CN104822026A - Camera attitude control method used for nuclear power station containment vessel defect detection and device thereof - Google Patents
Camera attitude control method used for nuclear power station containment vessel defect detection and device thereof Download PDFInfo
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- CN104822026A CN104822026A CN201510215660.6A CN201510215660A CN104822026A CN 104822026 A CN104822026 A CN 104822026A CN 201510215660 A CN201510215660 A CN 201510215660A CN 104822026 A CN104822026 A CN 104822026A
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Abstract
The invention provides a camera attitude control method used for nuclear power station containment vessel defect detection and a device thereof. Distance measuring sensors are installed on a camera hoisting platform, and the distance sensors face a containment vessel; and a single-chip microcomputer is arranged and is connected with a camera via a control line. The distance sensors are connected with the single-chip microcomputer. The single-chip microcomputer acquires an initial return value of the distance sensors after correct attitude of the camera is confirmed by the single-chip microcomputer; return values of the distance sensors are acquired after the camera is positioned at the current preset photographing position; and the currently obtained return values are compared with the initial return value respectively, whether the absolute values of the difference values are all less than the preset tolerance is judged, if the judgment result is yes, an exposure instruction is transmitted to the camera and then the next preset photographing position aiming at the camera is returned to perform judgment processing, or the currently preset photographing position is returned to perform detection continuously. The camera attitude in photographing of each image is ensured to be consistent with the initial set attitude so that accuracy of nuclear power station containment vessel defect detection can be ensured.
Description
Technical field
The present invention relates to camera attitude control technology field, particularly a kind of method for camera gesture stability in the close-range photogrammetry of nuclear power plant containment shell defects detection and device.
Background technology
In photogrammetric, the gesture stability of camera is extremely important.If in photographic process, camera attitude cannot ensure, then there will be the problem of photograph splicing difficulty.Excessive camera attitude misalignment can cause not having overlap between photograph distortion, photograph, finally causes shortage of data, cannot splice.
The containment of nuclear power station is last one barrier ensureing that reactor does not pollute to external world.Its outermost layer is that prestressed reinforced concrete is built, high about 51 meters, diameter about 40 meters, about 7000 square metres of external surface area.For ensureing its intensity, need regularly to carry out defects detection to it, the defect wherein paid close attention to most is crack, and these fracture widths are generally at about 0.1mm.
The workload of these defects of hand inspection is large and the cycle is very long, and adopts the method for close-range photogrammetry, can raise the efficiency, and comparison film file for future examination.See Fig. 3, when carrying out close-range photogrammetry to containment, for obtaining the complete image of containment, needing to take about 6000 photos, splitting air strips in the vertical direction, move from bottom to top.Install track in advance at containment top, after having taken air strips, drag camera platform around containment horizontal movement by railcar, change air strips.Camera platform adopts the form of steel cable suspended, during operation, usually has rocking and being subject to the impact of wind-force and rocking of causing of self; cause camera attitude unstable; the photograph decoking of final shooting, distortion, degree of overlapping are inadequate, and cause data unavailable, impact is measured.Conventional attitude control method, such as satellite fix determines appearance scheme, here cannot implement, because environmental limitations, satellite-signal blocks relatively more serious, and availability cannot meet the demands.And electronic compass and accelerometer, gyroscope assembled scheme due to deviation accumulation problem, cannot effectively be applied to whole measuring process.
Summary of the invention
The method proposed in the present invention effectively can solve the problem of above-mentioned gesture stability in succession, ensures that camera is taken pictures when the attitude of allowing, thus improves photo quality.
Technical scheme of the present invention provides a kind of camera attitude control method for nuclear power plant containment shell defects detection, and camera hoisting platform installs two distance measuring sensors, and described range sensor is towards containment, and symmetry is arranged on camera both sides; Arrange single-chip microcomputer, single-chip microcomputer connects camera by control line, and range sensor is connected to single-chip microcomputer, exports range measurement to single-chip microcomputer;
Described single-chip microcomputer performs following flow process for every bar air strips,
Step 1, determines that camera is after correct attitude, obtains initial return value Di1 and the Di2 of now two range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, obtains return value Ds1 and the Ds2 of two range sensors;
Step 4, current gained return value Ds1 and Ds2 is compared with initial return value Di1 and Di2 respectively, calculate Ds1-Di1 and Ds2-Di2, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 is all less than or equal to the tolerance T preset, if met, then send photographing instruction to camera, then return step 2, carry out judgement process for the camera site that the next one of camera is predetermined, otherwise return step 3 for the continuation detection of current predetermined camera site.
