CN2869887Y - Visual servo apparatus for sealed radiation resource leak automatic detection platform - Google Patents
Visual servo apparatus for sealed radiation resource leak automatic detection platform Download PDFInfo
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- CN2869887Y CN2869887Y CN 200520023044 CN200520023044U CN2869887Y CN 2869887 Y CN2869887 Y CN 2869887Y CN 200520023044 CN200520023044 CN 200520023044 CN 200520023044 U CN200520023044 U CN 200520023044U CN 2869887 Y CN2869887 Y CN 2869887Y
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000000007 visual effect Effects 0.000 title claims description 20
- 230000005855 radiation Effects 0.000 title abstract description 7
- 230000002285 radioactive effect Effects 0.000 claims description 48
- 239000012636 effector Substances 0.000 claims description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
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- 230000036541 health Effects 0.000 description 1
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- 238000005025 nuclear technology Methods 0.000 description 1
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Abstract
The utility model relates to a technical field of sealed radiation source leakage detection, in particular to a servo device for sealed radiation source automatic leakage detection platform, the device comprises industrial control computer (2), camera (3), executive mechanism (4), support (401), mobile dolly (402), sliding tenon A(403), mobile guide track (404), support (405), sliding tenon B (406) and sealed vessel (407). The purpose of the utility model is to apply the automation technique in place of manual operation to perform radiation leakage defection in the aspect of the location and automatic snatch of radiation source workpiece to reduce the harm of radiation source to the operator during detection, so that the accuracy and reliability of detection is ensured.
Description
Technical field
The utility model relates to the visual servo device of Leak Detection of Sealed Radioactive Sources technical field, particularly a kind of automatic leakage detection platform for sealed radioactive source.
Background technology
In at present the various typical cases of state's internal source use, for the result of use that guarantees radioactive source and the reliability of testing result, must regularly detect sealed radioactive source, radiomaterial whether occurs and leak to confirm it.At present, the domestic industry standard that sealed radioactive source is detected is to adopt the manual wipping detection mode.The major defect of manual wipping detection mode is: (1) human body may be directly exposed in face of the radioactive source, suffers nuclear radiation, and health has been constituted infringement; (2) influenced greatly by human factor, have many uncertainties, can not guarantee the consistance and the reliability of testing result; (3) need manually open sealing pig cover, complex operation, labour intensity is big.Therefore, develop the automatic detection platform of sealed radioactive source, radioactive source guarantees the accuracy and the reliability of testing result to operating personnel's health hazard in the testing process to reducing, and improves the Application of Nuclear Technology level of China, and is significant.
When the automatic detection platform of development radioactive source, the radioactive source workpiece need be taken out from airtight container, thereby need installation manipulator.Because the uncertainty of the radioactive source location of workpiece and attitude for instructing the motion of mechanical arm, need be installed eyes to mechanical arm---vision sensor.Like this, we introduce automatic detection platform with the visual servo device.The visual servo device provides external information by vision sensor to controller, adjusts topworks with respect to position that is operated object and attitude.According to different standards, the visual servo device can be divided into different types.Difference according to the video camera number can be divided into monocular and many orders device.According to whether classification of control structure, and the information that sighting device provides is directly to calculate the input value of topworks as the setting value of robot actuating mechanism controller or vision controller, can be divided into " dynamically look-and-move " device and " direct vision is servo " device.Distinguish error signal and be defined in three dimensional space coordinate system or directly be defined in image feature space, can be divided into the visual servo control mode of " position-based " and " based on image ".
Summary of the invention
The problem of this device solves is: when replacing manually carrying out the radioactive source Leak Detection with automatic technology, position and attitude with monocular cam observation radioactive source workpiece, send observed result to the mechanical arm controller and arrive expected pose, radioactive source is picked up to take out then and carried out next step operation or radioactive source is put back to container with the position and the attitude of regulating mechanical arm.
