CN100417952C - Vision servo system and method for automatic leakage detection platform for sealed radioactive source - Google Patents
Vision servo system and method for automatic leakage detection platform for sealed radioactive source Download PDFInfo
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Abstract
The present invention relates to the technical field of sealed radioactive source leakage detection, particularly to a vision servo system and a method for an automatic leakage detection platform for a sealed radioactive source. The system comprises a manual control computer 2, a pickup camera 3, an actuating mechanism 4, an actuating mechanism controller and a special pose estimate visual algorism. The method comprises the followings: S1, converting a colorful image into a gray image or collecting the gray image; S2, using Canny edge algorism to process the gray image to obtain an edge image; S3, using the edge fine technique to fine the edge into single pixel connecting edge with eight nearby regions; S4, removing noises; S5, building the model of the upper surface geometric character of a radioactive source work piece; S6, building a homography matrix between an imaging plane and the upper surface of the radioactive work piece; S7, transmitting the calculated result to a mechanical arm controller.
Description
Technical field
The present invention relates to the vision servo system and the method for Leak Detection of Sealed Radioactive Sources technical field, particularly a kind of automatic leakage detection platform for sealed radioactive source.
Background technology
In at present the various typical cases of state's internal source use, for the result of use that guarantees radioactive source and the reliability of testing result, must regularly detect sealed radioactive source, radiomaterial whether occurs and leak to confirm it.At present, the domestic industry standard that sealed radioactive source is detected is to adopt the manual wipping detection mode.The major defect of manual wipping detection mode is: (1) human body may be directly exposed in face of the radioactive source, suffers nuclear radiation, and health has been constituted infringement; (2) influenced greatly by human factor, have many uncertainties, can not guarantee the consistance and the reliability of testing result; (3) need manually open sealing pig cover, complex operation, labour intensity is big.Therefore, develop the automatic detection platform of sealed radioactive source, radioactive source guarantees the accuracy and the reliability of testing result to operating personnel's health hazard in the testing process to reducing, and improves the Application of Nuclear Technology level of China, and is significant.
When the automatic detection platform of development radioactive source, the radioactive source workpiece need be taken out from airtight container, thereby need installation manipulator.Because the uncertainty of the radioactive source location of workpiece and attitude for instructing the motion of mechanical arm, need be installed eyes to mechanical arm---vision sensor.Like this, we introduce automatic detection platform with vision servo system.Vision servo system provides external information by vision sensor to controller, adjusts topworks with respect to position that is operated object and attitude.According to different standards, vision servo system can be divided into different types.Difference according to the video camera number can be divided into monocular and many orders system.According to whether classification of control structure, and the information that vision system provides is directly to calculate the input value of topworks as the setting value of robot actuating mechanism controller or vision controller, can be divided into " dynamically look-and-move " system and " direct vision is servo " system.Distinguish error signal and be defined in three dimensional space coordinate system or directly be defined in image feature space, can be divided into the visual servo control mode of " position-based " and " based on image ".
Summary of the invention
The problem that native system solves is: when replacing manually carrying out the radioactive source Leak Detection with automatic technology, position and attitude with monocular cam observation radioactive source workpiece, send observed result to the mechanical arm controller and arrive expected pose, radioactive source is picked up to take out then and carried out next step operation or radioactive source is put back to container with the position and the attitude of regulating mechanical arm.
The technical scheme that this radioactive source detection platform vision servo system adopts is: the three degrees of freedom right angle coordinate mechanical arm is installed on the support frame top of being fixed in ground, the end effector of mechanical arm can carry out the motion of X, Y, three orthogonal directionss of Z, and can carry out rotatablely moving of self; Monocular cam is fixed on the end effector of mechanical arm, and the optical axis vertical ground of camera is downward, and its video output signals inserts industrial computer; The bottom of support frame is equipped with guide rail, and the visual field of camera is brought or taken out of to the airtight container that the travelling car that moves on the guide rail will be equipped with radioactive source into to cooperate different operations; When having target to be the radioactive source workpiece in the camera visual field, the image input industrial computer that camera collection arrives, use specific vision algorithm to obtain position and the attitude of radioactive source with respect to the mechanical arm end effector, controller control manipulator motion makes end effector consistent with the radioactive source pose, picks up radioactive source then.In order from realtime graphic, to calculate physical location and the attitude that obtains workpiece, developed specific pose estimated image Processing Algorithm.The dynamic look-and-move structure that is based on the position that this vision servo system uses.
