CN109760006A - A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member - Google Patents
A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member Download PDFInfo
- Publication number
- CN109760006A CN109760006A CN201910043308.7A CN201910043308A CN109760006A CN 109760006 A CN109760006 A CN 109760006A CN 201910043308 A CN201910043308 A CN 201910043308A CN 109760006 A CN109760006 A CN 109760006A
- Authority
- CN
- China
- Prior art keywords
- atomic power
- power robot
- center
- inner ring
- visual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a kind of atomic power robot of view-based access control model reference member, including mass motion mechanism, X-Y micro-adjusting mechanism, elevating mechanism, control cabinet, nuclear detector, visual servo part and four Mikes receive female wheel；A kind of atomic power robot method for rapidly positioning of view-based access control model reference member, includes the following steps: step S1: the video information of radiation hardness camera and out-pile monitoring camera that atomic power robot is carried makes atomic power robot reach detecting shaft position as guidance；Step S2: the pose of atomic power robot is adjusted by vision guide；Step S3: four Mikes of the radiation hardness camera and atomic power robot that are carried by atomic power robot receive female wheel to atomic power robot progress visual servo coarse positioning；Step S4: visual servo accurate positioning is carried out to atomic power robot using the radiation hardness camera of X-Y micro-adjusting mechanism and atomic power robot carrying on platform, it solves when strong irradiation, the intracavitary auxiliary of narrow heap install heap outer core, the problem of can not being accurately positioned to detecting shaft.
Description
Technical field
The present invention relates to atomic power robot field, the atomic power robot of especially a kind of view-based access control model reference member and quickly positioning side
Method.
Background technique
Out-pile nuclear instrument system is safety class equipment, by measuring the neutron fluence rate leaked from reactor core, even
Continuous monitoring reactor capability, power level change and power distribution, are the big control systems of reactor protection system and power plant five
Important input parameter.And the eyes that device is out-pile nuclear instrument system are surveyed in heap outer core probing, are arranged in outside reactor pressure vessel
It encloses, the neutron fluence rate of direct detection reactor core leakage is horizontal.
At present to external detector by the way of installing upwards from heap bottom of chamber portion, this mounting means is limited to heap bottom of chamber portion
Narrow installation space, device is surveyed in heap outer core probing to use specific purpose tool merogenesis to install, therefore complexity complex for operation step, needed
The quite long set-up time is wanted, since 24 hours bottom of chamber Hou Dui of shutdown portion irradiation dose is very high, maintenance personal need to be directly entered
The high radiation in heap bottom of chamber portion, narrow space carry out the operation such as disassembling and installing, even if maintenance personal dresses a full set of radiation protection clothes,
Also it will receive very large dosage of irradiation.
Summary of the invention
To solve problems of the prior art, the present invention provides a kind of atomic power robot of view-based access control model reference member and
Method for rapidly positioning is solved when strong irradiation, the intracavitary auxiliary of narrow heap install heap outer core, can not be carried out to detecting shaft accurate
The problem of positioning.
A kind of atomic power robot of view-based access control model reference member, including mass motion mechanism, X-Y micro-adjusting mechanism, elevating mechanism, control
Cabinet, nuclear detector, visual servo part and four Mikes processed receive female wheel；X-Y micro-adjusting mechanism is set to the top of mass motion mechanism
On face, nuclear detector is disposed through on X-Y micro-adjusting mechanism, and elevating mechanism is set to the outer surface of detector, visual servo portion
Point it is movably set in the side surface of elevating mechanism, four Mikes receive female wheel and are set on four angles of mass motion mechanism bottom surface,
Control cabinet is set to the outer surface of elevating mechanism.
Preferably, visual servo part 6 includes radiation hardness camera 6-1 and visual reference part 6-2, and radiation hardness camera 6-1 is set
It is placed on the top surface of visual reference part 6-2.
