Method and set of maintenance procedures for equipment in an industrial installation
The method and device use image acquisition and comparison to enhance maintenance reliability in industrial installations by accurately identifying equipment through positional determination and sign display, addressing the challenge of similar surrounding equipment.
Patent Information
- Application Number
- FR2023004668
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2023-05-11
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2043-05-11
AI Technical Summary
In industrial installations, particularly nuclear reactors, accurately identifying equipment for maintenance operations is challenging due to the similarity of surrounding equipment, leading to potential errors during maintenance interventions.
A method and device using an image acquisition system to acquire and compare images, determining the position of the acquisition device relative to the equipment, and displaying a distinguishing sign to facilitate correct identification of the equipment.
Enhances the reliability of maintenance operations by reducing the risk of equipment confusion and enabling precise identification of the target equipment, even when the acquisition device moves relative to it.
Smart Images
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Abstract
Description
Title of the invention: Method and assembly for the maintenance of equipment in an industrial installation
[0001] The present invention relates generally to the maintenance of equipment in an industrial installation.
[0002] The invention is particularly applicable to the maintenance of equipment which is surrounded by other equipment of the same type, with which this equipment may be confused.
[0003] In this case, it is essential to perfectly identify the equipment on which the maintenance operation must be carried out, in order to avoid any error during the intervention.
[0004] This problem arises in particular during maintenance operations in a nuclear reactor.
[0005] 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 control rods for the reactivity of the reactor core during their movements.
[0006] These guide tubes are part of the upper internal equipment of the pressure vessel.
[0007] In a horizontal plane, these guide tubes are arranged according to a grid comprising several rows and several columns.
[0008] Maintenance work on the guide tubes is carried out from above, with the tank cover removed and evacuated.
[0009] The workers first identify the guide tube that is the subject of the maintenance, on a paper or digital plan.
[0010] Then, the maintenance intervention is carried out remotely, the intervention area being viewed remotely using one or more video cameras.
[0011] The operator carrying out the operation must be particularly careful not to mistake the guide tube and perform the repair on a different guide tube than the one intended.
[0012] In this context, the invention aims to propose a method and a maintenance device to increase the reliability of maintenance interventions, and to facilitate the work of operators.
[0013] To this end, the invention, according to a first aspect, relates to a method for maintaining equipment in an industrial installation, the method comprising the execution of an operational sequence repeatedly, the operational sequence comprising the following steps:
[0014] - acquisition of an image by an image acquisition device (35), the image showing the equipment and an environment of the equipment;
[0015] - comparison of said image with the image acquired in the surgical sequence previous; - determination of a position of the image acquisition organ relative to the equipment using said comparison;
[0016] - display on said image of a sign enabling the equipment to be distinguished from its environment, at a specific position relative to the equipment, using said position of the image acquisition organ relative to the equipment.
[0017] Displaying a symbol on the images acquired by the image acquisition device, allowing the equipment to be distinguished from its surroundings, enables the operator to easily identify the equipment on which they need to work. The risk of confusing this equipment with neighboring equipment is considerably reduced.
[0018] The method makes it possible in particular to use a mobile image acquisition device, for example an image acquisition device mounted on handling equipment of the industrial installation.
[0019] In the case of maintenance work in the reactor vessel of a nuclear reactor, on the vessel internals or the vessel head, or on components of the nuclear reactor's steam generator, the handling equipment installed on the reactor is frequently used to perform the maintenance operations. This handling equipment is equipped with image acquisition devices used to visualize the work area. The handling equipment moves as needed, so that the position of the image acquisition device changes relative to the equipment on which the work is to be carried out.
[0020] With the method of the invention, the marker used to distinguish the equipment from its surroundings is always correctly positioned. The images acquired by the image acquisition device are analyzed so as to continuously determine the position of the image acquisition device relative to the equipment. This allows the marker to be correctly positioned near the equipment undergoing maintenance.
