CN104822026B - Camera attitude control method and device for nuclear power plant containment shell defects detection - Google Patents
Camera attitude control method and device for nuclear power plant containment shell defects detection Download PDFInfo
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- CN104822026B CN104822026B CN201510215660.6A CN201510215660A CN104822026B CN 104822026 B CN104822026 B CN 104822026B CN 201510215660 A CN201510215660 A CN 201510215660A CN 104822026 B CN104822026 B CN 104822026B
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Abstract
A kind of camera attitude control method and device for nuclear power plant containment shell defects detection, installs distance measuring sensor on camera hoisting platform, and the range sensor is towards containment；Microcontroller is set, camera is connected by control line, range sensor is connected to microcontroller.Microcontroller determines that camera is the initial return value of acquisition range sensor after correct posture；After camera is in current scheduled camera site, the return value of range sensor is obtained；Current gained return value is compared with initial return value respectively, judge whether the absolute value of difference is both less than preset tolerance, if meeting exposure instruction is sent out to camera, the next scheduled camera site being then back to for camera carries out judgement processing, otherwise returns and continues to detect for current scheduled camera site.Present invention can ensure that camera posture of every photo when shooting is consistent with initial setting posture, it is ensured that the accuracy of nuclear power plant containment shell defects detection.
Description
Technical field
The present invention relates to camera attitude control technology fields, especially a kind of to be used for nuclear power plant containment shell defects detection close shot
The method and device of photogrammetric middle camera gesture stability.
Background technology
In photogrammetric, the gesture stability of camera is extremely important.If in photographic process, camera posture can not protect
Card then will appear the difficult problem of photograph splicing.Excessive camera attitude misalignment can cause between photograph distortion, photograph without weight
It is folded, it eventually leads to shortage of data, can not splice.
The containment of nuclear power station is last one of the barrier for ensureing reactor and not polluted to the external world.Its outermost layer is pre-
Stress armored concrete pours, about 51 meters high, 40 meters or so of diameter, about 7000 square metres of external surface area.To ensure it
Intensity needs periodically to carry out defects detection to it, wherein the defect most paid close attention to is crack, these fracture widths are generally in 0.1mm
Left and right.
The heavy workload of these defects of the hand inspection and period is very long, and the method for using close-range photogrammetry, can be with
Efficiency is improved, and to photo file for future examination.Referring to Fig. 3, when carrying out close-range photogrammetry to containment, to obtain containment
Complete image, need shoot about 6000 photos, vertical direction divide air strips, move from bottom to top.On containment top
Portion installs track in advance, and after having shot an air strips, containment horizontal movement is surrounded by railcar dragging camera platform,
Replace air strips.Camera platform uses the form of steel cable suspended, when operation, it will usually have rocking and being influenced by wind-force for itself
Caused by rock, cause camera posture unstable, the photograph decoking that finally shoots, distortion, degree of overlapping are inadequate, cause data can not
With influencing to measure.Common attitude control method, such as satellite positioning determine appearance scheme, can not implement herein, because environment limits
System, satellite-signal are blocked than more serious, and availability cannot be satisfied requirement.And electronic compass and accelerometer, gyroscope combination side
Case can not be efficiently applied to entire measurement process due to deviation accumulation problem.
Invention content
The method proposed in the present invention can effectively solve the problems, such as above-mentioned successive gesture stability, ensure that camera is being allowed
It takes pictures when posture, to improve photo quality.
