CN116147583A - Method and system for positioning operation and maintenance equipment of spent fuel pool based on star map matching - Google Patents
Method and system for positioning operation and maintenance equipment of spent fuel pool based on star map matching Download PDFInfo
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- 238000012423 maintenance Methods 0.000 title claims abstract description 59
- 239000002915 spent fuel radioactive waste Substances 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000010586 diagram Methods 0.000 claims abstract description 33
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 7
- 230000005855 radiation Effects 0.000 abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention provides a method and a system for positioning operation and maintenance equipment of a spent fuel pool based on star map matching, wherein the method comprises the following steps: generating a global star-like diagram conforming to constraint conditions; displaying the generated global star map at a certain height above the spent fuel pool; acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment; matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image; and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained. The invention utilizes the star map matching algorithm to process the imaging data of the reflector above the operation and maintenance equipment, obtains the underwater position information of the operation and maintenance equipment, realizes the high-precision positioning of the operation and maintenance equipment, and can solve the problem that the sensor used by the existing positioning method can not realize the high-precision positioning of the spent fuel pool in the strong radiation environment.
Description
Technical Field
The invention belongs to the technical field of operation and maintenance equipment of a spent fuel pool, and particularly relates to a method and a system for positioning operation and maintenance equipment of a spent fuel pool based on star map matching.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The nuclear power plant spent fuel pool is used for storing spent fuel and is an important storage facility, but a plurality of spent pools of in-service power plants already expose the problem of local weld joint water leakage, so that the power plants have strong realistic demands for detection and repair of weld joint cracks. The spent fuel pool has stronger radiation under water, so that the operation and maintenance equipment under water is needed to replace manual work to carry out the maintenance work of the spent pool, wherein the positioning of the operation and maintenance equipment is a great difficulty. The current common underwater positioning method is mostly based on information collected by pressure sensors, ultrasonic sensors, MEMS navigation attitude reference systems or sensors of underwater acoustic communication and the like, but is influenced by spent fuel radiation, and the sensors cannot meet the positioning requirements of long-time and repeated work of spent fuel pool operation and maintenance equipment; the sensor needs to be continuously operated in a strong radiation environment, and needs to be specially designed for radiation protection, so that the sensor is high in cost, high in difficulty and difficult to realize.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method and a system for positioning the operation and maintenance equipment of the spent fuel pool based on star map matching. Firstly, generating a star-like diagram (hereinafter referred to as a global star-like diagram) meeting constraint conditions based on a certain rule, and displaying the global star-like diagram at a certain height above a spent fuel pool in a mode including but not limited to curtain or projection; then, imaging partial star images reflected by a reflector arranged above the operation and maintenance equipment through a camera fixed on the bank side of the water tank (the field of view of the camera covers all the ranges of the bottom of the water tank); matching operation is carried out on a part of star-like images on the reflector obtained through shooting by the camera and a global star-like image generated in advance, so that the relative position relation (comprising offset in two directions and a rotation angle) between the part of star-like image and the global star-like image is obtained; and finally, inverting the imaging relation to obtain the position of the reflecting mirror, thereby realizing the acquisition of the position of the operation and maintenance equipment of the spent fuel pool.
To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
the invention provides a method for positioning operation and maintenance equipment of a spent fuel pool based on star map matching, which comprises the following steps:
generating a global star-like diagram conforming to constraint conditions;
displaying the generated global star map at a certain height above the spent fuel pool;
acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment;
matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image;
and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained.
The second aspect of the invention provides a system for positioning operation and maintenance equipment of a spent fuel pool based on star map matching, which comprises the following components:
the global star-like diagram generating module is configured to: generating a global star-like diagram conforming to constraint conditions based on a certain rule;
a global star map display module configured to: displaying the generated global star map at a certain height above the spent fuel pool;
a local star-like graph generation module configured to: acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment;
the relative position relation acquisition module is configured to: matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image;
the operation and maintenance device position acquisition module is configured to: and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained. The one or more of the above technical solutions have the following beneficial effects:
(1) The invention adopts a visual method based on star map matching to realize the positioning of the spent fuel pool operation and maintenance equipment in a strong radiation environment. And processing the imaging data of the reflector above the operation and maintenance equipment by using the proposed star map matching algorithm to obtain the underwater position information of the operation and maintenance equipment. The method uses the camera to collect the partial star-like image of the reflection imaging on the reflecting mirror, avoids direct contact with the cooling water with strong radiation in the spent fuel pool, and fundamentally solves the radiation resistance problem of the electronic equipment.