[0021] The maintenance method may also have one or more of the following characteristics, considered individually or according to all technically possible combinations:
[0022] - the equipment environment includes several other pieces of equipment of the same type, with which the equipment can be confused, the sign allowing the equipment to be distinguished from other equipment;
[0023] - the industrial installation is a nuclear reactor, the equipment being chosen from the The following list:
[0024] * component belonging to the Upper Internal Elements of a pressure vessel nuclear reactor, such as a guide tube for guiding a control rod assembly, a thermocouple column, a fuel positioning pin or a Control Rod Assembly;
[0025] * component belonging to the Lower Internal Elements of the tank, such as a plate lower core, a fuel positioning pin, a core support column, a glove finger crossing;
[0026] * penetration through a lower bottom of the tank;
[0027] * component carried by a tank cover, such as a control assembly of a control cluster, a control cluster pass-through adapter for 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 comprises the following sub-steps:
[0032] * identification of characteristic points on the image;
[0033] * identification of said characteristic points on the image acquired in the sequence previous operative; * calculation of a displacement of the image acquisition organ relative to the equipment between the acquisition of said image and the acquisition of the image acquired in the previous operational sequence, using the characteristic points identified on said image and the same characteristic points identified on the image acquired in the previous operational sequence;
[0034] - the step of determining the position of the image acquisition organ by The equipment report includes the following sub-steps: * consider the position of the image acquisition device in relation to the equipment determined in the previous operating sequence;
[0035] * 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 organ relative to the equipment determined in the previous operating sequence;
[0036] - the determined position of the sign relative to the equipment is the same on the images of all the surgical sequences;
[0037] - the position of the image acquisition unit relative to the equipment is in recorded in a theoretical mapping of the equipment and its environment;
[0038] - the method includes performing an equipment maintenance operation, performed by an operator concurrently with the repeated operating sequence, the operator identifying the equipment to be maintained by looking at the sign displayed on the images.
[0039] According to a second aspect, the invention relates to a maintenance assembly for equipment in an industrial installation, the assembly comprising an image acquisition device and a computing device, the maintenance assembly being configured to execute an operational sequence repeatedly, the operational sequence comprising the following steps:
[0040] - acquisition of an image by the image acquisition device, the image showing the equipment and the equipment environment;
[0041] - comparison of said image with the image acquired in the surgical sequence previous, by the calculation device;
[0042] - determination of a position of the image acquisition organ relative to the equipment using said comparison, by the calculation device;
[0043] - display on said image of a sign enabling the equipment to be distinguished from its environment, at a determined position relative to the equipment, using said position of the image acquisition organ relative to the equipment, by the computing device.
[0044] Other features and advantages of the invention will become apparent from the detailed description given below, by way of example and not limitation, with reference to the accompanying figures, among which:
[0045] - [Fig. 1] Fig. 1 is a step diagram of the maintenance method according to the invention;
[0046] - [Fig.2] [Fig.2] is a simplified schematic representation of a reactor nuclear before the maintenance operation
[0047] - [Fig.3] [Fig.3] is a simplified schematic representation of a set of maintenance according to the invention, configured for intervention on guide tubes of the nuclear reactor of the [Fig.2];
[0048] - [Fig.4] The [Fig.4] is a simplified schematic representation of an image acquired by the image acquisition organ in the position of [Fig.3];
[0049] - [Fig. 5] [Fig. 5] is a view similar to that of [Fig. 3], showing the position of the image acquisition organ in the operative sequence preceding that of [Fig.3];
[0050] - [Fig.6] [Fig.6] is a view similar to that of [Fig.4], for the organ image acquisition in the position of [Fig.5]
[0051] - [Fig.7] Fig.7 is a simplified schematic representation showing the position of the image acquisition system of [Fig. 3] in a theoretical map of the guide tubes; and
[0052] - [Fig.8] [Fig.8] is a view similar to that of [Fig.7], for the organ image acquisition in the position of [Fig.5].
[0053] The method shown schematically in [Fig. 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 [Fig.2].
[0056] Alternatively, this industrial installation is a fuel assembly storage pool or any installation requiring repeated marking on multiple similar or dissimilar elements.
[0057] The nuclear reactor 1 of [Fig.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 includes a pressure vessel 3, containing nuclear fuel assemblies 5 constituting the core 7 of the reactor.
[0059] The tank 3 has a cylindrical ferrule 9 with a vertical axis, closed at the bottom by a lower base 10. The ferrule 9 is closed at the top by a removable cover 11.
[0060] The nuclear reactor 1 is equipped with control rods (not visible in [Fig.2]), which can be inserted into the core 7 or extracted from the core 7 in order to control the reactivity of the nuclear fuel.
[0061] Each cluster comprises several pencils made of a neutron-absorbing material.
[0062] Each control cluster is fixed to the end of a control rod 15, itself moved by a control rod mechanism (CRM). Each control rod mechanism ensures the extraction, holding, or insertion of a control rod into the reactor core. They must also allow the control rods to fall freely when the reactor's automatic shutdown circuit breakers are opened.