Technical scheme of the present invention provides a kind of camera attitude control method for nuclear power plant containment shell defects detection,
Two distance measuring sensors are installed, the range sensor is symmetrically mounted on camera two towards containment on camera hoisting platform
Side；Microcontroller is set, and microcontroller connects camera by control line, and range sensor is connected to microcontroller, exports and surveys to microcontroller
Away from result；
The microcontroller executes following below scheme for every air strips,
Step 1, determine camera be correct posture after, obtain at this time the initial return value Di1 of two range sensors and
Di2；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, the return value Ds1 and Ds2 of two range sensors are obtained；
Step 4, current gained return value Ds1 and Ds2 are compared with initial return value Di1 and Di2 respectively, are calculated
Ds1-Di1 and Ds2-Di2, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 is both less than equal to preset tolerance T,
If it is satisfied, then sending out photographing instruction to camera, be then back to step 2, for camera next scheduled camera site into
Row judgement is handled, and otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
Moreover, installing a range sensor additional again in the vertical direction, it is in angular distribution to make three sensors,
The microcontroller executes following below scheme for every air strips,
Step 1, camera is determined after correct posture, to obtain initial return value Di1, Di2 of three range sensors at this time
And Di3；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, return value Ds1, Ds2 and Ds3 of three range sensors are obtained；
Step 4, current gained return value Ds1, Ds2, Ds3 are compared with initial value Di1, Di2, Di3 respectively, that is, counted
Ds1-Di1, Ds2-Di2 and Ds3-Di3 are calculated, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 are both less than
It is then back to step 2 if it is satisfied, then sending out photographing instruction to camera equal to preset tolerance T, for camera
Next scheduled camera site carries out, and otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
The present invention accordingly provides a kind of camera attitude-control device for nuclear power plant containment shell defects detection, is hung in camera
Two distance measuring sensors are installed, the range sensor is symmetrically mounted on camera both sides towards containment on assembling platform；Setting
Microcontroller, microcontroller connect camera by control line, and range sensor is connected to microcontroller, and distance measurement result is exported to microcontroller.
Moreover, installing a range sensor additional again in the vertical direction, it is in angular distribution to make three sensors.
Present invention can ensure that camera posture of every photo when shooting is consistent with initial setting posture, really
The accuracy of nuclear power plant containment shell defects detection is protected, required apparatus structure is simple, it is easy to accomplish, it is of low cost, make suitable for promoting
With.
Description of the drawings
Fig. 1 is microcontroller flow chart of the embodiment of the present invention.
Fig. 2 is structure chart of the embodiment of the present invention.
Schematic diagram when Fig. 3 is camera hoisting platform operation in the prior art.
Specific implementation mode
Technical solution of the present invention is specifically described below in conjunction with drawings and examples.
The present invention proposes that design specialized device, wherein major function are realized that peripheral equipment is two by a piece of single-chip microprocessor MCU
Range sensor and control line.
Basic thinking is, on camera hoisting platform, two distance measuring sensors is installed, when an air strips start
It waits, two distance measuring sensors of record are apart from object（Containment）Distance as initial value, and preset a tolerance.
When camera is run on the air strips, every time before exposure, two distance measuring sensor distance peaces all constantly, are rapidly detected
The distance of full shell, and calculate with whether the difference of initial value more than tolerance sends out photographing instruction if be no more than to camera
（Usually exposure instruction）, otherwise continue the measured value of detecting distance sensor.Ensure that every photo is being shot in this way
When camera posture be consistent with initial setting posture.
Referring to Fig. 2, the embodiment of the present invention proposes the method for camera gesture stability in nuclear power plant containment shell defects detection,
Based on the microcontroller beside camera（MCU), two range sensors, control line are realized.
The selection of range sensor needs to pay attention to sampling rate problem.According to advance experiment, the speed of swinging of camera platform
Degree is about 2m/s, and the time for exposure is most of between 1/500s to 1/50s, and according to used camera and camera lens and object
Away from selected tolerance is 20cm.Therefore the camera that returns value to that range sensor is got from microcontroller gets photo
Total delay time is no more than 0.1s.And used camera shutter delay time is about 43ms, so range sensor
Data acquisition cycle be necessarily less than 57ms.Although laser range finder precision is high, the sampling period is generally hundreds of milliseconds, nothing
Method is met the requirements.And the ranging period of a part of ultrasound measurement module within 2 meters of target range when, can 50ms with
Interior, precision can also control within 1 centimetre, can meet the requirements.Therefore the range sensor choosing in the embodiment of the present invention
With ultrasonic distance measuring module.
Range sensor is symmetrically mounted on camera both sides, distance is remote as possible, one side of larger distance towards containment
Face can obtain higher shaking angle sensitivity, on the other hand, it is possible to reduce the interference between two range sensors, so as to
Preferably control posture.Range sensor is connected to microcontroller, and distance measurement result is exported to microcontroller.
