Mounting and positioning method, device and equipment for nuclear engineering support mounting vehicle and medium

Abstract

The invention provides an installing and positioning method, device and equipment for a nuclear engineering support installing vehicle and a medium, and relates to the technical field of nuclear power station construction robotics.The method comprises the steps that first position information of a to-be-installed support is determined according to image data of an installing area where the to-be-installed support is located; correcting the first position information according to the attitude information of the installation vehicle to obtain second position information; when the second position information is located in the working area of the installation vehicle, obtaining load data of the installation vehicle; and according to the load data and the attitude information, controlling an execution part on the installation vehicle to complete installation of the to-be-installed support. According to the technical scheme, the problems that an existing nuclear engineering installation vehicle is low in positioning precision, poor in flexibility and depends on manual operation in a complex environment can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power plant construction robots, and in particular to a nuclear engineering support installation vehicle installation positioning method, device, equipment and medium. BACKGROUND

[0002] With the continuous development of nuclear energy technology, the construction scale of nuclear power plants is gradually expanding. As one of the important links in the construction of nuclear power plants, the construction quality and efficiency of support installation directly affect the overall project progress. In the prior art, nuclear power plant support installation is mainly completed by special support installation vehicles and manual cooperation.

[0003] Although the existing installation vehicle is equipped with basic carrying and lifting functions, it lacks automatic environmental perception and precise positioning capabilities. The support position is mainly determined by manual visual observation or simple measurement tools, which is affected by uneven lighting, narrow space and other environments in the nuclear power plant workshop, and visual errors are easily produced by manual judgment. At the same time, factors such as vehicle body inclination and uneven ground during the movement of the installation vehicle will further amplify the positioning deviation, resulting in horizontal / vertical deviation of the installed support exceeding the specification requirements, which requires repeated adjustment and seriously affects the construction efficiency. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a nuclear engineering support installation vehicle installation positioning method, which combines image recognition and attitude correction to determine that the position of the support to be installed is within the working area of the installation vehicle, and then installs according to the load data and attitude information, effectively eliminating the positioning error caused by the change of the installation vehicle attitude, and avoiding invalid operation of the installation vehicle beyond the working range.

[0005] In a first aspect, the present application provides a nuclear engineering support installation vehicle installation positioning method, comprising: determining first position information of the support to be installed according to image data of the installation area where the support to be installed is located; correcting the first position information according to attitude information of the installation vehicle to obtain second position information; when the second position information is within the working area of the installation vehicle, obtaining load data of the installation vehicle; controlling the execution components on the installation vehicle according to the load data and the attitude information to complete the installation of the support to be installed.

[0006] In a preferred embodiment of the present application, the above-mentioned determination of the first position information of the support to be installed according to the image data of the installation area where the support to be installed is located comprises: extracting features from the image data of the installation area where the support to be installed is located to obtain image feature points of the support to be installed; Based on the preset camera parameters and the pixel coordinates of the image feature points, the first position information of the bracket to be installed is determined using a pinhole camera model.

[0007] In a preferred embodiment of the present invention, the above-mentioned determination of the first position information of the bracket to be installed using a pinhole camera model based on preset camera parameters and the pixel coordinates of the image feature points includes: Based on the preset camera parameters, establish the rotation and translation matrices between the camera coordinate system and the vehicle coordinate system; Based on the rotation matrix and the translation matrix, the pixel coordinates of the image feature points are transformed to determine the first position information of the bracket to be installed.

[0008] In a preferred embodiment of the present invention, the above-mentioned establishment of the rotation matrix and translation matrix between the camera coordinate system and the vehicle coordinate system based on preset camera parameters includes: Based on the preset camera parameters, establish the projection equation between the image feature points and the actual spatial points; Singular value decomposition is performed on the projection equation to obtain the rotation and translation matrices between the camera coordinate system and the vehicle coordinate system.

[0009] In a preferred embodiment of the present invention, the acquisition of the load data of the installation vehicle when the second location information is within the working area of ​​the installation vehicle includes: Based on the relative relationship between the preset camera coordinate system and the coordinate system of the lifting arm rotation center of the installation vehicle, the second position information is transformed to determine the third position information of the second position information in the coordinate system of the lifting arm rotation center of the installation vehicle. The third position information is compared with the working range of the lifting arm to determine the comparison result; When the comparison result indicates that the third location information is within the working area of ​​the installation vehicle, the load data of the installation vehicle is acquired.

[0010] In a preferred embodiment of the present invention, the installation vehicle is provided with a plurality of chassis support legs, which are used to fix the installation vehicle; the load data includes support leg pressure data collected by pressure sensors on each of the chassis support legs; Based on the load data and the attitude information, the actuators on the installation vehicle are controlled to complete the installation of the bracket to be installed, including: The pressure deviation of the installation vehicle is determined based on the difference between the pressure data of each outrigger and the preset pressure data; The tilt angle deviation of the installation vehicle is determined based on the difference between the posture information and the preset tilt angle. According to the pressure deviation and the inclination deviation, a control instruction of an executing component on the installation vehicle is generated to control the executing component to complete the installation of the to-be-installed support.

[0011] In the preferred embodiment of the present application, the generating of the control instruction of the executing component on the installation vehicle according to the pressure deviation and the inclination deviation to control the executing component to complete the installation of the to-be-installed support further comprises: comparing the pressure deviation with a pressure deviation threshold to determine a pressure comparison result; comparing the inclination deviation with an inclination deviation threshold to determine an inclination comparison result; generating the control instruction of the executing component on the installation vehicle according to the pressure comparison result, the inclination comparison result, the pressure deviation and the inclination deviation to control the executing component to complete the installation of the to-be-installed support.

[0012] In the second aspect, the embodiments of the present application further provide an installation positioning device of a nuclear engineering support installation vehicle, comprising: a first position determining module configured to determine first position information of a to-be-installed support according to image data of an installation area where the to-be-installed support is located; a correction module configured to correct the first position information according to attitude information of the installation vehicle to obtain second position information; a load data obtaining module configured to obtain load data of the installation vehicle when the second position information is in a working area of the installation vehicle; an installation control module configured to control an executing component on the installation vehicle according to the load data and the attitude information to complete the installation of the to-be-installed support.

[0013] In the third aspect, the embodiments of the present application further provide an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions capable of being executed by the processor, and the processor executes the computer executable instructions to implement the installation positioning method of the nuclear engineering support installation vehicle according to the first aspect.

[0014] In the fourth aspect, the embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions, and the computer executable instructions, when invoked and executed by a processor, cause the processor to implement the installation positioning method of the nuclear engineering support installation vehicle according to the first aspect.

