containment shell when the pan-tilt head is at horizontal position 0, that is, when determining the coordinates of the defect information, there is no need to set up a large number of steel pipe scaffolding or work platforms, nor is there any need for manual close-range visual observation. Only a small amount of equipment is required, which is conducive to reducing the detection cycle and labor costs, thereby achieving lightweight and rapid detection.

[0117] Optionally, the detection information acquisition module 72 is specifically configured to:

[0118] When the above image contains defect information of the above containment shell, the position of the above defect information in the above containment shell is located by a laser rangefinder, and the distance between the above position and the above gimbal, and the current pitch angle and horizontal angle of the above gimbal are determined.

[0119] Optionally, the detection information acquisition module 72 is specifically configured to:

[0120] When the image includes defect information of the containment vessel, and the defect information indicates that the defect is an independent point, the distance between the independent point and the pan-tilt platform, and the current pitch angle and horizontal angle of the pan-tilt platform are determined.

[0121] Correspondingly, the defect coordinate determination module 73 is specifically used to:

[0122] The coordinates corresponding to the independent point are determined based on the distance between the independent point and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

[0123] Optionally, the detection information acquisition module 72 is specifically configured to:

[0124] When the above-mentioned image contains defect information of the above-mentioned containment shell, and the above-mentioned defect information indicates that the defect is a straight line, determine the distance between the starting point of the above-mentioned straight line and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal, and determine the distance between the end point of the above-mentioned straight line and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal.

[0125] Correspondingly, the defect coordinate determination module 73:

[0126] The coordinates corresponding to the starting point of the straight line are determined based on the distance between the starting point of the straight line and the gimbal, the current pitch angle, horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal position 0; the coordinates corresponding to the end point of the straight line are determined based on the distance between the end point of the straight line and the gimbal, the current pitch angle, horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal position 0.

[0127] Optionally, the detection information acquisition module 72 is specifically configured to:

[0128] When the above-mentioned image contains defect information of the above-mentioned containment shell, and the above-mentioned defect information indicates that the defect is a plane, N points are selected on the above-mentioned plane to obtain N selected points, where N is greater than 3, and the line connecting the N above-mentioned selected points can reflect the outline of the above-mentioned plane; for each of the above-mentioned selected points, the distance between the above-mentioned selected point and the above-mentioned pan-tilt head, the current pitch angle and horizontal angle of the above-mentioned pan-tilt head are determined, and the distance between the above-mentioned selected point and the above-mentioned pan-tilt head, the current pitch angle and horizontal angle of the above-mentioned pan-tilt head are determined.

[0129] Correspondingly, the defect coordinate determination module 73:

[0130] For each of the above-mentioned selected points, the coordinates corresponding to the above-mentioned selected point are determined based on the distance between the above-mentioned selected point and the above-mentioned gimbal, the current pitch angle and horizontal angle of the above-mentioned gimbal, the surface radius of the above-mentioned containment shell, and the vertical distance between the above-mentioned gimbal and the surface of the above-mentioned containment shell when the above-mentioned gimbal is at horizontal position 0.

[0131] Optionally, the defect detection device 7 for the containment vessel of a nuclear power plant further includes:

[0132] The straight line length calculation module is used to calculate the length of the straight line according to the coordinates corresponding to the starting point of the straight line and the coordinates corresponding to the end point of the straight line after determining the coordinates corresponding to the end point of the straight line.

[0133] Optionally, the defect detection device 7 for the containment vessel of a nuclear power plant further includes:

[0134] The plane area calculation module is used to calculate the area of the plane according to the coordinates corresponding to each of the selected points after the coordinates corresponding to the selected points are determined.

[0135] Optionally, the calculating of the area of the plane according to the coordinates corresponding to each of the selected points includes:

[0136] According to each of the above selected points, the above plane is divided into multiple triangles; for each of the above triangles, the area of the above triangle is calculated according to the above selected points corresponding to the above triangle; the areas of the above triangles are accumulated to obtain the area of the above plane.

[0137] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0138] Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 8 As shown, the electronic device 8 of this embodiment includes: at least one processor 80 ( Figure 8 Only one processor is shown in the figure), a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, wherein the processor 80 implements the steps of any of the above-mentioned method embodiments when executing the computer program 82.

[0139] The electronic device 8 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 This is merely an example of the electronic device 8 and does not constitute a limitation on the electronic device 8 . The electronic device 8 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0140] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0141] In some embodiments, the memory 81 may be an internal storage unit of the electronic device 8, such as a hard disk or memory of the electronic device 8. In other embodiments, the memory 81 may also be an external storage device of the electronic device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 8. Furthermore, the memory 81 may include both an internal storage unit of the electronic device 8 and an external storage device. The memory 81 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 81 may also be used to temporarily store data that has been output or is about to be output.

