Intelligent detection method of non-destructive testing robot based on virtual reality technology

Abstract

The invention discloses an intelligent detection method for a non-destructive testing robot based on virtual reality technology, comprising the following steps: (1) installing a non-destructive testing robot for non-destructive testing at a predetermined position in a reactor pressure vessel to be tested; After the motion axes of each degree of freedom of the non-destructive testing robot are restored to the initial state, the position of each degree of freedom motion axis is calibrated, and the global coordinate system and the axis coordinate system of each degree of freedom motion axis are constructed; (3) The simulation model is established with the actual equipment Correspondence; (4) The simulation model of the non-destructive testing robot performs position and posture transformation in the three-dimensional virtual environment according to the position and posture information feedback value of each degree of freedom motion axis of the non-destructive testing robot acquired in real time, virtual display and controls the synchronous movement of the non-destructive testing robot to perform non-destructive testing. detection. The method realizes an all-round three-dimensional WYSIWYG display control mode, greatly improves the safety 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

[0005] 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, requiring operators to have higher Technical problems such as repeated adjustment and motion control due to technical level and relatively rich adjustment experience, low efficiency of non-destructive testing, and frequent adjustment of testing based on experience

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