RU2308676C2 - Method of measuring position of object - Google Patents

Abstract

FIELD: measuring technique.

SUBSTANCE: method comprises setting reference points, preliminary determining coordinates of each reference point, and providing different light radiation from reference points and background surfaces. The reference points are set in the zone of the object on the surface with respect to which the position of the object is measured.

EFFECT: enhanced reliability.

2 cl, 3 dwg

Description

FIELD OF THE INVENTION

The claimed invention relates to the field of measuring technology and can be used to determine the position of the controlled object relative to other objects.

State of the art

A known method of measuring the shape and position of the object (ed. St. USSR No. 1105756, G01B 11/24, 01/22/79, V.V. Egorov, V.P. Kulesh and others). Using this method, photodetectors are installed at control points on the surface of an object, a light beam with specified parameters is formed, photodetectors are scanned, and a controlled parameter is judged by the totality of signals recorded from photodetectors. To increase the accuracy of measurements, an additional light beam is formed, consisting of a set of equally spaced light planes, both light beams are combined, the photodetectors are scanned with a combined beam, and the number of pulses from each photodetector is counted from the moment the scan starts until the light beam reaches the photodetector with the specified parameters.

The disadvantage of this method is its low reliability in industrial enterprises, due to the need to use complex optical scanning systems of specially formed light beams.

There is a method of geodetic measurements of objects according to given light marks (RF patent No. 2079810, G01C 1/00, 05.20.97, A.A. Arefiev, Yu.P. Zadorkin), which consists in the fact that at least simultaneously form at least one three light marks (benchmarks), one of which preserves the spatial coordinates during the measurement of a specific fragment of the controlled surface. The coordinates of the remaining (peripheral) light grades are measured relative to the reference light mark, and the light grader is distinguished by the presence of a laser beam splitter for three or more light beams and the corresponding number of peripheral laser beam rotary devices equipped with counting mechanisms of rotation angles, as well as variants of the original beam splitter designs.

This method does not provide high reliability and reliability of measurements in a production environment. This is due to the need to use in its implementation a large number of precision optical elements susceptible to contamination and undesirable effects of vibration.

Closest to the claimed invention in its essence and the achieved result is an invention called "Method for measuring the position of the object", which issued a patent of the Russian Federation No. 2146039 (application No. 97120250 from 11/26/97, G01B 11/00, G01B 21/00, G01S 17 / 66, patent holder of OAO Nizhny Tagil Metallurgical Plant, authors Yu.N. Karfidov, I.P. Jerusalem).

According to this method, at least one light mark (reference mark), i.e. provide different light fluxes of the benchmark and surfaces, which are used to determine the position of the object and are the background for benchmarks. The spatial coordinates of the light mark are determined by the position of its image on the coordinate-sensitive photodetector of the optical camera. In this case, a pulsed light emitter is used as the light mark, the phase and frequency of which are synchronized with the launch of the photodetector of the optical camera.

The known invention improves the reliability and reliability of measurements compared with known methods by reducing the number of required precision optical measurements. However, in some production conditions, the reliability and reliability of this measurement method may not be sufficient. Distorting factors can be, for example, a large luminous flux of surrounding objects, commensurate with the light flux of the light mark, the occurrence of glare during the movement of the test object and in a static position, commensurate with the light flux with the light mark flux, the presence of fumes in the working area in the form of fog and as a result, fogging of the surface of the light mark, as well as its pollution.

The task of the invention is the creation of a method for measuring the position of an object, to a greater extent ensuring the reliability and reliability of measurements.

Disclosure of invention

The essence of the claimed invention lies in the fact that in the method of measuring the position of an object using optical registration, by which the frames are installed, provide different light fluxes of frames and surfaces against which the frames are recorded, the coordinates of the frames are preliminarily determined and the spatial coordinates of the object are measured by the position of its image on the screen of the receiving device, benchmarks are installed in the area where the object is on the surface, relative to which the position of the object is measured, different lights The streams of frames and background surfaces provide the latter in the form of screens that are installed behind the object and frames, while each of the screens reflects light in the direction of the video camera opposite it or, on the contrary, absorbs light, videos of frames and the object are made in at least two directions and transmit the image to the image processing units, and the spatial coordinates of the object are determined by the location of the image of the object relative to the images of the frames on the display screen.

Benches can be made in the form of pins of different diameters or different heights.

Comparative analysis shows that the claimed invention is distinguished from the prototype by the following features:

- benchmarks are installed in the zone of the object on the surface, relative to which the position of the object is measured,

- different luminous fluxes of frames and background surfaces provide the latter in the form of screens that are installed behind the object and frames, with each of the screens reflecting light in the direction of the video camera opposite it or absorbing light,

- video shooting of frames and an object is carried out in at least two directions and transmitting the image to image processing units, and the spatial coordinates of the object are determined by the location of the image of the object relative to the images of the frames on the display screen.

Thus, we can conclude that the claimed invention meets the condition of "novelty."

The technical result, due to which the task is solved, is that when using the proposed method, the influence of production conditions on the performance of the means used to implement the method is insignificant and does not affect the reliability and reliability of the measurements.