(2) The simulation result of the invention shows that the method can realize the high-precision positioning of the operation and maintenance equipment, the translational error is less than 0.03%, the rotation angle error is less than 0.12%, the reliability of the invention is proved, and the problem that the sensor used in the existing positioning method can not realize the high-precision positioning of the spent fuel pool under the strong radiation environment can be solved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a global star map of a first embodiment.
Fig. 2 is a global star-like view of a first embodiment, taking into account noise.
Fig. 3 is a schematic view of a visual positioning scheme of the first embodiment.
FIG. 4 (a) is a schematic diagram showing the matching of a local star-like map with a global star-like map according to the first embodiment;
fig. 4 (b) is a partial star-like view of the specular reflection of the first embodiment.
Fig. 4 (c) is a partial star map of the first embodiment.
FIG. 5 is a diagram of the matching point pair coordinate intent of the local and global star maps of the first embodiment.
Detailed Description
Example 1
The embodiment discloses a method for positioning operation and maintenance equipment of a spent fuel pool based on star map matching, which comprises the following steps:
step one, generating a global star-like diagram conforming to constraint conditions, and marking the global star-like diagram as imgG, wherein the size of the global star-like diagram is M;
as shown in FIG. 1, feature star positions (hereinafter referred to as feature points) are randomly and uniformly generated in the range of a global star-like diagram, wherein the global star-like diagram is composed of 1 ,y 1 )-(Sx 1 ,y 2 )-(Sx 2 ,y 2 )-(Sx 2 ,y 1 ) The number of feature points in any enclosed area (the area is a partial star-like image, namely, the global star-like image is in the imaging range of the visual field of the camera) must be more than or equal to 4 so as to ensure that the extraction of topological features is realized, and if the topological features are not met, the global star-like image is regenerated until the conditions are met;
the global star-like diagram can be automatically generated by using simulation software such as MATLAB, and the like, a user sets boundary conditions (such as the length, the width, the number of star points and the like of the global star-like diagram), pixel value marks (0 represents background and 1 represents star points) are carried out on randomly generated star point positions in the whole diagram, and then the global star-like diagram meeting the star point density and distribution requirements can be obtained.
And step two, printing or projecting the global star-like image generated in the step one on a curtain, taking noise influence into consideration, and placing the curtain above a spent fuel pool at a certain height as shown in fig. 2.
Step three, using a camera (shown in figure 3) fixed on the bank of the water pool to image a reflecting mirror arranged above the operation and maintenance equipment to obtain a partial star-like image of specular reflection, wherein the corresponding relation between the partial star-like image and the global star-like image is shown in figure 4 a; the partial star-like plot of specular reflection, shown in fig. 4b, denoted imgL, with size m×n; the image of the reflector area is obtained through automatic identification of the camera image, and then the mirror surface area image is subjected to mirror symmetry to obtain a partial star-like image, which is shown in fig. 4c and is marked as imgL ′ The two graphs have the following relationship:
imgL ′ ＝-imgL (1)
step four, matching operation is carried out on part of the star-like images and the global star-like images;
first, the image to be matched (i.e., imgL) ′ And imgG), feature point extraction algorithms including, but not limited to ORB (Oriented FAST and Rotated BRIEF), SIFT (Scale-invariant feature transform), SURF (Speeded Up Robust Features), etc. may be employed; constructing a corresponding cost matrix for the extracted characteristic point pairs, namely representing the matching 'cost' of a single point pair by calculating similarity quantization parameters between the point pairs by taking Euclidean distance and topological structure as main characteristics, wherein the similarity quantization parameters of all the point pairs form the cost matrix; and then, matching characteristic points according to the cost matrix by adopting a Hungary matching algorithm to obtain matching point pairs, as shown in figure 5.
