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Quick replacement visual positioning system for mechanical arm tool in nuclear environment and positioning method

A technology of visual positioning and positioning methods, which is applied in image analysis, instruments, calculations, etc., and can solve problems such as uncertain nature of work, uncertain working posture, and tool damage

Active Publication Date: 2018-01-16
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] 2. The working range is large, and the base of the robotic arm needs to be placed on the mobile platform to obtain a larger stroke;
[0006] 3. The working posture is uncertain, and it is necessary to use image monitoring equipment to cooperate with remote operation;
[0007] 4. The nature of the operation is uncertain, including handling operations such as clamping, handling, and cutting of radioactive waste, and maintenance operations such as parts replacement of nuclear facilities (such as high-level vitrification lines). Versatile needs
The whole process requires experienced workers to operate, the replacement efficiency is low and safety accidents such as tool collisions are prone to occur

Method used

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  • Quick replacement visual positioning system for mechanical arm tool in nuclear environment and positioning method
  • Quick replacement visual positioning system for mechanical arm tool in nuclear environment and positioning method
  • Quick replacement visual positioning system for mechanical arm tool in nuclear environment and positioning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] A visual positioning system for manipulator tool quick change in a nuclear environment, including an image acquisition unit, a target feature extraction unit, a target pose calculation module, a manipulator pose calculation module, and a manipulator control system that are sequentially connected by communication, and the target feature extraction unit It is also communicated with the camera calibration module, and the target pose calculation module is also connected with the hand-eye calibration module. The camera calibration module processes the feature data extracted by the target feature extraction unit through its camera internal reference matrix and sends the processing results to the hand-eye calibration module. The hand-eye calibration module combines the processing results of the camera internal reference matrix and the calculation results of the target pose calculation module for data processing and sends the processing results to the manipulator pose calculation...

Embodiment 2

[0080] A visual positioning system for manipulator tool quick change in a nuclear environment, including an image acquisition unit, a target feature extraction unit, a target pose calculation module, a manipulator pose calculation module, and a manipulator control system that are sequentially connected by communication, and the target feature extraction unit It is also communicated with the camera calibration module, and the target pose calculation module is also connected with the hand-eye calibration module. The camera calibration module processes the feature data extracted by the target feature extraction unit through its camera internal reference matrix and sends the processing results to the hand-eye calibration module. The hand-eye calibration module combines the processing results of the camera internal reference matrix and the calculation results of the target pose calculation module for data processing and sends the processing results to the manipulator attitude calcula...

Embodiment 3

[0083] Such as Figure 1 to Figure 6 A positioning method for a tool quick change visual positioning system of a manipulator in a nuclear environment, comprising the following steps:

[0084] Camera calibration step, adjust the focal length and aperture of the camera until the image is clear, take a set of target images from different angles and heights, so that the target imaging covers 50% to 75% of the target image frame, and randomly divide a set of target images into two Use two groups of target images to calculate the internal parameters and distortion coefficients of the camera using the "Zhang Zhengyou calibration method" and alternately re-project to obtain the re-projection error, and keep the camera parameters calculated by the group with smaller errors;

[0085]The hand-eye calibration step of the robotic arm is to install the calibrated camera on the end bracket of the robotic arm, move the robotic arm above the target, and make the target image complete and clear...

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Abstract

The invention discloses a quick replacement visual positioning system for a mechanical arm tool in a nuclear environment and a positioning method, and relates to the technical field of special equipment. The quick replacement visual positioning system comprises an image acquisition unit, a target feature extraction unit, a target position and pose calculation module, a mechanical arm attitude calculation module and a mechanical arm control system which are communicated and connected in sequence, and is characterized in that the target feature extraction unit is further communicated and connected with a camera calibration module, and the target position and pose calculation module is further connected with a hand-eye calibration module, thereby solving a problem of how to quickly and accurately position a tool to be clamped on a tool placement frame by a mechanical arm tail end tool clamping head during the process of tool replacement in a radioactive environment, improving the efficiency of tool replacement, realizing multiple purposes of a manipulator, reducing the cost of nuclear three-waste processing, and improving the working efficiency of nuclear three-waste processing.

Description

technical field [0001] The invention relates to the technical field of special equipment, in particular to a visual positioning system and positioning method for quick change of manipulator tools in a nuclear environment. Background technique [0002] The multi-joint robotic arm is a dazzling crystallization in the field of machinery and automation. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Usually, on an automated production line, such as an automobile assembly line, each robotic arm operates in a fixed cycle according to a fixed process cycle. Once its working position and attitude are taught, it is generally no longer necessary to replace parts , station change and other operations, so the development of this type of robotic arm is quite mature, and the use is relatively simple. [0003] However, with the continuous development of my country's nuclear power, robots ...

Claims

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Application Information

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IPC IPC(8): G06T7/73
Inventor 凌乐陈远强魏清平周东刘丝丝莫堃董娜于信宾
Owner 中国东方电气集团有限公司
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