Method and assembly for maintaining an item of equipment of an industrial facility
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-05-10
- Publication Date
- 2026-03-18
AI Technical Summary
In industrial installations, particularly in nuclear reactors, equipment maintenance is challenging due to the similarity of surrounding equipment, leading to potential errors during interventions, as operators struggle to accurately identify the correct equipment for maintenance.
A method and device utilizing an image acquisition member and calculation device to repeatedly acquire and compare images, determining the position of the image acquisition member relative to the equipment, and displaying a sign to distinguish it from its environment, ensuring accurate identification and reducing confusion with neighboring equipment.
The method significantly enhances the reliability and ease of maintenance operations by consistently and correctly positioning the sign to identify the target equipment, reducing the risk of confusion and errors, even when the image acquisition member moves.
Smart Images
Figure EP2024062920_14112024_PF_FP_ABST
Abstract
Description
[0001] TITLE: Method and set of maintenance for equipment in an industrial installation
[0002] The present invention generally relates to the maintenance of equipment in an industrial installation.
[0003] The invention applies particularly to the maintenance of equipment which is surrounded by other equipment of the same type, with which this equipment may be confused.
[0004] In this case, it is essential to perfectly identify the equipment on which the maintenance operation must be carried out, so as to avoid any errors during the intervention.
[0005] This problem arises particularly during maintenance operations in a nuclear reactor.
[0006] When this nuclear reactor is of the pressurized water type, the pressure vessel includes in particular a plurality of guide tubes, intended to guide the reactivity control clusters of the reactor core during their movements.
[0007] These guide tubes are part of the upper internal equipment of the pressure vessel.
[0008] In a horizontal plane, these guide tubes are arranged in a grid with several rows and several columns.
[0009] Maintenance work on the guide tubes is carried out from above, with the tank cover being removed and removed.
[0010] The operators first identify the guide tube being maintained, on a paper or digital plan.
[0011] Then, the maintenance intervention is carried out remotely, with the intervention area being viewed remotely using one or more video cameras.
[0012] The operator carrying out the operation must be particularly careful not to use the wrong guide tube and to carry out the repair on a guide tube other than the one intended.
[0013] In this context, the invention aims to propose a maintenance method and device making it possible to increase the reliability of maintenance interventions and to facilitate the work of operators.
[0014] To this end, the invention according to a first aspect relates to a method of maintaining equipment of an industrial installation, the method comprising the execution of an operating sequence repeatedly, the operating sequence comprising the following steps: - acquisition of an image by an image acquisition member (35), the image showing the equipment and an environment of the equipment;
[0015] - comparison of said image with the image acquired in the previous operating sequence;
[0016] - determining a position of the image acquisition device relative to the equipment using said comparison;
[0017] - displaying on said image a sign making it possible to distinguish the equipment from its environment, at a determined position relative to the equipment, using said position of the image acquisition device relative to the equipment.
[0018] The display on the images acquired by the image acquisition unit of a sign allowing the equipment to be distinguished from its environment allows the operator to easily identify the equipment on which he must intervene. The risk of confusing this equipment with neighboring equipment is considerably reduced.
[0019] The method allows in particular the use of a mobile image acquisition device, for example an image acquisition device mounted on handling equipment of the industrial installation.
[0020] In the case of maintenance work in the vessel of a nuclear reactor, on the vessel internals or on the vessel head or on steam generator elements of the nuclear reactor, the handling devices equipped with the reactor are frequently used to carry out maintenance operations. These handling devices are equipped with image acquisition devices used to visualize the intervention area. The handling devices move as needed, so that the position of the image acquisition device changes in relation to the equipment on which the intervention is to be carried out.
[0021] With the method of the invention, the sign making it possible to distinguish the equipment from its environment is always positioned correctly. The images acquired by the image acquisition device are analyzed so as to permanently know the position of the image acquisition device in relation to the equipment. This makes it possible to correctly position this sign, close to the equipment being maintained.
