• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    The present invention relates to photogrammetric systems (100) for testing inaccessible equipment. Such systems include visual remote detection (160) devices and optical targets at known, accurate sites within the plants, such as in nuclear reactors. Optical targets include pre-existing devices and arranged objects bearing indicia that impart an identity of the optical target that is correlated with a device in the plant, an identity of a remote tool (116), and / or the known location within the plant. The remote review devices (160) may be in communication with a user interface (154) that receives operator commands for operating the tool and / or determines a position of the tool based on the optical targets. A separate processor may analyze data from the optical target that has been detected by the visual remote detection device (160) at one or more viewing angles to determine the location of the optical target and the device (160). From these provisions, a location of a tested facility or tool can be calculated. The optical targets can be removed from the system after completion of the test.
    公开号:CH703740B1
    申请号:CH01437/11
    申请日:2011-09-01
    公开日:2016-12-15
    发明作者:Dale Jones William；j brewer David；J Hamel Brendan；A Lathrop Jared
    申请人:Ge-Hitachi Nuclear Energy Americas Llc；
    IPC主号:
    专利说明:

    General state of the art
    The operators of commercial nuclear installations and the suppliers of services for such installations carry out visual inspections in an in-vessel visual inspections (IVVI) and the installation of components and / or repairs during the operations of fuel refilling of the reactor. A reactor pressure vessel (RPV) in a commercial nuclear facility typically has submerged or otherwise inaccessible welds, bores, and other components that are to be inspected, repaired, or otherwise operated when the equipment is shut down for fuel refueling is out of order. For example, hollow tubular jet pumps with internal bores are positioned within an annulus of a boiling water reactor to provide the required water flow to the core. During operation, the components of the jet pump, including the welds within the reactor, may undergo intergranular stress corrosion cracking and radiation stress corrosion cracking, which reduce the structural integrity of these reactor components. Several other types of components within and around the nuclear reactor may suffer similar damage. These reactor components are visually inspected to determine if any cracking, failure, or other damage such as accumulation of (particulate) deposits has occurred.
    A visual inspection system conventionally includes one or more cameras positioned on a remotely controlled vehicle that can be positioned within the reactor vessel by the operator or by a machine installation external to the reactor so as to remove the harmful radiation and radiation Allow contamination in the reactor. Each camera may be coupled to a video transmission system that provides an image signal to a remotely located visual display device or to a storage system. A variety of cameras can be used for a variety of tasks, including testing of the outer surface of the tubes and the inner bores of the tubes, apertures and bores. In general, each visual inspection system (camera, transmission system, and display) is required to meet predefined imaging standards to ensure that the visual inspection is able to identify and delineate the necessary specificity in terms of error and damage identification. The requirements for IVVI visual inspection systems include Visual Testing (VT) standards such as a stringent EVT-1 standard. The EVT-1 standard determines that the imaging system is capable of resolving a 0.0127 mm (0.0005, 1/2 mil) wire on an 18 percent neutral gray background.
    Both the EVT-1 standard and other repair or installation operations rely on the personal evaluation by an operator to ensure that the image / repair / tooling system is related to the components in which is suitably positioned to suitably identify or repair damage within the reactor, or to operate tools or install components properly. Some conventional systems may use mechanical positioning, such as a track control for a (steering) rod to which a camera is remotely mounted, or marks outside the reactor, such that the operator can adjust the tool position within the reactor by reference to the external tags can calculate.
    The object underlying the present invention is to provide a photogrammetric system and an associated method for testing inaccessible equipment, by means of which the positioning of conditions and facilities can be determined accurately and quickly, the tested and / or repaired should be.
    Brief description of the invention
    The above object is solved by the subject matter of the independent claims.The present invention relates to a photogrammetric system for remote inspection of inaccessible equipment. The system includes visual remote detection devices and at least one optical target / target at known, exact locations within the plants, such as in nuclear reactors. The at least one optical target may include tags that convey and transmit the identity of the optical target correlated to equipment in the equipment, the identity of a remote tool within the equipment, and / or the known location within the equipment. Such optical targets may be secured to the location or on the tool by an adhesive / mechanical fastener, such as a clamp, screw, etc. In embodiments for remote testing devices, these may be in communication with a user interface receiving operator commands for operating the remote visual detection device or for the tool and / or determining a position of the tool or device to be operated on based on relative positions of the optical targets in multiple images from different viewpoints , Alternatively, a separate processor may analyze data from the detected optical targets to determine the known location / location of the optical target or positioning of the tool in relation to the location. From these measurements, a location of a device to be tested can be calculated, and the device under test can be accessed more quickly and it can be addressed more quickly if a test detects that repair is necessary.
