CN111102923A - Method for positioning penetrating piece of top cover of reactor pressure vessel - Google Patents
Method for positioning penetrating piece of top cover of reactor pressure vessel Download PDFInfo
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- CN111102923A CN111102923A CN201911409468.5A CN201911409468A CN111102923A CN 111102923 A CN111102923 A CN 111102923A CN 201911409468 A CN201911409468 A CN 201911409468A CN 111102923 A CN111102923 A CN 111102923A
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- holder
- penetrating piece
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of nondestructive testing of nuclear power stations, and particularly discloses a method for positioning a reactor pressure vessel top cover penetrating piece. The method comprises the following steps: 1. acquiring the size of the pressure container and central projection data of a top cover penetrating piece to be detected; 2. installing a reflective strip and a ranging laser; 3. obtaining the distance from the center point of the holder to the reflecting strips on the side wall of the bottom surface of the pressure container; 4. obtaining the position of the central point of the rotating holder in a coordinate system based on a projection plane of the penetrating piece; 5. determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder; 6. and determining whether the trolley transport platform reaches the designated position or not according to the comparison of the moving distance of the trolley transport platform and the error permission value of the coincidence of the center point of the holder and the center point of the penetrating piece. The method can solve the problem of rapid positioning of the reactor pressure vessel top cover penetrating piece, improves the positioning efficiency and precision, and reduces the cost of the positioning device.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing of nuclear power stations, and particularly relates to a method for positioning a reactor pressure vessel top cover penetrating piece.
Background
The nuclear reactor pressure vessel head cover penetration piece is an important part of a nuclear power station primary circuit and needs to be inspected before and in service. In order to determine the positions of the top cover penetrating pieces, a currently adopted method is to paste a two-dimensional code corresponding to the axis of the top cover penetrating pieces on the ground at the bottom of the top cover support, and determine the projection positions of the penetrating pieces corresponding to the top cover through the numbers of the two-dimensional code. Before the penetration piece is inspected, the carrying platform moves by adopting a two-dimensional code and a camera, and path planning is carried out through a control system, so that the detection trolley runs to the position below the penetration piece with the specified pipe number.
The method generally requires that dozens of two-dimensional codes are printed at the bottom of the top cover support, and after the inspection of a plurality of penetrating pieces, various dirt and dirt are covered on the two-dimensional codes frequently or the edges of the two-dimensional codes are fuzzy and damaged, so that a camera is difficult to identify.
Disclosure of Invention
The invention aims to provide a method for positioning a reactor pressure vessel top cover penetrating piece, which solves the problem of positioning the existing reactor pressure vessel top cover penetrating piece, improves the positioning efficiency and precision and reduces the cost of a positioning device.
The technical scheme of the invention is as follows: a method for positioning a reactor pressure vessel top cover penetrating piece specifically comprises the following steps:
step 1, acquiring and obtaining the size of a pressure container and central projection data of a top cover penetrating piece to be detected;
obtaining an error allowable value of the center point of the holder matched with the center point of the penetrating piece;
step 2, installing a reflective strip and a ranging laser;
a light reflecting strip is arranged on the side wall near the bottom surface of the pressure container; arranging a ranging laser on the trolley transport platform;
step 3, obtaining the distance from the center point of the holder to the reflective strips on the side wall of the bottom surface of the pressure container;
step 4, obtaining the position of the central point of the rotating holder in a coordinate system based on a projection plane of the penetrating piece;
step 5, determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder;
and 6, determining whether the trolley transport platform reaches the designated position or not according to the comparison of the moving distance of the trolley transport platform and the error permission value of the coincidence of the center point of the holder and the center point of the penetrating piece.
The step 2 of installing the reflective strip and the ranging laser comprises the following specific steps:
step 2.1, sticking a reflective strip on the side wall of the bottom surface of the pressure container;
calibrating the orientation of a coordinate system based on a projection plane of the penetrating piece on the side wall close to the bottom surface of the pressure container by using a reflective strip, and determining the positive direction of an X axis, the negative direction of the X axis and the positive direction of a Y axis;
and 2.2, placing the ranging laser on a rotating cloud platform of the trolley transport platform, and ensuring that the distance from the central point of the rotating cloud platform to the light reflecting strip can be acquired through the ranging laser when the cloud platform rotates.