[0022] The maintenance method may also have one or more of the following characteristics, considered individually or in all technically possible combinations:
[0023] - the environment of the equipment includes several other pieces of equipment of the same type, with which the equipment may be confused, the sign making it possible to distinguish the equipment from other equipment; - the industrial installation is a nuclear reactor, the equipment being chosen from the following list:
[0024] * organ belonging to the Upper Internal Elements of a nuclear reactor pressure vessel, such as a guide tube for guiding a control cluster, a thermocouple column, a fuel positioning pin or a Control Rod Assembly;
[0025] * organ belonging to the Lower Internal Elements of the vessel, such as a lower core plate, a fuel positioning pin, a core support column, a glove finger crossing;
[0026] * penetration through a lower bottom of the tank;
[0027] * member carried by a cover of the tank, such as a control assembly of a control cluster, an adapter for passing the control cluster through the cover, a thermal protection sleeve for the adapter;
[0028] * steam generator tube plate;
[0029] * nuclear fuel assembly;
[0030] - the image acquisition device is mobile relative to the equipment;
[0031] - the comparison step includes the following sub-steps:
[0032] * identification of characteristic points on the image;
[0033] * identification of said characteristic points on the image acquired in the previous operating sequence;
[0034] * calculation of a displacement of the image acquisition device relative to the equipment between the acquisition of said image and the acquisition of the image acquired in the previous operating sequence, using the characteristic points identified on said image and the same characteristic points identified on the image acquired in the previous operating sequence;
[0035] - the step of determining the position of the image acquisition device relative to the equipment includes the following sub-steps:
[0036] * consider the position of the image acquisition device in relation to the equipment determined in the previous operating sequence;
[0037] * calculation of the position of the image acquisition device relative to the equipment by applying the displacement calculated in the comparison step to the position of the image acquisition device relative to the equipment determined in the previous operating sequence;
[0038] - the determined position of the sign in relation to the equipment is the same on the images of all operating sequences; - the position of the image acquisition device in relation to the equipment is recorded in a theoretical map of the equipment and its environment;
[0039] - the method comprises performing an equipment maintenance operation, carried out by an operator concomitantly with the repeated operating sequence, the operator identifying the equipment to be maintained by looking at the sign displayed on the images.
[0040] According to a second aspect, the invention relates to a maintenance assembly for equipment of an industrial installation, the assembly comprising an image acquisition member and a calculation device, the maintenance assembly being configured for the execution of an operating sequence repeatedly, the operating sequence comprising the following steps:
[0041] - acquisition of an image by the image acquisition device, the image showing the equipment and an environment of the equipment;
[0042] - comparison of said image with the image acquired in the previous operating sequence, by the computing device;
[0043] - determination of a position of the image acquisition device relative to the equipment using said comparison, by the calculation device;
[0044] - display on said image of a sign making it possible to distinguish the equipment from its environment, at a determined position relative to the equipment, using said position of the image acquisition device relative to the equipment, by the calculation device.
[0045] Other characteristics and advantages of the invention will emerge from the detailed description given below, for information purposes only and in no way limiting, with reference to the appended figures, among which:
[0046] - [Fig.1] Figure 1 is a step diagram of the maintenance method according to the invention;
[0047] - [Fig. 2] Figure 2 is a simplified schematic representation of a nuclear reactor before maintenance operation
[0048] - [Fig. 3] Figure 3 is a simplified schematic representation of a maintenance assembly according to the invention, configured for intervention on guide tubes of the nuclear reactor of Figure 2;
[0049] - [Fig.4] Figure 4 is a simplified schematic representation of an image acquired by the image acquisition device in the position of Figure 3;
[0050] - [Fig.5] Figure 5 is a view similar to that of Figure 3, showing the position of the image acquisition member in the operating sequence preceding that of Figure 3; - [Fig.6] Figure 6 is a view similar to that of Figure 4, for the image acquisition member in the position of Figure 5
[0051] - [Fig.7] Figure 7 is a simplified schematic representation showing the position of the image acquisition device of Figure 3 in a theoretical map of the guide tubes; and
[0052] - [Fig.8] Figure 8 is a view similar to that of Figure 7, for the image acquisition member in the position of Figure 5.
[0053] The method shown schematically in Figure 1 is intended for the maintenance of equipment in an industrial installation.
[0054] It is particularly suitable for the maintenance of equipment whose environment includes several other pieces of equipment of the same type, with which the equipment to be maintained may be confused.
[0055] The maintenance method is particularly suitable when the industrial installation is a nuclear reactor 1 of the type shown in Figure 2.
[0056] Alternatively, this industrial facility is a fuel assembly storage pool or any facility requiring repeated tracking on multiple similar or dissimilar elements.
