ES2178458T3 - Sistema de verificacion visual de la posicion de tubos. - Google Patents

Sistema de verificacion visual de la posicion de tubos.

Info

Publication number
ES2178458T3
ES2178458T3 ES99939651T ES99939651T ES2178458T3 ES 2178458 T3 ES2178458 T3 ES 2178458T3 ES 99939651 T ES99939651 T ES 99939651T ES 99939651 T ES99939651 T ES 99939651T ES 2178458 T3 ES2178458 T3 ES 2178458T3
Authority
ES
Spain
Prior art keywords
tube
imaging device
robotic arm
tube plate
successive
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.)
Expired - Lifetime
Application number
ES99939651T
Other languages
English (en)
Inventor
Jeffrey S Katz
Lance T Fitzgibbons
Gan Zhongxue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CE Nuclear Power LLC
Original Assignee
CE Nuclear Power LLC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by CE Nuclear Power LLC filed Critical CE Nuclear Power LLC
Application granted granted Critical
Publication of ES2178458T3 publication Critical patent/ES2178458T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37614—Number of workpieces, counter
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/47—Tracing, tracking
    • G05B2219/4701—Edge detector, project line, inclined camera detects discontinuity

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

Un sistema de verificación de posición de tubos para su uso en la inspección y mantenimiento de placas de tubos de generadores de vapor (10) del tipo que tiene una pluralidad de extremos de tubo (14) en una placa de tubos (12) dispuestos de acuerdo con un sistema de coordenadas predeterminado y un brazo robótico (20) para mover un actuador final EE contiguo a la superficie de la placa de tubos (12) hasta las posiciones de sucesivos extremos de tubo, caracterizado por: un dispositivo de formación de imágenes (16) conectado al brazo robótico (20) para la formación de fotogramas de imágenes sucesivas a medida que se mueven el brazo robótico (20) y un actuador final (EE) a través de la superficie de la placa de tubos (12); una fuente de luz (18) para la iluminación de la placa de tubos (12) de forma que se creen efectos de sombra dentro del campo de visión del dispositivo de formación de imágenes (16); un procesador de imágenes (104, 106) para elprocesado de imágenes sucesivas del dispositivo de formación de imágenes (16) para percibir el desplazamiento relativo de los objetos de una imagen entre un fotograma y los fotogramas sucesivos; y registradores de coordenadas de situación (108) para el registro de los cambios de desplazamiento del procesador de imágenes (104,106) para rastrear los cambios en las coordenadas del actuador final (EE).
ES99939651T 1998-07-15 1999-07-09 Sistema de verificacion visual de la posicion de tubos. Expired - Lifetime ES2178458T3 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US9292798P 1998-07-15 1998-07-15
US09/349,981 US6282461B1 (en) 1998-07-15 1999-07-09 Independent tube position verification system

Publications (1)

Publication Number Publication Date
ES2178458T3 true ES2178458T3 (es) 2002-12-16

Family

ID=26786197

Family Applications (1)

Application Number Title Priority Date Filing Date
ES99939651T Expired - Lifetime ES2178458T3 (es) 1998-07-15 1999-07-09 Sistema de verificacion visual de la posicion de tubos.

Country Status (8)