[0142] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0143] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0144] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0145] An embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device can implement the steps of the above-mentioned method embodiments when executing the computer program product.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0147] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0148] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0149] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0151] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for detecting defects in a containment vessel of a nuclear power plant, characterized in that: The top of the containment vessel is hemispherical. The defect detection method for the containment vessel of a nuclear power plant comprises: Acquiring an image obtained by an image acquisition module acquiring an image of the surface of the containment shell, wherein the image acquisition module is mounted on a pan-tilt platform; When the image includes defect information of the containment shell, determining a distance between the defect information and the pan / tilt platform, and a current pitch angle and horizontal angle of the pan / tilt platform; The coordinates corresponding to the defect information are determined based on the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

2. The method for detecting defects in a nuclear power plant containment vessel according to claim 1, wherein: When the image includes defect information of the containment shell, determining the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform includes: When the image contains defect information of the containment shell, the position of the defect information in the containment shell is located by a laser rangefinder, and the distance between the position and the gimbal, and the current pitch angle and horizontal angle of the gimbal are determined.

3. The method for detecting defects in a nuclear power plant containment vessel according to claim 1, wherein: When the image includes defect information of the containment shell, determining the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform includes: When the image includes defect information of the containment vessel, and the defect information indicates that the defect is an independent point, determining a distance between the independent point and the pan / tilt platform, and a current pitch angle and horizontal angle of the pan / tilt platform; Correspondingly, determining the coordinates corresponding to the defect information according to the distance between the defect information and the pan-tilt platform, the current pitch angle and horizontal angle of the pan-tilt platform, the surface radius of the containment shell, and the vertical distance between the pan-tilt platform and the surface of the containment shell when the pan-tilt platform is at a horizontal position 0 includes: The coordinates corresponding to the independent point are determined according to the distance between the independent point and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at horizontal position 0.

4. The method for detecting defects in a nuclear power plant containment vessel according to claim 1, wherein: When the image includes defect information of the containment shell, determining the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform includes: When the image includes defect information of the containment vessel, and the defect information indicates that the defect is a straight line, determining a distance between a starting point of the straight line and the pan / tilt platform, and a current pitch angle and horizontal angle of the pan / tilt platform; and determining a distance between an end point of the straight line and the pan / tilt platform, and a current pitch angle and horizontal angle of the pan / tilt platform; Correspondingly, determining the coordinates corresponding to the defect information according to the distance between the defect information and the pan-tilt platform, the current pitch angle and horizontal angle of the pan-tilt platform, the surface radius of the containment shell, and the vertical distance between the pan-tilt platform and the surface of the containment shell when the pan-tilt platform is at a horizontal position 0 includes: Determine the coordinates corresponding to the starting point of the straight line according to the distance between the starting point of the straight line and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is at a horizontal zero position; The coordinates corresponding to the end point of the straight line are determined according to the distance between the end point of the straight line and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal 0 position.

5. The method for detecting defects in a nuclear power plant containment vessel according to claim 1, wherein: When the image includes defect information of the containment shell, determining the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform includes: When the image includes defect information of the containment, and the defect information indicates that the defect is a plane, N points are selected on the plane to obtain N selected points, where N is greater than 3, and a line connecting the N selected points can reflect the outline of the plane; For each of the selected points, determining the distance between the selected point and the gimbal, the current pitch angle and horizontal angle of the gimbal, and determining the distance between the selected point and the gimbal, the current pitch angle and horizontal angle of the gimbal; Correspondingly, determining the coordinates corresponding to the defect information according to the distance between the defect information and the pan-tilt platform, the current pitch angle and horizontal angle of the pan-tilt platform, the surface radius of the containment shell, and the vertical distance between the pan-tilt platform and the surface of the containment shell when the pan-tilt platform is at a horizontal position 0 includes: For each of the selected points, the coordinates corresponding to the selected point are determined based on the distance between the selected point and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal 0 position.

6. The method for detecting defects in a nuclear power plant containment vessel according to claim 4, wherein: After determining the coordinates corresponding to the end point of the straight line, the method further includes: The length of the straight line is calculated according to the coordinates corresponding to the starting point of the straight line and the coordinates corresponding to the end point of the straight line.

7. The method for detecting defects in a nuclear power plant containment vessel according to claim 5, wherein: After determining the coordinates corresponding to the selected points, the method further includes: The area of the plane is calculated according to the coordinates corresponding to each of the selected points.

8. The method for detecting defects in a nuclear power plant containment vessel according to claim 7, wherein: Calculating the area of the plane according to the coordinates corresponding to each of the selected points includes: Dividing the plane into a plurality of triangles according to each of the selected points; For each of the triangles, calculating the area of the triangle according to the selected points corresponding to the triangle; The areas of the triangles are accumulated to obtain the area of the plane.

9. A defect detection device for a nuclear power plant containment vessel, characterized in that: The top of the containment vessel is hemispherical. The defect detection device for the containment vessel of a nuclear power plant comprises: an image acquisition module, configured to acquire an image obtained by an image acquisition module acquiring an image of the surface of the containment shell, wherein the image acquisition module is mounted on a pan-tilt platform; a detection information acquisition module, configured to determine, when the image contains defect information of the containment shell, the distance between the defect information and the pan / tilt platform, and the current pitch angle and horizontal angle of the pan / tilt platform; The defect coordinate determination module is used to determine the coordinates corresponding to the defect information based on the distance between the defect information and the gimbal, the current pitch angle and horizontal angle of the gimbal, the surface radius of the containment shell, and the vertical distance between the gimbal and the surface of the containment shell when the gimbal is in the horizontal 0 position.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The invention comprises a computer program, which, when being executed, enables the method according to any one of claims 1 to 8 to be performed.

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