The technical scheme that this radioactive source detection platform visual servo device adopts is: the three degrees of freedom right angle coordinate mechanical arm is installed on the support frame top of being fixed in ground, the end effector of mechanical arm can carry out the motion of X, Y, three orthogonal directionss of Z, and can carry out rotatablely moving of self; Monocular cam is fixed on the end effector of mechanical arm, and the optical axis vertical ground of camera is downward, and its video output signals inserts industrial computer; The bottom of support frame is equipped with guide rail, and the visual field of camera is brought or taken out of to the airtight container that the travelling car that moves on the guide rail will be equipped with radioactive source into to cooperate different operations; When having target to be the radioactive source workpiece in the camera visual field, the image input industrial computer that camera collection arrives, use specific vision algorithm to obtain position and the attitude of radioactive source with respect to the mechanical arm end effector, controller control manipulator motion makes end effector consistent with the radioactive source pose, picks up radioactive source then.In order from realtime graphic, to calculate physical location and the attitude that obtains workpiece, developed specific pose estimated image Processing Algorithm.The dynamic look-and-move structure that is based on the position that this visual servo device uses.
The beneficial effects of the utility model are: realized the location of radioactive source workpiece and extracting automatically, finished a critical function in the automatic detection platform development process of radioactive source.
Technical scheme
A kind of visual servo device that is used for automatic leakage detection platform for sealed radioactive source comprises industrial computer (2), camera (3), topworks (4), actuator controller and specific pose estimation vision algorithm at least;
Described topworks (4) is made up of support (401), three degrees of freedom right angle coordinate mechanical arm, end effector (408), moving guide rail (404) and travelling car (402);
Moving guide rail (404) is installed in the bottom of support (401), travelling car (402) can move to diverse location and cooperate different operating, the airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), the adjustable height of support (405), slip trip B (406) on it can be according to the size adjustment position of airtight container (407) with fixed container (407), when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, the size adjustment position of the bigger airtight container of slip trip A (403) basis is with fixed container, the three degrees of freedom right angle coordinate mechanical arm is installed on the top of support (401), mechanical arm is made up of three groups of linear modules, wherein the directions X linear module (414) that moves is fixed on the support (401), the Y direction linear module (410) that moves is fixed in directions X and moves on motion of linear module (414), the Z direction linear module (411) that moves is fixed in the Y direction and moves on motion of linear module (410), X, Y, three direction of motion quadratures of Z, stepper motor X (415), stepper motor Y (413), stepper motor Z (412) connects by shaft joint as the end that the motion drive source is installed on three linear modules respectively, end effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) camera lens is fixed on the pedestal (408a) of end effector (408) down, and optical axis is perpendicular to the last plane of radioactive source workpiece.
The linear module of forming mechanical arm has good guide rail of the linearity (or leading screw) and motion, and motion is sub unique translation freedoms, and O.00125mm known the and precision of the motion step-length of linear movement is higher than, to satisfy the motion requirement.
Described end effector (408) matches to pick up radioactive source with screw on the radioactive source workpiece by the double-screw bolt of its front end; Wherein, the threaded post (408h) of band lead angle is installed on end effector (408) foremost, and the convenient spiral that carries out of lead angle cooperates; Stepper motor R (408d) connects front end threaded post (408h) as drive source by shaft joint (408e), be connected and fix by support disk (408b) and four joint pins (408f) of being symmetrically distributed with the composition runner assembly, runner assembly is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions, and the flexible facility of rubber bar (408g) is carried out spiral and cooperated; End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) can change length as required;
Can change the end effector of other types according to the difference of radioactive source kind.
When camera grasped image, the imaging plane of camera (3) was parallel and fixed distance with the last plane of radioactive source workpiece, is two-dimensional problems with the 3D vision problem reduction.
The adjustable focal length of employed camera (3), the upper surface feature that the image of shooting has amplified the radioactive source workpiece with proper ratio had both made the easier resolution of characteristics of image to be unlikely to noise is amplified too much again, made the radioactive source workpiece pose that obtains more accurate.
Use the motion of all motion module such as programmable logic controller (PLC) (PLC) control mechanical arm.
