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Automatic recognition device for position and posture of nuclear fuel rod

A nuclear fuel rod and automatic identification technology, which is applied to measurement devices, optical devices, instruments, etc., can solve the problems such as the technology directly related to the automatic assembly of nuclear fuel rod bundles that is not consulted, and achieves omitting the three-dimensional object reconstruction link, which is not easy. Image occlusion, the effect of improving image processing speed

Inactive Publication Date: 2018-11-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, no technology directly related to the automated assembly of nuclear fuel bundles has been found

Method used

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  • Automatic recognition device for position and posture of nuclear fuel rod
  • Automatic recognition device for position and posture of nuclear fuel rod
  • Automatic recognition device for position and posture of nuclear fuel rod

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Experimental program
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specific Embodiment 1

[0069] This embodiment is an embodiment of a device for automatically identifying the position and orientation of nuclear fuel rods.

[0070] The nuclear fuel rod position and posture automatic recognition device of this embodiment, the schematic diagram and the physical diagram are respectively as follows figure 2 with image 3 shown. The nuclear fuel rod pose automatic identification device includes a first camera and a second camera arranged orthogonally,

[0071] The direction of the optical axis of the first camera is parallel to the Z axis, and the abscissa and ordinate of the image are respectively parallel to the X axis and the Y axis, which are used to detect the displacement information of the nuclear fuel rod lower end plug relative to the grid plate in the X axis direction and the Y axis direction , and the deflection angle α of the lower end plug opening slot rotating around the Y axis and the direction angle θ of the lower end plug axis in the XOY plane;

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specific Embodiment 2

[0076] This embodiment is an embodiment of a device for automatically identifying the position and orientation of nuclear fuel rods.

[0077] The device for automatically recognizing the pose and posture of nuclear fuel rods in this embodiment, on the basis of the first embodiment, limits the minimum resolutions of the first camera and the second camera.

[0078] Define the diameter of the lower end plug of the nuclear fuel rod as D, the length of the opening slot as L, and the width of the opening slot as W 1 , the width of the grid frame is W, the height is H, the thickness of the grid is T, and the safety distance between the initial position of the lower end plug and the grid frame is D S , the minimum difference between the thickness of the grid plate and the width of the opening slot is Δ, that is, W 1 -T≥Δ, the image recognition accuracy is δ, take δ=Δ / 4;

[0079] The minimum resolution of the first camera is R A1 × R A2 , where R A1 ≥W / δ,R A2 ≥(2L+D S ) / δ;

[0...

specific Embodiment 3

[0090] This embodiment is an embodiment of a device for automatically identifying the position and orientation of nuclear fuel rods.

[0091] The nuclear fuel rod pose automatic recognition device of this embodiment, on the basis of specific embodiments 1 and 2, calibrates the internal and external parameters of the first camera and the second camera, including the following steps:

[0092] Step a, use the Zhang Zhengyou calibration method to calibrate the internal parameter f of the first camera x1 , f y1 , u 01 and v 01 ;

[0093] Step b. Use the Zhang Zhengyou calibration method to calibrate the internal parameter f of the second camera x2 , f y2 , u 02 and v 02 ;

[0094] The order of step a and step b can be replaced or carried out simultaneously;

[0095] Step c, photographing the same calibration board with the first camera and the second camera, respectively obtaining the first image of the calibration board and the second image of the calibration board;

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Abstract

The invention relates to an automatic recognition device for the position and posture of a nuclear fuel rod, and belongs to the technical field of machine vision and nuclear power equipment manufacturing automation. The automatic recognition device comprises a first camera and a second camera which are orthogonally arranged. The optical axis of the first camera is parallel to a Z axis, horizontaland vertical coordinates of an image are parallel to an X axis and a Y axis respectively. The optical axis of the second camera is parallel to the X axis, and horizontal and vertical coordinates of animage are parallel to the Y axis and the Z axis respectively. The relative position between a lower end plug of the nuclear fuel rod and a grid plate and the relative attitude between an open slot ofthe lower end plug of the nuclear fuel rod and the grid plate are recognized based on displacement information, a deflection angle and a direction angle. The automatic recognition device for the position and posture of the nuclear fuel rod can monitor shape changes and position and posture changes of the nuclear fuel rod, thereby providing a device basis and a theoretical basis for automatic assembly of the nuclear fuel rod and the grid plate, being conducive to realizing automatic assembly of nuclear fuel rod clusters, not only being capable of improving the safety of nuclear power equipmentmanufacturing, but also being capable of greatly improving the intelligent level of nuclear power equipment manufacturing.

Description

[0001] This application is a divisional application of the invention patent application "A Device and Method for Automatic Recognition of Nuclear Fuel Rod Position and Posture". [0002] The original filing date: 2016-05-31. [0003] Original application number: 2016103875409. [0004] Invention title of the original application: a device and method for automatic recognition of nuclear fuel rod position and posture. technical field [0005] The present invention relates to a nuclear fuel rod position and posture automatic recognition device, which belongs to the technical field of machine vision and nuclear power equipment manufacturing automation. Background technique [0006] With the continuous expansion of the demand for clean energy around the world, the nuclear power industry is also developing rapidly. The nuclear fuel rod bundle is the core component of the nuclear power equipment, which is assembled from the nuclear fuel rods and the grid frame (by plugging the lo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/002G01B11/24
Inventor 任秉银柴立仁魏坤
Owner HARBIN INST OF TECH
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