[0015] The embodiments of the present application have the following beneficial effects: The embodiment of the present application provides a mounting positioning method of a nuclear engineering support mounting vehicle, realizes a double positioning mechanism through image recognition and posture correction, eliminates measurement errors caused by camera visual angle and vehicle body inclination, and solves the problem of large errors caused by the dependence of traditional methods on eye observation. Whether the second position information is in the working area of the mounting vehicle is judged, so that invalid operation of the mounting vehicle in the case of exceeding the working range is avoided. Through acquisition of load data and posture information, double monitoring of pressure deviation and inclination deviation is realized, the overturning of the mounting vehicle caused by uneven force or excessive inclination is effectively prevented, and the stability of the mounting vehicle in the working process is ensured.

[0016] Other features and advantages of the present application will be described in the following description, or can be inferred from the description, or can be determined without doubt, or can be known by implementing the above-mentioned technologies of the present application.

[0017] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0019] Figure 1a A structural schematic diagram of a nuclear engineering support mounting vehicle is provided for the embodiment of the present application; Figure 1b A structural schematic diagram of a walking chassis is provided for the embodiment of the present application; Figure 1c A structural schematic diagram of a lifting arm is provided for the embodiment of the present application; Figure 1d A structural schematic diagram of a mechanical hand is provided for the embodiment of the present application; Figure 1e A flowchart of a mounting positioning method of a nuclear engineering support mounting vehicle is provided for the embodiment of the present application; Figure 2 A flowchart of another mounting positioning method of a nuclear engineering support mounting vehicle is provided for the embodiment of the present application; Figure 3 A flowchart of another mounting positioning method of a nuclear engineering support mounting vehicle is provided for the embodiment of the present application; Figure 4A structural schematic view of an installation positioning device of a nuclear engineering support installation vehicle is provided for an embodiment of the present application. Figure 5 A structural schematic view of an electronic device is provided for an embodiment of the present application.

[0020] Icon: 101 - visual camera; 102 - hydraulic system; 103 - inclination sensor; 104 - electrical system; 105 - lifting arm; 106 - clamping manipulator; 107 - traveling chassis; 201 - chassis; 202 - rudder; 203 - servo motor; 204 - support leg; 301 - arm support control system; 302 - telescopic oil cylinder; 303 - arm support; 401 - double-rotation electric cylinder; 402 - Y-axis module; 403 - clamping jaw oil cylinder; 404 - X-axis module; 405 - clamping jaw. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described below in connection with the drawings, obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] At present, the support installation task of a nuclear power plant mainly relies on a support installation vehicle and manual cooperation. Although the existing installation vehicle is equipped with basic carrying and lifting functions, it lacks automatic environmental perception and precise positioning capabilities. The support position determination mainly relies on manual determination through visual observation or simple measuring tools, and is affected by the uneven light and narrow space in the nuclear power plant workshop, etc. Visual errors are easily generated in manual determination; meanwhile, factors such as vehicle body inclination during movement and uneven ground will further amplify the positioning deviation, resulting in horizontal / vertical deviation of the installed support exceeding the specification requirements, which needs to be repeatedly adjusted, seriously affecting the construction efficiency.

[0023] Based on this, the installation positioning method of the nuclear engineering support installation vehicle provided by the embodiments of the present application can effectively eliminate the positioning error caused by the change of the installation vehicle attitude by combining image recognition and attitude correction, and avoid invalid operation of the installation vehicle when it exceeds the working range.

[0024] In order to facilitate the understanding of the present embodiment, first, a nuclear engineering support installation vehicle installation positioning method disclosed by the embodiments of the present application will be described in detail.

[0025] Embodiment 1 The embodiment of the present application provides a mounting positioning method of a nuclear engineering support mounting vehicle. Figure 1a A structural schematic diagram of a nuclear engineering support mounting vehicle is provided for the embodiment of the present application. Figure 1a As described above, the nuclear engineering support mounting vehicle (in the embodiment of the present application, also referred to as a mounting vehicle) comprises a visual camera 101, a hydraulic system 102, an inclination sensor 103, an electrical system 104, a lifting arm 105, a clamping manipulator 106 and a traveling chassis 107.

[0026] Figure 1b A structural schematic diagram of a traveling chassis is provided for the embodiment of the present application. Figure 1b As shown in the figure, the traveling chassis 107 comprises a chassis 201, a rudder wheel 202, a servo motor 203 and a supporting leg 204. The traveling chassis 107 adopts a rudder wheel driving scheme, each wheel assembly is equipped with an independent servo motor 203 and a speed reducer, and supports double control of “independent traveling + independent steering”. Through the precise rotating speed and angle control of the servo motor 203, various steering modes such as self-rotation, transverse driving and oblique movement can be realized. This design can accurately control the turning radius, and the minimum turning radius is 0.8 meters, which can realize flexible movement and transfer in the narrow space in the nuclear island. Not only does this design reduce the design size of the whole mounting vehicle, but also enables the vehicle to quickly and accurately adjust the position in a complex operation environment, thereby providing a good movement basis for accurate positioning. The front axle of the chassis 201 adopts a hinged connection structure. Compared with rigid connection, the hinged design can keep the wheels in good contact with the ground at all times on narrow roads or uneven ground, and the ground adhesion is improved by more than 30%, and the climbing performance is optimized. This design can avoid movement deviation caused by chassis shaking or wheel suspension, and provide a stable movement reference for subsequent support positioning, thereby preventing the amplification of positioning errors caused by inaccurate chassis displacement. Four telescopic supporting legs 204 are uniformly arranged below the chassis 201, and a pressure sensor (not shown in the figure) is arranged at the end of the supporting leg. Before the installation operation, the supporting leg 204 can be driven downward by the hydraulic pressure and tightly contact with the ground, thereby enhancing the overall stability of the mounting vehicle (avoiding tilting of the vehicle body when lifting the support), and judging whether the load distribution of the vehicle body is uniform through the supporting leg pressure data fed back by the pressure sensor, thereby providing data support for subsequent attitude adjustment.