    A method of testing an inaccessible equipment such as a nuclear reactor. The method comprises positioning an optical target in the inaccessible plant, which may be a radiation-polluted facility and hence hereafter referred to as a radiological facility, in a known location, operating a device for remote testing within the facility, such as physical parameters of the facility for determining an operating condition of the system. Optical target data on and within the tool is also detected by visual remote detection devices. A location of devices and / or tools in the captured images is then determinable based on information of the characteristics of the at least one optical target. A visual remote detection device, an operator of the remote visual detection device, and / or a processor communicatively connected to the remote visual detection device may use image processing techniques to determine the locations based on the optical targets in FIG several pictures from several different angles. The optical targets can be removed from the system after the test is completed.
    Brief description of the drawings
    [0007]<Tb> FIG. 1 <SEP> is an illustration of one embodiment of a photogrammetric system usable in a nuclear facility.<Tb> FIG. 2 <SEP> is an illustration of one embodiment of an optical target.<Tb> FIG. 3 <SEP> is an illustration of multiple embodiments of optical targets installed in a nuclear facility.<Tb> FIG. 4 <SEP> is a flowchart illustrating an example method of radiological equipment testing.<Tb> FIG. 5A and 5B <SEP> are representations of two related images used in an example method of determining a position.
    Detailed description of the invention
    Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, specific structural and functional details disclosed herein are merely representative of the purposes of describing the embodiments. The embodiments may be embodied in many varying forms and should not be construed as limited to the embodiments set forth herein.
    It should be noted that in some alternative implementations, the mentioned functions / actions may occur out of the order given in the figures or described in the specification. For example, two figures or steps shown in a sequential order may actually be executed in series and simultaneously, or they may be performed a few times in the reverse order or repeatedly, depending on the functionality / actions involved.
    Accurate and rapid visual inspection, magnetic testing, ultrasonic testing, etc. in the nuclear reactor vessel and testing of other radiological environments can cause a nuclear power plant interruption, and may allow for faster interruption in compliance with industry rules. The inventors have recognized a need for accurate and rapid assessment and repair of damage to components and inoperable states. The inventors have further recognized that the ability to accurately and quickly determine the positioning of such conditions and devices to be tested and / or repaired and the positioning of the test equipment and tools relative to the states and devices and within the radiological environments , such as within the nuclear reactor, directly contributes to the speed and accuracy of such evaluations and repairs. The inventors have also recognized a problem in the visual localization of equipment, tools and test equipment in the radiological environments caused by the radiation in that environment. In particular, the radiation prevents both direct human observation of tool or location of a device as well as camera based visual observation / recording in these environments because visual cameras malfunction in high radiation areas, they are easily contaminated with radiation, and or they may not fit in tight spaces or may cause blockage in narrow areas within these environments where other repairs or checks are required. Exemplary systems and methods described below clearly address these and other problems discussed below, and allow for accurate positioning of the test / repair / installation tools within the high radiation environments and the devices therein Environments should be checked / repaired.
    FIG. 1 is an illustration of one embodiment of the system 100 that is usable to determine an accurate positioning within an environment that is not secure and / or that can not be accessed directly by human operators, such as the Areas within a nuclear power plant. The embodiments of the system 100 include at least one visual detection device and a detectable optical target positioned within the environment in which work or testing is to be performed, which will be described in detail below. Embodiments of systems may operate with a variety of inspection, repair, installation tools, etc., that are used for remote working in high radiation environments, as discussed further below.
    As shown in FIG. 1, a nuclear power plant may be such a testing environment and may include a reactor pressure vessel (RPV) 12 filled with liquid, such as water, during shutdown of a plant for fuel refueling purposes accessible during another maintenance period. Although the embodiment of the system 100 is shown in connection with a nuclear power plant having the features of a boiling water reactor, it will be understood that embodiments of systems are usable in any radiological or otherwise inaccessible environment where an exact location for testing, tooling, Repairs etc. is desired.