Use the drive source of stepper motor as all motion module.
Description of drawings
Fig. 1 is the general structure synoptic diagram of this device;
Fig. 2 is the control device block scheme;
Fig. 3 is the assembly structure synoptic diagram of topworks;
Fig. 4 is the assembly structure synoptic diagram of end effector.
Among the figure:
1. switch board 2. industrial computers 3. cameras 401. supports, 402. travelling cars, the 403. slip trip A of 4. topworkies 404. moving guide rails 405. shelf supports 406. slip trip B
407. airtight container 408. end effectors
408a. pedestal 408b. support disk 408c. frame plate 408d. stepper motor R
408e. shaft joint 408f. joint pin 408g. rubber bar 408h. threaded post
409. extension plate 410.Y to linear module 411Z to linear module 412. stepper motor Z
413. stepper motor Y 414.X is to linear module 415. stepper motor X
Embodiment
Below in conjunction with accompanying drawing the utility model is elaborated.
In Fig. 1, whole device is made up of switch board (1), industrial computer (2), camera (3) and topworks (4) at least.Camera (3) is obtained the image of radioactive source workpiece and is imported view data into computing machine (2), specific pose estimation routine is handled the posture information estimation that image obtains the radioactive source workpiece in the computing machine (2), it and expected pose are relatively produced difference as the controller in the setting value input switch board (1) of actuator controller, and controller control executing mechanism (4) motion makes the end effector of topworks arrive expected pose.
Fig. 2 is the structured flowchart of visual servo control device, as shown is the negative feedback closed-loop path, and controller is divided into two-stage.The first order is a vision controller, work in cartesian space, the pose that end effector should arrive is as the setting value of vision controller, estimate that by pose the estimated value and the setting value that obtain compare, the difference that produces is as the input value of vision controller, by the control law generation output of vision controller.Second level controller is an actuator controller, and the output of upper level controller produces the motion of output control executing mechanism as input by the control law of inside.
Fig. 3 is the assembly relation synoptic diagram of topworks.Moving guide rail (404) is equipped with in the bottom of support (401), and travelling car (402) can move to diverse location and cooperate different operating.The airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), slip trip B (406) is used for fixing the position of airtight container (407) when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, slip trip A (403) is used for fixing the position of bigger airtight container.The top of support (401) is equipped with the three degrees of freedom right angle coordinate mechanical arm.Mechanical arm is made up of three groups of linear modules and end effector (408).Wherein the directions X linear module (414) that moves is fixed in the weight that moves and bear whole mechanical arm module that support (401) go up to be realized the mechanical arm directions X.Y direction linear module (410) and the Z direction linear module (411) that moves that moves is realized the motion of mechanical arm Y direction and Z direction respectively.Between X, Y, three direction quadratures of Z and each motion is decoupling zero.Stepper motor X (415), Y (413), Z (412) are as the motion drive source.End effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) is fixed on the pedestal (408a) of end effector (408), and camera lens is downward and make its optical axis perpendicular to working face---the last plane of radioactive source workpiece.Three groups of linear block cooperate the motion that realizes X, Y, three orthogonal directionss of Z to make end effector arrive suitable position so that grasp radioactive source.
Be the assembly structure synoptic diagram of current end effector (408) as shown in Figure 4, can design according to the difference of radioactive source kind and change different end effectors.Current end effector (408) is the threaded post (408h) of band lead angle foremost, can match with the screw on the radioactive source workpiece to pick up radioactive source.Stepper motor R (408d) is connected with front end threaded post (408h) by shaft joint (408e) as drive source, produces threaded post (408h) rotatablely moving around self axis.The runner assembly that motor R (408d), shaft joint (408e) and threaded post (408h) are formed is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions, rubber bar (408g) has certain flexibility, thereby the threaded engagement of front end threaded post can adapt to radioactive source workpiece generation slight inclination the time.End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) can change length as required.
