CN109000557A - A kind of nuclear fuel rod pose automatic identifying method - Google Patents
A kind of nuclear fuel rod pose automatic identifying method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
A kind of nuclear fuel rod pose automatic identifying method of the present invention belongs to machine vision and nuclear power equipment manufacturing field of automation technology；The method includes the following three steps: step a, extract nuclear fuel rod under end plug characteristics of image；Step b, the spatial pose information of end plug under nuclear fuel rod is calculated；Step c, according to spatial pose information, nuclear fuel rod is assembled；Automatic identifying method of the present invention can monitor the change in shape and pose variation of nuclear fuel rod, device basic and theoretical basis are provided for the automatic assembling of nuclear fuel rod and screen, it is advantageously implemented the automatic assembling of nuclear fuel cluster, the safety of nuclear power equipment manufacturing not only can be improved, but also the intelligent level of nuclear power equipment manufacturing can be greatly improved.
Description
The application is the divisional application of application for a patent for invention " a kind of nuclear fuel rod pose automatic identification equipment and method ".
The original bill applying date: 2016-05-31.
Original bill application number: 2016103875409.
Original bill denomination of invention: a kind of nuclear fuel rod pose automatic identification equipment and method.
Technical field
A kind of nuclear fuel rod pose automatic identifying method of the present invention belongs to machine vision and nuclear power equipment manufacturing automates skill
Art field.
Background technique
Along with the continuous expansion that countries in the world need clean energy resource, Nuclear Power Industry is also rapidly developing.Nuclear fuel rod
Beam is the core component in nuclear power equipment, is assembled by nuclear fuel rod and screen frame (by end plug under nuclear fuel rod and grid
Screen on plate framework inserts), as shown in Figure 1.Since nuclear fuel rod can generate nuclear radiation, and nuclear radiation not only can be to ring
Border generates serious pollution, and can cause huge harm to the health of practitioner, and therefore, it is necessary to nuclear fuel rod and grid
Plate carries out automatic assembling, to guarantee the safety of nuclear power equipment manufacturing.
Since nuclear fuel rod is slender cylinder, during assembling, not only biggish bending deformation can be generated because of self weight
Shape, and vibration can be also generated in moving process, to realize nuclear fuel rod and screen automatic assembling, need to nuclear fuel
Change in shape and the pose variation of stick are monitored.Therefore, end plug spatial pose detection device under nuclear fuel rod is constructed, under exploitation
Accurately and fast recognizer is the key that realize that nuclear fuel cluster assembles automatically to posture information between end plug and screen.However,
There are no find to assemble directly related technology automatically with nuclear fuel cluster.
Summary of the invention
For the technical need that nuclear fuel cluster assembles automatically, the invention discloses a kind of nuclear fuel rod pose automatic identifications
Method can monitor the change in shape and pose variation of nuclear fuel rod, mention for the automatic assembling of nuclear fuel rod and screen frame
For device basic and theoretical basis, it is advantageously implemented nuclear fuel cluster automatic assembling, nuclear power equipment manufacturing not only can be improved
Safety, and the intelligent level of nuclear power equipment manufacturing can be greatly improved.
The object of the present invention is achieved like this:
A kind of nuclear fuel rod pose automatic identification equipment,
In the ideal situation, defining nuclear fuel rod axis direction is Y-axis, the front end of plane and screen in screen where face
The direction where the intersection between plane where face is Z axis, determines X-axis side according to " cartesian coordinate system right-hand rule "
To establishing cartesian coordinate system O-XYZ；
First camera and second camera including quadrature arrangement,
The first camera optical axis direction is parallel to Z axis, and cross, the ordinate of image are respectively parallel to X-axis and Y-axis, are used for
Detect nuclear fuel rod under end plug relative to screen X-direction and Y direction displacement information and lower end plug open slot around Y
Deflection θ of the angle of deflection and lower end plug axis of axis rotation in XOY plane；
The second camera optical axis direction is parallel to X-axis, and cross, the ordinate of image are respectively parallel to Y-axis and Z axis, are used for
Detect nuclear fuel rod under end plug relative to screen Y direction and Z-direction displacement information and lower end plug axis in YOZ
Deflection in plane
Based on the displacement information, deflection angle and deflection, the phase under nuclear fuel rod between end plug and screen is identified
To the relative attitude under position and nuclear fuel rod between end plug open slot and screen.