    For example, the RPV 12 and associated components in a nuclear power plant may include one or more devices to be inspected, repaired, generated or otherwise operated in combination with the embodiment of the system 100. A cross-sectional view of the RPV 12 in FIG. 1 shows a container bottom 28 at one end of the RPV 12, from which a side wall 30 extends up to an upper edge of the RPV 12. Sidewall 30 may include an upper flange 32 on which a header (not shown) may be mounted. A cylindrically shaped core jacket 34 may surround a reactor core 36. The sheath 34 may be supported at one end by a (core) sheath carrier 38. An annulus 40 may be formed between the shell 34 and the sidewall 30. An annular pump deck 42 may extend between the shell support 38 and the side wall 30. The pump deck 42 may include a plurality of circular openings 44, each port housing a jet pump assembly including a jet pump diffuser 46 (only one shown for purposes of clarity and clarity in FIG. 1). The jet pump diffusers 46 may be circumferentially distributed around the core jacket 34.
    Fittings and connections between the example structures shown in Fig. 1 may be targets for testing, tools, repairs, etc., because such fittings can be welded and susceptible to cracking and other damage. Or, for example, (particulate) deposits may accumulate on or between the components, such as on the pump deck 42, which may be a target for the removal of (particulate) deposits or for testing for (particulate) deposits to locate. Or, for example, slip joint connectors in jet pump assemblies on diffusers 46 may be targets for a tool and for repairs to repair or eliminate vibration induced damage in the slip joints. These locations may be inaccessible to direct human contact because of high levels of radiation and radioactive contamination, and direct camera actuation in these areas may be technically impractical due to diminished camera function, radiation exposure and contamination, lack of space, etc. However, it is still desirable to visually determine a device and the location of a tool within those regions. It is therefore to be understood that any number of sites and facilities in the nuclear facility may require testing for repair and determination of operating condition, and that each of these test areas may be inspected, repaired, or otherwise with various types of inspection systems, repair systems, or other tooling systems can be edited, which are usable with the systems of the embodiment.
    For example, the system 100 may be operable with a remote inspection device that can remotely inspect targets in hazardous or inaccessible locations, whether visually, ultrasonically, magnetically, or otherwise. For example, a remote inspection device may be attached to a long (steering) rod that is actuated above RPV 12, and operators located on a work platform or on a boom above the RPV 12 may use the (steering - Move the wand and the remote inspection device around the RPV 12 to check for equipment inside. Remote inspection devices that are completely stationary and fixed to immovable structures are also usable in the example systems.
    Or, for example, a remote-control device 116 may be remotely-fed into the RPV 12 and provided there to test various devices immersed therein. The remote inspection device 112 may include one or more drive devices that move the remote inspection device 112 within an aqueous environment, such as, for example, a mechanical propeller and a rudder or chemical jet. The remote inspection device may further include a locally stored power source and / or a power connection to an external source for operation. Remote inspection device 112 may include one or more test cameras 118 or other image capture device that provides an image signal via cable or wireless (wireless) transmission system 119. In addition, the remote inspection device 116 may include one or more illumination and light devices 120 for illuminating portions of the RPV 12 to be viewed or imaged by the inspection camera 118. The illumination devices 120 may have a variable and controllable intensity and / or a variable and controllable focus.
    It will be understood that although an example system using the camera 118 on the remote review device 112 is shown in FIG. 1 and is usable with the embodiment of the system 100, other systems such as remote tooling systems, remote submersible robots, ultrasonic scanners, magnetic probes, and any other type of inspection / repair / processing devices are usable with the embodiments, or these independent systems may be absent in these example systems.
    An operator may actuate and control the remote devices (remote control devices) usable in the embodiment of the system 100 from a service bridge (gangway), platform, and / or from a work bridge to fuel replenishment 52. For example, it may perform control over a user interface to the controller 154, such as via a display, joystick, mouse, keyboard, voice input device, or other types of operator input devices for receiving input from an operator. The input of control commands to the control interface 154 may be communicated to a remote control device 116, which in turn may receive visual image signals or other test data, such as ultrasound signals, via the transmitter 119.
