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CN106780425B - Positioning method of vortex detection system of heat transfer tube of VVER steam generator - Google Patents

Positioning method of vortex detection system of heat transfer tube of VVER steam generator Download PDF

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CN106780425B
CN106780425B CN201510823906.8A CN201510823906A CN106780425B CN 106780425 B CN106780425 B CN 106780425B CN 201510823906 A CN201510823906 A CN 201510823906A CN 106780425 B CN106780425 B CN 106780425B
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image
vver
steam generator
center
template
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CN106780425A (en
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陈姝
李宜全
夏莉萍
张志义
陈川
姚传党
王家建
吴海林
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Research Institute of Nuclear Power Operation
China Nuclear Power Operation Technology Corp Ltd
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China Nuclear Power Operation Technology Corp Ltd
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/40—Image enhancement or restoration using histogram techniques
    • G—PHYSICS
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30101—Blood vessel; Artery; Vein; Vascular
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Abstract

The invention relates to the technical field of image processing application, and particularly discloses a positioning method of a vortex detection system of a heat transfer pipe of a VVER steam generator. The method comprises the following steps: 1. calibrating a template of the system; 2. collecting a target image and carrying out interference removal processing; 3. under the condition of low contrast, carrying out graph enhancement by utilizing a histogram equalization algorithm; 4. carrying out image plane projection on the enhanced image to non-vertical imaging with an included angle between the optical center of the VVER steam generator and an imaging plane, and extracting an image edge; 5. comparing the center of the template with the center of the projected new image extracted in the step 4, and calculating the offset between the center of the template and the center of the projected new image; 6. and (4) feeding back the offset obtained in the step (5) to the equipment, operating the equipment according to the fed offset, and repeating the steps (1) to (4) after the movement is stopped until the calculated offset is within the threshold range, thereby finishing the position error correction. The method can overcome the positioning defect of the existing positioning system and greatly improve the positioning precision of the system.