Technical scheme
A kind of vision servo system that is used for automatic leakage detection platform for sealed radioactive source comprises industrial computer (2), camera (3), topworks (4), actuator controller and specific pose estimation vision algorithm at least;
Described topworks (4) is made up of support (401), three degrees of freedom right angle coordinate mechanical arm, end effector (408), moving guide rail (404) and travelling car (402);
Moving guide rail (404) is installed in the bottom of support (401), travelling car (402) can move to diverse location and cooperate different operating, the airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), the adjustable height of support (405), slip trip B (406) on it can be according to the size adjustment position of airtight container (407) with fixed container (407), when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, the size adjustment position of the bigger airtight container of slip trip A (403) basis is with fixed container, the three degrees of freedom right angle coordinate mechanical arm is installed on the top of support (401), mechanical arm is made up of three groups of linear modules, wherein the directions X linear module (414) that moves is fixed on the support (401), the Y direction linear module (410) that moves is fixed in directions X and moves on motion of linear module (414), the Z direction linear module (411) that moves is fixed in the Y direction and moves on motion of linear module (410), X, Y, three direction of motion quadratures of Z, stepper motor X (415), stepper motor Y (413), stepper motor Z (412) connects by shaft joint as the end that the motion drive source is installed on three linear modules respectively, end effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) camera lens is fixed on the pedestal (408a) of end effector (408) down, and optical axis is perpendicular to the last plane of radioactive source workpiece.
Described vision servo system, the linear module of forming mechanical arm has good guide rail of the linearity (or leading screw) and motion, motion son has unique translation freedoms, and the known and precision of the motion step-length of linear movement is higher than 0.00125mm, to satisfy the motion requirement.
Described end effector (408) matches to pick up radioactive source with screw on the radioactive source workpiece by the double-screw bolt of its front end; Wherein, the threaded post (408h) of band lead angle is installed on end effector (408) foremost, and the convenient spiral that carries out of lead angle cooperates; Stepper motor R (408d) connects front end threaded post (408h) as drive source by shaft joint (408e), be connected and fix by support disk (408b) and four joint pins (408f) of being symmetrically distributed with the composition runner assembly, runner assembly is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions, and the flexible facility of rubber bar (408g) is carried out spiral and cooperated; End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) can change length as required;
Can change the end effector of other types according to the difference of radioactive source kind.
When camera grasped image, the imaging plane of camera (3) was parallel and fixed distance with the last plane of radioactive source workpiece, is two-dimensional problems with the 3D vision problem reduction.
The adjustable focal length of employed camera (3), the upper surface feature that the image of shooting has amplified the radioactive source workpiece with proper ratio had both made the easier resolution of characteristics of image to be unlikely to noise is amplified too much again, made the radioactive source workpiece pose that obtains more accurate.
Use the motion of all motion module such as programmable logic controller (PLC) (PLC) control mechanical arm.
Use the drive source of stepper motor as all motion module.
The invention has the beneficial effects as follows: realized the location of radioactive source workpiece and extracting automatically, finished a critical function in the automatic detection platform development process of radioactive source.
Description of drawings
Fig. 1 is the general structure synoptic diagram of native system;
Fig. 2 is the control system block scheme;
Fig. 3 is the assembly structure synoptic diagram of topworks;
Fig. 4 is the assembly structure synoptic diagram of end effector;
Fig. 5 is the process flow diagram of pose estimated image Processing Algorithm.
Among the figure:
1. switch board 2. industrial computers 3. cameras 401. supports, 402. travelling cars, the 403. slip trip A of 4. executing agencies 404. moving guide rails 405. shelf supports 406. slip trip B 407. airtight containers 408. end effector 408a. pedestal 408b. support disk 408c. frame plate 408d. stepper motor R408e. shaft joint 408f. joint pin 408g. rubber bar 408h. threaded column 409. extension plate 410.Y are to linear module 411Z to linear mould 412. stepper motor Z413. stepper motor Y 414.X to linear module 415. stepper motor X
Embodiment
Below in conjunction with accompanying drawing the present invention is elaborated.
In Fig. 1, total system is made up of switch board (1), industrial computer (2), camera (3) and topworks (4) at least.Camera (3) is obtained the image of radioactive source workpiece and is imported view data into computing machine (2), specific pose estimation routine is handled the posture information estimation that image obtains the radioactive source workpiece in the computing machine (2), it and expected pose are relatively produced difference as the controller in the setting value input switch board (1) of actuator controller, and controller control executing mechanism (4) motion makes the end effector of topworks arrive expected pose.