Preferably, a kind of atomic power robot method for rapidly positioning of view-based access control model reference member, includes the following steps:
Step S1: the video information of radiation hardness camera and out-pile monitoring camera that atomic power robot is carried makes as guidance
Atomic power robot reaches detecting shaft position；
Step S2: the pose of atomic power robot is adjusted by vision guide；
Step S3: four Mikes of the radiation hardness camera and atomic power robot that are carried by atomic power robot receive female wheel to core machine
People carries out visual servo coarse positioning；
Step S4: using on platform X-Y micro-adjusting mechanism and atomic power robot carry radiation hardness camera to atomic power robot into
Row visual servo is accurately positioned.
Preferably, step S3 include it is following step by step:
Step S3A: detecting shaft inner ring is detected using Hough loop truss；
Step S3B: mapping detecting shaft inner ring center and the center of visual reference part X-direction pixel difference to actual range
Difference；
Step S3C: four Mikes of control receive female wheel in X-direction movement；
Step S3D: during four Mikes receive female wheel movement, judge detecting shaft inner ring center and visual reference part
Whether center is less than 3cm in the actual range difference of X-direction；If so, entering step S3E；If it is not, then return step S3A；
Step S3E: detector well inner ring is detected using Hough loop truss；
Step S3F: mapping detecting shaft inner ring center and the pixel difference of visual reference part in the Y direction are poor to actual range；
Step S3G: four Mikes of control receive female wheel and move in the Y direction；
Step S3H: during four Mikes receive female wheel movement, judge detecting shaft inner ring center and visual reference part
Whether the actual range difference of center in the Y direction is less than 3cm；If so, entering step S4；If it is not, then return step S3E.
Preferably, step S4 include it is following step by step:
Step S4A: detector well inner ring is detected using Hough loop truss；
Step S4B: mapping detecting shaft inner ring center and visual reference part center X-direction pixel difference to actual range
Difference；
Step S4C: control X-Y micro-adjusting mechanism is mobile in X-direction；
Step S4D: during X-Y micro-adjusting mechanism is mobile, judge in detecting shaft inner ring center and visual reference part
Whether the heart is less than 0.5cm in the actual range difference of X-direction；If so, entering step S4E；If otherwise return step S4A；
Step S4E: detector well inner ring is detected using Hough loop truss；
Step S4F: mapping detecting shaft inner ring center and with reference to visual reference part center pixel difference in the Y direction to actually away from
Deviation；
Step S4G: control X-Y micro-adjusting mechanism moves in the Y direction；
Step S4H: during X-Y micro-adjusting mechanism is mobile, judge detecting shaft inner ring center and visual reference part center
Whether actual range difference in the Y direction is less than 0.5cm；If so, terminating program；If otherwise return step S4E.
Preferably, Hough loop truss includes the following steps:
Step SA: acquisition image；
Step SB: gray processing processing is carried out to image, obtains the gray value of image；
Step SC: edge extracting is carried out using gray value of the Solbel operator to image, the image after obtaining edge extracting
Value；
Step SD: binary conversion treatment and filtering noise processed are carried out to the image value after edge extracting, obtain edge point value；
Step SF: the space a axis of three axis is established in quantization parameter space, b axis, r axis, calculate with edge point value away from
From all the points for r, column matrix (a, b) is established；
Step SH: it is cumulative that column vector is carried out to the matrix (a, b) of different distance r；
Step SI: the maximum value after will be cumulative is as the center of circle in correspondence image space.
Preferably, the edge extracting formula of Solbel operator are as follows:
fx(i, j)=Gx*g(i,j)
fy(i, j)=Gy*g(i,j)
In formula, GxIndicate horizontal edge processing, GyTo vertical edge processing, fxAfter (i, j) is indicated after horizontal edge processing
Value, fy(i, j) indicate vertical edge treated value, g (i, j) indicate image gray value.
A kind of atomic power robot of view-based access control model reference member of the present invention and having the beneficial effect that for method for rapidly positioning:
1. present invention introduces visual reference part, without calibration can the position of quick obtaining target object and atomic power robot believe
Breath.
