CN110910385A - Pipeline levelness measuring system and method based on image recognition - Google Patents
Pipeline levelness measuring system and method based on image recognition Download PDFInfo
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Abstract
The invention belongs to the technical field of nuclear power plant operation monitoring, and particularly relates to a pipeline levelness measuring system and method based on image recognition, which comprises a high-definition photographing system, an image recognition system, a verticality detecting system, a magnetic damping automatic leveling detecting system and a threshold judging system, and is mainly used for quickly judging whether the gradient of an instrument pipeline meets the requirement or not and facilitating the measurement of the gradient of an instrument pipeline on site, wherein the device is characterized in that: 1) high-definition photographing and image recognition; 2) the operation is quick, and the measurement time and the workload are greatly reduced; 3) automatic angle compensation is realized, and no field zero calibration is needed; 4) the measurement precision is high.
Description
Technical Field
The invention belongs to the technical field of nuclear power plant operation monitoring, and particularly relates to a pipeline levelness measuring system and method based on image recognition.
Background
The instrument tube slope is arranged complicacy at the scene, measures through the spirit level and requires that the instrument tube top has certain spirit level and places the space, and part instrument tube top space is narrow and small, can't satisfy the measurement demand.
The gradienter belongs to the rigidity measurement body, and when the slope of a certain section in the middle of a part of instrument tubes does not meet the requirement, the gradienter cannot accurately measure the slope value of the section, so that the measurement error is generated.
Meanwhile, the horizontal precision of the level meter is mostly only 1 degree, for a nuclear power system, the lowest standard is 2% of gradient difference, which is about an angle of 1.146 degrees, and the level meter cannot reach the required precision below 1 degree.
The instrument tube gradient imaging recognition device can realize automatic image recognition only by taking pictures through high definition, and the levelness judgment of any section of the instrument tube is completed. The disadvantages of insufficient measuring space, insufficient precision, uncertain personnel measuring errors and the like of the level ruler are avoided, a plurality of groups of instrument tubes can be simultaneously measured, and the measuring efficiency is improved.
Compared with other electric power forms, the nuclear power unit has the characteristic of high radiation performance, and a main radiation high-dose area is concentrated inside the nuclear island, so that instruments in the nuclear island are mostly installed in the area of the ring corridor.
The ring corridor is separated from the nuclear island pressure container and the main pipeline through a reinforced concrete wall, so that the influence of high irradiation on the sensor is avoided, and the irradiation dose received by a sensor maintainer is reduced.
The sensors in the nuclear island are generally required to transmit parameters such as pressure, differential pressure and the like to the sensor pressure sensing part through a long instrument tube. In order to accurately reflect parameters such as process pressure, the requirement on the arrangement of the instrument tube is extremely high, and particularly the requirement on the gradient (horizontal angle) of the instrument tube is high. If the gradient does not meet the standard, gas accumulation or water accumulation can be generated in the instrument tube, and gas seal or liquid seal occurs, so that the measurement result of the differential pressure transmitter with the measuring range of only a few KPa is distorted or abnormally fluctuated.
At present, the measurement of the gradient of the instrument tube can only be qualitatively measured by a level meter or a level ruler, the precision is low, and the use requirement of high precision on site cannot be met.
Disclosure of Invention
The invention aims to provide a pipeline levelness measuring system and method based on image recognition, which are used for high-precision imaging recognition of the slope of a nuclear island instrument tube and simultaneously judge whether the slope standard requirement is met.
The invention comprises the following steps:
the utility model provides a pipeline levelness measurement system based on image recognition, including high definition photograph system, image recognition system, the straightness detecting system that hangs down, magnetic damping automatic leveling detecting system, threshold value judgement system, high definition photograph system passes through image recognition system and is connected with the treater, the treater still is connected with straightness detecting system that hangs down and magnetic damping automatic leveling detecting system, straightness detecting system, magnetic damping automatic leveling detecting system revise the data after image recognition system handles, carry out the most judgement through the inside threshold value judgement system of treater after revising.
The high-definition photographing system consists of an environment photosensitive module, a flash lamp, a focal length adjusting system, a high-definition lens, a CMOS image sensor chip, a shutter, a connecting circuit of each module, a control interface and an equipment frame;
the high-definition photographing system mainly achieves the function of performing high-definition photographing on a site needing to measure the gradient of the gauge pipe, can judge the ambient brightness through the ambient light sensor, can automatically or manually turn on the flash lamp to supplement the brightness, automatically or manually achieve focusing of a measured object, is 1 inch in size, and can achieve 1 hundred million effective pixel frames.
