A visual positioning system and positioning method for quick change of manipulator tools in nuclear environment

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 ...

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

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