2. present invention employs the quick positioning of visual servo coarse positioning and the complete twin detector well of visual servo fine positioning,
Visual servo coarse positioning and visual servo fine positioning have positioning accuracy height, the feature that anti-noise ability is strong, locating speed is fast.
Detailed description of the invention
Fig. 1 is a kind of atomic power robot of view-based access control model reference member of the present invention and the structure chart of method for rapidly positioning.
Fig. 2 is a kind of atomic power robot of view-based access control model reference member of the present invention and the flow chart of method for rapidly positioning.
Fig. 3 is a kind of atomic power robot of view-based access control model reference member of the present invention and the system feedback figure of method for rapidly positioning.
Fig. 4 is a kind of atomic power robot of view-based access control model reference member of the present invention and the fine control X-direction of method for rapidly positioning
Figure.
Fig. 5 is a kind of atomic power robot of view-based access control model reference member of the present invention and the fine control Y-direction of method for rapidly positioning
Figure.
Appended drawing reference: 1- mass motion mechanism, 2-X-Y micro-adjusting mechanism, 3- elevating mechanism, 4- control cabinet, 5- nuclear detector,
Female wheel, 6-1- radiation hardness camera, 6-2- visual reference part are received in tetra- 6- visual servo part, 7- Mikes.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1, a kind of atomic power robot of view-based access control model reference member, including mass motion mechanism 1, X-Y micro-adjusting mechanism
2, elevating mechanism 3, control cabinet 4, nuclear detector 5, visual servo part 6 and four Mikes receive female wheel 7；X-Y micro-adjusting mechanism 2 is arranged
In on the top surface of mass motion mechanism 1, nuclear detector 5 is disposed through on X-Y micro-adjusting mechanism 2, and elevating mechanism 3 is set to detection
The outer surface of device 5, visual servo part 6 are movably set in the side surface of elevating mechanism 3, four Mikes receive female wheel 7 be set to it is whole
On four angles of 1 bottom surface of body movement mechanism, control cabinet 4 is set to the outer surface of elevating mechanism 3.
The visual servo part 6 of the present embodiment includes radiation hardness camera 6-1 and visual reference part 6-2, radiation hardness camera
6-1 is set on the top surface of visual reference part 6-2.
As shown in Fig. 2, a kind of atomic power robot method for rapidly positioning of view-based access control model reference member, includes the following steps:
Step S1: the video information of radiation hardness camera and out-pile monitoring camera that atomic power robot is carried makes as guidance
Atomic power robot reaches detecting shaft position；
Step S2: the pose of atomic power robot is adjusted by vision guide；
Step S3: four Mikes of the radiation hardness camera and atomic power robot that are carried by atomic power robot receive female wheel to core machine
People carries out visual servo coarse positioning；
Step S4: using on platform X-Y micro-adjusting mechanism and atomic power robot carry radiation hardness camera to atomic power robot into
Row visual servo is accurately positioned.
The present embodiment is when implementing, as shown in figure 3, being remotely controlled by operator, the radiation hardness carried using robot
The video information of camera and out-pile monitoring camera reaches robot near detector well position as guidance, opens machine
Device people automatic positioning, the visual servo that the radiation hardness camera and omni-directional wheel mobile mechanism, robot carried by robot forms are slightly fixed
The coarse positioning of the position complete twin detector well of system, opens Robot Visual Servoing fine positioning, the radiation hardness phase carried by robot
The fine positioning of the complete twin detector well of visual servo fine positioning system of machine and swing mechanism composition.
The step S3 of the present embodiment include it is following step by step:
Step S3A: detecting shaft inner ring is detected using Hough loop truss；
Step S3B: mapping detecting shaft inner ring center and the center of visual reference part X-direction pixel difference to actual range
Difference；
Step S3C: four Mikes of control receive female wheel in X-direction movement；
Step S3D: during four Mikes receive female wheel movement, judge detecting shaft inner ring center and visual reference part
Whether center is less than 3cm in the actual range difference of X-direction；If so, entering step S3E；If otherwise return step S3A；
Step S3E: detector well inner ring is detected using Hough loop truss；
Step S3F: mapping detecting shaft inner ring center and the pixel difference of visual reference part in the Y direction are poor to actual range；
Step S3G: four Mikes of control receive female wheel and move in the Y direction；
Step S3H: during four Mikes receive female wheel movement, judge detecting shaft inner ring center and visual reference part
Whether the actual range difference of center in the Y direction is less than 3cm；If so, entering step S4；If otherwise return step S3E.
