A fast positioning method for nuclear robot based on visual reference parts

A positioning method and robot technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as accurate positioning of wells that cannot be detected, and achieve the effects of high positioning accuracy, fast positioning speed, and strong anti-noise ability.

Active Publication Date: 2020-09-29
SOUTHWEAT UNIV OF SCI & TECH
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Problems solved by technology

[0004] In order to solve the problems existing in the prior art, the present invention provides a nuclear robot based on visual reference parts and a rapid positioning method, which solves the problem of inability to detect the The Problem of Precisely Locating Wells

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  • A fast positioning method for nuclear robot based on visual reference parts
  • A fast positioning method for nuclear robot based on visual reference parts
  • A fast positioning method for nuclear robot based on visual reference parts

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Embodiment Construction

[0052] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0053] Such as figure 1 As shown, a nuclear robot based on visual reference parts includes an overall motion mechanism 1, an X-Y fine-tuning mechanism 2, a lifting mechanism 3, a control cabinet 4, a nuclear detector 5, a visual servo part 6, and four Mechana master wheels 7; The X-Y fine-tuning mechanism 2 is set on the top surface of the overall motion mechanism 1, the nuclear detector 5 is set through the X-Y fine-tuning...

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Abstract

The invention discloses a nuclear robot based on a visual reference part. The nuclear robot comprises an overall motion mechanism, an X-Y fine-adjustment mechanism, a lifting mechanism, a control cabinet, a nuclear detector, a visual servo part and four Mecanum wheels. The nuclear robot rapid positioning method based on the visual reference comprises the following steps that S1, video informationof a radiation-resistant camera carried by the nuclear robot and an outside-reactor monitoring camera serves as guidance, and thus the nuclear robot reaches the position of a detection well; S2, the pose of the nuclear robot is adjusted through visual guidance; S3, visual servo rough positioning is conducted on the nuclear robot through the radiation-resistant camera carried by the nuclear robot and the four Mecanum wheels of the nuclear robot; S4, visual servo precise positioning is conducted on the nuclear robot through the X-Y fine-adjustment mechanism on a platform and the radiation-resistant camera carried by the nuclear robot. The problem that when an outside-reactor core is mounted in a strong-irradiation and narrow reactor cavity in an assisted mode, the detection well cannot be precisely positioned is solved.

Description

technical field [0001] The invention relates to the field of nuclear robots, in particular to a nuclear robot based on visual reference parts and a rapid positioning method. Background technique [0002] The nuclear instrumentation system outside the reactor is a safety-level device. It continuously monitors the reactor power, power level change and power distribution by measuring the neutron flux rate leaked from the reactor core. It is an important input parameter for the reactor protection system and the five major control systems of the power plant. . The external nuclear test detector is the eye of the external nuclear test instrument system, which is arranged outside the reactor pressure vessel to directly detect the neutron flux rate level of the core leak. [0003] At present, the external detectors are installed from the bottom of the reactor cavity upwards. This installation method is limited by the narrow installation space at the bottom of the reactor cavity. Th...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J9/16
Inventor 张静刘满禄张华周建肖宇峰王基生李树春王亚翔张敦凤熊开封王姮刘冉刘桂华任万春徐锋
Owner SOUTHWEAT UNIV OF SCI & TECH
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