[0027] Figure 1c A structural schematic diagram of a lifting arm is provided for the embodiment of the present application. Figure 1cAs shown, the lifting arm 105 includes an arm frame control system 301, a telescopic oil cylinder 302, and an arm frame 303. The lifting arm 105 adopts a double-link + telescopic + folding structure, has a maximum lifting height of 5 meters, a rated load of 200 kg, and can cover most of the support installation heights in a nuclear power plant; the connecting hinge points of each rod are optimized through finite element analysis, and the vibration of the arm frame 303 during operation is reduced as three constraint conditions of the working stroke (maximum stroke 1.8 meters) of the telescopic oil cylinder 302, the working pressure (rated pressure 16 MPa) of the oil cylinder, and the smoothness of amplitude variation, so that the vertical direction fluctuation of the support during lifting is controlled within ±0.2 mm, and the support is prevented from colliding with the installation wall surface due to the shaking of the arm frame. The folding arm part of the lifting arm 105 connected to the clamping manipulator 106 adopts a symmetric design of “upper and lower equal volume”, and when the amplitude angle of the telescopic arm changes within the range of 0-90° (for example, from horizontal lifting adjustment to vertical lifting), the volume change amount of the upper and lower oil cylinders is equal, the synchronous control of the hydraulic oil flow can ensure that the clamping manipulator 106 always maintains a horizontal or vertical upward posture, and the posture accuracy error is ≤0.4°. This design solves the problem of posture deviation of the manipulator when the amplitude angle changes in the traditional lifting arm, avoids the need for secondary adjustment of the support due to the posture tilt during lifting, and greatly shortens the installation time. The arm frame control system 301 is linked with the hydraulic system 102 and the electrical system 104, and can receive the pressure data of the telescopic oil cylinder 302 and the position data of the arm frame 303 (collected through the built-in displacement sensor) in real time. When the lifting load exceeds the rated load by 10% (i.e. 220 kg), the arm frame control system 301 will trigger overload protection, automatically reduce the lifting speed, and issue an audible and visual alarm; at the same time, if the actual position of the arm frame 303 deviates from the target position by more than 0.5 mm, the system will correct the deviation by fine-tuning the telescopic amount of the telescopic oil cylinder 302 to ensure the lifting accuracy.

[0028] Figure 1d A structural schematic diagram of a manipulator is provided for the embodiments of the present application. Figure 1dAs shown, the clamping manipulator 106 includes a double-rotation electric cylinder 401, a Y-axis module 402, a clamping jaw cylinder 403, an X-axis module 404, and a clamping jaw 405. The clamping manipulator 106 has a double-adjustment capability of “rotation + fine adjustment in a plane”: the double-rotation electric cylinder 401 can drive the clamping jaw 405 to rotate ±45° around a vertical axis, so as to accurately adjust the angular position of the support (for example, to align the support mounting hole with the preset bolt hole on the wall surface); the X-axis module 404 and the Y-axis module 402 are driven by servo motors, and the control accuracy is 0.1 mm, so as to realize fine adjustment of the support in the horizontal plane in the horizontal direction (X-axis) and the vertical direction (Y-axis). This design can compensate for the slight positioning deviation caused in the early lifting and moving process, ensure that the support mounting surface is completely attached to the wall surface, and the installation deviation is ≤0.1 mm, so as to meet the high-precision requirement of the support installation in the nuclear power plant. The clamping jaw 405 is driven by the clamping jaw cylinder 403, and the clamping force can be adjusted by the pressure of the hydraulic system 102 (adjustment range: 5-20 kN); at the same time, the clamping jaw 405 is internally provided with a torque detection sensor (not shown in the figure), and when the grabbing force exceeds a preset threshold value (for example, when a 200 kg support is grabbed, the threshold value is set to 15 kN), the sensor will send a signal to the electrical system 104, and the system will automatically reduce the clamping force to prevent the support or the clamping jaw from being damaged due to overload. In addition, the clamping surface of the clamping jaw 405 is designed with rubber anti-skid, so as to increase the friction with the support and avoid the support from slipping during the fine adjustment. All actions of the clamping manipulator 106 are uniformly scheduled by the PLC controller of the electrical system 104, and the clamping manipulator 106 can be linked with the visual camera 101, so that the visual camera 101 can capture image data of the installation area of the support to be installed in real time, the PLC controller can determine the first position information of the support to be installed through image recognition, correct the first position information according to the attitude information of the installation vehicle to obtain second position information; when the second position information is in the working area of the installation vehicle, the load data of the installation vehicle is obtained; according to the load data and the attitude information, the execution components on the installation vehicle are controlled, that is, the double-rotation electric cylinder 401 and the X / Y-axis module are automatically controlled to adjust the position of the clamping jaw, so as to realize closed-loop control of “visual guidance-automatic fine adjustment” and reduce manual intervention.

[0029] The hydraulic system 102 adopts a double-circuit hydraulic system design, and provides independent hydraulic power for the lifting arm 105, the clamping manipulator 106, the traveling chassis 107, and the supporting legs 204, so as to avoid the failure of a single circuit from causing the entire device to be paralyzed. The hydraulic system 102 is provided with an overload protection valve and a pressure sensor, so as to monitor the pressure of each circuit in real time. When the pressure exceeds the safety range, the overload protection valve automatically releases pressure, and the pressure sensor feeds back data to the electrical system 104, triggers an alarm, and stops the related actions, so as to ensure that the hydraulic system operates safely and stably.

[0030] The electrical system 104 is composed of sensors (visual camera 101, tilt sensor 103, pressure sensor, displacement sensor, etc.), a gimbal (carrying the visual camera 101, which can adjust the shooting angle), a PLC controller, a driving remote control and a working remote control. Among them, the PLC controller is the core, which can realize three functions: first, data integration, receiving environmental, attitude, and load data collected by various sensors; second, algorithm operation, performing positioning algorithms such as coordinate conversion, deviation calculation, and path planning; third, instruction output, sending control instructions to servo motors 203, hydraulic systems 102, and other execution components. The driving remote control and the working remote control support manual intervention. When the automatic mode appears abnormal, the operator can switch to manual mode to adjust the equipment state through remote control to ensure the continuity of the work.

[0031] Figure 1e A flowchart of a method for installing and positioning a nuclear engineering support installation vehicle is provided for the embodiments of the present application. As shown in Figure 1e The method for installing and positioning the nuclear engineering support installation vehicle can include the following steps: Step S101, according to the image data of the installation area where the to-be-installed support is located, determining the first position information of the to-be-installed support.

[0032] The to-be-installed support refers to the support being installed by the installation vehicle. It can be understood that the to-be-installed support is clamped by the clamping manipulator 106 at this time. The installation area refers to the area where the to-be-installed support needs to be installed. The image acquisition device (such as CCD or CMOS camera) configured on the installation vehicle can be used to shoot the installation area where the to-be-installed support is located, and obtain the image data of the area. Then, through image processing techniques such as edge detection, feature extraction, etc., the image data is analyzed and processed, so as to identify the to-be-installed support in the image and calculate its three-dimensional space coordinates in the camera coordinate system, which is taken as the first position information. The edge detection and feature extraction algorithms are prior art, which will not be described here.

[0033] Step S102, correcting the first position information according to the attitude information of the installation vehicle to obtain the second position information.