The present embodiment implement when, radiation hardness camera acquire detector borehole image, it is contemplated that detecting shaft be cylindrical body with
And visual reference part is also roundel, is detected using Hough loop truss to it.
Hough loop truss process: gray proces are carried out to image first.Image is carried out using Sobel arithmetic operators
Edge extracting, if the gray value at the midpoint image f is g (i, j), then Sobel operator representation is as follows:
Gx=[g (i+1, j-1)+2g (i+1, j)+g (i+1, j+1)]-[g (i-1, j-1)+2g (i-1, j)+g (i-1, j+
1)]
Gy=[g (i-1, j+1)+2g (i, j+1)+g (i+1, j+1)]-[g (i-1, j-1)+2g (i, j-1)+g (i+1, j-
1)]
Write as the form of operator matrix are as follows:
Each point in image, is all convolution, operator G with the two operatorsxMaximum, G is responded to horizontal edgeyTo vertical
Skirt response is maximum.Grey scale pixel value of two operators with the larger value in image volume product value as the edge graph of the point.And it can
Obtain the tangential direction information at (i, j) point.In order to remove noise jamming, binary conversion treatment is carried out after edge detection.According to
The expression of lower parameter space suitably quantifies parameter space, obtains a three-dimensional cumulative array and is used to record (a, b, r),
(xi-a)2+(yi-b)2=r2Wherein r indicates that radius of circle, (a, b) indicate circle center.Bowlder in detection image space calculates
It with all (a, b) of each pixel distance r on marginal point, while adding up in corresponding array, when to whole marginal points
It after the completion of transformation, tests to all accumulated values in three-dimensional array, peak value therein is exactly the circle in correspondence image space
Orientation problem is converted to interior ring center and fixed reference feature after detecting the detector well in image and visual reference part by the heart
Between position approximation problem.Rectangular coordinate system is established with fixed reference feature center, in the calculating detector well center of circle and fixed reference feature
Pixel difference and orientation angle between the heart, and pixel difference is mapped to practical difference distance, computer is according to the reality received
Distance is differed, motion control instruction is generated after integrated treatment position data, and send motion control instruction to robot
Control cabinet, robot control cabinet is according to motion control instruction, and by driving servo motor rotation, driving robot omni-directional wheel is driven
Robot cell's movement, makes visual reference part close to detector well.Judge the range difference of Current detector well Yu visual reference part
Whether in threshold range, if so, fine positioning is carried out, if not then restarting coarse positioning, when detector well and detector
The distance between be less than given threshold when, open fine positioning system.The radiation hardness camera and robot carried by robot returns
The visual servo fine positioning system starts of rotation mechanism composition
The step S4 of the present embodiment include it is following step by step:
Step S4A: detector well inner ring is detected using Hough loop truss；
Step S4B: mapping detecting shaft inner ring center and visual reference part center X-direction pixel difference to actual range
Difference；
Step S4C: control X-Y micro-adjusting mechanism is mobile in X-direction；
Step S4D: during X-Y micro-adjusting mechanism is mobile, judge in detecting shaft inner ring center and visual reference part
Whether the heart is less than 0.5cm in the actual range difference of X-direction；If so, entering step S4E；If otherwise return step S4A；
Step S4E: detector well inner ring is detected using Hough loop truss；
Step S4F: mapping detecting shaft inner ring center and with reference to visual reference part center pixel difference in the Y direction to actually away from
Deviation；
Step S4G: control X-Y micro-adjusting mechanism moves in the Y direction；
Step S4H: during X-Y micro-adjusting mechanism is mobile, judge detecting shaft inner ring center and visual reference part center
Whether actual range difference in the Y direction is less than 0.5cm；If so, terminating program；If otherwise return step S4E.