Description

Positioning method of vortex detection system of heat transfer tube of VVER steam generator
Technical Field
The invention belongs to the technical field of image processing application, and particularly relates to a positioning method of a vortex detection system of a VVER steam generator heat-transfer pipe.
Background
The traditional equipment positioning mode adopts an encoder to feed back a position ring for positioning, but inherent deviations such as gear gaps and reciprocating return difference of a screw rod of the equipment cannot be eliminated, the inherent deviations cannot be overcome if a coaxial coding feedback mode is adopted, but the terminal coding feedback mode has the characteristics that the system stability is difficult to reach the standard and the requirement on mechanical precision is high.
Disclosure of Invention
The invention aims to provide a positioning method of a vortex detection system of a VVER steam generator heat-transfer pipe, which can accurately position a vortex monitoring system of the VVER steam generator heat-transfer pipe.
The technical scheme of the invention is as follows: a method for positioning a vortex detection system of a heat transfer pipe of a VVER steam generator specifically comprises the following steps:
step 1, calibrating a template of a system;
selecting a standard positioning template in a VVER steam generator heat transfer pipe eddy current monitoring system, intercepting an image of the positioning template, and calculating to obtain the circle center of the template;
step 2, collecting a target image, and carrying out interference removal processing on the obtained image under the condition of strong metal light reflection;
moving a VVER steam generator heat transfer tube eddy current monitoring system device to a target position, acquiring a target image, and processing the acquired target image by using an image denoising algorithm under the condition of strong metal reflection interference in the conventional image processing;
step 3, under the condition of low contrast, utilizing a histogram equalization algorithm to perform graph enhancement;
step 4, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane, and extracting the edge of the image;
step 5, comparing the center of the template with the center of the projected new image extracted in the step 4, and calculating the offset between the center of the template and the center of the projected new image;
and 6, feeding back the offset obtained in the step 5 to equipment, operating the equipment according to the fed offset, and repeating the steps 1 to 4 after the movement is stopped until the calculated offset is within a threshold range, thereby finishing the position error correction.
The step 4 specifically comprises the following steps:
step 4.1, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane;
let the known image be a source image corresponding to a rotation matrix from the camera coordinate system to the world coordinate system as RoldThe intrinsic parameter matrix of the image is Kold(ii) a The image obtained by perspective transformation is a target image, and the rotation matrix from the camera coordinate system to the world coordinate system corresponding to the target image is RnewThe intrinsic parameter matrix of the image is Knew. Then, for an object point P in the field of view, the coordinate of the object point P in the world coordinate system is set as PWThe homogeneous coordinates of the pixel coordinates corresponding to the source graph and the target graph are I respectivelyold，InewThen, then
Figure BDA0000856140650000021
Figure BDA0000856140650000022
Wherein Z isc1And Zc2Respectively is the Z coordinate of the object point P under the camera coordinate system corresponding to the source graph and the target graph, and Cpoint is the three-dimensional coordinate of the camera under the world coordinate system. If the position of the camera is not changed, only the attitude is changed, then (P) is eliminatedwCpoint) available
Figure BDA0000856140650000023
Wherein,
Figure BDA0000856140650000024
Figure BDA0000856140650000025
wherein,
Figure BDA0000856140650000026
is the focal length in units of the lateral grid spacing,
Figure BDA0000856140650000027
is the focal length in unit of longitudinal grid spacing, u0As the image principal point abscissa, v0Is the ordinate of the principal point of the image, K0It can be regarded as an internal parameter matrix with principal point coordinates set to (0, 0);
then:
Figure BDA0000856140650000028
multiplying both sides of the equation by the inverse of matrix K' simultaneously, then:
Figure BDA0000856140650000031
order:
I＝K'-1Inew
then
Figure BDA0000856140650000032
And obtaining a new picture after projection.
The step 3 specifically comprises the following steps:
step 3.1, obtaining the probability of each gray level in the target graph and drawing a histogram of the original graph;
step 3.2, calculating to obtain a gray level cumulative distribution function of the target graph, and drawing a balanced histogram;
and calculating a gray level cumulative distribution function of the target graph according to the probability of each gray level, rounding and normalizing to the similar gray level, assigning the gray level normalized by each pixel to the pixel, and drawing the equalized image.
The invention has the following remarkable effects: the positioning method of the vortex detection system for the heat transfer tube of the VVER steam generator can overcome the positioning defect of the existing positioning system and greatly improve the positioning precision of the system.
Drawings
Fig. 1 is a flowchart of a positioning method of a VVER steam generator heat-transfer tube eddy current inspection system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, a method for positioning a vortex detection system of a heat transfer tube of a VVER steam generator specifically includes the following steps:
step 1, calibrating a template of a system;
selecting a standard positioning template in a VVER steam generator heat transfer pipe eddy current monitoring system, intercepting an image of the positioning template, and calculating to obtain the circle center of the template;
step 2, collecting a target image, and carrying out interference removal processing on the obtained image under the condition of strong metal light reflection;
moving a VVER steam generator heat transfer tube eddy current monitoring system device to a target position, acquiring a target image, and processing the acquired target image by using an image denoising algorithm under the condition of strong metal reflection interference in the conventional image processing;
step 3, under the condition of low contrast, utilizing a histogram equalization algorithm to perform graph enhancement;
step 3.1, obtaining the probability of each gray level in the target graph and drawing a histogram of the original graph;
step 3.2, calculating to obtain a gray level cumulative distribution function of the target graph, and drawing a balanced histogram;
calculating a gray level cumulative distribution function of the target graph according to the probability of each gray level, rounding and normalizing to a similar gray level, assigning the gray level normalized by each pixel to the pixel, and drawing an equalized image;
step 4, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane, and extracting the edge of the image;
step 4.1, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane;
let the known image be a source image corresponding to a rotation matrix from the camera coordinate system to the world coordinate system as RoldThe intrinsic parameter matrix of the image is Kold(ii) a The image obtained by perspective transformation is a target image, and the rotation matrix from the camera coordinate system to the world coordinate system corresponding to the target image is RnewThe intrinsic parameter matrix of the image is Knew. Then, for an object point P in the field of view, the coordinate of the object point P in the world coordinate system is set as PWThe homogeneous coordinates of the pixel coordinates corresponding to the source graph and the target graph are I respectivelyold，InewThen, then
Figure BDA0000856140650000041
Figure BDA0000856140650000042
Wherein Z isc1And Zc2Respectively is the Z coordinate of the object point P under the camera coordinate system corresponding to the source graph and the target graph, and Cpoint is the three-dimensional coordinate of the camera under the world coordinate system. If the position of the camera is not changed, only the attitude is changed, then (P) is eliminatedwCpoint) available
Figure BDA0000856140650000043
Wherein,
Figure BDA0000856140650000044
Figure BDA0000856140650000051
wherein,
Figure BDA0000856140650000052
is the focal length in units of the lateral grid spacing,
Figure BDA0000856140650000053
is the focal length in unit of longitudinal grid spacing, u0As the image principal point abscissa, v0Is the ordinate of the principal point of the image, K0It can be regarded as an internal parameter matrix with principal point coordinates set to (0, 0);
then:
Figure BDA0000856140650000054
multiplying both sides of the equation by the inverse of matrix K' simultaneously, then:
Figure BDA0000856140650000055
order:
I＝K'-1Inew
then
Figure BDA0000856140650000056
Obtaining a new picture after projection;
4.2, extracting the edge of the projected new image by using a self-adaptive Canny threshold edge extraction algorithm;
step 5, comparing the center of the template with the center of the projected new image extracted in the step 4, and calculating the offset between the center of the template and the center of the projected new image;
and 6, feeding back the offset obtained in the step 5 to equipment, operating the equipment according to the fed offset, and repeating the steps 1 to 4 after the movement is stopped until the calculated offset is within a threshold range, thereby finishing the position error correction.

