基于机器视觉的探测器组件定位技术研究

Study on Machine Vision Positioning Technology of In-core Detector Assembly

针对“华龙一号”反应堆堆芯探测器组件水下远距离拆除需求,利用机器视觉技术的快速性和便利性,通过图像识别和处理,实现探测器组件目标位置的快速定位.定位算法充分考虑实际拆除环境中视觉摄像头偏斜、探测器组件倾斜、水雾环境等工况,分别研究算法对相机倾斜、目标倾斜及去除水雾等的适用性.环境试验表明,该算法可快速、准确定位且具有良好的环境适应性,为探测器组件水下顺利拆除提供有力保证.

In order to remotely remove in-core detectors underwater for Hua-long Pressuried Reactor,machine vision technique via image recognition and processing is applied,to realize the actual position of detector assembly.Different situations in actual environment,such as camera s incline,detector assembly s incline and camera s spraying are considered,to research the adaptation of the positioning algorithm.The results of environment test shows the accurate and quickly positioning capacity of the technology.It has also been proved to be robust and highly adaptive to the environment in practical application,which guaranteeing the smoothly dismantle of detectors underwater.