The Hough loop truss of the present embodiment includes the following steps:
Step SA: acquisition image；
Step SB: gray processing processing is carried out to image, obtains the gray value of image；
Step SC: edge extracting is carried out using gray value of the Solbel operator to image, the image after obtaining edge extracting
Value；
Step SD: binary conversion treatment and filtering noise processed are carried out to the image value after edge extracting, obtain edge point value；
Step SF: the space a axis of three axis is established in quantization parameter space, b axis, r axis, calculate with edge point value away from
From all the points for r, column matrix (a, b) is established；
Step SH: it is cumulative that column vector is carried out to the matrix (a, b) of different distance r；
Step SI: the maximum value after will be cumulative is as the center of circle in correspondence image space.
The edge extracting formula of the Solbel operator of the present embodiment are as follows:
fx(i, j)=Gx*g(i,j)
fy(i, j)=Gy*g(i,j)
In formula, GxIndicate horizontal edge processing, GyTo vertical edge processing, fxAfter (i, j) is indicated after horizontal edge processing
Value, fy(i, j) indicate vertical edge treated value, g (i, j) indicate image gray value.
The present embodiment obtains the distance relation of detector well Yu visual reference part by Hough loop truss when implementing,
By way of servo, control robot revolute mechanism makes the positioning accuracy of detector well reach given threshold, is different from
Servo process is decomposed into two parts by coarse positioning, vision fine positioning, and first part makes detector well and visual reference in X-direction
The distance of part is less than given threshold, such as Fig. 4, and second part is less than detector well at a distance from visual reference part
Given threshold, such as Fig. 5.It is specific as follows:
Gray proces are carried out to image first, carry out Edge extraction using Sobel arithmetic operators, are examined at edge
Binary conversion treatment is carried out after survey.
According to the expression of following parameter space, parameter space is suitably quantified, a three-dimensional cumulative array is obtained and is used to
It records (a, b, r)
(xi-a)2+(yi-b)2=r2
Wherein r indicates that radius of circle, (a, b) indicate circle center.Bowlder in detection image space, calculate with marginal point on
Each pixel distance r all (a, b), while adding up in corresponding array, after the completion of to whole edge point transformation,
It tests to all accumulated values in three-dimensional array, peak value therein is exactly the center of circle in correspondence image space.
After detecting the detector well in image and visual reference part, orientation problem is converted into interior ring center and reference
Position approximation problem between feature.Rectangular coordinate system is established with fixed reference feature center, as shown in figure 4, leading to first in X-direction
It crosses following formula and the X-direction pixel difference between the detecting shaft center of circle and fixed reference feature center is mapped to the practical distance that differs
Wherein, △ X indicates that detector well center and visual reference part center are poor in the actual range of X-direction, △ pixel table
Show detector well center and visual reference part center in the pixel difference of X-direction, d detector well indicates the practical straight of detector well
Diameter, P detector well indicate the pixel size of detector well diameter.
Computer differs distance threshold with given X-direction according to the practical X-direction difference distance received and subtracts each other, and passes through
Motion control instruction is generated after integrated treatment position data, and sends motion control instruction to robot control cabinet.Robot
Control cabinet is according to motion control instruction, and by driving servo motor rotation, driving X-Y micro-adjusting mechanism control robot is in X-direction
Movement, make visual reference part close to detector well.Judge Current detector well is in the range difference of X-direction with visual reference part
It is no in threshold range, if so, open Y-direction visual servo, if not then continuing adjusting position.
As shown in figure 5, the visual servo of Y-direction is similar with X-direction, by the detecting shaft center of circle and joined by following formula first
It examines the Y-direction pixel difference between eigencenter and is mapped to practical difference distance
Wherein △ Y indicates that detector well center and the actual range of visual reference part center in the Y direction are poor, △ pixel table
Show detector well center and the pixel difference of visual reference part center in the Y direction, d detector well indicates the practical straight of detector well
Diameter, P detector well indicate the pixel size of detector well diameter.