Fig. 2 is the structured flowchart of visual servo control system, as shown is the negative feedback closed-loop path, and controller is divided into two-stage.The first order is a vision controller, work in cartesian space, the pose that end effector should arrive is as the setting value of vision controller, estimate that by pose the estimated value and the setting value that obtain compare, the difference that produces is as the input value of vision controller, by the control law generation output of vision controller.Second level controller is an actuator controller, and the output of upper level controller produces the motion of output control executing mechanism as input by the control law of inside.
Fig. 3 is the assembly relation synoptic diagram of topworks.Moving guide rail (404) is equipped with in the bottom of support (401), and travelling car (402) can move to diverse location and cooperate different operating.The airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), slip trip B (406) is used for fixing the position of airtight container (407) when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, slip trip A (403) is used for fixing the position of bigger airtight container.The top of support (401) is equipped with the three degrees of freedom right angle coordinate mechanical arm.Mechanical arm is made up of three groups of linear modules and end effector (408).Wherein the directions X linear module (414) that moves is fixed in the weight that moves and bear whole mechanical arm module that support (401) go up to be realized the mechanical arm directions X.Y direction linear module (410) and the Z direction linear module (411) that moves that moves is realized the motion of mechanical arm Y direction and Z direction respectively.Between X, Y, three direction quadratures of Z and each motion is decoupling zero.Stepper motor X (415), Y (413), Z (412) are as the motion drive source.End effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) is fixed on the pedestal (408a) of end effector (408), and camera lens is downward and make its optical axis perpendicular to working face---the last plane of radioactive source workpiece.Three groups of linear block cooperate the motion that realizes X, Y, three orthogonal directionss of Z to make end effector arrive suitable position so that grasp radioactive source.
Be the assembly structure synoptic diagram of current end effector (408) as shown in Figure 4, can design according to the difference of radioactive source kind and change different end effectors.Current end effector (408) is the threaded post (408h) of band lead angle foremost, can match with the screw on the radioactive source workpiece to pick up radioactive source.Stepper motor R (408d) is connected with front end threaded post (408h) by shaft joint (408e) as drive source, produces threaded post (408h) rotatablely moving around self axis.The runner assembly that motor R (408d), shaft joint (408e) and threaded post (408h) are formed is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions, rubber bar (408g) has certain flexibility, thereby the threaded engagement of front end threaded post can adapt to radioactive source workpiece generation slight inclination the time.End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) can change length as required.
Fig. 5 illustrates the pose estimation visible sensation method of the visual servo method of automatic leakage detection platform for sealed radioactive source, and its step is as follows:
S1, coloured image are converted to gray level image or directly gather gray level image;
S2, use Canny boundary operator (also can use other boundary operators) are handled gray level image and are obtained edge image;
S3, use edge thinning technology are " the single pixel on the eight neighborhood meanings connects edges " with edge thinning;
S4, remove a large amount of weak points and irregular edge segments according to certain standard, reduce processing cost, this process is called " denoising ";
S5, set up the model of radioactive source workpiece surface geometric properties, extract basic geometric properties such as straight line and quafric curve in the edge image after refinement and be combined into candidate target, after candidate target and geometric model be complementary, satisfy the estimated value of the best candidate target of the coupling of correlativity, calculate the position and the attitude of workpiece as the radioactive source workpiece;
S6, set up the homography matrix between imaging plane and radioactive source workpiece surface, the pose estimated information in the image space coordinate system is converted to distance and angle in the world coordinate system;
S7, send result of calculation to the mechanical arm controller.