[0063] The nuclear reactor 1 thus comprises a plurality of control assemblies 17, each dedicated to a control cluster.
[0064] Each control assembly 17 comprises an adapter 19 attached to the pressure vessel cover 11, a housing 21 for receiving a mechanism 23 for lifting the control rod 15 of the control cluster, and a control rod receiving sleeve. In [Fig. 2], the sleeves are not shown to allow the control rods 15 to be visible.
[0065] The adapter 19 is engaged in a through hole in the tank cover 11 and rigidly fixed thereto. It passes through the tank cover 11 and defines a passage through which the control rod 15 moves.
[0066] Thermal sleeves 25 are arranged inside the adapters 19 so as to protect their internal surface during the raising of the rods 15 at high temperature.
[0067] The tank 3 also includes upper internal elements, arranged above the core 7, and lower internal elements arranged below the core 7.
[0068] The upper internal elements include, in particular, guide tubes 27 intended to guide the movement of the control clusters.
[0069] 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.
[0070] The guide tubes 27 and the thermocouple columns 29 are for example mounted on a top core plate 31 visible in [Fig.2].
[0071] The vessel includes, in particular, penetrations 33 through the lower bottom 10. These penetrations are typically intended for the passage of neutron probes intended to be inserted into the core 7 of the reactor.
[0072] The maintenance method is particularly suited to maintenance operations on one of the following equipment:
[0073] - Component belonging to the upper internal elements, such as a guide tube 27 or a thermocouple column 29 or even fuel positioning pins;
[0074] - Organ belonging to the lower internal elements such as the lower plate of core, fuel positioning pins, core support columns, glove finger crossings;
[0075] - Tank bottom penetration 33;
[0076] - A component carried by the lid 11 of the tank, such as a control assembly 17 control cluster, an adapter 19 for passing the control cluster through the cover 11, or a thermal protection sleeve 25 for the adapter 19;
[0077] - Steam generator tube plate;
[0078] - Nuclear fuel assembly 5.
[0079] As illustrated in [Fig.1], the maintenance method includes the execution of an operational sequence, repeatedly.
[0080] The operational sequence is shown in [Fig. 1]. It comprises the following steps:
[0081] - S10: acquisition of an image by an image acquisition device 35, the image showing the equipment 37 undergoing maintenance and an environment of the equipment;
[0082] - S12: comparison of said image with the image acquired in the surgical sequence previous;
[0083] - S14: determination of a position of the image acquisition organ 35 by report to equipment 37 using said comparison;
[0084] - S16: display on said image of a sign enabling the equipment to be distinguished 37 of its environment, at a determined position relative to the equipment 37, using said position of the image acquisition organ 35 relative to the equipment 37.
[0085] These steps are executed successively, in the order above, in each operational sequence.
[0086] Fig. 3 illustrates an example of an embodiment in which the equipment 37 which is the subject of the maintenance operation is one of the guide tubes 27. This guide tube is referenced as 37 on Fig. 3.
[0087] The image acquisition device 35 is typically a digital camera, or digital photo camera, or any other image acquisition device.
[0088] The image acquisition organ 35 is movable relative to the equipment to be held 37.
[0089] In the example shown in [Fig.3], the image acquisition unit 35 is mounted on a handling unit 39. The handling unit is, for example, an overhead crane located above the reactor vessel.
[0090] The maintenance operation on the equipment 37 is carried out once the tank cover 11 has been removed and evacuated, so as to have free access to the guide tube 37 to be maintained. The image acquisition element 35 is typically placed above the guide tubes 27, with the image acquisition axis being substantially vertical.
[0091] The image acquired by the image acquisition device in the position of [Fig. 3] is schematically represented in [Fig. 4]. This image shows the equipment 37 undergoing maintenance. It also shows the environment of the equipment 37, including several other guide tubes 27.
[0092] The comparison step S12 comprises the following substeps:
[0093] - S18: identification of characteristic points 41 on the image;
[0094] - S20: identification of said characteristic points 41 on the image acquired at the previous operational sequence;
[0095] - S22: calculation of a displacement of the image acquisition organ 35 relative to the equipment 37 between the acquisition of said image and the acquisition of the image acquired in the previous operational sequence, using the characteristic points 41 identified on said image and the same characteristic points 41 identified on the image acquired in the previous operational sequence.