The specific steps of obtaining the distance from the center point of the holder to the reflective strips on the side wall of the bottom surface of the pressure container in the step 3 are as follows:
rotating the holder, and obtaining the distances d from the center point of the holder to the reflective strips marking the positive direction of the Y axis, the positive direction of the X axis and the negative direction of the X axis by using the distance measuring laser1、d2、d3。
The position of the center point of the rotating holder in the coordinate system based on the projection plane of the penetrating piece in the step 4 is specifically as follows:
and (3) determining the position of the rotating holder central point P in a coordinate system based on the projection plane of the penetrating piece to be (x, y) by using the following formula:
the specific steps of determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder in the step 5 are as follows:
according to the central position P of the penetration piece to be detected0And the center position P of the holder, and determining the azimuth angle theta and the moving distance d of the moving direction of the trolley transport platform as follows:
the azimuth angle θ is:
the moving distance d is:
the step 6 specifically comprises:
when the moving distance d of the trolley transport platform obtained in the step 5 is larger than the error allowable value e, the trolley transport platform moves according to the azimuth angle theta of the moving direction and the moving distance d, and the step 3 is carried out to repeat the process;
and (5) when the moving distance d of the trolley transport platform obtained in the step (5) is not greater than the error allowable value e, the trolley transport platform is considered to have reached the specified position.
The step 1 of acquiring and obtaining the size of the pressure container and the central projection data of the top cover penetrating piece to be detected specifically comprises the following steps:
acquiring the radius R of the bottom surface of the pressure container, and acquiring the center P of a top cover penetrating piece to be detected0At a position (x) based on the through-projected plane coordinate system0,y0) (ii) a And determining an error allowable value e of the center point of the holder coinciding with the center point of the penetrating piece.
The invention has the following remarkable effects: the method for positioning the reactor pressure vessel top cover penetrating piece can solve the problem of rapid positioning of the reactor pressure vessel top cover penetrating piece, improves the working environment of personnel, does not need a complex calibration system, does not need to stick two-dimensional codes on the ground, avoids the influence of dirt, abrasion and the like on the positioning system, improves the positioning efficiency and precision, and reduces the cost of a positioning device.
Drawings
FIG. 1 is a flow chart of a method of positioning a reactor pressure vessel head penetration according to the present invention;
fig. 2 is a schematic diagram of a coordinate system of a projection plane of the penetrating piece and coordinates and distances between the center of the holder and the reflection bar.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 and 2, a method for positioning a reactor pressure vessel head penetration piece specifically includes the following steps:
step 1, acquiring and obtaining the size of a pressure container and central projection data of a top cover penetrating piece to be detected;
acquiring the radius R of the bottom surface of the pressure container, and acquiring the center P of a top cover penetrating piece to be detected0At a position (x) based on the through-projected plane coordinate system0,y0) (ii) a Determining an error allowable value e of the center point of the holder coinciding with the center point of the penetrating piece;
step 2, installing a reflective strip and a ranging laser;
step 2.1, sticking a reflective strip on the side wall of the bottom surface of the pressure container;
calibrating the orientation of a coordinate system based on a projection plane of the penetrating piece on the side wall close to the bottom surface of the pressure container by using a reflective strip, and determining the positive direction of an X axis, the negative direction of the X axis and the positive direction of a Y axis;
2.2, placing a distance measuring laser on a rotating cloud platform of the trolley transport platform to ensure that the distance from the central point of the rotating cloud platform to the light reflecting strip can be obtained through the distance measuring laser when the cloud platform is rotated;
step 3, obtaining the distance from the center point of the holder to the reflective strips on the side wall of the bottom surface of the pressure container;
rotating the holder, and obtaining the distances d from the center point of the holder to the reflective strips marking the positive direction of the Y axis, the positive direction of the X axis and the negative direction of the X axis by using the distance measuring laser1、d2、d3；
Step 4, obtaining the position of the central point of the rotating holder in a coordinate system based on a projection plane of the penetrating piece;
and (3) determining the position of the rotating holder central point P in a coordinate system based on the projection plane of the penetrating piece to be (x, y) by using the following formula:
step 5, determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder;
according to the central position P of the penetration piece to be detected0And the center position P of the holder, and determining the azimuth angle theta and the moving distance d of the moving direction of the trolley transport platform as follows:
the azimuth angle θ is:
the moving distance d is:
step 6, determining whether the trolley transport platform reaches the designated position or not according to the comparison of the moving distance of the trolley transport platform and the error permission value of the coincidence of the center point of the holder and the center point of the penetrating piece;
when the moving distance d of the trolley transport platform obtained in the step 5 is larger than the error allowable value e, the trolley transport platform moves according to the azimuth angle theta of the moving direction and the moving distance d, and the step 3 is carried out to repeat the process;
and (5) when the moving distance d of the trolley transport platform obtained in the step (5) is not greater than the error allowable value e, the trolley transport platform is considered to have reached the specified position.