    The embodiment of the system 100 includes a visual remote detection device 160. The remote visual detection device 160 may be a camera or other optical sensor device capable of capturing, recording, analyzing, and / or transmitting visual Data or position data from inside the inaccessible environment. The embodiment of the remote visual detection device 160 may be mounted on a handy (steering) rod 161. Operators may move and position the device 160 on the handy (steering) rod 161 above or otherwise outside of the RPV 12. Alternatively, the remote visual detection device 160 may be rotatably fixed to a stationary location within the RPV 12. As yet another example, the remote visual detection device 160 may be attached to a remote-controlled robot similar to the remote-inspection device 116 and remotely controlled (remotely) via the user interface to the controller 154.
    The remote visual detection device 160 may be designed and positioned to be in optical communication with various areas that are to be inspected, repaired, manipulated, etc. within the inaccessible environment. However, the remote visual detection device 160 need not be located near the actual component / location that is to be inspected or otherwise manipulated. In this way, the remote visual detection device can not interfere with the tests or other work, it need not be exposed to the highest levels of radiation exposure within the inaccessible environment that may contaminate or degrade the functionality of the device 160. For example, the remote visual detection device 160 and / or the remote inspection device 116 may be rotatably fixed in a central area of the RPV 12 within a line of sight of the devices to be tested. Or, for example, the remote visual detection device 160 may be movable around the devices to be tested and / or the remote inspection devices 116 may be located at a distance away from a machining / inspection area or in a remote location enter a region of higher radiation.
    The remote visual detection devices 160 are hardened against radiation and radiological contamination common in nuclear power plants and other test environments. The visual remote detection devices 160 are operable under conditions having average dose rates of 10 RAD / hr to 1,000 RAD / hr. Thus, the remote visual detection devices 160 include materials that do not substantially alter the physical state or mechanical features and properties when exposed to various types and high levels of radiation found in test environments, such as in nuclear facilities. The remote visual detection devices 160 further provide image resolution and transmission quality sufficient to meet the above-mentioned standards. For example, the cameras usable as the remote visual detection device 160 may have 12.4 megapixels of resolution or greater. Various known and commercially available digital image cameras and image recorders can meet the above requirements for an example embodiment for remote inspection devices.
    The remote visual detection devices 160 may further include a lighting device 162, such as a submersible lighting fixture, that illuminates the areas within the inaccessible environment. The visual remote detection devices 160 further include a transmission and / or storage device for sending or receiving recorded data for analysis or operator feedback. For example, the visual remote detection devices 160 may include a fiber optic cable that travels up the handy (steering) rod 116 and is connected to the control console 154 for analysis by the operator or processor analysis. As another example, the visual remote detection devices 160 may store data in a local flash or ROM memory accessible to the operators.
    The embodiment of the system 100 includes one or more embodiments of optical targets that are detectable by remote visual detection devices 160 and that are positioned in a test area at known locations with respect to the devices of interest, such as the devices which should be worked on. Optical targets may include identifiable geometric features within the work environment, such as pipes, holes, component corners, screws, welds, etc. that are identifiable by the embodiments of the visual detection devices. Alternatively, optical targets may include embodiments of optical targets 180 that are specifically located within the work environment that may be correlated to a position of a device. Embodiments of optical targets 180 may also be positioned on remotely operated vehicles, such as on the remote inspection device 116, or on other testing devices and work tools.
    As shown in FIG. 2, an embodiment of the optical target 180 may include a rigid base 183 that holds or framing a label 181 on at least one side. On the other hand, the embodiment of the optical target 180 may include a fastener 182 that allows attachment of the optical target 180 to a structure or tool. Fasteners 182 may include a variety of connection mechanisms that include adhesives, magnets, clips, hooks, etc. The mark 181 may have any structure, shape, or indicia that is detectable / readable by the remote visual detection device 160 in the embodiment of test systems. The tag 181 may include highly recognizable shapes and structures that increase readability in the test system embodiment. For example, tag 181 may be a high contrast black and white icon, as shown by the high contrast black circle in tag 181 in FIG. 2, or tag 181 may include sharp edges or a bold, clear label. for example, to transfer information through words, characters or symbols.