[0096] The position of the image acquisition organ 35 in the previous surgical sequence is illustrated in [Fig. 5]. The image acquired in the previous surgical sequence is illustrated schematically in [Fig. 6].
[0097] The characteristic points 41 identified on the image are of any suitable type.
[0098] In figures 4 and 6, these characteristic points 41 are materialized by crosses.
[0099] These characteristic points 41 are elements appearing on the image that can be identified on the image and also on the image acquired in the previous operational sequence.
[0100] These characteristic points 41 defined by the algorithm are not confused with other elements appearing on the image.
[0101] The characteristic points 41 are fixed relative to the equipment 37.
[0102] These characteristic points are identified automatically. They are generally points exhibiting variations in contrast / color compared to their immediate surroundings. They do not necessarily represent an object appearing in the image.
[0103] The characteristic points 41, in substep S18, are identified by digital processing of the image acquired in step S10. This processing is typically automatic, without operator intervention. Such digital processing is known, and it is not necessary to describe it in detail here.
[0104] In substep S20, the image acquired in the previous operating sequence undergoes digital processing to identify these 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.
[0105] In substep S22, the displacement of the image acquisition organ is calculated from the image acquired in step S10 and the image acquired in the previous operational sequence.
[0106] More specifically, the positions of the characteristic points 41 on the image, i.e., within the field of view of the image acquisition unit 35, are first determined. These initial positions are determined in a coordinate system linked to the field of view of the image acquisition unit, for example, the XY coordinate system illustrated in Figures 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 coordinate system as the first positions, linked to the field of view of the image acquisition unit. Then, the displacement of the image acquisition unit 35 required to move the characteristic points 41 from the second positions to the first positions is calculated.
[0107] The movement of the image acquisition organ 35 includes one or more translations and / or one or more rotations, or any other component.
[0108] In the example shown in Figures 4 and 6, the movement enabling the characteristic points 41 to move from the second positions, shown in [Fig.6], to the first positions, shown in [Fig.4], corresponds to a translation of the image acquisition organ 35 along the direction D, shown in Figures 5 and 6.
[0109] The calculation of the displacement of the image acquisition organ 35 is carried out in using classical calculation methods, which will not be detailed here.
[0110] Step S14 of determining the position of the image acquisition unit 35 relative to the equipment 37 comprises the following sub-steps:
[0111] - S24: consider the position of the image acquisition organ 35 relative to equipment 37 determined in the previous operating sequence;
[0112] - S26: calculation of the position of the image acquisition organ 35 relative to equipment 37, by applying the displacement calculated in the comparison step S12 to the position of the image acquisition organ 35 relative to equipment 37 determined in the previous operating sequence.
[0113] At each operative sequence, the position of the image acquisition organ 35 relative to the equipment 37 is recorded.
[0114] 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.
[0115] The positions of the different guide tubes 27 are recorded in the map.
[0116] This map shows that the guide tubes 27 are arranged on a grid with a substantially rectangular mesh.
[0117] 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 held 37 corresponds to the guide tube located at the intersection of column 1 and row 2.
[0118] In the example shown in the figures, the position PN i of the image acquisition unit 35 in the previous operating sequence ([Fig.8]) corresponds substantially to the position of the equipment 37. The position PN of the image acquisition unit 35 in the current operating sequence corresponds to the position of the guide tube 23 located at the intersection of column 2 and row 2.
[0119] The calculation of the position of the image acquisition organ 35 relative to the equipment 37 is carried out according to a known calculation algorithm, which will not be detailed here.
[0120] 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 colored spot, or any other suitable type of sign.
[0121] In figures 4 and 6, the sign shown is P12.
[0122] The sign is displayed at a relative position in the frame linked to the field of view of the image acquisition organ 35. This relative position is calculated using the position of the image acquisition organ 35 relative to the equipment 37 and the determined position of the sign relative to the equipment 37.
[0123] The position of the image acquisition organ 35 relative to the equipment 37 is that calculated in step S14.
[0124] The determined position of the sign in relation to the equipment 37 is arbitrary.
[0125] Advantageously, the determined position of the sign in relation to the equipment 37 is the same on the images of all the operative sequences.
[0126] In other words, the position of the sign relative to the equipment 37 does not change from one image to the next. The operator observing the images, when the image acquisition organ 35 moves, perceives that the equipment 37 and its environment are moving and that the sign moves with the equipment 37, remaining stationary relative to the equipment 37.
[0127] An example of an image obtained according to the method is shown in [Fig. 3]. Several 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 symbol P12 is visible at one of the guide tubes.