And in the vertical direction installs a range sensor again additional, three transducers are made to be angular distribution,
Described single-chip microcomputer performs following flow process for every bar air strips,
Step 1, determines that camera is after correct attitude, obtains initial return value Di1, Di2 and Di3 of now three range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, 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, namely Ds1-Di1, Ds2-Di2 and Ds3-Di3 is calculated, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 is all less than or equal to the tolerance T preset, if met, then send photographing instruction to camera, then return step 2, the camera site predetermined for the next one of camera is carried out, otherwise returns step 3 for the continuation detection of current predetermined camera site.
The present invention is corresponding provides a kind of camera attitude-control device for nuclear power plant containment shell defects detection, and camera hoisting platform installs two distance measuring sensors, and described range sensor is towards containment, and symmetry is arranged on camera both sides; Arrange single-chip microcomputer, single-chip microcomputer connects camera by control line, and range sensor is connected to single-chip microcomputer, exports range measurement to single-chip microcomputer.
And in the vertical direction installs a range sensor again additional, three transducers are made to be angular distribution.
The present invention can ensure often to open the camera attitude of photo when shooting and be consistent with initial setting attitude, guarantees the accuracy of nuclear power plant containment shell defects detection, and required apparatus structure is simple, is easy to realization, with low cost, is suitable for promoting the use of.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention single-chip microcomputer flow chart.
Fig. 2 is embodiment of the present invention structure chart.
Schematic diagram when Fig. 3 is camera hoisting platform operation in prior art.
Embodiment
Below in conjunction with drawings and Examples, technical solution of the present invention is specifically described.
The present invention proposes design specialized device, and wherein major function is realized by a slice single-chip microprocessor MCU, and ancillary equipment is two range sensors and control line.
Basic thinking is, on camera hoisting platform, installs two distance measuring sensors, air strips at first, records the distance of two distance measuring sensors distance object (containment) as initial value, and presets a tolerance.When camera runs on these air strips time, before each exposure, all constantly, the distance of two distance measuring sensor distance containments is detected rapidly, and calculate whether exceed tolerance with the difference of initial value, if be no more than, then send photographing instruction (being generally exposure instruction) to camera, otherwise continue the measured value of detecting distance transducer.So just can ensure often to open the camera attitude of photo when shooting and initial setting attitude is consistent.
See Fig. 2, the embodiment of the present invention proposes the method being used for camera gesture stability in nuclear power plant containment shell defects detection, realizes based on single-chip microcomputer (MCU), two range sensors, the control lines being arranged on camera side.
The selection of range sensor should be noted that sampling rate problem.According to experiment in advance, the speed of swinging of camera platform is about 2m/s, and time for exposure major part is between 1/500s to 1/50s, and according to used camera and camera lens and object distance, selected tolerance is 20cm.Therefore the return value getting range sensor from single-chip microcomputer gets photo to camera total time of delay can not more than 0.1s.And the camera shutter used is approximately 43ms time of delay, so the data acquisition cycle of range sensor must be less than 57ms.Although laser range finder precision is high, the sampling period is generally hundreds of millisecond, cannot meet the demands.And the range finding cycle of a part of ultrasound measurement module within target range 2 meters in, can within 50ms, its precision also can control within 1 centimetre, can meet the demands.Therefore ultrasonic distance measuring module selected by the range sensor in the embodiment of the present invention.
Range sensor is towards containment, and symmetry is arranged on camera both sides, and distance is as far as possible far away, larger distance can obtain on the one hand higher rocks angle sensitivity, on the other hand, the interference between two range sensors can be reduced, to control attitude better.Range sensor is connected to single-chip microcomputer, exports range measurement to single-chip microcomputer.
Single-chip microcomputer connects camera by control line, to send photographing instruction to camera.
Based on said apparatus, when each air strips start to take, first determine that camera is correct attitude, then bring into operation.During concrete enforcement, by manual setting mode in advance by camera pose adjustment to correct position.First single-chip microcomputer obtains the return value of two range sensors, and is stored as Di1 and Di2 as initial value.Then camera platform setting in motion, after camera arrives the camera site of presetting, the flow process of single-chip microcomputer enters a circulation, in this circulation, single-chip microcomputer obtains return value Ds1 and the Ds2 of two range sensors rapidly, continuously, and itself and initial value Di1 and Di2 are compared, namely Ds1-Di1 and Ds2-Di2 is calculated, once the absolute value of difference is less than default tolerance, namely single-chip microcomputer sends photographing instruction by control line to camera, ensure that camera obtains photograph in the attitude allowed, then jump out circulation.Otherwise continue circulation.