Claims (3)

1. A method for positioning a vortex detection system of a heat transfer pipe of a VVER steam generator is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, calibrating a template of a system;
selecting a standard positioning template in a VVER steam generator heat transfer pipe eddy current monitoring system, intercepting an image of the positioning template, and calculating to obtain the circle center of the template;
step 2, collecting a target image, and carrying out interference removal processing on the obtained image under the condition of strong metal light reflection;
moving a VVER steam generator heat transfer tube eddy current monitoring system device to a target position, acquiring a target image, and processing the acquired target image by using an image denoising algorithm under the condition of strong metal reflection interference in the conventional image processing;
step 3, under the condition of low contrast, utilizing a histogram equalization algorithm to perform graph enhancement;
step 4, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane, and extracting the edge of the image;
step 5, comparing the center of the template with the center of the projected new image extracted in the step 4, and calculating the offset between the center of the template and the center of the projected new image;
and 6, feeding back the offset obtained in the step 5 to the equipment, operating according to the fed offset, repeating the steps 1 to 4 after the movement is stopped until the calculated offset is within the threshold range, and finishing the position error correction.
2. The method for positioning an eddy current inspection system for heat transfer tubes of a VVER steam generator as claimed in claim 1, wherein: the step 4 specifically comprises the following steps:
step 4.1, carrying out image plane projection on the enhanced image to non-vertical imaging of which the optical center of the VVER steam generator has an included angle with an imaging plane;
let the known image be a source image corresponding to a rotation matrix from the camera coordinate system to the world coordinate system as RoldThe intrinsic parameter matrix of the image is Kold(ii) a The image obtained by perspective transformation is a target image, and the rotation matrix from the camera coordinate system to the world coordinate system corresponding to the target image is RnewThe intrinsic parameter matrix of the image is Knew(ii) a Then, for an object point P in the field of view, the coordinate of the object point P in the world coordinate system is set as PWThe homogeneous coordinates of the pixel coordinates corresponding to the source graph and the target graph are I respectivelyold，InewThen, then
Figure FDA0000856140640000011
Figure FDA0000856140640000012
Wherein Z isc1And Zc2Respectively representing the Z coordinates of the object point P in the camera coordinate systems corresponding to the source image and the target image, wherein Cpoint is the three-dimensional coordinate of the camera in the world coordinate system; if the position of the camera is not changed, only the pose is changed,then eliminate (P)wCpoint) available
Figure FDA0000856140640000021
Wherein,
Figure FDA0000856140640000022
Figure FDA0000856140640000023
wherein,
Figure FDA0000856140640000024
is the focal length in units of the lateral grid spacing,
Figure FDA0000856140640000025
is the focal length in unit of longitudinal grid spacing, u0As the image principal point abscissa, v0Is the ordinate of the principal point of the image, K0It can be regarded as an internal parameter matrix with principal point coordinates set to (0, 0);
then:
Figure FDA0000856140640000026
multiplying both sides of the equation by the inverse of matrix K' simultaneously, then:
Figure FDA0000856140640000027
order:
I＝K'-1Inew
then
Figure FDA0000856140640000028
And obtaining a new picture after projection.
3. The method for positioning an eddy current inspection system for heat transfer tubes of a VVER steam generator as claimed in claim 1, wherein: the step 3 specifically comprises the following steps:
step 3.1, obtaining the probability of each gray level in the target graph and drawing a histogram of the original graph;
step 3.2, calculating to obtain a gray level cumulative distribution function of the target graph, and drawing a balanced histogram;
and calculating a gray level cumulative distribution function of the target graph according to the probability of each gray level, rounding and normalizing to the similar gray level, assigning the gray level normalized by each pixel to the pixel, and drawing the equalized image.
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