    The tag 181 further contains unique information of an identity of the optical target 180. The tag 181 may, for example, as shown in Fig. 2, include a high-contrast fill of each quadrant containing the optical target 180 according to the Extent of filling identified for each quadrant. Alternately, the tag 181 may include numbering, lettering, other shapes, etc. highlighting and distinguishing it among the multiple optical targets 180. Further, it should be understood that while the optical targets 180 are shown with indicia 181 transmitting the information in visible wavelength ranges, optical targets may transmit information about a position, device, and / or identity with nonvisible means, such as via a radio frequency signal or an electrical signal, for example, that they are detectable by the visual detection devices 160 of the embodiment such that "visual" and "optical" are to be understood to include "perceptible".
    As shown in Figure 3, the optical targets 180 of the embodiment throughout the entire embodiment of the system 100 (Figure 1) are at or in relation to known locations and / or devices to be tested within Positioned test environments. FIG. 3 shows a plurality of optical targets 180 positioned about a jet pump diffuser 46. Each optical target may be positioned at a fixed position such that an identity of an optical target corresponds to a precise positioning, device location, or tool within the work environment. For example, each optical target may be connected to a single device, to a single component, or to a single tool such as a particular fixture, weld, bore, remote inspection device 116, etc. such that the identity of an optical target will accurately identify it the associated equipment or piece of equipment. For example, each optical target 180 in FIG. 3 may include a mark 181 that may be correlated to a vertical height via the jet pump diffuser 46. Alternatively, the tag 181 may highlight and distinguish from the targets associated with unique features in the environment.
    The embodiment of optical targets 180 may be positioned singly or in combination and used to determine accurate test positions. In addition to the precise and explicit location, facility, and / or tool identification for repair or other work, the embodiment of optical targets 180 may provide orientation in the embodiment of the system 100.
    In the embodiment, the remote visual detection device 160, the interface 154, and / or other external processors / computers (not shown) are capable of identifying and determining the position based on the detection in one or more Cases of the embodiment of the optical targets 180 and the mark 181 thereon, which uniquely identify the optical target. The placement and position of the tools, cameras, devices, other testers, etc. within the embodiment of the system 100 determined using one or more optical targets 180 of the embodiment are discussed in detail below with example methods.
    FIG. 4 is a flowchart illustrating example methods of installing and operating the systems of the embodiment discussed above. FIG. As shown in FIG. 4, according to S100, one or more optical targets are installed within a test environment requiring remote testing, such as in a nuclear facility containing an RPV 12 (FIG. 1). Optical targets are installed at locations within the test environment and on test fixtures and tools in specific known locations. The optical targets may be installed at any time prior to testing, including the time during shutdown of a plant for fuel refueling purposes. Optical targets can be installed by attaching the targets to handy (steering) rods that extend into the RPV 12 or other areas within a test environment. Optical targets may include a variety of connection mechanisms, including hooks, fasteners, adhesives, connectors, etc. that are remotely operable to secure the optical targets in a single position within the RPV 12 or other test environment. The remote operators can thus fix the optical targets with handy (steering) bars at precise, consistent locations within the RPV 12. For example, the components within the RPV 12 may have known apertures or holes as fixed locations that receive an optical target. Similarly, optical targets on remotely operated tools including a remote inspection device 116 may be secured by these attachment mechanisms prior to insertion of the tool or other device into the environment in which work is to be performed.
    Alternatively, optical targets may be installed with other robots or submersible devices in S100 at exact locations corresponding to their characteristics. Even more alternatively, optical targets may be installed during manufacture of the component or plant in S100 and remain in fixed locations that conform to their characteristics until testing or throughout the test. Upon completion of S100, the test environments may appear as in FIG. 3 or 4, for example, with at least one embodiment of the optical target 180 mounted therein.
    In S105, a visual remote detection device, such as the embodiment of the remote visual detection device 160, is inserted into the inaccessible environment such as an RPV 12 (FIG. 1) to detect, analyze, and analyze and / or transmit data from the installed optical targets without direct human presence. The remote visual detection device 160 may be installed, or movably mounted, at a position in the line of sight of the optical targets on the devices and tools of interest to be able to detect the optical targets. This makes it possible to position the device for remote visual detection in areas exposed to relatively lower radiation, allowing for tool / component assembly without radiation or without physical interference or contamination of the remote visual detection device 160. The remote visual detection device 160 may be positioned at a single location or at various locations within the inaccessible environment to detect optical targets of interest in various areas and / or for the same optical targets from multiple different viewing angles of the device 160 detect. The remote visual detection device 160 may be temporarily attached to a component in the RPV 12 to stabilize the device 160 with respect to a first set of optical targets on the reactor devices and tools. The visual remote detection device may later be detached and moved to another reactor component or position within the view of a second set of optical targets for a different test or repair, for example.