An additional search did not reveal technical solutions in the art containing signs that distinguish the claimed invention from the prototype. Therefore, we can conclude that the claimed invention meets the condition of "inventive step".

Brief Description of the Drawings

Figure 1 shows a side view of an optical system for continuous remote determination of the coordinates of the lower end of an ampoule or a bundle of fuel elements - fuel elements - (in the case of ampoule-free storage) when loading into a specific cell of a transport container (hereinafter referred to as the container) in the cutting chamber of spent fuel systems .

Figure 2 shows a schematic top view of the measurement zone.

Figure 3 shows the image recorded on the display screen.

The implementation of the invention

The implementation of the invention is presented by the example of monitoring the loading of an ampoule or bundle of fuel elements (hereinafter referred to as the object) into the container cell.

Loading is carried out under conditions of an exceptionally high radiation background, therefore, continuous remote non-contact determination of the coordinates of the lower end of the object is necessary. At the same time, the state of the end of the object is monitored to assess its passage to the container cell. Such control eliminates the possibility of technological radiation accidents. For monitoring, an optical system is mounted, which is formed by at least two video cameras 1 and light-absorbing screens 2.

Video cameras 1 are equipped with integrated image processing units (not shown in the drawing), which are connected to the network with each other and with a display (not shown in the drawing). Using the hermetic inlets 3, the video cameras 1 are placed in the protective wall 4 of the cutting chamber from different sides relative to the installation location of the container 5 so that their optical axes intersect at an angle, for example, at a right angle in a horizontal plane tangent to the upper cut 6 of the container 5, through which ( slice 6) the object 7 is loaded into cell 8.

The screens 2 are placed opposite the cameras 1. The container 5 is installed between the cameras 1 and the screens 2. On the upper slice 6 of the container 5, preferably along the perimeter, the frames 9 are installed in the form of three pins of different heights, the surfaces of which reflect light.

Screens 2 are made in the form of stainless steel plates with polished surfaces (reflective screens). This provides such reflective properties of the surfaces of the screens 2, which differ from the reflective properties of the surfaces of the frames 9 and the object 7.

Screens 2 can be made in the form of plates, the surfaces of which are coated with light-absorbing paint (light-absorbing screens). As screens, construction elements of the cutting chamber can be used, which are less illuminated by the light sources existing inside the camera.

The cutting chamber has a very high illumination, so there is no need to attract additional light sources.

After the installation of the optical system is completed, the coordinates of the reference points 9 relative to the cell 8 are determined in two directions — along the optical axes of the cameras 1 — this information is entered into image processing units and displayed on the display screen.

After that, they begin to lower the object 7 to the cell 8 using a crane (not shown in the drawing). Using cameras 1 and image processing units, the current coordinates of the end of the object 7 are determined with respect to the reference points 9. The position of the object 7 is shown on the display screen, the current coordinates of its position are compared with the coordinates of the reference points 9 previously stored relative to cell 8, and if necessary, the image position of the object is adjusted 7 on the screen. The corresponding signals are supplied to the crane control system, which corrects the position of the object 7 relative to cell 8. The blocks of each of the cameras 1 operate in a fully automatic mode, coordinate their work on the network, exchanging the necessary data. This does not require any control on the part of personnel who are involved only in adjusting the position of the image of the object 7 on the display screen. The received information is entered into the database and simultaneously presented in graphical form on the display screen.

As can be seen from the above, by selecting the reflective (light-absorbing) properties of the surfaces of the benchmarks 9, screens 2, it is possible to provide optical distinguishability of these elements of the system in almost any production conditions and, accordingly, to ensure high reliability and reliability of measurements.

In addition, the information presented indicates the fulfillment of the following set of conditions when using the claimed invention:

- the inventive method is intended to determine the position of the controlled object relative to other objects;

- confirmed the possibility of implementing the proposed method in the form in which it is described in the claims, using the tools and methods described in the application and known at the time of its execution.

Therefore, we can conclude that the claimed invention meets the condition of "industrial applicability".

Claims (3)

1. A method of measuring the position of an object using optical registration, which sets the frames and pre-determines the coordinates of each frame, provides optical distinguishability of frames and surfaces against which the frames are recorded, and determines the spatial coordinates of the object by the position of the images on the screen of the receiving device, characterized in that the benchmarks are installed in the zone of the object on the surface, relative to which the position of the object is measured, screens are installed, each of which it reflects light in the direction of the video camera opposite it or absorbs light, the optical distinguishability of the frames is provided due to various light-reflecting or light-absorbing properties of the frames, screens and the object, while the frames are being shot with the same cameras, the video is shot of the object, and video is shot in at least two directions, and transmit the image to the image processing units, and the spatial coordinates of the object are determined by the location of the image of the object relative to the image reference points on the screen of the receiving device. 2. The measurement method according to claim 1, characterized in that the benchmarks are made in the form of pins of different diameters. 3. The measurement method according to claim 1 or 2, characterized in that the benchmarks are made in the form of pins of different heights.

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