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Vision servo system and method for automatic leakage detection platform for sealed radioactive source

A visual servo and automatic detection technology, applied in the field of visual servo system

Inactive Publication Date: 2006-12-27
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The problem solved by this system is: when using automation technology to replace manual radioactive source leakage detection, use a monocular camera to observe the position and attitude of the radioactive source workpiece, and transmit the observation results to the manipulator controller to adjust the position and attitude of the manipulator to the desired position position, then grab the radioactive source and take it out for the next step or put the radioactive source back into the container

Method used

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  • Vision servo system and method for automatic leakage detection platform for sealed radioactive source
  • Vision servo system and method for automatic leakage detection platform for sealed radioactive source
  • Vision servo system and method for automatic leakage detection platform for sealed radioactive source

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Embodiment Construction

[0025] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] exist figure 1 Among them, the whole system is at least composed of a control cabinet (1), an industrial computer (2), a camera (3) and an actuator (4). The camera (3) obtains the image of the radiation source workpiece and transmits the image data to the computer (2), and the specific pose estimation program in the computer (2) processes the image to obtain the pose information estimation of the radiation source workpiece, and compares it with the expected pose The difference generated by the comparison is input to the controller in the control cabinet (1) as the setting value of the controller of the actuator, and the controller controls the movement of the actuator (4) so ​​that the end effector of the actuator reaches the desired pose.

[0027] figure 2 It is a structural block diagram of the visual servo control system, as shown in the figure, it is a ...

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Abstract

The invention relates to a sealing radioactive source leakage detecting technique, especially providing a visual servo system of sealing radioactive source leakage automatic testing platform, and relative method, wherein said system comprises: a computer (2), a camera (3), an executer (4), an executer controller and special altitude estimate visual algorism. And the method comprises: S1, converting colorful image into gray image or collecting gray image; S2, using Canny edge algorism to process the gray image to obtain edge image; S3, using edge fine technique to fine the edge into single pixel connecting edge with eight nearby regions; S4, removing noise; S5, building the model of upper surface geometric character of radioactive source work piece; S6, building the homography matrix between image plane and upper surface of work piece; S7, transmitting the calculated result to the mechanical arm controller.

Description

technical field [0001] The invention relates to the technical field of leak detection of sealed radioactive sources, in particular to a visual servo system and method for an automatic leak detection platform of sealed radioactive sources. Background technique [0002] In various typical applications of radioactive sources in China at present, in order to ensure the use effect of radioactive sources and the reliability of test results, it is necessary to regularly test sealed radioactive sources to confirm whether there is any leakage of radioactive substances. At present, the domestic industry standard for testing sealed radioactive sources is to use manual wiping testing. The main disadvantages of the manual wiping detection method are: (1) the human body may be directly exposed to the radioactive source and suffer from nuclear radiation, which constitutes damage to human health; (2) it is greatly affected by human factors and has many uncertainties, so the detection cannot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01T7/00G01T1/00
Inventor 原魁梅树起王伟房立新
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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