[0034] The attitude information of the installation vehicle can include at least one of the levelness, the inclination angle, and the rotation angle of the vehicle, which can be acquired by an attitude sensor installed on the installation vehicle. In a complex site such as a nuclear island, the installation vehicle itself can be parked on uneven ground, causing the vehicle body to be inclined. Since the attitude of the installation vehicle can affect the actual position of the support to be installed, it is necessary to correct the first position information according to the attitude information of the installation vehicle. For example, if the installation vehicle is inclined, the actual position of the support to be installed will change relative to the position in the image space, and the amount of change can be calculated through the attitude information to adjust the first position information and obtain more accurate second position information. Specifically, the inclination sensor can be used as the attitude sensor to acquire the inclination angle of the installation vehicle, and through coordinate transformation, the first position information in the coordinate system is converted into the vehicle body coordinate system with the horizontal ground as the reference to obtain the second position information, thereby eliminating the measurement error caused by the inclination of the vehicle body and improving the positioning accuracy. The coordinate transformation matrix can be preset to convert the first position information into the second position information. For example, the first position information is P1 = (X1, Y1, Z1) (in the camera coordinate system), and the corrected second position information P2 = R_attitude•P1, that is, the influence of the inclination of the vehicle body on the position coordinates is eliminated through the attitude correction matrix, wherein R_attitude is a preset coordinate transformation matrix.

[0035] In step S103, when the second position information is in the working area of the installation vehicle, the load data of the installation vehicle is acquired.

[0036] The working area refers to the space range in which the execution components of the installation vehicle can reach and perform installation operations. It is necessary to determine whether the second position information is within the working area of the installation vehicle. If not, the position or posture of the installation vehicle needs to be adjusted to be within the working area. Among them, the second position information can be compared with the pre-stored mechanical working range of the installation vehicle (such as the maximum extension range of the lifting arm and the maximum activity space of the mechanical hand). For example, the distance between the second position information and the hydraulic device can be calculated and compared with the pre-stored maximum extension length of the lifting arm. If the distance is less than the maximum extension length of the lifting arm, it means that the second position information is within the pre-stored mechanical working range of the installation vehicle. If the distance is greater than or equal to the maximum extension length of the lifting arm, it means that the second position information is outside the pre-stored mechanical working range of the installation vehicle. The second position information is within the pre-stored mechanical working range of the installation vehicle, that is, the second position information is within the working area of the installation vehicle. The second position information is outside the pre-stored mechanical working range of the installation vehicle, that is, the second position information is outside the working area of the installation vehicle. When the second position information is within the working area, the load data of the installation vehicle, such as the weight of the to-be-installed support, is obtained through the load sensor, such as the pressure sensor, installed on the installation vehicle. The load data includes the pressure data collected by the pressure sensor on the chassis leg and the torque data collected by the torque sensor at the joint of the mechanical hand.

[0037] In step S104, the execution components on the installation vehicle are controlled according to the load data and the posture information to complete the installation of the to-be-installed support.

[0038] The execution components mainly include the steering wheel of the walking chassis, the hydraulic cylinder of the leg, the luffing cylinder of the lifting arm, and the servo motor of the clamping mechanical hand. Through the cooperative work between the execution components, the installation of the to-be-installed support can be realized.

[0039] Specifically, based on posture information and load data (pressure data), the system determines whether the vehicle body is level and whether the support is balanced. If a deviation exists, dynamic active leveling is achieved by controlling the extension and retraction of the outrigger cylinders to ensure the stability of the entire work platform. For example, the average pressure of all outriggers can be calculated by comparing the tilt angle with the target angle (usually 0°), and then the pressure data of each outrigger is compared with the average. An ideal stable state is when the tilt angle approaches 0 and the pressure of all outriggers also approaches the average value. The clamping force is adjusted in real time based on the torque sensor data (torque data) on the robotic arm to prevent overload damage or unstable gripping. For example, the torque data can be compared with a preset torque threshold. When the torque data is greater than the preset torque threshold, the clamping force is reduced to the torque threshold; when the torque data is less than the preset torque threshold, the clamping force is increased to the torque threshold. During the movement of the lifting arm, the speed and acceleration are smoothly controlled by combining load and posture feedback to suppress swaying.

[0040] The installation and positioning method for a nuclear engineering support installation vehicle provided in this invention achieves a dual positioning mechanism through image recognition and attitude correction, eliminating measurement errors caused by camera angle and vehicle tilt, and solving the problem of large errors caused by traditional methods relying on human observation. By determining whether the second position information is within the working area of ​​the installation vehicle, invalid operations are avoided when the installation vehicle is outside the working range. By acquiring load data and attitude information, dual monitoring of pressure deviation and tilt angle deviation is achieved, effectively preventing the installation vehicle from overturning due to uneven force or excessive tilt, ensuring the stability of the installation vehicle during operation.

[0041] Example 2 This invention also provides another method for installing and positioning a nuclear engineering support installation vehicle; this method is based on the method described in the above embodiments; the method focuses on describing the specific implementation of determining the first position information of the support to be installed based on the image data of the installation area where the support is located.

[0042] Figure 2 A flowchart of another installation and positioning method for a nuclear engineering support installation vehicle provided in an embodiment of the present invention is shown below. Figure 2 As shown, the installation and positioning method of this nuclear engineering support installation vehicle may include the following steps: Step S201: Extract features from the image data of the installation area where the bracket to be installed is located to obtain the image feature points of the bracket to be installed.

[0043] Understandably, the acquired image data can be preprocessed, including denoising (Gaussian filtering), enhancement, and grayscale processing, to reduce image interference caused by dust and strong light at the nuclear engineering site.

[0044] Further, the unique contour and landmark points of the bracket are extracted by a feature extraction algorithm, for example, the end face corner or edge of the square bracket to be installed can be used as a key feature point. For example, the entire contour of the bracket to be installed can be detected by using Canny operator edge detection, and the pixel coordinates of the four corners of the bracket to be installed can be accurately located by using Harris corner detection algorithm or Shi-Tomasi corner detection algorithm. In the embodiment of the present application, the pixel coordinates of the end face corner of the bracket to be installed, that is, the pixel coordinates of the four corners of the bracket to be installed in the image, are used as the image feature points of the bracket to be installed.

[0045] In step S202, the first position information of the bracket to be installed is determined by using a pinhole camera model according to the preset camera parameters and the pixel coordinates of the image feature points.