The image recognition system mainly realizes the functions of signal A/D conversion, image storage, image processing, image contour recognition and the like of the sensor, and comprises a signal processing module, an image enhancement module, an edge detection module, a linear fitting module, a hardware processor, a circuit and interfaces thereof for realizing the functions of all the modules;
the signal processing module realizes the conversion of digital image signals, the image enhancement module can detect the color or brightness of a detected target, and as the instrument tubes are all 316L stainless steel tubes, compared with the color of a background wall, the instrument tubes have the characteristic of better light reflection, the module automatically identifies the instrument tubes through HSV (hue, saturation and brightness), and performs denoising processing on an image with low definition; then, using an edge detection module to identify the edge profile of the instrument tube in the comparison sheet, and smoothing the edges with sawteeth, faults and the like; the edge profile sensitivity can realize the accuracy of +/-0.3 mm, and the linear fitting module is used for performing linear fitting on the upper edge and the lower edge of the identified instrument tube so as to extract the linear trend of the instrument tube.
The verticality detection system comprises a capacitance pendulum principle vertical measurement module, a verticality imaging fitting module and a triangular support, wherein the capacitance pendulum principle vertical measurement module is freely suspended and fine wires through a circular pendulum bob, the pendulum bob is influenced by gravity of the earth center and is suspended in a frictionless condition, electrodes are arranged on two sides of the pendulum bob, the capacitance is equal when the gaps are the same, and if the placement point of a level gauge is not horizontal, the two gaps are different in distance to generate differential capacitance, so that the difference of angles is formed; the angle difference is connected to the linear direction of the instrument tube in the image recognition system, and the measurement error caused by the device out of level is automatically compensated, so that the linear gradient of the instrument tube is corrected.
The threshold value judging system comprises a binarization slope selecting module and a slope angle calculating module, wherein the binarization slope selecting module can realize slope calculation of an instrument pipe section with the minimum length of 1cm by carrying out segmentation binarization slope processing on a linear fitting instrument pipe; comparing with standard gradient, prompting any section of instrument tube which is bent or does not meet the gradient requirement, displaying the instrument tube in the profile diagram after image processing, and simultaneously judging whether a plurality of instrument tubes successfully fitted in a linear way meet the requirement by the threshold judging system and giving the angle value of the instrument tube section with the worst gradient.
The magnetic damping leveling detection system comprises a laser ray function, a magnetic damping leveling detection function and an automatic correction function, and is mainly used for gradient measurement of the through-wall instrument tube; the front and rear elbow pipe points of the through-wall instrument pipe need to be manually positioned, and after magnetic damping detection and correction, whether the gradient of the whole instrument pipe section meets the requirement or not is calculated.
A pipeline levelness measuring method based on image recognition is used for measuring the gradient of a horizontal instrument tube, and comprises the following steps of 1) carrying out detection on the pipeline levelness measuring method by facing a measured instrument tube and measuring the distance of about 1m between the pipeline levelness measuring method and the measured instrument tube without a tripod, holding a detector by hand, turning on a power supply, checking whether electric quantity is sufficient or not, opening a lens cover, and selecting a horizontal measuring mode;
2) and (4) lightly touching a photographing button, and automatically selecting whether to start the flash lamp according to the current ambient light condition by the equipment. Meanwhile, the device lens is automatically focused. After focusing is successful, the green indicator light is turned on to prompt that photographing detection can be carried out;
3) in the processing process, the equipment automatically detects the verticality of the equipment during photographing, and the vertical reference line form an angle β;
4) through image recognition, the displayed included angle α between the binarization slope of each tube section of the instrument tube and the horizontal reference line is determined to be α + β;
5) α and β have positive and negative scores according to the inclined direction when the equipment and the instrument tube take a picture;
6) and judging the levelness of each pipe section according to a threshold judgment system, and prompting on an equipment image.
A pipeline levelness measuring method based on image recognition is used for measuring the perforation gradient of an instrument tube, and comprises the steps of 1) placing a detector on a scaffold, turning on a power supply, checking whether electric quantity is sufficient, turning on a lens cover, and selecting a perforation measuring mode;
2) the detector automatically emits laser rays;
3) the method comprises the following steps that a tester adjusts the height of a tripod, positions a laser ray to a near measuring point A of a horizontal pipe section of an instrument pipe, and clicks a screen to record and confirm the current height;
4) adjusting the height of the tripod again, positioning the laser ray to a remote point B of the horizontal pipe section of the instrument pipe, and clicking a screen to record and confirm the current height;
5) the system can automatically adjust the laser emission angle according to whether the tripod is horizontal or not. The inclination of +/-3 degrees can be automatically compensated through magnetic damping detection;
6) inputting A, B a distance L between two points in the screen;
7) the system automatically calculates the gradient of the instrument tube, α ═ arctan ((B-A)/L);
8) and the detection personnel judge whether the slope requirement is met or not by themselves.
The invention has the following beneficial effects:
the device is mainly used for quickly judging whether the gradient of the instrument pipeline meets the requirement or not and is convenient for measuring the gradient of the instrument pipeline on site, and the device has the characteristics that:
1) high-definition photographing and image recognition;
2) the operation is quick, and the measurement time and the workload are greatly reduced;
3) automatic angle compensation is realized, and no field zero calibration is needed;
4) the measurement precision is high.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a measurement method according to the present invention;
FIG. 3 is a diagrammatic imaging view of the present invention;
FIG. 4 is a schematic view of the horizontal gauge tube measurement compensation principle of the present invention;
FIG. 5 is a schematic view of the punch slope detection of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments:
a pipeline levelness measuring system based on image recognition comprises a high-definition photographing system, an image recognition system, a verticality detection system, a magnetic damping automatic leveling detection system and a threshold judgment system. The high-definition photographing system is connected with the processor through the image recognition system, the processor is further connected with the verticality detection system and the magnetic damping automatic leveling detection system, the verticality detection system and the magnetic damping automatic leveling detection system correct data processed by the image recognition system, and the data are judged most through the threshold judgment system in the processor after being corrected.
The concrete functions are as follows:
high definition system of shooing: the system consists of an environment photosensitive module, a flash lamp, a focal length adjusting system, a high-definition lens, a CMOS image sensor chip, a shutter, a connecting circuit of each module, a control interface and an equipment frame. The high-definition photographing system mainly achieves the function of performing high-definition photographing on a site needing to measure the gradient of the gauge pipe. The system can judge the ambient brightness through the ambient light sensor, and can realize brightness supplement by automatically or manually turning on the flash lamp. The focusing of the measured object is realized automatically or manually. The CMOS sensor size is 1 inch and can achieve 1 billion effective pixel frames.
An image recognition system: the system is a core system and mainly realizes the functions of signal A/D conversion, image storage, image processing, image contour recognition and the like of the sensor, and comprises a signal processing module, an image enhancement module, an edge detection module, a linear fitting module, a hardware processor, a circuit and interfaces thereof for realizing the functions of all the modules. The signal processing module realizes the conversion of the digital image signal. The image enhancement module can detect the color or brightness of the detected object. As the instrument tubes are all made of 316L stainless steel tubes, compared with the color of a background wall, the instrument tube identification module has the characteristic of better light reflection, automatically identifies the instrument tubes through HSV (hue, saturation and brightness) values, and carries out denoising processing on images with low definition. And then, an edge detection module is used for carrying out edge contour recognition on the instrument tube in the comparison sheet, and smoothing processing is carried out on edges with sawteeth, faults and the like. Edge profile sensitivity can achieve a precision of 0.3 mm. And the linear fitting module is used for performing linear fitting on the upper edge and the lower edge of the identified instrument tube so as to extract the linear trend of the instrument tube.
Perpendicularity detection system: the system mainly comprises a capacitance pendulum principle vertical measurement module, a verticality imaging fitting module and a triangular support. The capacitance pendulum principle verticality measuring module is freely suspended and fine lines through a circular pendulum bob, and the pendulum bob is influenced by gravity of the earth center and is suspended in a frictionless condition. Electrodes are arranged on two sides of the pendulum bob, capacitance is equal when gaps are the same, and if a placement point of the level gauge is not horizontal, the two gaps are different in distance to generate differential variable capacitance, so that angle difference is formed. The angle difference is connected to the linear direction of the instrument tube in the image recognition system, and the measurement error caused by the device out of level is automatically compensated, so that the linear gradient of the instrument tube is corrected.
A threshold value judging system: the device mainly comprises a binarization slope selection module and a slope angle calculation module. The binaryzation slope selection module can realize slope calculation of the instrument pipe section with the minimum length of 1cm by carrying out segmented binaryzation slope processing on the linear fitting instrument pipe. Compared with the standard gradient, any instrument tube which is bent or does not meet the gradient requirement is prompted and displayed in the image-processed contour diagram. The threshold value judging system can simultaneously judge whether a plurality of instrument tubes successfully subjected to linear fitting meet the requirements or not and give the angle value of the instrument tube section with the worst gradient.
Magnetic damping anping detection system: the function is similar to that of a laser level detector and comprises a laser ray function, a magnetic damping level detection function and an automatic correction function. The system is mainly used for gradient measurement of the through-wall instrument tube. The front and rear elbow pipe points of the through-wall instrument pipe need to be manually positioned, and after magnetic damping detection and correction, whether the gradient of the whole instrument pipe section meets the requirement or not is calculated.
A pipeline levelness measuring method based on image recognition is used for measuring the gradient of a horizontal instrument pipe.
1) The method comprises the steps of starting a power supply without a tripod and holding a detector by hands, checking whether electric quantity is sufficient, opening a lens cover, selecting a horizontal measurement mode, facing a measured instrument tube, and detecting the distance of about 1m between the lens cover and the measured instrument tube;
2) and (4) lightly touching a photographing button, and automatically selecting whether to start the flash lamp according to the current ambient light condition by the equipment. Meanwhile, the device lens is automatically focused. After focusing is successful, the green indicator light is turned on to prompt that photographing detection can be carried out, as shown in fig. 2;
3) in the processing process, the equipment automatically detects the verticality of the equipment during photographing, and the vertical reference line form an angle β;
4) through image recognition, the displayed included angle α between the binarization slope of each tube section of the instrument tube and the horizontal reference line shows that the actual levelness of the instrument tube is α + β, and the specific principle is as shown in fig. 4 and 5.
5) α and β have positive and negative scores according to the inclined direction when the equipment and the instrument tube take a picture;
6) and judging the levelness of each pipe section according to a threshold judgment system, and prompting on an equipment image.
A pipeline levelness measuring method based on image recognition is used for measuring the perforation gradient of an instrument tube.
1) Placing the detector on a scaffold, turning on a power supply, checking whether electric quantity is sufficient, opening a lens cover, and selecting a perforation measurement mode;
2) the detector automatically emits laser rays;
3) the method comprises the following steps that a tester adjusts the height of a tripod, positions a laser ray to a near measuring point A of a horizontal pipe section of an instrument pipe, and clicks a screen to record and confirm the current height;
4) adjusting the height of the tripod again, positioning the laser ray to a remote point B of the horizontal pipe section of the instrument pipe, and clicking a screen to record and confirm the current height;
5) the system can automatically adjust the laser emission angle according to whether the tripod is horizontal or not. The inclination of +/-3 degrees can be automatically compensated through magnetic damping detection;
6) inputting A, B a distance L between two points in the screen;
7) the system automatically calculates the instrument tube gradient α, arctan ((B-a)/L);
8) and the detection personnel judge whether the slope requirement is met or not by themselves.
3. The instrument tube perforation gradient measurement cannot realize accurate measurement, and the measurement has a large actual operation relationship with a tester.
Claims (8)
1. The utility model provides a pipeline levelness measurement system based on image recognition, includes high definition photograph system, image recognition system, straightness detecting system that hangs down, the automatic anping detecting system of magnetic damping, threshold value judgement system, its characterized in that:
the high-definition photographing system is connected with the processor through the image recognition system, the processor is further connected with the verticality detection system and the magnetic damping automatic leveling detection system, the verticality detection system and the magnetic damping automatic leveling detection system correct data processed by the image recognition system, and the data are judged most through the threshold judgment system in the processor after being corrected.
2. The image recognition-based pipeline levelness measurement system of claim 1, wherein: the high-definition photographing system consists of an environment photosensitive module, a flash lamp, a focal length adjusting system, a high-definition lens, a CMOS image sensor chip, a shutter, a connecting circuit of each module, a control interface and an equipment frame;
the high-definition photographing system mainly achieves the function of performing high-definition photographing on a site needing to measure the gradient of the gauge pipe, can judge the ambient brightness through the ambient light sensor, can automatically or manually turn on the flash lamp to supplement the brightness, automatically or manually achieve focusing of a measured object, is 1 inch in size, and can achieve 1 hundred million effective pixel frames.
3. The image recognition-based pipeline levelness measurement system of claim 1, wherein: the image recognition system mainly realizes the functions of signal A/D conversion, image storage, image processing, image contour recognition and the like of the sensor, and comprises a signal processing module, an image enhancement module, an edge detection module, a linear fitting module, a hardware processor, a circuit and interfaces thereof for realizing the functions of all the modules;
the signal processing module realizes the conversion of digital image signals, the image enhancement module can detect the color or brightness of a detected target, and as the instrument tubes are all 316L stainless steel tubes, compared with the color of a background wall, the instrument tubes have the characteristic of better light reflection, the module automatically identifies the instrument tubes through HSV (hue, saturation and brightness), and performs denoising processing on an image with low definition; then, using an edge detection module to identify the edge profile of the instrument tube in the comparison sheet, and smoothing the edges with sawteeth, faults and the like; the edge profile sensitivity can realize the accuracy of +/-0.3 mm, and the linear fitting module is used for performing linear fitting on the upper edge and the lower edge of the identified instrument tube so as to extract the linear trend of the instrument tube.
4. The image recognition-based pipeline levelness measurement system of claim 1, wherein: the verticality detection system comprises a capacitance pendulum principle vertical measurement module, a verticality imaging fitting module and a triangular support, wherein the capacitance pendulum principle vertical measurement module is freely suspended and fine wires through a circular pendulum bob, the pendulum bob is influenced by gravity of the earth center and is suspended in a frictionless condition, electrodes are arranged on two sides of the pendulum bob, the capacitance is equal when the gaps are the same, and if the placement point of a level gauge is not horizontal, the two gaps are different in distance to generate differential capacitance, so that the difference of angles is formed; the angle difference is connected to the linear direction of the instrument tube in the image recognition system, and the measurement error caused by the device out of level is automatically compensated, so that the linear gradient of the instrument tube is corrected.
5. The image recognition-based pipeline levelness measurement system of claim 1, wherein: the threshold value judging system comprises a binarization slope selecting module and a slope angle calculating module, wherein the binarization slope selecting module can realize slope calculation of an instrument pipe section with the minimum length of 1cm by carrying out segmentation binarization slope processing on a linear fitting instrument pipe; comparing with standard gradient, prompting any section of instrument tube which is bent or does not meet the gradient requirement, displaying the instrument tube in the profile diagram after image processing, and simultaneously judging whether a plurality of instrument tubes successfully fitted in a linear way meet the requirement by the threshold judging system and giving the angle value of the instrument tube section with the worst gradient.
6. The image recognition-based pipeline levelness measurement system of claim 1, wherein: the magnetic damping leveling detection system comprises a laser ray function, a magnetic damping leveling detection function and an automatic correction function, and is mainly used for gradient measurement of the through-wall instrument tube; the front and rear elbow pipe points of the through-wall instrument pipe need to be manually positioned, and after magnetic damping detection and correction, whether the gradient of the whole instrument pipe section meets the requirement or not is calculated.
7. A pipeline levelness measuring method based on image recognition is used for measuring the gradient of a horizontal instrument tube and is characterized in that:
1) the method comprises the steps of starting a power supply without a tripod and holding a detector by hands, checking whether electric quantity is sufficient, opening a lens cover, selecting a horizontal measurement mode, facing a measured instrument tube, and detecting the distance of about 1m between the lens cover and the measured instrument tube;
2) and (4) lightly touching a photographing button, and automatically selecting whether to start the flash lamp according to the current ambient light condition by the equipment. Meanwhile, the device lens is automatically focused. After focusing is successful, the green indicator light is turned on to prompt that photographing detection can be carried out;
3) in the processing process, the equipment automatically detects the verticality of the equipment during photographing, and the vertical reference line form an angle β;
4) through image recognition, the displayed included angle α between the binarization slope of each tube section of the instrument tube and the horizontal reference line is determined to be α + β;
5) α and β have positive and negative scores according to the inclined direction when the equipment and the instrument tube take a picture;
6) and judging the levelness of each pipe section according to a threshold judgment system, and prompting on an equipment image.
8. A pipeline levelness measuring method based on image recognition is used for measuring the perforation gradient of an instrument tube and is characterized in that:
1) placing the detector on a scaffold, turning on a power supply, checking whether electric quantity is sufficient, opening a lens cover, and selecting a perforation measurement mode;
2) the detector automatically emits laser rays;
3) the method comprises the following steps that a tester adjusts the height of a tripod, positions a laser ray to a near measuring point A of a horizontal pipe section of an instrument pipe, and clicks a screen to record and confirm the current height;
4) adjusting the height of the tripod again, positioning the laser ray to a remote point B of the horizontal pipe section of the instrument pipe, and clicking a screen to record and confirm the current height;
5) the system can automatically adjust the laser emission angle according to whether the tripod is horizontal or not. The inclination of +/-3 degrees can be automatically compensated through magnetic damping detection;
6) inputting A, B a distance L between two points in the screen;
7) the system automatically calculates the gradient of the instrument tube, α ═ arctan ((B-A)/L);
8) and the detection personnel judge whether the slope requirement is met or not by themselves.
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| CN114838695A (en) * | 2022-04-09 | 2022-08-02 | 国营芜湖机械厂 | Aerial duct bent section measuring method based on multi-camera measuring system |
| CN114838695B (en) * | 2022-04-09 | 2023-06-02 | 国营芜湖机械厂 | Aviation conduit bending section measuring method based on multi-camera measuring system |
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Application publication date: 20200324 |