[1]李嘉玮,刘招金,李玉晓,等.蒸汽发生器传热管检测机器人视觉定位方法[J].智能系统学报,2026,21(2):453-460.[doi:10.11992/tis.202508029]
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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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]
蒸汽发生器传热管检测机器人视觉定位方法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
21
期数:
2026年第2期
页码:
453-460
栏目:
学术论文—机器人
出版日期:
2026-03-05
- Title:
- Visual localization method for steam generator heat transfer tube inspection robot
- Keywords:
- steam generators; heat transfer tube inspection; robot; water chamber; anchor claws; ArUco mark; visual positioning; camera extrinsic parameters
- 分类号:
- TP242.6
- 摘要:
- 蒸汽发生器传热管是核电系统的关键部件，需要定期检查以确保安全。针对现有传热管检测机器人自主定位能力不足的问题，本文提出了一种基于ArUco标记的传热管检测机器人自主定位方法。该方法根据任务环境特点，将ArUco标记及摄像头分别布置在机器人腿部和水室底部，从而增强了定位的鲁棒性和持续性；此外，本文结合管板先验信息，提出了动态摄像机外参更新方法，提高了机器人气动锚爪的定位精度；最后，通过气动锚爪位置修正策略，精准判断气动锚爪所插入传热管序号。在蒸汽发生器水室模拟体中的试验表明，该方法具有更好的定位精度，气动锚爪最大定位误差仅为6.75 mm(降低约42.99%)。本研究可为核电智能检测装备的研发以及狭小密闭空间下的机器人视觉定位提供技术参考。
- 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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备注/Memo
收稿日期:2025-8-25。
基金项目:国家自然科学基金项目(52471318).
作者简介:李嘉玮，博士研究生，入选2024年中国科协青年人才托举工程博士生专项，主要研究方向为机器人运动规划及视觉定位技术，发表学术论文5篇。E-mail：ljw1996@hrbeu.edu.cn。;张国成，副教授，博士生导师，主要研究方向为水下机器人技术。先后主持及参与了国家自然科学基金、国家重点研发计划，授权发明专利10余项，发表学术论文30余篇。E-mail：zhangguocheng@hrbeu.edu.cn。;王刚，国家级高层次青年人才，教授，博士生导师，黑龙江省青年科技奖获得者，研究方向为水下机器人与环境适配技术。主持国家自然科学基金（3项）、国家重点研发计划课题（2项）等项目30余项。发表学术论文30余篇，授权发明专利70余件。E-mail： wanggang@hrbeu.edu.cn。
通讯作者:王刚. E-mail：wanggang@hrbeu.edu.cn
更新日期/Last Update:
1900-01-01