[0046] Specifically, the pinhole camera model is a model for converting pixel coordinates into actual space coordinates, and its essence is to establish a mapping relationship between the camera coordinate system and the image coordinate system by using the preset camera parameters (internal parameters and external parameters), and then to calculate the three-dimensional coordinates of the bracket to be installed in the camera coordinate system by combining the rotation matrix and the translation matrix. The camera internal parameters refer to the fixed parameters calibrated when the camera is manufactured, including the focal length f, the image principal point coordinates (i.e. the pixel coordinates corresponding to the image center), and the pixel size (the physical size of each pixel in the actual space), which determine the imaging rule of the camera for projecting the space point onto the image. The camera external parameters refer to the position and attitude parameters of the camera installed on the installation vehicle, including the translation amount and the rotation angle of the camera relative to a reference point (such as the center of the vehicle body) in the vehicle body coordinate system, which describe the spatial state of the camera in the vehicle body coordinate system.

[0047] Further, the first position information can be determined by steps A1-A2.

[0048] In step A1, the rotation matrix and the translation matrix between the camera coordinate system and the vehicle body coordinate system are established according to the preset camera parameters.

[0049] Specifically, the image feature points and the actual space points can be associated by using a projection equation, and the matrix can be solved by singular value decomposition (SVD), which essentially eliminates imaging errors and ensures the accurate mapping relationship between the two coordinate systems.

[0050] The rotation matrix and the translation matrix between the camera coordinate system and the vehicle body coordinate system are established according to the preset camera parameters, including: establishing a projection equation between the image feature points and the actual space points according to the preset camera parameters; and performing singular value decomposition on the projection equation to obtain the rotation matrix and the translation matrix between the camera coordinate system and the vehicle body coordinate system.

[0051] It can be understood that the imaging position of any point P in space in the image can be approximated by a pinhole imaging model, that is, the projection position p=[u, v] of any point in the image T is the intersection of the line OP connecting the optical center O and the point P=[x c , y c , z c ] T and the image plane. The image coordinate system O c -X c Y c Z c is defined with the optical center as the origin; according to the pinhole camera imaging model, the projection equation is:

[0052] In the formula: f x is the scale factor on the u-axis, f y is the scale factor on the v-axis; c x , c y are the projection coordinates of the optical center point in the image; R, t represent the rotation matrix and translation vector between the camera coordinate system (describing the image feature point coordinates) and the world coordinate system (describing the actual space point coordinates), respectively, which are called camera external parameters.

[0053] In the embodiment of the application, the two-dimensional space points in the actual plane are first projected onto a virtual reference plane, which is perpendicular to the camera optical axis and parallel to the imaging plane. The points on the virtual reference plane are written into the image plane through the lens parallel perspective, and form image pixel points. In parallel perspective, the reference plane and the image plane are only a simple scaling relationship, which retains the parallel property and position property lost in perspective imaging. The virtual image plane and the actual plane are also a simple projection relationship in the model.

[0054] Since the image plane and the actual plane are a simple projection relationship in the model, the homography matrix of the plane projection is solved, that is, the mapping relationship is obtained. For an image plane projection point p’=[ u , v , 1] T , there is a non-singular matrix H, such that for any homogeneous point p=[ x , y , z] T on the plane, p’=Hp, which can be described as follows:

[0055] The conversion into an equation set can be described as follows:

[0056] Thus, the linear equation about H element can be obtained from the 4 groups of corresponding points (image feature point coordinates (u1, v1), (u2, v2), (u3, v3), (u4, v4) and actual space point coordinates (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4)) as follows:

[0057] Convert to matrix, and simply record as: , wherein:

[0058] SVD (singular value) decomposition is performed on A , and the following can be obtained: , wherein Σ A is an eigenvalue matrix of A , U A and V A are left singular matrix and right singular matrix of A respectively.

[0059] Therefore, for the pixel coordinate value of the image feature point, the coordinate value of the corresponding point of the feature point in the actual plane can be obtained through the above formula, and thus the monocular vision positioning target can be achieved.

[0060] V A The last column of the matrix is , and the solution is:

[0061] , wherein η is a proportional coefficient, = [a1, a2, ……a 12 ] T , and the rotation part is:

[0062] , wherein r is a scale orthogonal matrix, and in order to obtain the optimal rotation matrix, SVD decomposition is performed on it:

[0063] , wherein Σ r is an eigenvalue matrix of r , U r and V r are left singular matrix and right singular matrix of r respectively.

[0064] The optimal rotation matrix is:

[0065] The actually obtained Σ r The diagonals are very close, take the average, and the solved proportional coefficient is:

[0066] Wherein, η is the proportional coefficient, and x = η In the formula, η is the same parameter. tr () represents the trace of the matrix.

[0067] Then the translation vector can be obtained:

[0068] Step A2, according to the rotation matrix and the translation matrix, the pixel coordinates of the image feature points are converted, and the first position information of the to-be-installed support is determined.

[0069] The homogeneous transformation matrix composed of R , t is T That is, the pose description of the to-be-installed support in the camera coordinate system, which can be described in the following form:

[0070] Specifically, the pixel coordinates of each image feature point can be multiplied by the homogeneous transformation matrix to obtain the actual space point coordinates corresponding to the image feature points. The actual space coordinates of the center position of the actual space coordinates corresponding to each image feature point are taken as the first position information of the to-be-installed support.

[0071] Step S203, correcting the first position information according to the attitude information of the installation vehicle to obtain second position information.

[0072] Step S204, when the second position information is in the working area of the installation vehicle, acquiring the load data of the installation vehicle.

[0073] Further, when the second position information is in the working area of the installation vehicle, load data of the installation vehicle is acquired, including: performing coordinate conversion on the second position information according to a preset relative relationship between a camera coordinate system and an installation vehicle lifting arm rotation center coordinate system, to determine third position information of the second position information in the installation vehicle lifting arm rotation center coordinate system; comparing the third position information with a working range of the lifting arm, to determine a comparison result; and when the comparison result is that the third position information is in the working area of the installation vehicle, acquiring the load data of the installation vehicle.

[0074] The second position information describes a coordinate position of the to-be-installed support in a vehicle body coordinate system taking a horizontal ground as a reference. The lifting arm rotation center coordinate system is a three-dimensional coordinate system taking a rotation base center of the lifting arm as an origin (0, 0, 0). All movement ranges (how far can be stretched, how high can be lifted, and how large an angle can be rotated) of the mechanical arm are defined in this coordinate system. Specifically, a fixed conversion parameter (i.e., a preset relative relationship between a camera coordinate system and an installation vehicle lifting arm rotation center coordinate system) can be stored in advance, which describes a mathematical relationship (mainly a translation vector) between the horizontal ground coordinate system and the lifting arm rotation center coordinate system. By using the conversion parameter, the system can accurately convert the second position information into the third position information. Specifically, the second position information can be added to the preset relative relationship between the camera coordinate system and the installation vehicle lifting arm rotation center coordinate system to obtain the third position information.