Claims (7)
1, a kind of visual servo device of automatic leakage detection platform for sealed radioactive source is characterized in that: comprise industrial computer (2), camera (3), topworks (4), actuator controller at least;
Described topworks (4) is made up of support (401), three degrees of freedom right angle coordinate mechanical arm, end effector (408), moving guide rail (404) and travelling car (402);
Moving guide rail (404) is installed in the bottom of support (401), travelling car (402) can move to diverse location and cooperate different operating, the airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), the adjustable height of support (405), slip trip B (406) on it can be according to the size adjustment position of airtight container (407) with fixed container (407), when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, the size adjustment position of the bigger airtight container of slip trip A (403) basis is with fixed container, the three degrees of freedom right angle coordinate mechanical arm is installed on the top of support (401), mechanical arm is made up of three groups of linear modules, wherein the directions X linear module (414) that moves is fixed on the support (401), the Y direction linear module (410) that moves is fixed in directions X and moves on motion of linear module (414), the Z direction linear module (411) that moves is fixed in the Y direction and moves on motion of linear module (410), X, Y, three direction of motion quadratures of Z, stepper motor X (415), stepper motor Y (413), stepper motor Z (412) connects by shaft joint as the end that the motion drive source is installed on three linear modules respectively, end effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) camera lens is fixed on the pedestal (408a) of end effector (408) down, and optical axis is perpendicular to the last plane of radioactive source workpiece.
2, visual servo device according to claim 1, it is characterized in that: the linear module of forming mechanical arm comprises guide rail and motion or leading screw and motion, motion son has unique translation freedoms, and the known and precision of the motion step-length of linear movement is higher than 0.00125mm.
3, visual servo device according to claim 1 is characterized in that: described end effector (408), and the double-screw bolt of its front end matches with screw on the radioactive source workpiece; Wherein, the threaded post (408h) of band lead angle is installed on end effector (408) foremost; Stepper motor R (408d) connects front end threaded post (408h) as drive source by shaft joint (408e), be connected and fix with the composition runner assembly by support disk (408b) and four joint pins (408f) of being symmetrically distributed, runner assembly is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions; End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) changes length as required; Change the end effector (408) of other types according to the difference of radioactive source kind.
4, visual servo device according to claim 1 is characterized in that: the imaging plane of camera (3) is parallel and fixed distance with the last plane of radioactive source workpiece.
5, visual servo device according to claim 1 is characterized in that: the adjustable focal length of employed camera (3).
6, visual servo device according to claim 1 is characterized in that: the control end of programmable logic controller (PLC) (PLC) is connected with mechanical arm and all motion module control ends.
7, visual servo device according to claim 1 is characterized in that: stepper motor is made drive source and is connected with all motion module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200520023044 CN2869887Y (en) | 2005-06-23 | 2005-06-23 | Visual servo apparatus for sealed radiation resource leak automatic detection platform |
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| CN 200520023044 CN2869887Y (en) | 2005-06-23 | 2005-06-23 | Visual servo apparatus for sealed radiation resource leak automatic detection platform |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100417952C (en) * | 2005-06-23 | 2008-09-10 | 中国科学院自动化研究所 | Vision servo system and method for automatic leakage detection platform for sealed radioactive source |