Above-mentioned nuclear fuel rod pose automatic identification equipment,
The lower end plug diameter for defining nuclear fuel rod is D, and opening slot length is L, and opening groove width is W1, the width of screen frame
Degree is W, is highly H, screen with a thickness of T, safe distance between lower end plug initial position and screen frame is DS, limit grid
Minimal difference between plate thickness and opening groove width is Δ, i.e. W1The accuracy of identification of-T >=Δ, image are δ, take δ=Δ/4；
The minimum resolution of first camera is RA1×RA2, wherein RA1>=W/ δ, RA2≥(2L+DS)/δ；
The minimum resolution of second camera is RB1×RB2, wherein RB1≥(2H/3+D+DS)/δ, RB2≥(2L+DS)/δ。
The above nuclear fuel rod pose automatic identification equipment,
The inside and outside parameter of first camera and second camera calibration the following steps are included:
Step a, with the intrinsic parameter f of Zhang Zhengyou calibration method calibration first camerax1、fy1、u01And v01；
Step b, with the intrinsic parameter f of Zhang Zhengyou calibration method calibration second camerax2、fy2、u02And v02；
Step a can be replaced with step b sequence or synchronous progress；
Step c, same scaling board is shot with first camera and second camera, obtains the first image of scaling board and mark respectively
The second image of fixed board；
Step d, on the basis of scaling board described in step c, reference frame is established, asks first camera relative to reference respectively
The pose parameter matrix of coordinate systemAnd pose parameter matrix of the second camera relative to reference frame
Step e, according to following formula:
Obtain pose parameter matrix of the second camera relative to first camera.
A kind of nuclear fuel rod pose automatic identifying method realized on above-mentioned nuclear fuel rod pose automatic identification equipment, packet
Include following steps:
Step a, the characteristics of image of end plug under nuclear fuel rod is extracted；
Step b, the spatial pose information of end plug under nuclear fuel rod is calculated；
Step c, according to spatial pose information, nuclear fuel rod is assembled.
Above-mentioned nuclear fuel rod pose automatic identifying method, the characteristics of image of end plug under extraction nuclear fuel rod described in step a,
Specifically:
Step a1, lower end plug profile information template is established；
Step a2, area-of-interest positioning and segmentation are carried out based on the obtained lower end plug profile information template of step a1；
Step a3, characteristics of image is extracted.
Above-mentioned nuclear fuel rod pose automatic identifying method, the spatial pose of end plug under calculating nuclear fuel rod described in step b
Information, specifically:
Step b1, the orthogonal binocular stereo vision model that end plug spatial pose detects under nuclear fuel rod is established；
Step b2, lower position of the end plug in first camera coordinate system is calculated；
Step b3, lower posture of the end plug in first camera coordinate system is calculated；
Step b4, the spatial pose in the lower alive boundary's coordinate system of end plug is calculated.
The utility model has the advantages that
The first, first camera optical axis direction is parallel to Z axis, and cross, the ordinate of image are respectively parallel to X-axis and Y-axis；Second
Camera optical axis is oriented parallel to X-axis, and cross, the ordinate of image are respectively parallel to Y-axis and Z axis；That is first camera and second camera
Quadrature arrangement carries out the detection of nuclear fuel rod pose in two orthogonal planes, it is a technical advantage that with tradition based on double
The spatial pose identification technology visually felt is compared, and the link to three-dimension object reconstruct is omitted.
The second, test object of the present invention is nuclear fuel rod, for the particularity of its slender cylinder structure, and combines first
Camera and the orthogonal fixed and arranged of second camera are not only easier acquisition image compared with " eye is in arrangement on hand ", but also
Image is less likely to occur to block.
Third reconstructs link since three-dimension object is omitted, while image being less likely to occur and blocks, therefore binocular of the present invention
Two cameras in vision system can work independently, and be conducive to improve image processing speed, and then improve nuclear fuel cluster
Packaging efficiency.
Nuclear fuel rod pose automatic identification equipment of the present invention and method can monitor the change in shape and pose of nuclear fuel rod
Variation provides device basic and theoretical basis for the screen automatic assembling on nuclear fuel rod and screen frame, is advantageously implemented
The safety of nuclear power equipment manufacturing not only can be improved in nuclear fuel cluster automatic assembling, but also can greatly improve nuclear power dress
Prepare the intelligent level made.
Detailed description of the invention
Fig. 1 is the schematic diagram that nuclear fuel rod is assembled into nuclear fuel cluster with the screen on screen frame.