See Fig. 1, flow process can be designed to:
Step 1, after determining that camera is correct attitude, obtains initial return value Di1 and the Di2 of now two range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, single-chip microcomputer obtains return value Ds1 and the Ds2 of two range sensors;
Step 4, current gained return value Ds1 and Ds2 is compared with initial value Di1 and Di2 respectively, namely Ds1-Di1 and Ds2-Di2 is calculated, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 is all less than or equal in the tolerance T(figure preset and be designated as Abs (Ds1-Di1) <=T and Abs (Ds2-Di2) <=T), if met, then send photographing instruction to camera, then step 2 is returned, judgement process is carried out for the camera site (being moved horizontally to next position on same navigation channel) that the next one of camera is predetermined, otherwise return step 3 to continue to detect for current predetermined camera site.
In actual applications, the quantity of range sensor can increase according to demand.Due to the camera platform of cable wire lifting, mainly rocking of existence is the motion of horizontal direction, namely can control the horizontal movement attitude of camera with the range sensor of two levels installations.If also need the attitude controlling elevating movement, in the vertical direction is then needed to install a range sensor again additional, make three transducers be angular distribution, three range sensors to be all arranged in camera platform and to be connected to single-chip microcomputer, export range measurement to single-chip microcomputer.Corresponding flow process expands to:
Step 1, after determining that camera is correct attitude, obtains initial return value Di1, Di2 and Di3 of now three range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, single-chip microcomputer 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, namely Ds1-Di1, Ds2-Di2 and Ds3-Di3 is calculated, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 is all less than or equal to the tolerance T preset, if met, then send photographing instruction to camera, then return step 2, the camera site predetermined for the next one of camera is carried out, otherwise returns step 3 for the continuation detection of current predetermined camera site.
During concrete enforcement, invention technician can need according to precision the value presetting tolerance T voluntarily.
Above embodiment will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Claims (4)
1. for a camera attitude control method for nuclear power plant containment shell defects detection, it is characterized in that: on camera hoisting platform, install two distance measuring sensors, described range sensor is towards containment, and symmetry is arranged on camera both sides; Arrange single-chip microcomputer, single-chip microcomputer connects camera by control line, and range sensor is connected to single-chip microcomputer, exports range measurement to single-chip microcomputer;
Described single-chip microcomputer performs following flow process for every bar air strips,
Step 1, determines that camera is after correct attitude, obtains initial return value Di1 and the Di2 of now two range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, obtains return value Ds1 and the Ds2 of two range sensors;
Step 4, current gained return value Ds1 and Ds2 is compared with initial return value Di1 and Di2 respectively, calculate Ds1-Di1 and Ds2-Di2, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 is all less than or equal to the tolerance T preset, if met, then send photographing instruction to camera, then return step 2, carry out judgement process for the camera site that the next one of camera is predetermined, otherwise return step 3 for the continuation detection of current predetermined camera site.
2. according to claim 1 for the camera attitude control method of nuclear power plant containment shell defects detection, it is characterized in that: in the vertical direction installs a range sensor again additional, make three transducers be angular distribution,
Described single-chip microcomputer performs following flow process for every bar air strips,
Step 1, determines that camera is after correct attitude, obtains initial return value Di1, Di2 and Di3 of now three range sensors;
Step 2, after camera is in current predetermined camera site, enters step 3;
Step 3, 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, namely Ds1-Di1, Ds2-Di2 and Ds3-Di3 is calculated, judge whether the absolute value of Ds1-Di1 and Ds2-Di2 and Ds3-Di3 is all less than or equal to the tolerance T preset, if met, then send photographing instruction to camera, then return step 2, the camera site predetermined for the next one of camera is carried out, otherwise returns step 3 for the continuation detection of current predetermined camera site.
3. for a camera attitude-control device for nuclear power plant containment shell defects detection, it is characterized in that: on camera hoisting platform, install two distance measuring sensors, described range sensor is towards containment, and symmetry is arranged on camera both sides; Arrange single-chip microcomputer, single-chip microcomputer connects camera by control line, and range sensor is connected to single-chip microcomputer, exports range measurement to single-chip microcomputer.
4. according to claim 3 for the camera attitude-control device of nuclear power plant containment shell defects detection, it is characterized in that: in the vertical direction installs a range sensor again additional, make three transducers be angular distribution.
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| CN105606627A (en) * | 2016-03-16 | 2016-05-25 | 武汉大学 | Remote appearance inspection and measurement method and system for nuclear power plant containment |
| CN105761209A (en) * | 2016-03-16 | 2016-07-13 | 武汉大学 | Nuclear safety shell surface image fusion method 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 |
| CN110807773A (en) * | 2019-11-12 | 2020-02-18 | 中广核检测技术有限公司 | Nuclear power station surface defect panoramic image detection method |
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