Claims (7)
1. A method for positioning a reactor pressure vessel top cover penetrating piece is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, acquiring and obtaining the size of a pressure container and central projection data of a top cover penetrating piece to be detected;
obtaining an error allowable value of the center point of the holder matched with the center point of the penetrating piece;
step 2, installing a reflective strip and a ranging laser;
a light reflecting strip is arranged on the side wall near the bottom surface of the pressure container; arranging a ranging laser on the trolley transport platform;
step 3, obtaining the distance from the center point of the holder to the reflective strips on the side wall of the bottom surface of the pressure container;
step 4, obtaining the position of the central point of the rotating holder in a coordinate system based on a projection plane of the penetrating piece;
step 5, determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder;
and 6, determining whether the trolley transport platform reaches the designated position or not according to the comparison of the moving distance of the trolley transport platform and the error permission value of the coincidence of the center point of the holder and the center point of the penetrating piece.
2. The method of claim 1, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the step 2 of installing the reflective strip and the ranging laser comprises the following specific steps:
step 2.1, sticking a reflective strip on the side wall of the bottom surface of the pressure container;
calibrating the orientation of a coordinate system based on a projection plane of the penetrating piece on the side wall close to the bottom surface of the pressure container by using a reflective strip, and determining the positive direction of an X axis, the negative direction of the X axis and the positive direction of a Y axis;
and 2.2, placing the ranging laser on a rotating cloud platform of the trolley transport platform, and ensuring that the distance from the central point of the rotating cloud platform to the light reflecting strip can be acquired through the ranging laser when the cloud platform rotates.
3. The method of claim 2, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the specific steps of obtaining the distance from the center point of the holder to the reflective strips on the side wall of the bottom surface of the pressure container in the step 3 are as follows:
rotating the holder, and obtaining the distances d from the center point of the holder to the reflective strips marking the positive direction of the Y axis, the positive direction of the X axis and the negative direction of the X axis by using the distance measuring laser1、d2、d3。
4. The method of claim 3, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the position of the center point of the rotating holder in the coordinate system based on the projection plane of the penetrating piece in the step 4 is specifically as follows:
and (3) determining the position of the rotating holder central point P in a coordinate system based on the projection plane of the penetrating piece to be (x, y) by using the following formula:
5. the method of claim 4, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the specific steps of determining the moving direction and distance of the trolley transport platform according to the central position of the penetration piece to be detected and the central position of the rotating holder in the step 5 are as follows:
according to the central position P of the penetration piece to be detected0And the center position P of the holder, and determining the azimuth angle theta and the moving distance d of the moving direction of the trolley transport platform as follows:
the azimuth angle θ is:
the moving distance d is:
6. the method of claim 1, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the step 6 specifically comprises:
when the moving distance d of the trolley transport platform obtained in the step 5 is larger than the error allowable value e, the trolley transport platform moves according to the azimuth angle theta of the moving direction and the moving distance d, and the step 3 is carried out to repeat the process;
and (5) when the moving distance d of the trolley transport platform obtained in the step (5) is not greater than the error allowable value e, the trolley transport platform is considered to have reached the specified position.
7. The method of claim 1, wherein the step of positioning the reactor pressure vessel head penetration further comprises the steps of: the step 1 of acquiring and obtaining the size of the pressure container and the central projection data of the top cover penetrating piece to be detected specifically comprises the following steps:
acquiring the radius R of the bottom surface of the pressure container, and acquiring the center P of a top cover penetrating piece to be detected0At a position (x) based on the through-projected plane coordinate system0,y0) (ii) a And determining an error allowable value e of the center point of the holder coinciding with the center point of the penetrating piece.
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