Fig. 2 is nuclear fuel rod pose automatic identification equipment schematic diagram of the present invention.
Fig. 3 is nuclear fuel rod pose automatic identification equipment pictorial diagram of the present invention.
Fig. 4 is nuclear fuel rod pose automatic identifying method flow chart of the present invention.
Fig. 5 is the flow chart for extracting the characteristics of image of end plug under nuclear fuel rod.
Fig. 6 is the image that first camera obtains.
Fig. 7 is the image that second camera obtains.
Fig. 8 be using under fuel rod end plug region as image pyramid lower end fill in shape template.
Fig. 9 is the rectangular area drawn.
Figure 10 is the area-of-interest of lower end plug.
Figure 11 is the area-of-interest after denoising.
Figure 12 is the area-of-interest after region segmentation.
Figure 13 is the area-of-interest using minimum rectangle envelope.
Figure 14 is the middle section image of area-of-interest.
Figure 15 is the cylinder bus of end plug under fuel rod and the seamed edge straight line of open slot.
Figure 16 is the position of deflection θ, distance d and radius r in such as Figure 15.
Figure 17 is lower end plug end on projection relational graph.
Figure 18 is the flow chart for calculating the spatial pose information of end plug under nuclear fuel rod.
Figure 19 is orthogonal binocular stereo vision system model.
Figure 20 is the attitude angle schematic diagram calculation of lower end plug axis.
Specific embodiment
The specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Specific embodiment one
The present embodiment is nuclear fuel rod pose automatic identification equipment embodiment.
The nuclear fuel rod pose automatic identification equipment of the present embodiment, schematic diagram and pictorial diagram difference are as shown in Figures 2 and 3.
The nuclear fuel rod pose automatic identification equipment includes the first camera and second camera of quadrature arrangement,
The first camera optical axis direction is parallel to Z axis, and cross, the ordinate of image are respectively parallel to X-axis and Y-axis, are used for
Detect nuclear fuel rod under end plug relative to screen X-direction and Y direction displacement information and lower end plug open slot around Y
Deflection θ of the angle of deflection and lower end plug axis of axis rotation in XOY plane；
The second camera optical axis direction is parallel to X-axis, and cross, the ordinate of image are respectively parallel to Y-axis and Z axis, are used for
Detect nuclear fuel rod under end plug relative to screen Y direction and Z-direction displacement information and lower end plug axis in YOZ
Deflection in plane
The X-axis, Y-axis and Z axis are defined as follows: in the ideal situation, definition nuclear fuel rod axis direction is Y-axis, grid
Plane in plate where face and the direction where the intersection between the plane where the front end face of screen are Z axis, according to " Descartes
Coordinate system right-hand rule " determines X-direction, establishes cartesian coordinate system O-XYZ；
It should be noted that if the later period by the calibration to two camera relative positions, find the orthogonal of two camera optical axis
Error is greater than 1 °, can reduce error by adjusting the installation of camera, until quadrature error is less than 1 °；
Based on the displacement information, deflection angle and deflection, the phase under nuclear fuel rod between end plug and screen is identified
To the relative attitude under position and nuclear fuel rod between end plug open slot and screen.
Specific embodiment two
The present embodiment is nuclear fuel rod pose automatic identification equipment embodiment.
The nuclear fuel rod pose automatic identification equipment of the present embodiment limits the first phase on the basis of specific embodiment one
The minimum resolution of machine and second camera.
The lower end plug diameter for defining nuclear fuel rod is D, and opening slot length is L, and opening groove width is W1, the width of screen frame
Degree is W, is highly H, screen with a thickness of T, safe distance between lower end plug initial position and screen frame is DS, limit grid
Minimal difference between plate thickness and opening groove width is Δ, i.e. W1The accuracy of identification of-T >=Δ, image are δ, take δ=Δ/4；
The minimum resolution of first camera is RA1×RA2, wherein RA1>=W/ δ, RA2≥(2L+Ds)/δ；
The minimum resolution of second camera is RB1×RB2, wherein RB1≥(2H/3+D+DS)/δ, RB2≥(2L+DS)/δ。
It is described in detail with specific data instance:
Lower end plug diameter is D=5mm, and opening slot length is L=7mm, and opening groove width is W1=1.32mm, screen frame
Width be W=56.4mm, be highly H=64mm, screen with a thickness of T=1.2mm, lower end plug initial position and screen frame it
Between safe distance be DS=10mm, the gap between screen and lower end plug open slot are Δ=W1- T=0.12mm, then image
Accuracy of identification are as follows: δ=Δ/4=0.03mm；
According to above-mentioned data, calculate:
The minimum resolution of first camera: W/ δ × (2L+Ds)/δ=1880 × 800；
The minimum resolution of second camera: (2H/3+D+DS)/δ×(2L+DS)/δ=1922 × 800.