Microcontroller connects camera by control line, to send out photographing instruction to camera.
Based on above-mentioned apparatus, when each air strips start shooting, it is first determined camera is correct posture, then starts to transport
Row.When it is implemented, can be by way of manual setting in advance by camera pose adjustment to correct position.Microcontroller obtains first
The return value of two range sensors is taken, and is stored as Di1 and Di2 as initial value.Then camera platform setting in motion,
After camera reaches preset camera site, the flow of microcontroller enters a cycle, and in the cycle, microcontroller is quickly, even
The return value Ds1 and Ds2 of two range sensors are obtained continuously, and it is compared with initial value Di1 and Di2, that is, are calculated
Ds1-Di1 and Ds2-Di2, once the absolute value of difference is less than preset tolerance, microcontroller is sent out by control line to camera
Go out photographing instruction, ensures that camera obtains photograph in the posture of permission, then jump out cycle.Otherwise it continues cycling through.
Referring to Fig. 1, flow may be designed as：
Step 1, determine camera be correct posture after, obtain at this time the initial return value Di1 of two range sensors and
Di2；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, microcontroller obtains the return value Ds1 and Ds2 of two range sensors；
Step 4, current gained return value Ds1 and Ds2 are compared with initial value Di1 and Di2 respectively, that is, calculate Ds1-
Di1 and Ds2-Di2, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 is both less than equal to preset tolerance T（In figure
It is denoted as Abs (Ds1-Di1)<=T and Abs (Ds2-Di2)<=T）, if it is satisfied, then sending out photographing instruction to camera, it is then back to
Step 2, for next scheduled camera site of camera（Next position is moved horizontally on same navigation channel）Sentenced
Disconnected to handle, otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
In practical applications, the quantity of range sensor can increase according to demand.Due to the camera platform of cable wire lifting
The characteristics of, the movement that existing main shaking is horizontally oriented, the range sensor being horizontally mounted with two can control phase
The horizontal movement posture of machine.If also needing to the posture of control pitching movement, need to install additional again in the vertical direction one away from
From sensor, it is in angular distribution to make three sensors, and three range sensors are all disposed in camera platform and are connected to monolithic
Machine exports distance measurement result to microcontroller.Corresponding flow is extended to：
Step 1, determine camera be correct posture after, obtain at this time the initial return value Di1 of three range sensors,
Di2 and Di3；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, microcontroller obtains return value Ds1, Ds2 and Ds3 of three range sensors；
Step 4, current gained return value Ds1, Ds2, Ds3 are compared with initial value Di1, Di2, Di3 respectively, that is, counted
Ds1-Di1, Ds2-Di2 and Ds3-Di3 are calculated, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 are both less than
It is then back to step 2 if it is satisfied, then sending out photographing instruction to camera equal to preset tolerance T, for camera
Next scheduled camera site carries out, and otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
When it is implemented, invention technician can voluntarily need to preset the value of tolerance T according to precision.
Above example will be helpful to those skilled in the art and further understand the present invention, but not limit in any form
The present invention.It should be pointed out that those skilled in the art, without departing from the inventive concept of the premise, also
Several modifications and improvements can be made.These are all within the scope of protection of the present invention.
