[1]LI Jiawei,LIU Zhaojin,LI Yuxiao,et al.Visual localization method for steam generator heat transfer tube inspection robot[J].CAAI Transactions on Intelligent Systems,2026,21(2):453-460.[doi:10.11992/tis.202508029]
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Visual localization method for steam generator heat transfer tube inspection robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 21 Number of periods: 2026 2 Page number: 453-460 Column: 学术论文—机器人 Public date: 2026-03-05
Title:
Visual localization method for steam generator heat transfer tube inspection robot
Author(s):
LI Jiawei1;  LIU Zhaojin1;  LI Yuxiao1;  CHEN Jian2;  GU Xin2;  ZHANG Guocheng1;  WANG Gang1
1. National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, China;
2. CGNPC Inspection Technology Co., Ltd, Suzhou 215000, China
Keywords:
steam generators; heat transfer tube inspection; robot; water chamber; anchor claws; ArUco mark; visual positioning; camera extrinsic parameters
CLC:
TP242.6
DOI:
10.11992/tis.202508029
Abstract:
The heat transfer tubes in steam generators are critical components of nuclear power systems and require regular inspection to ensure safety. To address the insufficient autonomous positioning capability of existing heat transfer tube inspection robots, this study proposes an autonomous positioning method based on ArUco markers. Given the task’s environmental characteristics, this method deploys ArUco markers on the robot’s legs and a camera at the bottom of the water chamber, thereby enhancing the robustness and continuity of positioning. Furthermore, by incorporating prior information about the tube sheet, a dynamic method for updating the extrinsic camera parameters is introduced to improve the positioning accuracy of the robot’s pneumatic anchor claws. Finally, through a position correction strategy for the pneumatic anchor claws, the serial numbers of the heat transfer tubes into which the claws are inserted can be accurately identified. Tests conducted by simulating the steam generator in a water chamber demonstrate that the proposed method achieves superior positioning accuracy, with a maximum positioning error of only 6.75 mm for the pneumatic anchor claws (a reduction of approximately 42.99%). This research provides a technical reference for the development of intelligent inspection equipment for nuclear power plants and visual positioning of robots in narrow, confined spaces.
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