Step five, calculating the transformation relation between the local star-like image and the global star-like image according to the matching point pairs obtained in the step four;
as shown in FIG. 5, in the global star-like coordinate system O g -x g y g Under the condition, the coordinate set of the matching point is marked as gamma g ＝[x g y g ] T In part of the star-like image coordinate system O l -x l y l Under the condition, the coordinate set of the matching point is marked as gamma l ＝[x l y l ] T ，Γ g And Γ l I.e. the matching point pair obtained in the fourth step and Γ g And Γ l The two have the following relationship:
Γ l ＝Γ g T r (2)
wherein T is r Is a coordinate transformation matrix, t x And t y For the offset, θ is the yaw angle.
According to the matching of the local and global star-like maps in fig. 5, the point pairs coordinates (Γ g And Γ l ) And the formula (2) can be obtained,
T r ＝(Γ g T Γ g ) -1 Γ g T Γ l (4)
and (3) combining the formula (3) and the formula (4) to obtain the yaw angle theta of the local star-like diagram relative to the global star-like diagram, namely the yaw angle theta of the operation and maintenance equipment.
In order to obtain the position of the centroid D' of the local star-like map in the global star-like map, the local star-like map coordinate system O l -x l y l Under the condition, the centroid D' coordinate of part of the star-like diagram is Γ lm ＝(Sx l ，Sy l ) A coordinate transformation matrix T obtained by the formula (4) r Obtaining a global star-like image coordinate system O g -x g y g Under the coordinate Γ of centroid D gm ＝(Sx g ，Sy g )。
Γ gm ＝Γ lm T r -1 (5)
Finally, the position coordinates (Sx) of the partial star-like diagram centroid D' in the relative global star-like diagram D are obtained g ，Sy g ) (Global Star-like image coordinate System O) g -x g y g Lower), and a rotation angle θ (by T r Available directly).
Then the absolute coordinate system O-x can be obtained through simple coordinate change w y w Next, the position of centroid D on the global star-like map corresponding to the partial star-like map centroid D' (Sx m ，Sy m )。
Step six, according to the position coordinates (Sx m ，Sy m ) Taking the x direction as an example, the imaging part coordinates are Sx m ′
Sx m ′＝Sx m (6)
Based on the trigonometric relationship of OAB and OC 'D',
Sx m ′＝(C h +2M h +S h )tanα (7)
x m ＝(C h +M h )tanα (8)
from formulae (6) - (8)
The same principle can be obtained:
wherein C is h The height from the camera optical center to the bank of the spent fuel pool is M h Is the height from the bank of the spent fuel pool to a reflector above operation and maintenance equipment, S h The height from the global star-like map to the bank of the spent fuel pool is the included angle between the shooting sight of the camera and the vertical direction.
Position information (x) of the mirror centroid B (i.e., the operation and maintenance device) is obtained m ，y m ) And (3) the yaw angle of the operation and maintenance equipment is consistent with the theta obtained in the step five, and conversion is not needed.
Finally, the absolute coordinate system O-x is obtained w y w Under the condition, the attitude of the underwater operation and maintenance equipment is Γ= [ x ] m y m θ] T Wherein x is m 、y m The coordinate of the centroid of the reflecting mirror above the operation and maintenance equipment is that theta is the yaw angle.
The beneficial effects of the positioning method of the invention are verified:
simulation verification is performed on the positioning method proposed herein by MATLB. Firstly, generating a global star-like diagram meeting the composite requirement according to the first step and the second step, and then randomly generating the gesture Γ= [ x ] of the underwater operation and maintenance equipment m y m θ] T Obtaining a mirror image local star map according to the generated gesture, and finally obtaining a calculated value gamma of the gesture of the operation and maintenance equipment by the visual positioning method based on star map matching in the third step to the sixth step c ＝[x mc y mc θ c ] T The results were as follows:
TABLE 1
The positioning method provided by the method has higher precision, and when the rotation angle is 0 DEG and 90 DEG, the theoretical calculation error is 0; the rotation angle is 45 degrees, and a small error exists, wherein the error is mainly caused by sub-pixels occurring at characteristic point positions after the star-like diagram rotates in simulation verification, and the error in an actual scene depends on the imaging minimum resolution.