[0057] Nuclear reactor 1 in Figure 2 is of the pressurized water type, but could also be of the boiling water type or any other type.
[0058] This nuclear reactor 1 comprises a pressure vessel 3, containing nuclear fuel assemblies 5 constituting the core 7 of the reactor.
[0059] The tank 3 comprises a cylindrical shell 9 with a vertical axis, closed in the lower part by a lower base 10. The shell 9 is closed in the upper part by a removable cover 11.
[0060] Nuclear reactor 1 is equipped with control rods (not visible in Figure 2), which can be inserted into core 7 or extracted from core 7 in order to control the reactivity of the nuclear fuel.
[0061] Each cluster consists of several rods made of a neutron-absorbing material.
[0062] Each control rod is attached to the end of a control rod 15, which is itself moved by a control rod mechanism (CRM). The control rod mechanisms each ensure the extraction, retention or insertion of a control rod into the reactor core. They must also allow the free fall of the control rods when the reactor's automatic shutdown circuit breakers open.
[0063] The nuclear reactor 1 thus comprises a plurality of control assemblies 17, each dedicated to a control cluster. Each control assembly 17 comprises an adapter 19 secured to the cover 11 of the pressure vessel, a casing 21 for receiving a mechanism 23 for lifting the control rod 15 of the control cluster and a sheath for receiving the control rod. In Figure 2, the sheaths are not shown to reveal the control rods 15.
[0064] The adapter 19 is engaged in a through hole of the tank cover 11 and rigidly fixed thereto. It passes through the tank cover 11 and delimits a passage through which the control rod 15 moves.
[0065] Thermal sleeves 25 are arranged inside the adapters 19, so as to protect the internal surface thereof when the rods 15 are raised at high temperature.
[0066] The tank 3 also comprises upper internal elements, arranged above the core 7, and lower internal elements arranged below the core 7.
[0067] The upper internal elements include in particular guide tubes 27 provided to guide the movement of the control clusters.
[0068] The upper internal elements also include thermocouple columns 29 provided for the passage of thermocouples for measuring the temperature of the primary heat transfer fluid.
[0069] The guide tubes 27 and the thermocouple columns 29 are for example mounted on an upper core plate 31 visible in figure 2.
[0070] The tank includes in particular penetrations 33 passing through the lower bottom 10. These penetrations are typically provided for the passage of neutron probes intended to be inserted into the core 7 of the reactor.
[0071] The maintenance method is particularly suitable for maintenance operations on one of the following equipment:
[0072] - Organ belonging to the upper internal elements, such as a guide tube 27 or a thermocouple column 29 or even the fuel positioning pins;
[0073] - Organ belonging to the lower internal elements such as the lower core plate, fuel positioning pins, core support columns, glove finger crossings;
[0074] - Tank bottom penetration 33;
[0075] - Member carried by the cover 11 of the tank, such as a control cluster control assembly 17, an adapter 19 for passing the control cluster through the cover 11, or even a sleeve 25 for thermal protection of the adapter 19;
[0076] - Steam generator tube plate;
[0077] - Nuclear fuel assembly 5. As illustrated in Figure 1, the maintenance method involves performing an operating sequence repeatedly.
[0078] The operating sequence is shown in Figure 1. It includes the following steps:
[0079] - S10: acquisition of an image by an image acquisition device 35, the image showing the equipment 37 being maintained and an environment of the equipment;
[0080] - S12: comparison of said image with the image acquired in the previous operating sequence;
[0081] - S14: determination of a position of the image acquisition member 35 relative to the equipment 37 using said comparison;
[0082] - S16: display on said image of a sign making it possible to distinguish the equipment 37 from its environment, at a determined position relative to the equipment 37, using said position of the image acquisition member 35 relative to the equipment 37.
[0083] These steps are performed successively, in the order above, at each operating sequence.
[0084] Figure 3 illustrates an exemplary embodiment in which the equipment 37 subject to the maintenance operation is one of the guide tubes 27. This guide tube is referenced 37 in Figure 3.
[0085] The image acquisition device 35 is typically a digital camera, or digital still camera, or any other image acquisition device.
[0086] The image acquisition member 35 is movable relative to the equipment to be maintained 37.