| CN103529058A (en) * | 2013-09-29 | 2014-01-22 | 哈尔滨汽轮机厂有限责任公司 | Positioning supporting frame for cobalt 60 source |
| CN103901504A (en) * | 2014-03-25 | 2014-07-02 | 安徽启路达光电科技有限公司 | Calibration system of security inspection equipment |
| CN105467426A (en) * | 2014-09-05 | 2016-04-06 | 中国辐射防护研究院 | Radioactive source remote-control pickup device in gamma activity measurement standard device |
| CN105467425A (en) * | 2014-09-05 | 2016-04-06 | 中国辐射防护研究院 | Radioactive source remote-control pickup device applicable to well-type ionization chamber standard device |
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| CN109748096A (en) * | 2018-12-11 | 2019-05-14 | 上海航天化工应用研究所 | The multiple degrees of freedom cylinder body danger workpiece grabbing mechanism of view-based access control model positioning system |
| CN110494378A (en) * | 2017-03-17 | 2019-11-22 | 伯克希尔格雷股份有限公司 | For handling the system and method including linear machine frame system of object |
| CN114147712A (en) * | 2021-11-29 | 2022-03-08 | 中国煤炭地质总局一二九勘探队 | Radioactive source remote control replacer |
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2005
- 2005-06-23 CN CN 200520023044 patent/CN2869887Y/en not_active Expired - Lifetime
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| CN100417952C (en) * | 2005-06-23 | 2008-09-10 | 中国科学院自动化研究所 | Vision servo system and method for automatic leakage detection platform for sealed radioactive source |
| CN103529058A (en) * | 2013-09-29 | 2014-01-22 | 哈尔滨汽轮机厂有限责任公司 | Positioning supporting frame for cobalt 60 source |
| CN103901504A (en) * | 2014-03-25 | 2014-07-02 | 安徽启路达光电科技有限公司 | Calibration system of security inspection equipment |
| CN103901504B (en) * | 2014-03-25 | 2016-08-24 | 安徽启路达光电科技有限公司 | A kind of rays safety detection apparatus calibration system |
| CN105467426A (en) * | 2014-09-05 | 2016-04-06 | 中国辐射防护研究院 | Radioactive source remote-control pickup device in gamma activity measurement standard device |
| CN105467425A (en) * | 2014-09-05 | 2016-04-06 | 中国辐射防护研究院 | Radioactive source remote-control pickup device applicable to well-type ionization chamber standard device |
| CN110494378A (en) * | 2017-03-17 | 2019-11-22 | 伯克希尔格雷股份有限公司 | For handling the system and method including linear machine frame system of object |
| CN110494378B (en) * | 2017-03-17 | 2021-06-11 | 伯克希尔格雷股份有限公司 | System and method for processing objects including a linear gantry system |
| CN107844132A (en) * | 2017-11-14 | 2018-03-27 | 南通大学 | Gantry type paper disc based on machine vision is accurately positioned grasping system and control method |
| CN107844132B (en) * | 2017-11-14 | 2020-11-24 | 南通大学 | Control method of gantry type paper disc accurate positioning and grabbing system based on machine vision |
| CN108421772A (en) * | 2018-03-16 | 2018-08-21 | 深圳市创鑫激光股份有限公司 | Optical fiber cleaning equipment and method |
| CN108689111A (en) * | 2018-06-21 | 2018-10-23 | 东莞市冠佳电子设备有限公司 | A kind of power supply adaptor test automatic charging equipment |
| CN108689111B (en) * | 2018-06-21 | 2023-12-22 | 东莞市冠佳电子设备有限公司 | Automatic feeding equipment for power adapter test |
| WO2020119237A1 (en) * | 2018-12-11 | 2020-06-18 | 上海航天化工应用研究所 | Visual positioning system-based multiple-degree of freedom barrel-type hazardous workpiece grasping mechanism |
| CN109748096A (en) * | 2018-12-11 | 2019-05-14 | 上海航天化工应用研究所 | The multiple degrees of freedom cylinder body danger workpiece grabbing mechanism of view-based access control model positioning system |
| CN109559628A (en) * | 2018-12-29 | 2019-04-02 | 芜湖希又智能科技有限公司 | A kind of robot motion mechanism for robot vision technique teaching |
| CN109559628B (en) * | 2018-12-29 | 2024-03-15 | 芜湖希又智能科技有限公司 | Robot movement mechanism for teaching of robot vision technology |
| CN114147712A (en) * | 2021-11-29 | 2022-03-08 | 中国煤炭地质总局一二九勘探队 | Radioactive source remote control replacer |
| CN114147712B (en) * | 2021-11-29 | 2023-12-05 | 中国煤炭地质总局一二九勘探队 | Remote control changer for radioactive source |
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Expiration termination date: 20150623 Granted publication date: 20070214 |