期刊论文

中文

机械研究与应用

1007-4414

2022

35

01

139-144

10.16576/j.cnki.1007-4414.2022.01.040

本校为第一机构

针对核电站检修时蒸汽发生器堵板操作的去人工化要求,提出采用机器人搭配计算机视觉实现设计方案。设计采用视觉定位堵板上的三维特征,夹爪与堵板进行孔对孔机械配合完成抓取。视觉定位系统硬件模块基于双目结构光进行堵板表面数据点云的快速采集,软件模块基于VisionPro采用C#编程语言进行开发,利用VisionPro中的3D图像获取、目标物体匹配等工具完成视觉手眼标定以及堵板的定位抓取。并在搭建的机器人平台和蒸汽发生器的模型上进行了实验验证。实验证明,该视觉定位系统能够提高定位的效率和精度,能够满足堵板抓取安装要求。

Aiming at the de-manualization of steam generator blockage operation in nuclear power plant maintenance,the design scheme of robot and computer vision is proposed in this paper.The design uses the vision to locate the three-dimensional characteristics of the plugging plate;and the gripper and plugging plate are mechanically matched to complete the grasping.The hardware module of the visual positioning system is based on binocular structured light to collect the point cloud of the surface data of the blocking plate;the software module is developed by C#programming language based on VisionPro;an...