[0087] In the example shown in Figure 3, the image acquisition member 35 is mounted on a handling member 39. The handling member is for example an overhead crane located above the nuclear reactor vessel.
[0088] The maintenance operation of the equipment 37 is carried out once the tank cover 11 has been dismantled and removed, so as to have free access to the guide tube 37 to be maintained. The image acquisition member 35 is typically placed above the guide tubes 27, the shooting axis being substantially vertical.
[0089] The image acquired by the image acquisition device in the position of Figure 3 is shown schematically in Figure 4. This image shows the equipment 37 being maintained. It also shows the environment of the equipment 37, including several other guide tubes 27.
[0090] The comparison step S12 includes the following sub-steps:
[0091] - S18: identification of characteristic points 41 on the image; - S20: identification of said characteristic points 41 on the image acquired in the previous operating sequence;
[0092] - S22: calculation of a displacement of the image acquisition member 35 relative to the equipment 37 between the acquisition of said image and the acquisition of the image acquired in the previous operating sequence, using the characteristic points 41 identified on said image and the same characteristic points 41 identified on the image acquired in the previous operating sequence.
[0093] The position of the image acquisition member 35 in the previous operating sequence is illustrated in Figure 5. The image acquired in the previous operating sequence is schematically illustrated in Figure 6.
[0094] The 41 characteristic points identified on the image are of any suitable type.
[0095] In Figures 4 and 6, these characteristic points 41 are materialized by crosses. These characteristic points 41 are elements appearing on the image which can be identified on the image and also on the image acquired in the previous operating sequence.
[0096] These characteristic points 41 defined by the algorithm are not confused with other elements appearing on the image.
[0097] The characteristic points 41 are fixed relative to the equipment 37.
[0098] These characteristic points are identified automatically. They are generally points presenting variations in contrast / color compared to their immediate surroundings. They do not necessarily represent an object appearing in the image.
[0099] The characteristic points 41, in sub-step S18, are identified by digital processing of the image acquired in step S10. This processing is typically automatic, without intervention by an operator. Such digital processing is known, and it is not necessary to describe it in detail here.
[0100] In sub-step S20, the image acquired in the previous operating sequence is subjected to digital processing, aimed at identifying said characteristic points. This processing is typically automatic, without operator intervention. Such digital processing is known, and it is not necessary to describe it in detail here.
[0101] In sub-step S22, the displacement of the image acquisition member is calculated from the image acquired in step S10 and from the image acquired in the previous operating sequence.
[0102] More precisely, the positions of the characteristic points 41 on the image, that is to say in the field of vision of the image acquisition member 35, are first determined. These first positions are determined in a reference frame linked to the field of vision of the image acquisition member, for example the XY reference frame illustrated in FIGS. 4 and 6. The positions of the same characteristic points 41 on the image acquired in the previous operating sequence are also determined. These second positions are determined in the same reference frame as the first positions, linked to the field of vision of the image acquisition member. Then, the displacement of the image acquisition member 35 making it possible to move the characteristic points 41 from the second positions to the first positions is calculated.
[0103] The movement of the image acquisition member 35 comprises one or more translations and / or one or more rotations, or any other component.
[0104] In the example shown in Figures 4 and 6, the movement making it possible to move the characteristic points 41 from the second positions, shown in Figure 6, to the first positions, shown in Figure 4, corresponds to a translation of the image acquisition member 35 along the direction D, shown in Figures 5 and 6.
[0105] The calculation of the displacement of the image acquisition member 35 is carried out using conventional calculation methods, which will not be detailed here.
[0106] Step S14 of determining the position of the image acquisition member 35 relative to the equipment 37 comprises the following sub-steps:
[0107] - S24: consider the position of the image acquisition device 35 relative to the equipment 37 determined in the previous operating sequence;
[0108] - S26: calculation of the position of the image acquisition member 35 relative to the equipment 37, by applying the displacement calculated in the comparison step S12 to the position of the image acquisition member 35 relative to the equipment 37 determined in the previous operating sequence.
[0109] At each operating sequence, the position of the image acquisition device 35 relative to the equipment 37 is recorded.
[0110] It is typically recorded in a theoretical map of the equipment 37 and its environment, of the type shown in Figures 7 and 8. This theoretical map is a digital map. In the example shown, it is a two-dimensional map.
[0111] The positions of the different guide tubes 27 are recorded in the map.