[0128] It should be noted that other graphic elements are displayed on the image, in addition to the sign P12. These graphic elements are, for example, circles, arranged at the top or bottom of the different guide tubes.
[0129] Preferably, the method includes an initialization step, performed before the first iteration of the operating sequence. This initialization step is performed by positioning the image acquisition unit 35 at a predetermined, known initial position.
[0130] For example, the image acquisition organ 35 in the example shown in Figures 2 to 8 is positioned above a known, predetermined guide tube 27.
[0131] An initial image is acquired with the image acquisition unit 35 at this initial position. It is stored. The image acquired during the first surgical sequence will be compared with said initial image at step S12.
[0132] The initial position is recorded in the theoretical map. It will be used in step S14 of the first operational sequence.
[0133] Furthermore, the maintenance method also includes performing a maintenance operation on the equipment 37, concomitantly with the execution of the repeated operating sequence.
[0134] This maintenance operation is typically carried out remotely, by an operator viewing the images acquired by the image acquisition unit 35, the sign being displayed on the images to allow the operator to easily identify the equipment being maintained.
[0135] The maintenance operation may involve mounting a component on the equipment 37 or in 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 an additional part to be installed on equipment 37.
[0136] A maintenance set 43 will now be described.
[0137] This maintenance assembly 43 is specially adapted for the implementation of the maintenance method described above. Conversely, the maintenance method is specifically designed to be implemented by maintenance assembly 43.
[0138] Assembly 43 is designed for the maintenance of equipment 37 in an industrial installation.
[0139] This installation is of the type described above.
[0140] Equipment 37 is advantageously one of the equipment described above.
[0141] The maintenance assembly 43 includes an image acquisition unit 35 and a computing device 45. The maintenance assembly 43 is configured to perform an operational sequence repeatedly.
[0142] The operational sequence comprises the following steps:
[0143] - S10: acquisition of an image by the image acquisition device 35, the image showing equipment 37 and an environment of equipment 37;
[0144] - S12: comparison of said image with the image acquired in the surgical sequence previous, by the calculation device 45;
[0145] - S14: determination of a position of the image acquisition organ 35 by report to equipment 37 using said comparison, by the calculation device 45;
[0146] - S16: display on said image of a sign enabling the equipment to be distinguished 37 of its environment, at a determined position relative to the equipment 37 using said position of the image acquisition organ 35 relative to the equipment 37, by the computing device 45.
[0147] The image acquisition unit 35 is a digital camera or a digital photographic device. It is as described above.
[0148] The computing device 45 includes, for example, an information processing unit consisting of a processor and associated memory. It is configured for the execution of steps S12, S14, and S16. It includes software stored in memory and capable of being executed by the processor. Execution of the software leads to the completion of steps S12, S14, and S16.
[0149] Alternatively, the computing device 45 is implemented 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).
[0150] The image acquisition organ 35 communicates with the computing device 45. Typically, the images acquired by the image acquisition organ 35 are transmitted to the computing device 45 and stored in its memory.
[0151] The computing device 45 is configured to execute the following substeps in step S12:
[0152] - S18: identification of characteristic points 41 on the image;
[0153] - S20: identification of said characteristic points 41 on the image acquired at the previous operational sequence;
[0154] - S22: calculation of a displacement of the image acquisition organ 35 relative to the equipment 37 between the acquisition of said image and the acquisition of the image acquired in the previous operational sequence, using the characteristic points 41 identified on said image and the same characteristic points 41 identified on the image acquired in the previous operational sequence.
[0155] These substeps are as described previously.
[0156] The computing device 45 is configured to, in step S14 of determining the position of the image acquisition unit 35 relative to the equipment 37, perform the following sub-steps:
[0157] - S24: consider the position of the image acquisition organ 35 relative to equipment 37 determined in the previous operating sequence;
[0158] - S26: calculation of the position of the image acquisition organ 35 relative to the equipment 37 by applying the displacement calculated in the comparison step S12 to the position of the image acquisition organ 35 relative to the equipment 37 determined in the previous operating sequence.
[0159] At each iteration of the operating sequence, the position of the image acquisition organ 35 relative to the equipment 37 is recorded in a digital map. This map is of the type described previously.
[0160] It is recorded in the memory of the computing device 45.
[0161] Substeps S24 and S26 are executed as described above.
[0162] Maintenance assembly 43 is configured to perform the initialization step described above, before the first iteration of the operational sequence.