Claims (4)
1. a kind of camera attitude control method for nuclear power plant containment shell defects detection, it is characterised in that：For nuclear power station safety
The camera platform feature lifted on full shell, the movement that existing main shaking is horizontally oriented, is installed on camera hoisting platform
Two range sensors, the range sensor are symmetrically mounted on camera both sides towards containment, realize the water of control camera
Flat athletic posture, the range sensor use ultrasonic distance measuring module；Microcontroller is set, and microcontroller connects phase by control line
Machine, range sensor are connected to microcontroller, and distance measurement result is exported to microcontroller；
The microcontroller executes following below scheme for every air strips,
Step 1, camera is determined after correct posture, to obtain the initial return value Di1 and Di2 of two range sensors at this time；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, the return value Ds1 and Ds2 of two range sensors are obtained；
Step 4, current gained return value Ds1 and Ds2 are compared with initial return value Di1 and Di2 respectively, calculate Ds1-
Di1 and Ds2-Di2, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 is both less than equal to preset tolerance T, if
Meet, then sends out photographing instruction to camera, be then back to step 2, sentenced for next scheduled camera site of camera
Disconnected to handle, otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
2. being used for the camera attitude control method of nuclear power plant containment shell defects detection according to claim 1, it is characterised in that：
Install a range sensor additional again in the vertical direction, it is in angular distribution to make three sensors, realizes the pitching fortune of control camera
Dynamic posture, the microcontroller execute following below scheme for every air strips,
Step 1, after determining that camera is correct posture, obtain initial return value Di1, Di2 of three range sensors at this time and
Di3；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, return value Ds1, Ds2 and Ds3 of three range sensors are obtained；
Step 4, current gained return value Ds1, Ds2, Ds3 are compared with initial value Di1, Di2, Di3 respectively, that is, calculated
Ds1-Di1, Ds2-Di2 and Ds3-Di3 judge whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 are both less than
It is then back to step 2 if it is satisfied, then sending out photographing instruction to camera in preset tolerance T, under camera
One scheduled camera site carries out, and otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
3. a kind of camera attitude-control device for nuclear power plant containment shell defects detection, it is characterised in that：For nuclear power station safety
The camera platform feature lifted on full shell, the movement that existing main shaking is horizontally oriented, is installed on camera hoisting platform
Two range sensors, the range sensor are symmetrically mounted on camera both sides towards containment, realize the water of control camera
Flat athletic posture, the range sensor use ultrasonic distance measuring module；Microcontroller is set, and microcontroller connects phase by control line
Machine, range sensor are connected to microcontroller, and distance measurement result is exported to microcontroller；
The microcontroller executes following below scheme for every air strips,
Step 1, camera is determined after correct posture, to obtain the initial return value Di1 and Di2 of two range sensors at this time；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, the return value Ds1 and Ds2 of two range sensors are obtained；
Step 4, current gained return value Ds1 and Ds2 are compared with initial return value Di1 and Di2 respectively, calculate Ds1-
Di1 and Ds2-Di2, judges whether the absolute value of Ds1-Di1 and Ds2-Di2 is both less than equal to preset tolerance T, if
Meet, then sends out photographing instruction to camera, be then back to step 2, sentenced for next scheduled camera site of camera
Disconnected to handle, otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
4. being used for the camera attitude-control device of nuclear power plant containment shell defects detection according to claim 3, it is characterised in that：
Install a range sensor additional again in the vertical direction, it is in angular distribution to make three sensors；Realize the pitching fortune of control camera
Dynamic posture, the microcontroller execute following below scheme for every air strips,
Step 1, after determining that camera is correct posture, obtain initial return value Di1, Di2 of three range sensors at this time and
Di3；
Step 2, after camera is in current scheduled camera site, 3 are entered step；
Step 3, return value Ds1, Ds2 and Ds3 of three range sensors are obtained；
Step 4, current gained return value Ds1, Ds2, Ds3 are compared with initial value Di1, Di2, Di3 respectively, that is, calculated
Ds1-Di1, Ds2-Di2 and Ds3-Di3 judge whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 are both less than
It is then back to step 2 if it is satisfied, then sending out photographing instruction to camera in preset tolerance T, under camera
One scheduled camera site carries out, and otherwise return to step 3 is directed to current scheduled camera site and continues to detect.
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| CN105761209B (en) * | 2016-03-16 | 2018-11-13 | 武汉大学 | Nuclear containment surface image joining method and system |
| CN105606627B (en) * | 2016-03-16 | 2018-08-21 | 武汉大学 | The long-range visual examination measurement method of nuclear power plant containment shell and system |
| CN106248681A (en) * | 2016-07-18 | 2016-12-21 | 南通大学 | Solid object multiclass defect detecting device based on machine vision and method |
| CN110807773B (en) * | 2019-11-12 | 2023-04-11 | 中广核检测技术有限公司 | Panoramic image detection method for surface defects of nuclear power station |
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