[0112] We see on this map that the guide tubes 27 are arranged on a substantially rectangular mesh grid.
[0113] In the example shown, they are arranged in a grid with four columns C1 to C4 and four rows L1 to L4. Each guide tube 27 occupies a node of the grid. The equipment to be maintained 37 corresponds to the guide tube located at the intersection of column 1 and row 2. In the example shown in the figures, the position P N -i of the image acquisition member 35 in the previous operating sequence (figure 8) corresponds substantially to the position of the equipment 37. The position PN of the image acquisition member 35 in the current operating sequence corresponds to the position of the guide tube 23 located at the intersection of column 2 and line 2.
[0114] The calculation of the position of the image acquisition member 35 relative to the equipment 37 is carried out according to a known calculation algorithm, which will not be detailed here.
[0115] The sign displayed in step S16 on the image is of any suitable type. For example, it is an alphanumeric sign. Alternatively, it is a symbol, or a color spot, or any other suitable type of sign.
[0116] In Figures 4 and 6, the sign displayed is P12.
[0117] The sign is displayed at a relative position in the reference frame linked to the field of vision of the image acquisition member 35. This relative position is calculated using the position of the image acquisition member 35 relative to the equipment 37 and the determined position of the sign relative to the equipment 37.
[0118] The position of the image acquisition member 35 relative to the equipment 37 is that calculated in step S14.
[0119] The determined position of the sign relative to the equipment 37 is arbitrary.
[0120] Advantageously, the determined position of the sign relative to the equipment 37 is the same on the images of all the operating sequences.
[0121] In other words, the position of the sign relative to the equipment 37 does not change from one image to another. The operator observing the images, when the image acquisition member 35 moves, has the perception that the equipment 37 and its environment are moving and that the sign is moving with the equipment 37, while remaining stationary relative to the equipment 37.
[0122] An example of an image obtained in accordance with the method is shown in Figure 3. Different guide tubes 27 are visible in this image. The arrangement of the guide tubes does not correspond to that shown in Figures 5 to 8. The sign P12 is visible at one of the guide tubes.
[0123] It should be noted that other graphic elements are displayed on the image, in addition to the P12 sign. These graphic elements are, for example, circles, arranged at the top or bottom of the various guide tubes.
[0124] Preferably, the method comprises an initialization step, carried out before the first iteration of the operating sequence. This initialization step is carried out by positioning the image acquisition member 35 at a predetermined, known initial position.
[0125] For example, the image acquisition member 35 in the example shown in FIGS. 2 to 8 is positioned above a known, predetermined guide tube 27.
[0126] An initial image is acquired with the image acquisition member 35 at this initial position. It is stored. The image acquired during the first operating sequence will be compared with said initial image in step S12.
[0127] The initial position is recorded in the theoretical map. It will be used in step S14 of the first operating sequence.
[0128] Furthermore, the maintenance method also comprises performing a maintenance operation on the equipment 37, concomitantly with the execution of the repeated operating sequence.
[0129] This maintenance operation is typically carried out remotely, by an operator viewing the images acquired by the image acquisition device 35, the sign being displayed on the images to allow the operator to easily identify the equipment being maintained.
[0130] The maintenance operation may include the mounting of a component on the equipment 37 or at the location of the equipment 37. This component is for example a tool, in particular a machining or handling tool. This component may also be a spare part or a part to be installed in addition on the equipment 37.
[0131] A maintenance set 43 will now be described.
[0132] This maintenance assembly 43 is specially adapted for implementing the maintenance method described above. Conversely, the maintenance method is specially designed to be implemented by the maintenance assembly 43.
[0133] The assembly 43 is designed for the maintenance of equipment 37 of an industrial installation.
[0134] This installation is of the type described above.
[0135] The equipment 37 is advantageously one of the equipments described above.
[0136] The maintenance assembly 43 comprises an image acquisition member 35 and a calculation device 45. The maintenance assembly 43 is configured for the execution of an operating sequence, repeatedly.
[0137] The operating sequence includes the following steps:
[0138] - S10: acquisition of an image by the image acquisition device 35, the image showing the equipment 37 and an environment of the equipment 37;
[0139] - S12: comparison of said image with the image acquired in the previous operating sequence, by the calculation device 45; - S14: determination of a position of the image acquisition member 35 relative to the equipment 37 using said comparison, by the calculation device 45;
[0140] - S16: display on said image of a sign making it possible to distinguish the equipment 37 from its environment, at a position determined relative to the equipment 37 using said position of the image acquisition member 35 relative to the equipment 37, by the calculation device 45.