Computer differs distance threshold with given Y-direction according to the practical X-direction difference distance received and subtracts each other, and passes through
Motion control instruction is generated after integrated treatment position data, and sends motion control instruction to robot control cabinet.Robot
Control cabinet is according to motion control instruction, and by driving servo motor rotation, driving X-Y micro-adjusting mechanism control robot is in the Y direction
Movement, make visual reference part close to detector well.Judge Current detector well is with the range difference of visual reference part in the Y direction
It is no in threshold range, if so, terminate visual servo position fixing process, if not then continuing adjusting position.
Claims (7)
1. a kind of atomic power robot of view-based access control model reference member, which is characterized in that including mass motion mechanism (1), X-Y micro-adjusting mechanism
(2), elevating mechanism (3), control cabinet (4), nuclear detector (5), visual servo part (6) and four Mikes receive female wheel (7)；It is described
X-Y micro-adjusting mechanism (2) is set on the top surface of mass motion mechanism (1), and the nuclear detector (5) is disposed through X-Y fine tuning
In mechanism (2), the elevating mechanism (3) is set to the outer surface of detector (5), visual servo part (6) the activity setting
In the side surface of elevating mechanism (3), four Mikes receive female wheel (7) and are set to four angles of mass motion mechanism (1) bottom surface
On, the control cabinet (4) is set to the outer surface of elevating mechanism (3).
2. a kind of atomic power robot of view-based access control model reference member according to claim 1, which is characterized in that the visual servo
Partially (6) include radiation hardness camera (6-1) and visual reference part (6-2), and the radiation hardness camera (6-1) is set to visual reference
On the top surface of part (6-2).
3. a kind of atomic power robot method for rapidly positioning of view-based access control model reference member, which comprises the steps of:
Step S1: the video information of radiation hardness camera and out-pile monitoring camera that atomic power robot is carried makes core machine as guidance
Device people reaches detecting shaft position；
Step S2: the pose of atomic power robot is adjusted by vision guide；
Step S3: by atomic power robot carry radiation hardness camera and atomic power robot four Mikes receive female wheel to atomic power robot into
Row visual servo coarse positioning；
Step S4: atomic power robot is regarded using the radiation hardness camera of X-Y micro-adjusting mechanism and atomic power robot carrying on platform
Feel that servo is accurately positioned.
4. the atomic power robot method for rapidly positioning of view-based access control model reference member according to claim 1, which is characterized in that described
Step S3 include it is following step by step:
Step S3A: detecting shaft inner ring is detected using Hough loop truss；
Step S3B: mapping detecting shaft inner ring center and the center of visual reference part are poor to actual range in the pixel difference of X-direction；
Step S3C: four Mikes of control receive female wheel in X-direction movement；
Step S3D: during four Mikes receive female wheel movement, judge the center at detecting shaft inner ring center Yu visual reference part
Whether it is less than 3cm in the actual range difference of X-direction；If so, entering step S3E；If otherwise return step S3A；
Step S3E: detector well inner ring is detected using Hough loop truss；
Step S3F: mapping detecting shaft inner ring center and the pixel difference of visual reference part in the Y direction are poor to actual range；
Step S3G: four Mikes of control receive female wheel and move in the Y direction；
Step S3H: during four Mikes receive female wheel movement, judge the center at detecting shaft inner ring center Yu visual reference part
Whether actual range difference in the Y direction is less than 3cm；If so, entering step S4；If it is not, then return step S3E.