[0075] The converted third position information is compared with the stored working range of the lifting arm. The working range is a three-dimensional space model defining all space positions that can be reached by the mechanical arm, and is usually jointly defined by parameters such as a maximum stretching radius, a minimum stretching radius, a maximum lifting height, a minimum working height, and a rotation angle range of the lifting arm. By calculating a distance (radial distance) from the third position information to the rotation base center of the lifting arm and a height difference, it is determined whether the point is within the preset safe working space. For example, the maximum working radius of the lifting arm is 5.5 meters, the minimum radius is 0.5 meters, the maximum lifting height is 4 meters, and the minimum working height is 1 meter. The third position information is (5, 0, 2). The radial distance = √(5 2 + 0 2 ) = 5 meters. 0.5 meters < 5 meters < 5.5 meters, which is satisfied. The height is 2 meters. 1 meter < 2 meters < 4 meters, which is satisfied. Therefore, the comparison result is that the third position information is in the working area of the installation vehicle.

[0076] The second position information in the camera coordinate system is converted into third position information in the lifting arm rotation center coordinate system, the third position information is compared with the working range of the lifting arm, when the comparison result is that the third position information is in the working area of the mounting vehicle, the load data of the mounting vehicle is acquired, mechanical structure damage (such as cylinder pressure retention, connecting rod deformation) or system deadlock caused by the movement of the mechanical arm to the limit position is effectively prevented, invalid leveling action and installation attempt are avoided, and working time and energy consumption are saved.

[0077] In step S205, the executing component on the mounting vehicle is controlled according to the load data and the attitude information, so as to complete the installation of the to-be-installed support.

[0078] The installation positioning method of the nuclear engineering support mounting vehicle provided by the embodiment of the present application extracts the image feature points of the image data of the to-be-installed support, determines the first position information corresponding to the image feature points by using the pinhole camera model according to the preset camera parameters, replaces the process of relying on manual observation and judgment in the traditional operation, avoids the recognition errors or omissions caused by the fatigue of the operator, the poor visual angle and the insufficient experience, and improves the accuracy of the determination of the first position information. Meanwhile, the errors and the efficiency loss caused by the contact and the instrument carrying are also avoided, and the installation positioning method is suitable for the operation environment inconvenient for manual contact, such as high altitude and radiation.

[0079] Embodiment 3 The embodiment of the present application also provides another installation positioning method of a nuclear engineering support mounting vehicle; the method is implemented on the basis of the above-mentioned embodiment method; and the method mainly describes the specific implementation mode of controlling the executing component on the mounting vehicle according to the load data and the attitude information, so as to complete the installation of the to-be-installed support.

[0080] Figure 3 The flowchart of another installation positioning method of a nuclear engineering support mounting vehicle provided by the embodiment of the present application is shown in Figure 3 The installation positioning method of the nuclear engineering support mounting vehicle can include the following steps. In step S301, the first position information of the to-be-installed support is determined according to the image data of the installation area where the to-be-installed support is located.

[0081] In step S302, the first position information is corrected according to the attitude information of the mounting vehicle, so as to obtain second position information.

[0082] In step S303, when the second position information is in the working area of the mounting vehicle, the load data of the mounting vehicle is acquired.

[0083] Step S304, according to the difference between each leg pressure data and the preset pressure data, determine the pressure deviation of the installation vehicle.

[0084] Wherein, a high-precision pressure sensor is installed in the hydraulic oil circuit of each chassis leg for real-time monitoring of the support force borne by the leg. The installation vehicle is provided with a plurality of chassis legs for fixing the installation vehicle; the load data includes leg pressure data collected by the pressure sensor on each chassis leg.

[0085] The preset pressure data is a theoretical ideal value. For a stable vehicle on a horizontal ground, the ideal case is that the pressure of each leg is equal, i.e. the preset pressure data = total load / chassis leg number. Wherein, the total load refers to the weight of the installation vehicle.

[0086] Specifically, for each chassis leg, compare the pressure data of the chassis leg with the preset pressure data to obtain the pressure deviation of the chassis leg, i.e. pressure deviation (ΔF) = pressure data - preset pressure data. The pressure deviation of each chassis leg is taken as the pressure deviation of the installation vehicle.

[0087] Step S305, according to the difference between the attitude information and the preset inclination angle, determine the inclination angle deviation of the installation vehicle.

[0088] An inclination angle sensor (or inertial measurement unit IMU) can be installed on the main structure of the vehicle frame for real-time monitoring of the pitch angle (forward and backward inclination) and roll angle (left and right inclination) of the vehicle body relative to the horizontal reference plane. The preset inclination angle refers to the inclination angle of the target attitude set in advance, which is generally set to an absolute horizontal state with a pitch angle and a roll angle of 0 degrees. Specifically, the attitude information can be compared with (0, 0) to obtain the inclination angle deviation. That is, inclination angle deviation (Δα, Δβ) = attitude information - 0°.

[0089] Step S306, according to the pressure deviation and the inclination angle deviation, generate control instructions for the execution components on the installation vehicle to control the execution components to complete the installation of the to-be-installed bracket.

[0090] The pressure deviation and the inclination angle deviation are received and an advanced control algorithm (such as a PID control algorithm) is used for comprehensive decision-making to generate control instructions. The control instructions are used to control the execution components to drive the inclination angle deviation (Δα, Δβ) and the pressure deviation (ΔF) to zero. The control instructions are sent to the hydraulic servo valve of the leg to accurately control the flow and direction of the hydraulic oil, thereby driving the independent extension and retraction of each leg cylinder.

[0091] Further, the control instruction of the executing component on the installation vehicle is generated according to the pressure deviation and the inclination deviation to control the executing component to complete the installation of the support to be installed, and the control instruction of the executing component on the installation vehicle is generated according to the pressure deviation, the inclination deviation, the pressure comparison result, and the inclination comparison result to control the executing component to complete the installation of the support to be installed.

[0092] The pressure deviation threshold is a preset pressure safety limit value, which represents the maximum allowable pressure unevenness between the outriggers. The pressure deviation threshold is calculated in advance according to the structural strength and stability safety factor of the vehicle. The inclination deviation threshold is a preset angle safety limit value, which represents the maximum allowable inclination angle of the vehicle body. If the inclination angle exceeds this angle, the vehicle has the risk of overturning.