[0141] The image acquisition device 35 is a digital camera or a digital still camera. It is as described above.
[0142] The computing device 45 comprises, for example, an information processing unit formed of a processor and a memory associated with the processor. It is configured for the execution of steps S12, S14 and S16. It comprises software stored in the memory and capable of being executed by the processor. The execution of the software leads to the performance of steps S12, S14 and S16.
[0143] Alternatively, the computing device 45 is produced in the form of programmable logic components, such as FPGAs (Field-Programmable Gate Arrays), or in the form of dedicated integrated circuits, such as ASICs (Application-Specific Integrated Circuits).
[0144] The image acquisition member 35 communicates with the computing device 45. Typically, the images acquired by the image acquisition member 35 are transmitted to the computing device 45 and stored in the memory thereof.
[0145] The computing device 45 is configured to execute the following sub-steps in step S12:
[0146] - S18: identification of characteristic points 41 on the image;
[0147] - S20: identification of said characteristic points 41 on the image acquired in the previous operating sequence;
[0148] - S22: calculation of a displacement of the image acquisition member 35 relative to the equipment 37 between the acquisition of said image and the acquisition of the image acquired in the previous operating sequence, using the characteristic points 41 identified on said image and the same characteristic points 41 identified on the image acquired in the previous operating sequence.
[0149] These sub-steps are as described previously.
[0150] The calculation device 45 is configured to, in step S14 of determining the position of the image acquisition member 35 relative to the equipment 37, execute the following sub-steps:
[0151] - S24: consider the position of the image acquisition member 35 relative to the equipment 37 determined in the previous operating sequence; - S26: calculate the position of the image acquisition member 35 relative to the equipment 37 by applying the displacement calculated in the comparison step S12 to the position of the image acquisition member 35 relative to the equipment 37 determined in the previous operating sequence.
[0152] At each iteration of the operating sequence, the position of the image acquisition member 35 relative to the equipment 37 is recorded in a digital map. This map is of the type described previously.
[0153] It is stored in the memory of the computing device 45.
[0154] Substeps S24 and S26 are executed as described above.
[0155] The maintenance assembly 43 is configured to execute the initialization step described above, before the first iteration of the operating sequence.
[0156] The maintenance method and device described above have multiple advantages.
[0157] Calculating the displacement of the image acquisition device relative to the equipment using the characteristic points identified on the image and the same characteristic points identified on the image acquired in the previous operating sequence makes it possible to simply determine the displacement of the image acquisition device.
[0158] Calculating the position of the image acquisition device relative to the equipment by applying the displacement calculated in the comparison step to the position of the image acquisition device relative to the equipment determined in the previous operating sequence, makes it possible to always know the position of the image acquisition device relative to the equipment. This is obtained by a simple and rapid calculation.
[0159] The fact that the determined position of the sign relative to the equipment is the same on the images of all operating sequences allows the operator to easily identify the equipment being maintained, even if the image acquisition device moves.
[0160] The fact that the position of the image acquisition device is recorded in a theoretical map of the equipment and its environment makes it possible to always have the current position of the image acquisition device available.
[0161] The above method was described with an image acquisition device that is mobile relative to the equipment to be maintained. It also applies in the case of a fixed image acquisition device.
[0162] The image acquisition device may be mounted on a handling device such as a bridge or a crane, equipping the industrial installation and designed to handle loads. Alternatively, it is mounted on a dedicated support, adapted to move the image acquisition device. This support is for example a manipulator arm, a robot or any other support allowing the position and viewing angle of the image acquisition device to be adapted according to the circumstances.
[0163] The comparison step S12, the determination step S14 and the display step S16 described above are based on the algorithm known as visual odometry, often used for calculating the movement of an autonomous vehicle.
[0164] Steps S12, S14 and S16 could be performed differently from what has been described above. For example, the detection of the characteristic points can be performed by looking for the color differences in the image or the contrast differences, or according to multiple other methods. The correlation of the characteristic points of two successive images can be performed by using different equations so as to calculate the movement of the image acquisition member.
