蒸汽发生器传热管检测机器人视觉定位方法OA

The heat transfer tubes in steam generators are critical components of nuclear power systems and require reg-ular 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 im-prove 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 accur-ately 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.