    Optionally, in S110, a remote tool, such as the embodiment of the remote test device 116, may be remotely inserted into the inaccessible environment, such as the RPV 12 (FIG. 1), for the test or other work without direct human presence. The remote inspection device and components thereof, such as the camera (s) 118, are operated in accordance with known methods to inspect devices for damage or compliance with the operating function. The remote inspection device may be positioned in various positions within the RPV 10, including the annulus 40 including, for example, the jet pump assemblies 46. The tester may be temporarily attached to a component in the RPV 12 to stabilize the device during a visual inspection. The test apparatus may operate multiple cameras or other sensors based on the type of test technology used, including ultrasound and / or magnetic field testing, for testing the outer portions of the target components, and / or a camera or other extend another sensor attached to an extendable probe, such as shown in the embodiment of the remote inspection device 116, for insertion into a bore such as the bore in the jet pump assembly 46.
    In S105, the remote visual detection devices 160 of the embodiment may be positioned and controlled by an operator through the system interface 154 (FIG. 1) or through other interfaces to observe the optical targets on a test or repair tool how the tool is operated in S110. The remote visual detection device may be moved and positioned to a desired position to provide remotely viewed images of optical targets or other remote display, remote memory, and / or remote analysis information. Once work has been done on a first region or component, such as the jet pump assembly 46, then the remote visual detection device may be moved to or repositioned within the RPV 12 for observing optical targets in other areas or on a different tool, component and / or facility.
    In S120, a position is determined by using at least one optical target by observing the optical target with the visual remote detection device 160 of the embodiment. The optical targets used in S120 may include the targets 180 of the embodiment located in S100, or devices within the inaccessible environment that are identifiable by the remote visual detection device 160, such as holes, holes, pipes Reinforcing ribs, welds, screws, etc. The position determined in S120 may be the position of a component, device, damage or tool within the inaccessible environment. For example, when damage or (particulate) deposits are tested in S110, an optical target on the inspection tool and an optical target disposed on a fixed device in the vicinity of the (particulate) deposits may be in S120 can be used to specifically locate the test tool and / or to specifically locate the (particulate) deposits with respect to the test tool so that the repair / removal of (particulate) deposits can proceed with great accuracy. Or, for example, during a repair, an optical target 180 disposed on the repair tool may be identified and used to identify the position of the tool. Or, for example, multiple optical targets positioned within the environment in combination with the optical target on the tool may specifically locate the tool with respect to the components to be worked on.
    Several example methods are possible for determining the device / tool position and / or identity in S120 using the optical targets 180. For example, a single optical target may be proximate to a device of interest with the remote visual detection device 160 are detected. The optical target may be uniquely identified and / or connected to a location by the remote visual detection device 160, where an operator views the data from the remote visual detection device 160 and a separate processor is configured to perform image analysis, etc to perform. The unique identity imparted by the identifier of the optical target (s) 180 of the embodiment may then be used to identify the optical target in other cases or from other locations, to a specific device, and / or determine a location that is in the same location or relative to the optical destination that has the license plate within the inaccessible environment.
    In S120, multiple optical targets may be used to determine positions and to identify components and tools within the inaccessible environment. The remote visual detection device 160, the operator and / or a separate processor may uniquely identify multiple optical targets and triangulate or otherwise calculate a position of a component or tool thereof and / or do so in relation to the observed optical targets.
    Similarly, in S120, multiple images and multiple viewing angles may be used by a visual remote detection device to stereoscopically determine the distances between one or more tools and / or the visual detection device 160. For example, the visual remote detection device 160 may uniquely identify one or more optical targets first from a first viewing angle. The visual remote detection device 160 may then be moved to a second position a distance from the first position in S120. The visual remote detection device 160 may then again identify the same optical targets from the new viewing angle. Easily detected and unique indicia 181 on the optical targets 180 of the embodiment can enable high accuracy positioning of each optical target among a plurality of different images from a plurality of different viewing angles.
