一种蒸汽发生器水下检查机器人高精度定位方法

HIGH-PRECISION POSITIONING METHOD OF STEAM GENERATOR UNDERWATER INSPECTION ROBOT

密闭的核电蒸汽发生器(Steam Generator,SG)内环境纹理单一重复及光照不良等导致检查机器人定位困难及作业过程中难以确定被检查的传热管位置。针对该问题,提出一种实时高精度的机器人定位方法。通过目标检测算法对视频帧中选定范围内的传热管进行检测及排序,并在初始帧中参照SG内部少量可区分点设定传热管的初始参考序号;基于前后帧同一目标间距离与帧内不同目标间距离的几何约束关系,对传热管目标进行跟踪及动态排序,从而间接地实现机器人精确定位。实验结果表明,该方法在SG模拟体内部进行检查的过程时能很好地实现机器人的高精度定位,指导机器人进行检查作业。

The single repetitive environment texture and poor illumination of the closed nuclear steam generator(SG)make the positioning of the inspection robot difficult,and it is difficult to determine the position of the heat transfer tube to be inspected during the operation.For this problem,a real-time robot localization method with high precision is proposed.The target detection algorithm was used to detect and sort the heat transfer tubes in the selected range in the video frame,and the initial reference number of the heat transfer tubes was set with reference to a small number of distinguishable points inside the SG in the initial frame.Based on the geometric constraint relationship between the distance between the same target in the front and rear frames and the distance between different targets in the frame,the heat transfer tube targets were tracked and dynamically sorted,so as to indirectly realize the precise positioning of the robot.The experimental results show that this method can well realize the high-precision positioning of the robot during the inspection process inside the SG simulation body,and can guide the robot to perform inspection tasks.