水下双目视觉系统的设计与密封技术研究

Design of Underwater Binocular Stereo Vision System and Its Sealing Structure

为在核电站乏燃料池中工作的水下焊接机器人设计一套双目视觉系统,介绍该系统的组成及各组成部分之间如何连接并协同完成双目视觉的图像采集工作。根据实际工作需求,设计适合水下工作环境的水下摄像机和水下光源,介绍摄像机和光源的选型、结构和密封方法。设计用于安装固定摄像机和光源的水下云台的结构与动密封,云台可以进行左右摇摆和上下俯仰运动。实际应用证明这套系统工作稳定、操作方便、反应迅速,可以获得清晰的水下实时图像。

According to the requirement of underwater welding robot used in the fuel pool of the nuclear power station, a set of binocular stereo vision system was designed. The compositions of the system, and the connection and cooperation of the compositions to complete the image acquisition work were introduced. Based on the requirement of actual work, un- derwater camera and light source were designed. The type choice, the structure and the seal methods of camera and light source were also introduced. The holder to install and fix the camera and light source was designed, which can swing a- round and realize the pitching motion. The practical application proves that this system is stable, easy to operate, and re- sponses fast, which can obtain clear underwater real-time images.