    This repositioning and data acquisition can be repeated as often as desired. Using the differences in the images from different viewing angles, a user or software can calculate the three-dimensional distances between the remote visual detection device 160 and the targets, and thus the position of other devices / tools within the images relative to the optical targets 180. The movement of the remote visual detection device 160 between the images or known reference distances between the optical targets may further be input to S120 and used to achieve unrelated distances among the devices and / or optical targets of interest in S120 determine. Therefore, in S120, using multiple images of optical targets surrounding a device or tool of interest from multiple angles, accurate three-dimensional locations of devices and tools can be determined, even if an optical target does not exactly match the position of the device or tool that is to be determined is linked.
    For example, as shown in Figures 5A and 5B, a visual remote detection device may capture, record or transmit two images 1000 and 1000 within a radiological facility, both images including the optical targets 180a, 180b, and 180c positioned on various devices in the plant. The two images 1000 and 1000 may have been taken at different angles; that is, the visual remote detection device is moved or the angle between the detection of the images 1000 and 1000 has been changed. Because the optical targets 180a, 180b, and 180c contain easily recognizable labels, in Figure 1000 the positions of the targets and the relative distances d1, d2, and d3 between each target are determinable. Similarly, the new distances d1, d2 and d3 can be determined in picture 1000. Based on the differences between the positioning of the optical targets and the relative distances d1, d1, d2, d2, d3, d3, a new position of the visual remote detection apparatus can be calculated. Or, knowing the position change of the visual remote detection device, the relative three-dimensional positions of the optical targets 180a, 180b, and 180c and the devices relative thereto can be calculated. Although only two images 1000 and 1000 are shown in Figs. 5A and 5B, a plurality of further images and relative distances and further positioning of the optical targets 180a, 180b, 180c and additional optical targets may be used in the positioning method.
    In the above example methods, a user or software implementing the methods may process and calculate the distance and the exact position based on unique optical targets of one or more images from different or the same viewpoints. Such methods may be directly incorporated into the devices for visual remote detection and / or they may be performed separately. Similarly, the example methods may output the calculated position data directly to a user interface or store the analyzed data in a remote visual detection device or elsewhere.
    For example, as shown in FIG. 4, the position of the remote inspection device 116, or any other device or tool position determined in S120, may also be used in the further operation of (a) Tool in S110 for inspection, repair or other operation. For example, the remote test device 116 may be moved or repositioned based on a particular position of the remote test device 116 in S120. Similarly, the zooming with the camera, the (camera) panning, the light intensity, etc. can be adjusted based on the position of the remote inspection device 116. For example, a position calculated in S120 may correspond to the position of a known device with welds, which are the subject of a tiny cracking. After determining the position of the remote inspection device at S120 relative to the known device position, a camera can zoom in or out the device position to fully inspect the weld, which requires a high magnification for the test at the known position. Similarly, for example, after the encounter of (particulate) deposits or faults within the RPV 12, the position of a device for remote testing at S120 may be determined using optical targets near and on the remote inspection device to determine the location of the device (particulate) deposits or defects due to S120. Or, for example, the position calculated at S120 may be correlated with position or state data from previous tests to track the progressive course of damage / (particulate) deposits / operation or changes over time at a fixed position.
    After completing the operations such as repair, inspection, installation, etc., and after locating in S120, the optical targets arranged in S100 can be removed in S130. The optical targets can be removed in the same manner as they have been arranged, with the operators responsible for each optical target at known locations. It will be appreciated that operators removing optical targets in S130 may be different than those operators setting up the targets in S100, and a directory of each optical target may be stored among the partners so that each optical target is identified and stored in the network S130 can be detected. Similarly, it should be understood that various partners may execute each action S100, S105, S110, S120, and / or S130 in a number of different or interrupted timeframes. In this respect, information concerning the optical destinations, including the information about license plates and the corresponding locations, can be kept among multiple partners through multiple checks.