Claims (7)
1. a vision servo system that is used for automatic leakage detection platform for sealed radioactive source is characterized in that: comprise industrial computer (2), camera (3), topworks (4), actuator controller and specific pose estimation vision algorithm at least;
Described topworks (4) is made up of support (401), three degrees of freedom right angle coordinate mechanical arm, end effector (408), moving guide rail (404) and travelling car (402);
Moving guide rail (404) is installed in the bottom of support (401), travelling car (402) can move to diverse location and cooperate different operating, the airtight container (407) that the radioactive source workpiece is housed is positioned on the dismountable support (405), the adjustable height of support (405), slip trip B (406) on it can be according to the size adjustment position of airtight container (407) with fixed container (407), when support (405) is removed, can go up at dolly (402) and place the bigger airtight container of volume, the size adjustment position of the bigger airtight container of slip trip A (403) basis is with fixed container, the three degrees of freedom right angle coordinate mechanical arm is installed on the top of support (401), mechanical arm is made up of three groups of linear modules, wherein the directions X linear module (414) that moves is fixed on the support (401), the Y direction linear module (410) that moves is fixed in directions X and moves on motion of linear module (414), the Z direction linear module (411) that moves is fixed in the Y direction and moves on motion of linear module (410), X, Y, three direction of motion quadratures of Z, stepper motor X (415), stepper motor Y (413), stepper motor Z (412) connects by shaft joint as the end that the motion drive source is installed on three linear modules respectively, end effector (408) is connected by the move motion son of linear module (411) of extension plate (409) and Z direction, camera (3) camera lens is fixed on the pedestal (408a) of end effector (408) down, and optical axis is perpendicular to the last plane of radioactive source workpiece;
Wherein, described specific pose estimates that the vision algorithm concrete steps are:
S1, coloured image are converted to gray level image or directly gather gray level image;
S2, use Canny boundary operator are handled gray level image and are obtained edge image;
S3, use edge thinning technology are " the single pixel on the eight neighborhood meanings connects edges " with edge thinning;
S4, remove a large amount of weak points and irregular edge segments according to certain standard, reduce processing cost, this process is called " denoising ";
S5, set up the model of radioactive source workpiece surface geometric properties, extract straight line and the basic geometric properties of quafric curve in the edge image after refinement and be combined into candidate target, after candidate target and geometric model be complementary, satisfy the estimated value of the best candidate target of the coupling of correlativity, calculate the position and the attitude of workpiece as the radioactive source workpiece;
S6, set up the homography matrix between imaging plane and radioactive source workpiece surface, the pose estimated information in the image space coordinate system is converted to distance and angle in the world coordinate system;
S7, send result of calculation to the mechanical arm controller.
2. vision servo system according to claim 1, it is characterized in that: the linear module of forming mechanical arm has good guide rail of the linearity and motion, motion son has unique translation freedoms, and the known and precision of the motion step-length of linear movement is higher than 0.00125mm, to satisfy the motion requirement.
3. vision servo system according to claim 1 is characterized in that: described end effector (408), match to pick up radioactive source with screw on the radioactive source workpiece by the double-screw bolt of its front end; Wherein, the threaded post (408h) of band lead angle is installed on end effector (408) foremost, and the convenient spiral that carries out of lead angle cooperates; Stepper motor R (408d) connects front end threaded post (408h) as drive source by shaft joint (408e), be connected and fix by support disk (408b) and four joint pins (408f) of being symmetrically distributed with the composition runner assembly, runner assembly is fixed on the pedestal (408a) by the rubber bar (408g) of three symmetrical distributions, and the flexible facility of rubber bar (408g) is carried out spiral and cooperated; End effector (408) is fixed on the extension plate (409) by frame plate (408c), and extension plate (409) can change length as required;
Change the end effector of other types according to the difference of radioactive source kind.
4. vision servo system according to claim 1 is characterized in that: when camera grasped image, the imaging plane of camera (3) was parallel and fixed distance with the last plane of radioactive source workpiece, is two-dimensional problems with the 3D vision problem reduction.
5. vision servo system according to claim 1 is characterized in that: the adjustable focal length of employed camera (3), the image of shooting have been amplified the upper surface feature of radioactive source workpiece with proper ratio.
6. vision servo system according to claim 1 is characterized in that: use the motion of programmable logic controller (PLC) (PLC) control mechanical arm motion module.
7. vision servo system according to claim 1 is characterized in that: use the drive source of stepper motor as all motion module.
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| CN102508282B (en) * | 2011-10-18 | 2013-08-14 | 丹东华日理学电气股份有限公司 | Automatic detection device of leakage rays in X-ray protective system |
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| CN104460671B (en) * | 2014-11-12 | 2017-01-18 | 西南科技大学 | Cross positioning method and system for radioactive source in three-dimensional space |
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| CN111300489B (en) * | 2019-12-04 | 2021-12-28 | 西安交通大学 | Shooting and photographing flexible robot suitable for resisting gamma ray irradiation in nuclear environment |
| CN117816270A (en) * | 2024-03-06 | 2024-04-05 | 北京雷奥顶峰生物科技有限责任公司 | Mechanical arm for pipetting and pipetting workstation |
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