[0093] The pressure deviation is compared with the pressure deviation threshold. If the pressure deviation is greater than or equal to the pressure deviation threshold, it is determined that the pressure comparison result is dangerous. If the pressure deviation is less than the pressure deviation threshold, it is determined that the pressure comparison result is safe. The inclination deviation is compared with the inclination deviation threshold. If the inclination deviation is greater than or equal to the inclination deviation threshold, it is determined that the inclination comparison result is dangerous. If the inclination deviation is less than the inclination deviation threshold, it is determined that the inclination comparison result is safe. When the pressure comparison result and the inclination comparison result are both safe, it is determined that the current state of the installation vehicle is “safe, continue working”. At this time, the original fine PID control algorithm is continued to be executed. According to the specific values of the pressure deviation and the inclination deviation, the control instruction is generated to drive the outrigger oil cylinder to slowly and smoothly extend and retract, and the target is to make the pressure deviation and the inclination deviation approach zero to achieve high-precision leveling. At this time, the lifting arm and the manipulator can be allowed to move normally to perform installation work. When any one of the pressure comparison result and the inclination comparison result is dangerous, the system immediately determines that the current state is “dangerous, intervene immediately”. At this time, the emergency stop instruction is generated, and the emergency stop instruction is sent to all executing components (outriggers, lifting arms, and manipulators) to freeze all actions to prevent the situation from further deteriorating. In addition, an audible and visual alarm can be sent to the operator, and the specific fault source (such as “abnormal pressure of the right front outrigger!”) can be displayed on the control interface. In addition, only specific actions that restore safety can be allowed to be executed, for example, the outriggers are automatically retracted to a safe position after the operator confirms, or the vehicle is forced to move to a flat area.

[0094] The pressure deviation is compared with a pressure deviation threshold value to determine a pressure comparison result, the inclination deviation is compared with an inclination deviation threshold value to determine an inclination comparison result, and a control instruction for installing the on-vehicle execution component is generated according to the pressure comparison result, the inclination comparison result, the pressure deviation and the inclination deviation, so that the execution component completes the installation of the to-be-installed support, and serious accidents such as vehicle overturning and structural damage caused by unexpected situations such as ground collapse and support leg failure are avoided to the greatest extent. By setting the threshold values for the pressure deviation and the inclination deviation, the system can realize that the deviation has developed to a dangerous level, so as to actively interrupt the dangerous process, change passive correction to active defense, and have the ability to predict and prevent risks. After alarming the operator, the operator is explicitly informed that manual judgment and processing are required, so that the automatic system is prevented from blindly struggling in complex failures beyond its processing capacity, and the safety is ensured through human-machine cooperation.

[0095] The installation positioning method of the nuclear engineering support installation vehicle provided by the embodiment of the present application can actively identify and correct unstable states, ensure that the support system is always within a safe stress range, and protect valuable equipment assets and on-site personnel safety. The vehicle overturning risk caused by uneven stress on the support legs and ground subsidence is fundamentally avoided. In the process of identifying the unstable state, only relying on the inclination sensor cannot perceive whether the support leg is "virtual leg" (suspended) or under excessive stress. Only relying on the pressure sensor cannot directly perceive the absolute level state of the vehicle body. The combination of the two realizes the redundant design of multi-sensor fusion, which can be mutually verified. For example, when the system finds that the support leg pressure is normal but the vehicle body inclination is abnormal, it may be judged that the sensor is faulty or the mechanical structure has a problem, so as to immediately stop and alarm, realizing higher-level safety protection.

[0096] Embodiment 4 Corresponding to the above method embodiment, the embodiment of the present application provides an installation positioning device of a nuclear engineering support installation vehicle, Figure 4 A structural schematic diagram of the installation positioning device of the nuclear engineering support installation vehicle provided by the embodiment of the present application is shown in Figure 4 The installation positioning device of the nuclear engineering support installation vehicle can include: A first position determination module 410 is configured to determine first position information of a to-be-installed support according to image data of an installation area where the to-be-installed support is located. A correction module 420 is configured to correct the first position information according to attitude information of the installation vehicle to obtain second position information. A load data acquisition module 430 is configured to acquire load data of the installation vehicle when the second position information is within a working area of the installation vehicle. The installation control module 440 is configured to control the execution component on the installation vehicle according to the load data and the attitude information to complete the installation of the to-be-installed support.

[0097] The double positioning mechanism is realized through image recognition and attitude correction, the measurement error caused by the camera view angle and the vehicle body inclination is eliminated, and the problem of large error caused by the traditional method relying on human eye observation is solved. By judging whether the second position information is in the working area of the installation vehicle, invalid operation of the installation vehicle in the case of exceeding the working range is avoided. By obtaining the load data and the attitude information, double monitoring of pressure deviation and inclination deviation is realized, the overturning of the installation vehicle caused by uneven force or excessive inclination is effectively prevented, and the stability of the installation vehicle in the working process is ensured.

[0098] In some embodiments, the first position determination module 410 is further configured to: extract features from image data of an installation area where the to-be-installed support is located to obtain image feature points of the to-be-installed support; determine first position information of the to-be-installed support by using a pinhole camera model according to preset camera parameters and pixel coordinates of the image feature points.

[0099] In some embodiments, determining the first position information of the to-be-installed support by using the pinhole camera model according to the preset camera parameters and the pixel coordinates of the image feature points includes: establishing a rotation matrix and a translation matrix between a camera coordinate system and a vehicle body coordinate system according to the preset camera parameters; converting the pixel coordinates of the image feature points according to the rotation matrix and the translation matrix to determine the first position information of the to-be-installed support.

[0100] In some embodiments, establishing the rotation matrix and the translation matrix between the camera coordinate system and the vehicle body coordinate system according to the preset camera parameters includes: establishing a projection equation between the image feature points and actual space points according to the preset camera parameters; performing singular value decomposition on the projection equation to obtain the rotation matrix and the translation matrix between the camera coordinate system and the vehicle body coordinate system.

[0101] In some embodiments, the load data acquisition module 430 is further configured to: perform coordinate conversion on the second position information according to a relative relationship between the camera coordinate system and a lifting arm rotation center coordinate system of the installation vehicle to determine third position information of the second position information in the lifting arm rotation center coordinate system of the installation vehicle; comparing the third position information with a working range of the lifting arm to determine a comparison result; When the comparison result is that the third position information is in the working area of the installation vehicle, load data of the installation vehicle is acquired.

[0102] In some embodiments, the installation vehicle is provided with a plurality of chassis legs for fixing the installation vehicle, and the load data comprises leg pressure data collected by pressure sensors on the chassis legs. The installation control module 440 comprises: According to the difference between each leg pressure data and the preset pressure data, a pressure deviation of the installation vehicle is determined. According to the difference between the attitude information and the preset inclination angle, an inclination angle deviation of the installation vehicle is determined. According to the pressure deviation and the inclination angle deviation, a control instruction of an executing component on the installation vehicle is generated to control the executing component to complete the installation of the to-be-installed support.