5. the atomic power robot method for rapidly positioning of view-based access control model reference member according to claim 1, which is characterized in that described
Step S4 include it is following step by step:
Step S4A: detector well inner ring is detected using Hough loop truss；
Step S4B: mapping detecting shaft inner ring center and visual reference part center are poor to actual range in the pixel difference of X-direction；
Step S4C: control X-Y micro-adjusting mechanism is mobile in X-direction；
Step S4D: during X-Y micro-adjusting mechanism is mobile, judge the center of detecting shaft inner ring center and visual reference part in X
Whether the actual range difference in direction is less than 0.5cm；If so, entering step S4E；If otherwise return step S4A；
Step S4E: detector well inner ring is detected using Hough loop truss；
Step S4F: the pixel difference of mapping detecting shaft inner ring center and reference visual reference part center in the Y direction to actual range
Difference；
Step S4G: control X-Y micro-adjusting mechanism moves in the Y direction；
Step S4H: during X-Y micro-adjusting mechanism is mobile, judge detecting shaft inner ring center and visual reference part center in the side Y
To actual range difference whether be less than 0.5cm；If so, terminating program；If it is not, then return step S4E.
6. the atomic power robot method for rapidly positioning of view-based access control model reference member according to claim 4 or 5, which is characterized in that
The Hough loop truss includes the following steps:
Step SA: acquisition image；
Step SB: gray processing processing is carried out to image, obtains the gray value of image；
Step SC: edge extracting is carried out using gray value of the Solbel operator to image, the image value after obtaining edge extracting；
Step SD: binary conversion treatment and filtering noise processed are carried out to the image value after edge extracting, obtain edge point value；
Step SF: the space a axis of three axis is established in quantization parameter space, and b axis, r axis, calculating is r at a distance from edge point value
All the points, establish column matrix (a, b)；
Step SH: it is cumulative that column vector is carried out to the matrix (a, b) of different distance r；
Step SI: the maximum value after will be cumulative is as the center of circle in correspondence image space.
7. the atomic power robot method for rapidly positioning of view-based access control model reference member according to claim 6, which is characterized in that described
The edge extracting formula of Solbel operator are as follows:
fx(i, j)=Gx*g(i,j)
fy(i, j)=Gy*g(i,j)
In formula, GxIndicate horizontal edge processing, GyTo vertical edge processing, fxValue after after (i, j) expression horizontal edge processing, fy
(i, j) indicate vertical edge treated value, g (i, j) indicate image gray value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043308.7A CN109760006B (en) | 2019-01-17 | 2019-01-17 | Nuclear robot rapid positioning method based on visual reference piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043308.7A CN109760006B (en) | 2019-01-17 | 2019-01-17 | Nuclear robot rapid positioning method based on visual reference piece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109760006A true CN109760006A (en) | 2019-05-17 |
| CN109760006B CN109760006B (en) | 2020-09-29 |
Family
ID=66452845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910043308.7A Active CN109760006B (en) | 2019-01-17 | 2019-01-17 | Nuclear robot rapid positioning method based on visual reference piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760006B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157644A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
| CN112192198A (en) * | 2020-10-10 | 2021-01-08 | 西南科技大学 | Auxiliary mounting method for out-of-pile detector |
| CN113770704A (en) * | 2021-09-26 | 2021-12-10 | 中国船舶重工集团公司第七一九研究所 | Quick installation robot of detector |
| CN116372941A (en) * | 2023-06-05 | 2023-07-04 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100042319A1 (en) * | 2008-08-15 | 2010-02-18 | Wu Chih-Jen | Automatic ultrasonic and computer-vision navigation device and method using the same |
| CN201998168U (en) * | 2010-12-29 | 2011-10-05 | 浙江省电力公司 | Visual servo-based accurate tripod head positioning system for movable robot |
| CN102621525A (en) * | 2012-03-01 | 2012-08-01 | 西南科技大学 | System and method for locating radioactive pollution source based on remote operating device |
| CN103606386A (en) * | 2013-11-19 | 2014-02-26 | 中国科学院光电技术研究所 | Robot for checking control rod drive mechanism claw in nuclear power plant |
