Nondestructive testing robot intelligent testing method based on virtual reality technology

Abstract

The invention discloses a nondestructive testing robot intelligent testing method based on a virtual reality technology. The method comprises the following steps: (1) a nondestructive testing robot for nondestructive testing is mounted at a predetermined position in a to-be-tested reactor pressure vessel; (2) freedom degree kinematic axes of the nondestructive testing robot are each restored to an initial state, then the freedom degree kinematic axes are each subjected to position calibration, and a global coordinate system and axis coordinate systems of the freedom degree kinematic axes are constructed; (3) corresponding relationships are established between simulation models and real devices; and (4) the simulation model of the nondestructive testing robot performs position attitude transformation, virtually displays and controls synchronous movement of the nondestructive test robot to perform nondestructive testing in a three-dimensional virtual environment according to real-timely acquired position attitude information feedback values of the freedom degree kinematic axes of the nondestructive testing robot. The method realizes the omni-directional three-dimensional WYSIWYG display control mode, greatly improves the security of on-site project implementation, and improves the project implementation efficiency.

Description

technical field [0001] The invention belongs to the technical field of surface detection, and in particular relates to an intelligent detection method for a non-destructive detection robot based on virtual reality technology in a reactor pressure vessel of a nuclear power plant. Background technique [0002] At present, in the field of nuclear power inspection, in order to reduce the impact on inspectors and objects to be inspected, non-destructive testing is generally used. Non-destructive testing is to use the sound, light, magnetic and electrical characteristics of the material to detect whether there is a defect or inhomogeneity in the object to be inspected without damaging or affecting the performance of the object to be inspected, and to give the size and location of the defect. , nature and quantity information. There are mainly four types of non-destructive testing: radiographic testing (RT), ultrasonic testing (UT), magnetic particle testing (MT) and liquid penetr...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to propose an intelligent detection method for non-destructive testing robots based on virtual reality technology, which solves the problem that in the prior art, non-destructive testing robots perform non-destructive testing through non-graphic display control or two-dimensional graphic control, which requires operators to have high technical level and relatively rich adjustment experience for repeated adjustments and motion control, low efficiency of non-destructive testing, testing needs frequent adjustments based on experience and other technical problems

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