自动检测平台精确引导系统标定方法及实现  

Calibration Method and Realization of Precise Guidance System for Automatic Detection Platform

作　　者：夏志鹏 熊芝[1,2] 陈海林 周维虎 翟中生 XIA Zhi-peng;XIONG Zhi;CHEN Hai-lin;ZHOU Wei-hu;ZHAI Zhong-sheng(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Institute of Microelectronics of the Chinese Academy of Sciences,Beijing 100094,China;China Nuclear Power Operation Technology Corporation,LTD.,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]中国科学院微电子所,北京100094 [3]中核武汉核电运行技术股份有限公司,湖北武汉430068

出　　处：《仪表技术与传感器》2022年第1期99-103,126,共6页Instrument Technique and Sensor

基　　金：2019国家重点研发计划(2019YFB2006100);湖北省自然科学基金创新群体(2019CFA021)。

摘　　要：针对现阶段核反应堆容器检测平台视觉定位系统定位精度低,需人工参与等问题,研究了一种基于双目视觉与线结构光的精确定位方法。首先在核反应堆容器检测平台定位系统即有平台上搭建了精确引导系统,其次采用最小二乘法对设计的标定辅助件进行空间圆拟合实现探头轴线的标定,并基于空间公共特征点奇异值分解的方法实现了全局坐标系的统一,然后利用双目视觉结合线结构光的方法对被测贯穿件轴线进行了测量,最后对精确引导系统的测量精度进行了实验。实验结果表明:精确引导系统的定位精度为0.897 mm,提高了检测平台定位精度,实现了核反应堆容器检测平台的自动定位。In view of the problem that positioning accuracy of the visual positioning system of the nuclear reactor vessel inspection platform at this stage is low and manual participation is required,a precise positioning method based on binocular vision and linear structured light was studied.Firstly,an accurate guidance system was built on the nuclear reactor vessel inspection platform positioning system,that is,the existing platform.Secondly,the least square method was used to perform the space circle fitting of the designed calibration aids to achieve the calibration of the probe axis,and based on the singular value decomposition of the space common feature points,the method realized the unification of the global coordinate system,and the method of binocular vision combined with line structured light was used to measure the axis of the tested penetration.Finally,the measurement accuracy of the precise guidance system was tested.Experimental results show that the positioning accuracy of the precise guidance system is 0.897 mm,which improves the positioning accuracy of the detection platform and realizes the automatic positioning of the nuclear reactor vessel detection platform.

关 键 词：反应堆容器 双目视觉 线结构光 全局坐标系统一 精确引导 自动定位 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]