[0163] The maintenance method and device described above have multiple advantages.
[0164] Calculating the displacement of the image acquisition organ 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 operational sequence makes it possible to easily determine the displacement of the image acquisition organ.
[0165] 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 device image acquisition in relation to the equipment. This is obtained through a simple and quick calculation.
[0166] The fact that the determined position of the sign relative to the equipment is the same on the images of all the operational sequences allows the operator to easily identify the equipment being maintained, even if the image acquisition device moves.
[0167] 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.
[0168] The above method has been described with an image acquisition device that is movable relative to the equipment to be held. It also applies in the case of a fixed image acquisition device.
[0169] The image acquisition device can be mounted on a handling device such as a bridge or crane, part of 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 that allows the position and viewing angle of the image acquisition device to be adjusted according to the circumstances.
[0170] 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 displacement of an autonomous vehicle.
[0171] Steps S12, S14, and S16 could be carried out differently from that described above. For example, feature point detection could be performed by searching for color differences in the image or contrast differences, or by multiple other methods. Correlation of feature points from two successive images could be performed using different equations to calculate the movement of the image acquisition device.
[0172] 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 may be changed.
Claims
Demands
1. A method for maintaining equipment (37) in an industrial installation, the method comprising the execution of an operating sequence repeatedly, the operating sequence comprising the following steps: - (S 10) acquisition of an image by an image acquisition device (35), the image showing the equipment (37) and an environment of the equipment (37); - (S 12) comparison of said image with the image acquired in the previous operating sequence; - (S 14) determination of a position of the image acquisition device (35) relative to the equipment (37) using said comparison; - (S 16) display on said image of a sign enabling the equipment (37) to be distinguished from its environment, at a determined position relative to the equipment (37), using said position of the image acquisition device (35) relative to the equipment (37).
2. Method according to claim 1, wherein the environment of the equipment (37) comprises several other pieces of equipment of the same type, with which the equipment (37) can be confused, the sign enabling the equipment (37) to be distinguished from the other equipment.
3. A method according to claim 1 or 2, wherein the industrial installation is a nuclear reactor (1), the equipment (37) being selected from the following list: - component 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 rod assembly, a thermocouple column (29), a fuel positioning pin or a Control Rod Assembly (CTA); - component belonging to the Lower Internal Elements (Eli) of the vessel (3), such as a lower core plate, a fuel positioning pin, a core support column, a thermowell penetration; - penetration (33) passing through a lower bottom (10) of the vessel (3);- component carried by a cover (11) of the tank (3), such as a control assembly (17) for a control cluster, an adapter (19) for passing the control cluster through the cover (11), a thermal protection sleeve (25) for the adapter (19); - steam generator tube plate; - nuclear fuel assembly (5).
4. A method according to any one of the preceding claims, wherein the image acquisition device (35) is movable relative to the equipment (37).
5. A method according to any one of the preceding claims, wherein the comparison step (S12) comprises the following substeps: - (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 element (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, wherein the step (S 16) of determining the position of the image acquisition element (35) relative to the equipment (37) comprises the following substeps: - (S24) consider the position of the image acquisition element (35) relative to the equipment (37) determined in the previous operating sequence; - (S26) calculate the position of the image acquisition element (35) relative to the equipment (S37) by applying the displacement calculated in the comparison step (S12) to the position of the image acquisition element (35) relative to the equipment (37) determined in the previous operating sequence.
7. Method according to any one of the preceding claims, wherein the determined position of the sign relative to the equipment (37) is the same on the images of all the operating sequences.
8. A method according to any one of the preceding claims, wherein the position of the image acquisition device (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 one of the preceding claims, wherein the method comprises the performance of an equipment maintenance operation (37), carried out by an operator of concomitantly with the repeated operational sequence, the operator identifies 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 device (35) and a computing device (45), the maintenance assembly (43) being configured to perform an operating sequence repeatedly, the operating sequence comprising the following steps: - (S10) acquisition of an image by the image acquisition device (35), the image showing the equipment (37) and an environment of the equipment (37); - (S 12) comparison of said image with the image acquired in the previous operational sequence, by the calculation device (45); - (S14) determination of a position of the image acquisition organ (35) relative to the equipment (37) using said comparison, by the computing device (45); - (S 16) display on said image of a sign enabling the equipment (37) to be distinguished from its environment, at a determined position relative to the equipment (37), using said position of the image acquisition organ (35) relative to the equipment (37), by the computing device (45).