Example two
The embodiment discloses spent fuel pool operation and maintenance equipment positioning system based on star map matching, which comprises:
the global star-like diagram generating module is configured to: generating a global star-like diagram conforming to constraint conditions;
a global star map display module configured to: displaying the generated global star map at a certain height above the spent fuel pool;
a local star-like graph generation module configured to: acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment;
the relative position relation acquisition module is configured to: matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image;
the operation and maintenance device position acquisition module is configured to: and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (10)
1. A method for positioning operation and maintenance equipment of a spent fuel pool based on star map matching is characterized in that,
generating a global star-like diagram conforming to constraint conditions;
displaying the generated global star map at a certain height above the spent fuel pool;
acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment;
matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image;
and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained.
2. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching, which is characterized in that the constraint condition comprises: the number of the characteristic points in any area surrounded by the set points in the global star-like diagram is more than or equal to 4.
3. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching according to claim 1, wherein the displaying the generated global star map at a certain height above the spent fuel pool comprises the following steps: the global star-like map is printed or projected on a curtain positioned at a certain height above the spent fuel pool.
4. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching, which is characterized in that the camera is fixed on the bank of the spent fuel pool, and the field of view of the camera covers all the range of the bottom of the spent fuel pool.
5. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching according to claim 1, wherein the step of obtaining the local star map by using the camera and the reflector arranged above the operation and maintenance equipment comprises the following steps:
automatically identifying the image of the reflector region through the image of the camera;
mirror symmetry is carried out on the image of the reflector area to obtain a local star-like image.
6. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching according to claim 1, wherein the matching operation of the local star map and the global star map to obtain the relative position relationship between the local star map and the global star map comprises the following steps:
extracting characteristic points in a part of star-like images and a global star-like image;
constructing a corresponding cost matrix for the extracted characteristic point pairs;
matching the feature points by adopting a Hungary matching algorithm according to the cost matrix to obtain matching point pairs;
and calculating the yaw angle and the offset of the local star-like image relative to the global star-like image by utilizing the coordinate transformation matrix of the local star-like image and the global star-like image by utilizing the matching point pairs.
7. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching according to claim 6, wherein the calculating the coordinate transformation matrix of the local star map and the global star map by using the matching point pairs comprises the following steps:
acquiring a matching point coordinate set under a global star-like image coordinate system;
acquiring a matching point coordinate set under a local star-like image coordinate system;
and obtaining a coordinate transformation matrix by utilizing the obtained matching points of the local star-like diagram and the global star-like diagram to coordinate.
8. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching, which is characterized in that the position of the reflecting mirror is obtained by inversion of the imaging relation, the position of the operation and maintenance equipment of the spent fuel pool is obtained, and the method comprises the following steps:
calculating the position coordinates of the centroids on the global star-like map corresponding to the centroids of the local star-like maps by using a coordinate transformation matrix;
and inversion is carried out by utilizing the position coordinates of the centroid and the geometric relations of the camera, the reflector and the global star-like map to obtain the position information of the reflector centroid.
9. The method for positioning the operation and maintenance equipment of the spent fuel pool based on the star map matching, which is characterized in that the geometric relationship between the camera and the reflecting mirror comprises the following steps: the camera is a vertical distance from the centroid of the mirror and a horizontal distance.
10. The utility model provides a spent fuel pool operation and maintenance equipment positioning system based on star map matching which characterized in that: comprising the following steps:
the global star-like diagram generating module is configured to: generating a global star-like diagram conforming to constraint conditions;
a global star map display module configured to: displaying the generated global star map at a certain height above the spent fuel pool;
a local star-like graph generation module configured to: acquiring a local star map by using a camera and a reflecting mirror arranged above operation and maintenance equipment;
the relative position relation acquisition module is configured to: matching the local star-like image with the global star-like image to obtain the relative position relationship between the local star-like image and the global star-like image;
the operation and maintenance device position acquisition module is configured to: and inversion is carried out by utilizing an imaging relation to obtain the position of the reflecting mirror, so that the position of the spent fuel pool operation and maintenance equipment is obtained.
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