    LIST OF REFERENCE NUMBERS
    [0043]<Tb> 12 <September> RPV<Tb> 28 <September> container floor<Tb> 30 <September> sidewall<tb> 32 <SEP> upper flange<Tb> 34 <September> (core) coat<Tb> 36 <September> reactor core<Tb> 38 <September> (core) shroud support<Tb> 40 <September> annulus<Tb> 42 <September> pump deck<tb> 44 <SEP> circular openings<Tb> 46 <September> jet pump diffuser (s)<tb> 52 <SEP> Working bridge for fuel refilling<tb> 100 <SEP> Embodiment of a system<tb> 116 <SEP> Devices for remote testing<Tb> 118 <September> inspection camera (s)<Tb> 119 <September> transmission system<Tb> 120 <September> lighting device<Tb> 122 <September> probe<tb> 154 <SEP> User interface for control<tb> 160 <SEP> Device for visual remote detection<Tb> 162 <September> illumination device<tb> 180 <SEP> optical target (optical targets)<Tb> 181 <September> License Plate<Tb> 182 <September> fasteners<tb> S100 <SEP> Position optical targets<tb> S105 <SEP> Install / operate the visual remote detection device<tb> S110 <SEP> Press the remote tool<tb> S120 <SEP> Determine the position<tb> S130 <SEP> Remove the optical targets
    权利要求:
    Claims (10)
    [1]
    A photogrammetric system (100) for testing an inaccessible installation, the system comprising:a visual remote detection device (160) adapted to be positioned within the system, wherein the remote visual detection device (160) is adapted to detect a plurality of images of the device from a different viewing angle, respectively can;at least one optical target (180) positioned within the plant, the optical target (180) being uniquely identifiable by the visual remote detection device (160); anda processor adapted to identify the optical target in the plurality of images and determine a position based on differences in the respective image of the optical target (180) in the plurality of images, wherein the determined position is at least one of a position of the device for remote visual detection (160), the optical target (180) and a device within the system.
    [2]
    The system (100) of claim 1, wherein the optical target (180) has a tag (181) by which the optical target (180) is uniquely identifiable, and wherein the tag includes high-contrast features that facilitate identification of the tag (18). 181) from several different angles.
    [3]
    The system (100) of claim 1, further comprising:a user interface (154) communicatively coupled to the visual remote detection device (160), the user interface (154) adapted to receive operator commands for operating the remote visual detection device (160).
    [4]
    The system (100) of claim 1, including a plurality of optical targets (180), wherein the processor is adapted to additionally adjust the position based on differences in the respective mapping of the plurality of optical targets (180) in the plurality Can determine images from a different angle.
    [5]
    The system (100) of claim 4, wherein the processor is adapted to additionally determine the position based on the input of a reference distance between at least two of the plurality of optical targets (180).
    [6]
    6. A method for testing an inaccessible plant by means of a photogrammetric system (100) according to one of the preceding claims, the method comprising:operating (S105) a visual remote detection device (160) to acquire a plurality of images from at least one optical target (180) positioned in the plant, the optical target (180) being uniquely identifiable by the apparatus for the visual remote detection (160), each of the plurality of images being captured from a different viewpoint of the plant; anddetermining (S120) a position based on differences in the respective image of the optical target (180) in the plurality of images, the determined position being at least one of a position of the visual remote detection device (160), the optical target (160); 180) and a device within the plant.
    [7]
    The method of claim 6, wherein the method comprises:positioning (S100) a plurality of optical targets (180) in the plant, the optical targets (180) having a recognizable mark (181) including the information of an identity of the optical target (180).
    [8]
    8. The method of claim 7, further comprising:operating (S110) a remotely operable tool (116) within the plant, the operation including detecting physical parameters of the plant to determine an operating condition of the plant; andcapturing (S105) multiple images from different perspectives within the plant, the plurality of images including at least one of the optical targets (180), wherein the detection with the remote visual detection device (160) is separate from the remotely operable tool (116) ,
    [9]
    9. The method of claim 8, further comprising:identifying (S105) the at least one optical target (180) in the plurality of images; anddetermining (S120) a position based on differences in the respective image of the optical target (180) in the plurality of images, each captured from a different viewing angle, the position being at least one of a position of the visual remote detection device (160), the optical target (180) and a device within the plant.
    [10]
    10. The method of claim 9, wherein the operating (S110) of the remotely operable tool is performed based on the determined position.
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    法律状态:
    优先权:
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    US87954610A| true| 2010-09-10|2010-09-10|
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