[0165] The sign may not always be displayed in the same position relative to the equipment in all images. For example, if this position is such that the sign should be beyond the edge of the image, the position of the sign relative to the equipment can be changed.
Claims
CLAIMS 1. Method of maintaining equipment (37) of an industrial installation, the method comprising the execution of an operating sequence repeatedly, the operating sequence comprising the following steps: - (S10) acquisition of an image by an image acquisition member (35), the image showing the equipment (37) and an environment of the equipment (37); - (S12) comparison of said image with the image acquired in the previous operating sequence; - (S14) determining a position of the image acquisition member (35) relative to the equipment (37) using said comparison; - (S16) displaying on said image a sign making it possible to distinguish the equipment (37) from its environment, at a determined position relative to the equipment (37), using said position of the image acquisition member (35) relative to the equipment (37).
2. Method according to claim 1, in which the environment of the equipment (37) comprises several other equipments of the same type, with which the equipment (37) can be confused, the sign making it possible to distinguish the equipment (37) from the other equipments.
3. Method according to claim 1 or 2, in which the industrial installation is a nuclear reactor (1), the equipment (37) being chosen from the following list: - member belonging to the Upper Internal Elements (EIS) of a pressure vessel (3) of the nuclear reactor (1), such as a guide tube (27) for guiding a control cluster, a thermocouple column (29), a fuel positioning pin or a Control Rod Assembly (ETC); - organ belonging to the Lower Internal Elements (Eli) of the tank (3), such as a lower core plate, a fuel positioning pin, a core support column, a glove finger crossing; - penetration (33) passing through a lower bottom (10) of the tank (3); - member carried by a cover (11) of the tank (3), such as an assembly (17) for controlling a control cluster, an adapter (19) for passing the control cluster through the cover (11), a sleeve (25) for thermal protection of the adapter (19); - steam generator tube plate; - nuclear fuel assembly (5).
4. Method according to any one of the preceding claims, in which the image acquisition member (35) is movable relative to the equipment (37).
5. Method according to any one of the preceding claims, wherein the comparison step (S12) comprises the following sub-steps: - (S18) identification of characteristic points (41) on the image; - (S20) identification of said characteristic points (41) on the image acquired in the previous operating sequence; - (S22) calculation of a displacement of the image acquisition member (35) relative to the equipment (37) between the acquisition of said image and the acquisition of the image acquired in the previous operating sequence, using the characteristic points (41) identified on said image and the same characteristic points (41) identified on the image acquired in the previous operating sequence.
6. Method according to claim 5, in which the step (S16) of determining the position of the image acquisition member (35) relative to the equipment (37) comprises the following sub-steps: - (S24) consider the position of the image acquisition member (35) relative to the equipment (37) determined in the previous operating sequence; - (S26) calculating the position of the image acquisition member (35) relative to the equipment (S37) by applying the displacement calculated in the comparison step (S12) to the position of the image acquisition member (35) relative to the equipment (37) determined in the previous operating sequence.
7. Method according to any one of the preceding claims, in which the determined position of the sign relative to the equipment (37) is the same on the images of all the operating sequences.
8. Method according to any one of the preceding claims, in which the position of the image acquisition member (35) relative to the equipment (37) is recorded in a theoretical map of the equipment (37) and its environment.
9. A method according to any preceding claim, wherein the method comprises performing a maintenance operation on the equipment (37), performed by an operator concomitantly with the repeated operating sequence, the operator identifying the equipment (37) to be maintained by looking at the sign displayed on the images.
10. Maintenance assembly for equipment (37) of an industrial installation, the assembly (43) comprising an image acquisition member (35) and a calculation device (45), the maintenance assembly (43) being configured for the execution of an operating sequence repeatedly, the operating sequence comprising the following steps: - (S10) acquisition of an image by the image acquisition member (35), the image showing the equipment (37) and an environment of the equipment (37); - (S12) comparison of said image with the image acquired in the previous operating sequence, by the calculation device (45); - (S14) determining a position of the image acquisition member (35) relative to the equipment (37) using said comparison, by the calculation device (45); - (S16) displaying on said image a sign making it possible to distinguish the equipment (37) from its environment, at a determined position relative to the equipment (37), using said position of the image acquisition member (35) relative to the equipment (37), by the calculation device (45).