[0103] In some embodiments, according to the pressure deviation and the inclination angle deviation, a control instruction of an executing component on the installation vehicle is generated to control the executing component to complete the installation of the to-be-installed support, comprising: The pressure deviation is compared with a pressure deviation threshold value to determine a pressure comparison result. The inclination angle deviation is compared with an inclination angle deviation threshold value to determine an inclination angle comparison result. According to the pressure comparison result, the inclination angle comparison result, the pressure deviation and the inclination angle deviation, a control instruction of an executing component on the installation vehicle is generated to control the executing component to complete the installation of the to-be-installed support.

[0104] The device provided by the embodiment of the application has the same implementation principle and technical effects as the foregoing method embodiment, and for brevity of description, the part not mentioned in the device embodiment can be referred to the corresponding content in the foregoing method embodiment.

[0105] Embodiment 5 The embodiment of the application further provides an electronic device for running the installation positioning method of the nuclear engineering support installation vehicle. Figure 5 As shown in the structural schematic diagram of an electronic device, the electronic device comprises a memory 500 and a processor 501, wherein the memory 500 is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor 501 to realize the installation positioning method of the nuclear engineering support installation vehicle.

[0106] Further, Figure 5 As shown in the structural schematic diagram of an electronic device, the electronic device further comprises a bus 502 and a communication interface 503, and the processor 501, the communication interface 503 and the memory 500 are connected through the bus 502.

[0107] The memory 500 can include a high-speed random access memory (RAM), and can also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 503 (which can be wired or wireless), and the Internet, a wide area network, a local network, a metropolitan area network, etc. can be used. The bus 502 can be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the figure to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0108] The processor 501 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 501 or the instruction in the form of software. The processor 501 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiment of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiment of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory 500, and the processor 501 reads the information in the memory 500, and combines the hardware to complete the steps of the method of the above embodiment.

[0109] The embodiment of the present application further provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions cause the processor to implement the installation and positioning method of the nuclear engineering support installation vehicle when the computer executable instructions are called and executed by the processor.

[0110] The computer program product for implementing the installation and positioning method of the nuclear engineering support installation vehicle provided by the embodiment of the present application comprises a computer readable storage medium storing non-volatile program codes executable by the processor, and the program codes comprise instructions for executing the method described in the foregoing method embodiment.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0112] In the several embodiments of the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0113] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0114] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0115] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the prior art that essentially contributes or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0116] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments within the technical range disclosed by the present application, or replace some technical features with equivalent ones; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for installing and positioning a nuclear engineering support installation vehicle, characterized in that, include: Based on the image data of the installation area where the bracket to be installed is located, the first position information of the bracket to be installed is determined; The first position information is corrected based on the posture information of the installation vehicle to obtain the second position information; When the second location information is within the working area of ​​the installation vehicle, the load data of the installation vehicle is acquired; Based on the load data and the attitude information, the actuators on the installation vehicle are controlled to complete the installation of the bracket to be installed.

2. The method according to claim 1, characterized in that, Based on image data of the installation area where the bracket to be installed is located, the first position information of the bracket to be installed is determined, including: Feature extraction is performed on the image data of the installation area where the bracket to be installed is located to obtain the image feature points of the bracket to be installed; Based on the preset camera parameters and the pixel coordinates of the image feature points, the first position information of the bracket to be installed is determined using a pinhole camera model.

3. The method according to claim 2, characterized in that, Based on preset camera parameters and the pixel coordinates of the image feature points, the first position information of the bracket to be installed is determined using a pinhole camera model, including: Based on the preset camera parameters, establish the rotation and translation matrices between the camera coordinate system and the vehicle coordinate system; Based on the rotation matrix and the translation matrix, the pixel coordinates of the image feature points are transformed to determine the first position information of the bracket to be installed.

4. The method according to claim 3, characterized in that, Based on the preset camera parameters, establish the rotation and translation matrices between the camera coordinate system and the vehicle coordinate system, including: Based on the preset camera parameters, establish the projection equation between the image feature points and the actual spatial points; Singular value decomposition is performed on the projection equation to obtain the rotation and translation matrices between the camera coordinate system and the vehicle coordinate system.

5. The method according to claim 1, characterized in that, When the second location information is within the working area of ​​the installation vehicle, the load data of the installation vehicle is acquired, including: Based on the relative relationship between the preset camera coordinate system and the coordinate system of the lifting arm rotation center of the installation vehicle, the second position information is transformed to determine the third position information of the second position information in the coordinate system of the lifting arm rotation center of the installation vehicle. The third position information is compared with the working range of the lifting arm to determine the comparison result; When the comparison result indicates that the third location information is within the working area of ​​the installation vehicle, the load data of the installation vehicle is acquired.

6. The method according to claim 1, characterized in that, The installation vehicle is equipped with multiple chassis outriggers, which are used to fix the installation vehicle; the load data includes outrigger pressure data collected by pressure sensors on each chassis outrigger. Based on the load data and the attitude information, the actuators on the installation vehicle are controlled to complete the installation of the bracket to be installed, including: The pressure deviation of the installation vehicle is determined based on the difference between the pressure data of each outrigger and the preset pressure data; The tilt angle deviation of the installation vehicle is determined based on the difference between the posture information and the preset tilt angle. Based on the pressure deviation and the tilt angle deviation, control commands are generated for the actuators on the installation vehicle to control the actuators to complete the installation of the bracket to be installed.

7. The method according to claim 6, characterized in that, Based on the pressure deviation and the tilt angle deviation, control commands are generated for the actuators on the installation vehicle to control the actuators to complete the installation of the bracket to be installed, including: The pressure deviation is compared with the pressure deviation threshold to determine the pressure comparison result; The tilt angle deviation is compared with the tilt angle deviation threshold to determine the tilt angle comparison result; Based on the pressure comparison results, the tilt angle comparison results, the pressure deviation, and the tilt angle deviation, control commands are generated for the actuators on the installation vehicle to control the actuators to complete the installation of the bracket to be installed.

8. An installation and positioning device for a nuclear engineering support installation vehicle, characterized in that, include: The first position determination module is used to determine the first position information of the bracket to be installed based on the image data of the installation area where the bracket to be installed is located. The correction module is used to correct the first position information based on the posture information of the installation vehicle to obtain the second position information; The load data acquisition module is used to acquire the load data of the installation vehicle when the second location information is within the working area of ​​the installation vehicle; The installation control module is used to control the actuators on the installation vehicle based on the load data and the attitude information to complete the installation of the bracket to be installed.

9. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the installation and positioning method of the nuclear engineering support installation vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the installation and positioning method of the nuclear engineering bracket installation vehicle as described in any one of claims 1 to 7.

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