| CN107731329A (en) * | 2017-10-31 | 2018-02-23 | 中广核检测技术有限公司 | Control rod guide tubes and bundles split pin detects robot and localization method |
| CN108458707A (en) * | 2018-01-22 | 2018-08-28 | 西南科技大学 | Work robot autonomic positioning method and its positioning system under more Suspended pipeline scenes |
-
2019
- 2019-01-17 CN CN201910043308.7A patent/CN109760006B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100042319A1 (en) * | 2008-08-15 | 2010-02-18 | Wu Chih-Jen | Automatic ultrasonic and computer-vision navigation device and method using the same |
| CN201998168U (en) * | 2010-12-29 | 2011-10-05 | 浙江省电力公司 | Visual servo-based accurate tripod head positioning system for movable robot |
| CN102621525A (en) * | 2012-03-01 | 2012-08-01 | 西南科技大学 | System and method for locating radioactive pollution source based on remote operating device |
| CN103606386A (en) * | 2013-11-19 | 2014-02-26 | 中国科学院光电技术研究所 | Robot for checking control rod drive mechanism claw in nuclear power plant |
| CN107731329A (en) * | 2017-10-31 | 2018-02-23 | 中广核检测技术有限公司 | Control rod guide tubes and bundles split pin detects robot and localization method |
| CN108458707A (en) * | 2018-01-22 | 2018-08-28 | 西南科技大学 | Work robot autonomic positioning method and its positioning system under more Suspended pipeline scenes |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157644A (en) * | 2020-10-10 | 2021-01-01 | 西南科技大学 | Auxiliary installation robot system for out-of-pile nuclear detector |
| CN112192198A (en) * | 2020-10-10 | 2021-01-08 | 西南科技大学 | Auxiliary mounting method for out-of-pile detector |
| CN113770704A (en) * | 2021-09-26 | 2021-12-10 | 中国船舶重工集团公司第七一九研究所 | Quick installation robot of detector |
| CN116372941A (en) * | 2023-06-05 | 2023-07-04 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
| CN116372941B (en) * | 2023-06-05 | 2023-08-15 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109760006B (en) | 2020-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109760006A (en) | A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member | |
| CN104820439B (en) | A kind of visual apparatus as sensor parallel connection platform follow-up control apparatus and method | |
| JP2807461B2 (en) | Three-dimensional shape processing laser device | |
| CN103307977B (en) | The field measurement apparatus of huge revolving class workpiece inner wall size, system and method | |
| CN106840028A (en) | The on-position measure method and apparatus of tool wear | |
| EP3761128A1 (en) | A predictive control and virtual display system for a numerically controlled machine tool | |
| US8563943B2 (en) | Particle beam irradiation apparatus, particle beam therapy system, and data display program | |
| CN108095748A (en) | X-ray DR robot systems and its detection method | |
| CN101578513A (en) | X-ray fluoroscope | |
| WO2016050095A1 (en) | Slag thickness detection and slag adding prediction method and system | |
| WO2019010945A1 (en) | Cyclotron magnetic field measurement system based on detection coil and measurement method therefor | |
| CN114445497A (en) | Image positioning method, image positioning device, dynamic image generating method, dynamic image generating device, dynamic image generating system and storage medium | |
| CN110268345A (en) | Motion evaluation method, evaluating apparatus and the parameter adjusting method of the evaluation method, the processing method of workpiece and lathe are used | |
| CN213875991U (en) | Electron beam control coil magnetic field detection system | |
| CN105522483A (en) | Laser detection device and control system of eccentric shaft and monitoring method | |
| CN115094952B (en) | Calculation method for jacking type final joint displacement of immersed tube tunnel | |
| CN106405130A (en) | Automatic rigidity test system and test method | |
| CN208276604U (en) | A kind of numerically-controlled machine tool safeguard structure | |
| CN107028611A (en) | A kind of body weight detection method and system for Medical Devices | |
| CN108969003A (en) | A kind of medical radiation line intelligent protection device and means of defence | |
| CN205380566U (en) | Laser detection device and control system of eccentric shaft | |
| Bae et al. | Real time and an in-process measuring system for the grinding process cylindrical workpieces using Kalman filtering | |
| CN107807136A (en) | A kind of radioactive skin damages accuracy of measurement calibration equipment and its method of work | |
| CN110736427B (en) | Machine vision positioning system and positioning method for reactor detector assembly dismantling device | |
| CN105219904B (en) | A kind of method for surveying charge surface shape in blast |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |