CN112232264A - Fuel assembly identification and positioning system based on image processing - Google Patents
Fuel assembly identification and positioning system based on image processing Download PDFInfo
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- CN112232264A CN112232264A CN202011170362.7A CN202011170362A CN112232264A CN 112232264 A CN112232264 A CN 112232264A CN 202011170362 A CN202011170362 A CN 202011170362A CN 112232264 A CN112232264 A CN 112232264A
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- 239000000446 fuel Substances 0.000 title claims abstract description 62
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/22—Character recognition characterised by the type of writing
- G06V30/224—Character recognition characterised by the type of writing of printed characters having additional code marks or containing code marks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
The invention discloses a fuel assembly identification and positioning system based on image processing, which comprises a fuel assembly, an underwater camera, an image identification system and a man-machine interaction system, wherein the underwater camera is used for acquiring images of fuel assemblies; the upper end surface of the fuel assembly is provided with an identification code for identifying the identity of the fuel assembly and a positioning hole for fixing the position of the gripping apparatus; the underwater camera is positioned on the fuel assembly through the gripping apparatus, acquires the identification code information and the positioning hole information of the upper end face of the fuel assembly, and converts the identification code and the positioning hole information into digital signals; the image recognition system is used for acquiring the digital signal of the underwater camera and converting the digital signal into image information; the man-machine interaction system is used for visualizing the image information in the image recognition system. The invention can effectively shorten the operation time of loading and unloading materials and provide technical conditions for further realizing the automation of loading and unloading the fuel assembly.
Description
Technical Field
The invention belongs to the technical field of fuel assemblies, and particularly relates to the field of fuel assembly loading and reloading equipment.
Background
The nuclear physical parameters of each group of fuel assemblies in the nuclear island plant of the nuclear power plant are different, such as enrichment degree, burnup depth and the like, and the position of each group of fuel assemblies in the reactor core is also determined. Therefore, the refueling process must accurately place each group of fuel assemblies into the corresponding locations in the core. At present, the traditional method in the nuclear power plant is to compare codes positioned on the upper end surfaces of fuel assemblies one by one through an underwater camera to confirm that each position of a reactor core is loaded with a correct fuel assembly. Meanwhile, when the fuel assembly in the pile is grabbed, if the position of the grabber and the position of the fuel assembly have deviation, an operator needs to manually eliminate the deviation through an underwater camera, so that the time for loading and unloading the fuel is influenced. The method identifies the coding information of the upper end face of the fuel assembly through image processing, and automatically compares the information of the fuel assembly; meanwhile, the position information of the fuel assembly is obtained through image processing, and technical conditions are provided for automatic centering operation and automatic grabbing of the grab.
Disclosure of Invention
In order to realize the automatic identification of the fuel assembly and the acquisition of the position information of the fuel assembly, technical conditions are provided for realizing the automation of the loading and unloading of the fuel assembly. The invention provides a fuel assembly identification and positioning system based on image processing, which comprises a fuel assembly, an underwater camera, an image identification system and a man-machine interaction system, wherein the underwater camera is used for acquiring images of fuel assemblies;
the upper end surface of the fuel assembly is provided with an identification code for identifying the identity of the fuel assembly and a positioning hole for fixing the position of the gripping apparatus;
the underwater camera is positioned on the fuel assembly through the gripping apparatus, acquires the identification code information and the positioning hole information of the upper end face of the fuel assembly, and converts the identification code and the positioning hole information into digital signals;
the image recognition system is used for acquiring the digital signal of the underwater camera and converting the digital signal into image information;
the man-machine interaction system is used for visualizing the image information in the image recognition system.
Preferably, the head of the underwater camera is provided with an enhanced illumination component (4-1), an optical system (4-2), a charge coupler (4-3) and a video acquisition card (4-4); an image of the upper end face of the fuel assembly is projected to the charge coupler (4-3) through the optical system (4-2) and converted into an electric quantity signal, and the data acquisition card (4-4) acquires the electric quantity signal and then analyzes and converts the electric quantity signal into a digital signal.
Preferably, the underwater camera (3-1) is arranged at the central shaft of the gripper body (3-2) of the gripper, a positioning pin (3-3) is arranged at the bottom of the gripper, and the positioning pin (3-3) is matched with the positioning hole on the upper end face of the fuel assembly.
Preferably, the human-computer interaction system comprises an input and output display module.
The invention also provides a fuel assembly identification and positioning method based on image processing, which is characterized by comprising a fuel assembly identification and positioning system based on image processing, and the method comprises the following steps:
1) the underwater camera converts the identification code and the positioning hole information on the fuel assembly into a digital signal;
2) the digital signal of the underwater camera is transmitted to the image recognition system and converted into image information;
3) the image recognition system carries out contour edge extraction and feature recognition on the positioning holes and the identification codes in the image information, and outputs and displays recognition results through the human-computer interaction system;
4) and the man-machine interaction system keeps the image recognition result and provides the image recognition result for the gripper to operate and use.
The system is convenient to operate, can effectively shorten the material loading and unloading operation time, and provides technical conditions for further realizing the automation of fuel assembly loading and unloading.
Drawings
FIG. 1 is a block diagram of a fuel assembly image recognition system;
FIG. 2 is a schematic view of an identification code and a positioning hole on the upper end face of the fuel assembly;
wherein, 1-identification code; 2-positioning hole 1; 3-positioning hole 2; 4-a fuel assembly;
FIG. 3 is a schematic view of a gripper;
wherein, 1-underwater camera; 2-a gripper body; 3-positioning pins;
FIG. 4 is a schematic view of an underwater camera;
1-an optical system; 2-enhanced lighting; 3-a charge coupler; 4-a data acquisition card;
FIG. 5 is a schematic diagram of a human-machine interaction system interface;
wherein, 1-image display area; 2-an image processing area; 3-result display area.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 2, the upper end face of each fuel assembly is engraved with a unique identification code 2-1 and is provided with a positioning hole 1 and a positioning hole 2 for centering operation of the gripping apparatus; as shown in figure 3, an underwater camera 1 is arranged at the central shaft of a gripper body 3-2 of the gripper, and a positioning pin 3-3 is arranged at the bottom of the gripper and matched with a positioning hole on the upper end face of a fuel assembly. As shown in figure 4, an enhanced light source 4-1 is arranged at the head part of the camera, an image of the upper end face of the fuel assembly is projected into a charge coupler 4-3 through an optical system 4-2 and converted into an electric quantity signal, and the electric quantity signal collected by a data acquisition card 4-4 is sent to an industrial personal computer for analysis and processing. As shown in FIG. 5, an operator displays the image information of the upper end face of the fuel assembly in the image display area 5-1 of the human-computer interaction interface, performs image processing and feature recognition in the image processing area 5-2, and finally displays the identification code of the fuel assembly and the position information of the positioning hole in the result display area 5-3.
The specific operation steps are as follows:
1) the underwater camera converts the identification code and the positioning hole information on the fuel assembly into a digital signal;
2) the digital signal of the underwater camera is transmitted to the image recognition system and converted into image information;
3) the image recognition system carries out contour edge extraction and feature recognition on the positioning holes and the identification codes in the image information, and outputs and displays recognition results through the human-computer interaction system;
4) and the man-machine interaction system keeps the image recognition result and provides the image recognition result for the gripper to operate and use.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations. The foregoing examples or embodiments are merely illustrative of the present invention, which may be embodied in other specific forms or in other specific forms without departing from the spirit or essential characteristics thereof. The described embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention should be indicated by the appended claims, and any changes that are equivalent to the intent and scope of the claims should be construed to be included therein.
Claims (5)
1. A fuel assembly identification and positioning system based on image processing is characterized by comprising a fuel assembly, an underwater camera, an image identification system and a man-machine interaction system;
the upper end surface of the fuel assembly is provided with an identification code for identifying the identity of the fuel assembly and a positioning hole for fixing the position of the gripping apparatus;
the underwater camera is positioned on the fuel assembly through the gripping apparatus, acquires the identification code information and the positioning hole information of the upper end face of the fuel assembly, and converts the identification code and the positioning hole information into digital signals;
the image recognition system is used for acquiring the digital signal of the underwater camera and converting the digital signal into image information;
the man-machine interaction system is used for visualizing the image information in the image recognition system.
2. The fuel assembly identification and positioning system based on image processing as claimed in claim 1, wherein the underwater camera head is provided with an enhanced illumination component (4-1), an optical system (4-2), a charge coupler (4-3), a video capture card (4-4); an image of the upper end face of the fuel assembly is projected to the charge coupler (4-3) through the optical system (4-2) and converted into an electric quantity signal, and the data acquisition card (4-4) acquires the electric quantity signal and then analyzes and converts the electric quantity signal into a digital signal.
3. An image processing based fuel assembly identification and positioning system as claimed in claim 1, characterized in that the underwater camera (3-1) is mounted at the central axis of the gripper body (3-2) of the gripper, and the bottom of the gripper is provided with a positioning pin (3-3) through which the positioning pin (3-3) is matched with the positioning hole at the upper end face of the fuel assembly.
4. The image processing-based fuel assembly identification and positioning system of claim 1, wherein the human-computer interaction system comprises an input-output display module.
5. A method for identifying and locating fuel assemblies based on image processing, comprising a fuel assembly identification and location system based on image processing, the method comprising the steps of:
1) the underwater camera converts the identification code and the positioning hole information on the fuel assembly into a digital signal;
2) the digital signal of the underwater camera is transmitted to the image recognition system and converted into image information;
3) the image recognition system carries out contour edge extraction and feature recognition on the positioning holes and the identification codes in the image information, and outputs and displays recognition results through the human-computer interaction system;
4) and the man-machine interaction system keeps the image recognition result and provides the image recognition result for the gripper to operate and use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011170362.7A CN112232264A (en) | 2020-10-28 | 2020-10-28 | Fuel assembly identification and positioning system based on image processing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011170362.7A CN112232264A (en) | 2020-10-28 | 2020-10-28 | Fuel assembly identification and positioning system based on image processing |
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| CN112232264A true CN112232264A (en) | 2021-01-15 |
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| CN202011170362.7A Pending CN112232264A (en) | 2020-10-28 | 2020-10-28 | Fuel assembly identification and positioning system based on image processing |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201348883Y (en) * | 2009-01-22 | 2009-11-18 | 中国核电工程有限公司 | Subassembly gripping apparatus of old control rod |
| CN207835648U (en) * | 2017-11-09 | 2018-09-07 | 美钻石油钻采系统(上海)有限公司 | A kind of underwater robot light vision monitoring apparatus |
| US20190337152A1 (en) * | 2018-05-02 | 2019-11-07 | X Development Llc | Positioning a Robot Sensor for Object Classification |
| CN211742671U (en) * | 2019-12-30 | 2020-10-23 | 福建福清核电有限公司 | Instrument of pressurized water reactor nuclear power plant reactor core checking |
| CN214012004U (en) * | 2020-10-28 | 2021-08-20 | 上海核工程研究设计院有限公司 | Fuel assembly identification and positioning system based on image processing |
-
2020
- 2020-10-28 CN CN202011170362.7A patent/CN112232264A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201348883Y (en) * | 2009-01-22 | 2009-11-18 | 中国核电工程有限公司 | Subassembly gripping apparatus of old control rod |
| CN207835648U (en) * | 2017-11-09 | 2018-09-07 | 美钻石油钻采系统(上海)有限公司 | A kind of underwater robot light vision monitoring apparatus |
| US20190337152A1 (en) * | 2018-05-02 | 2019-11-07 | X Development Llc | Positioning a Robot Sensor for Object Classification |
| CN211742671U (en) * | 2019-12-30 | 2020-10-23 | 福建福清核电有限公司 | Instrument of pressurized water reactor nuclear power plant reactor core checking |
| CN214012004U (en) * | 2020-10-28 | 2021-08-20 | 上海核工程研究设计院有限公司 | Fuel assembly identification and positioning system based on image processing |
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Address after: No. 29 Hong Cao Road, Xuhui District, Shanghai Applicant after: Shanghai Nuclear Engineering Research and Design Institute Co.,Ltd. Address before: No. 29 Hong Cao Road, Xuhui District, Shanghai Applicant before: SHANGHAI NUCLEAR ENGINEERING RESEARCH & DESIGN INSTITUTE Co.,Ltd. |
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