Country Link
US (1) US6282461B1 (es)
EP (1) EP1097030B1 (es)
KR (1) KR100416513B1 (es)
CN (1) CN1146494C (es)
AU (1) AU5390499A (es)
DE (1) DE69901118T2 (es)
ES (1) ES2178458T3 (es)
WO (1) WO2000003846A1 (es)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8350895B2 (en) * 1997-09-04 2013-01-08 Dann M Allen Stereo pair and method of making stereo pairs
US7016540B1 (en) * 1999-11-24 2006-03-21 Nec Corporation Method and system for segmentation, classification, and summarization of video images
CN1205518C (zh) * 2001-08-27 2005-06-08 三菱电机株式会社 同步电动机的无传感器控制装置
CN1836293A (zh) * 2003-06-02 2006-09-20 R.布鲁克斯合伙人公司 用于检测反应堆顶盖部件的方法和装置
US6959267B2 (en) * 2004-01-09 2005-10-25 Westinghouse Electric Co. Llc Method of inspecting a heat exchanger and computer program product for facilitating same
EP1584584A1 (en) * 2004-04-08 2005-10-12 KPL Packaging S.P.A. Unit for selecting and separating reams from a stack of sheets
EP1585057A1 (en) * 2004-04-08 2005-10-12 KPL Packaging S.P.A. Method and unit for selecting and separating reams from a stack of sheets of paper or similar
DE102004023322A1 (de) * 2004-05-07 2005-11-24 Daimlerchrysler Ag Lage- und Positionsvermessung von Objekten mittels Bildverarbeitungsverfahren
JP3946711B2 (ja) * 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム
CN100389013C (zh) * 2005-04-01 2008-05-21 北京理工大学 基于多信息融合的仿人型机器人作业场景重构方法
CN101639682B (zh) * 2008-07-31 2012-08-29 鸿富锦精密工业（深圳）有限公司 机台变速运动控制系统及方法
ES2586379T3 (es) * 2009-05-27 2016-10-14 Rolls-Royce Nuclear Field Services Inc Herramientas de inspección de haz superior de un generador de vapor
JP5494597B2 (ja) * 2011-09-16 2014-05-14 株式会社安川電機 ロボットシステム
CN103052260A (zh) * 2011-10-14 2013-04-17 北大方正集团有限公司 金手指加工方法、印刷电路板制作方法、金手指以及印刷电路板
ES2391678B1 (es) * 2012-06-01 2013-11-07 Tecnatom, S. A. Procedimiento de obtención de imágenes calibradas de posición de centros de tubos de un sistema con distribución regular de tubos
US9497380B1 (en) * 2013-02-15 2016-11-15 Red.Com, Inc. Dense field imaging
DE102013009258B4 (de) * 2013-06-03 2018-06-21 Westinghouse Electric Germany Gmbh Kernanlagenmanipulatorsystem
KR101502702B1 (ko) * 2013-11-12 2015-03-13 한국원자력연구원 원자력 발전소 증기발생기 전열관 번호 확인 시스템 및 방법
CN104240262B (zh) * 2014-10-16 2017-02-15 中国科学院光电技术研究所 一种用于摄影测量的相机外参数标定装置及标定方法
DE102016013245B4 (de) 2016-11-08 2025-10-16 Westinghouse Electric Germany Gmbh Bohrgerät für das Bearbeiten von Rohren in radioaktiver Umgebung
DE102016013247A1 (de) 2016-11-08 2018-05-09 Westinghouse Electric Germany Gmbh Bohrvorrichtung für das Bearbeiten von Rohren an Rohrböden in radioaktiver Umgebung
DE102016125361A1 (de) 2016-12-22 2018-06-28 Krones Aktiengesellschaft Handhabungssystem und Verfahren zum Umgang mit Stückgütern
DK181333B1 (en) * 2021-04-26 2023-08-16 Vestas Aircoil As Leak testing apparatus and a method of testing

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5602967A (en) 1981-05-11 1997-02-11 Sensor Adaptive Machines, Inc. Vision target based assembly
US4873651A (en) * 1987-04-21 1989-10-10 Case Western Reserve University Method and apparatus for reconstructing three-dimensional surfaces from two-dimensional images
US5579444A (en) * 1987-08-28 1996-11-26 Axiom Bildverarbeitungssysteme Gmbh Adaptive vision-based controller
US5943164A (en) * 1994-11-14 1999-08-24 Texas Instruments Incorporated Curved 3-D object description from single aerial images using shadows
US5878151A (en) 1996-10-31 1999-03-02 Combustion Engineering, Inc. Moving object tracking
US5838882A (en) 1996-10-31 1998-11-17 Combustion Engineering, Inc. Dynamic position tracking and control of robots
US5751610A (en) 1996-10-31 1998-05-12 Combustion Engineering, Inc. On-line robot work-cell calibration
US5974348A (en) * 1996-12-13 1999-10-26 Rocks; James K. System and method for performing mobile robotic work operations
US5963303A (en) * 1997-09-04 1999-10-05 Allen; Dann M. Stereo pair and method of making stereo pairs
US5887041A (en) * 1997-10-28 1999-03-23 Westinghouse Electric Corporation Nuclear power plant component identification and verification system and method

Also Published As

Publication number Publication date
DE69901118T2 (de) 2002-11-07
CN1146494C (zh) 2004-04-21
KR20010079500A (ko) 2001-08-22
AU5390499A (en) 2000-02-07
US6282461B1 (en) 2001-08-28
KR100416513B1 (ko) 2004-01-31
CN1309598A (zh) 2001-08-22
DE69901118D1 (de) 2002-05-02
EP1097030A1 (en) 2001-05-09
EP1097030B1 (en) 2002-03-27
WO2000003846A1 (en) 2000-01-27

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