The major parameter of certain camera is listed as follows:
The major parameter list of certain camera
The minimum resolution of first camera and the minimum resolution of second camera are all larger than due to the resolution ratio of the camera,
Therefore it is suitable for nuclear fuel rod pose automatic identification equipment of the present invention, nuclear fuel rod pose automatic identification equipment shown in Fig. 3 is adopted
It is exactly two cameras.
Specific embodiment three
The present embodiment is nuclear fuel rod pose automatic identification equipment embodiment.
The nuclear fuel rod pose automatic identification equipment of the present embodiment, on the basis of specific embodiment one and embodiment two,
The inside and outside parameter of first camera and second camera is demarcated, comprising the following steps:
Step a, with the intrinsic parameter f of Zhang Zhengyou calibration method calibration first camerax1、fy1、u01And v01；
Step b, with the intrinsic parameter f of Zhang Zhengyou calibration method calibration second camerax2、fy2、u02And v02；
Step a can be replaced with step b sequence or synchronous progress；
Step c, same scaling board is shot with first camera and second camera, obtains the first image of scaling board and mark respectively
The second image of fixed board；
Step d, on the basis of scaling board described in step c, reference frame is established, asks first camera relative to reference respectively
The pose parameter matrix of coordinate systemAnd pose parameter matrix of the second camera relative to reference frame
Step e, according to following formula:
Obtain pose parameter matrix of the second camera relative to first camera.
Two cameras in nuclear fuel rod pose automatic identification equipment shown in Fig. 3 are demarcated.
Firstly, with the intrinsic parameter of Zhang Zhengyou calibration method calibration first camera and second camera, it is as shown in the table:
Binocular camera intrinsic parameter calibration result
Then, same scaling board is shot with first camera and second camera, obtains the first image of scaling board and mark respectively
The second image of fixed board acquires spin matrix R of the first camera relative to scaling board1cWith translation matrix T1c, second camera relative to
The spin matrix R of scaling board2cWith translation matrix T2cIt is respectively as follows:
Finally, according to following formula:
Obtain pose parameter matrix of the second camera relative to first camera:
Specific embodiment four
The present embodiment is nuclear fuel rod pose automatic identifying method embodiment.
The nuclear fuel rod pose automatic identifying method of the present embodiment, flow chart are as shown in Figure 4.This method includes following step
It is rapid:
Step a, the characteristics of image of end plug under nuclear fuel rod is extracted；
Step b, the spatial pose information of end plug under nuclear fuel rod is calculated；
Step c, according to spatial pose information, nuclear fuel rod is assembled.
Specific embodiment five
The present embodiment is the image characteristic extracting method embodiment of end plug under nuclear fuel rod.
The nuclear fuel rod pose automatic identifying method of the present embodiment further limits on the basis of specific embodiment four
Described in step a extraction nuclear fuel rod under end plug characteristics of image the following steps are included:
Step a1, lower end plug profile information template is established；
Step a2, area-of-interest positioning and segmentation are carried out based on the obtained lower end plug profile information template of step a1；
Step a3, characteristics of image is extracted.
The flow chart for extracting the characteristics of image of end plug under nuclear fuel rod is as shown in Figure 5.
Below by taking specific image as an example, elaborate to the characteristics of image for extracting end plug under nuclear fuel rod.
First camera acquired image is as shown in fig. 6, second camera acquired image is as shown in Figure 7.
Step a1, lower end plug profile information template is established；
Smoothing processing three times is carried out using median filtering to the image in Fig. 6 first, becomes the pixel of entire image gradually
It is few；Then according to pixel number image arranged from top to bottom, form image pyramid；It is extracted respectively using interactive mode again
Out in each tomographic image lower end plug profile, establish the pyramidal lower end plug contour mould of multilayer, the template will the later period by with
Make the position of end plug under positioning in entire image.For three layers, end plug region is as under image pyramid under fuel rod
End plug shape template is as shown in Figure 8.
Step a2, area-of-interest positioning and segmentation are carried out based on the obtained lower end plug profile information template of step a1；
The template matching that lower end plug profile is carried out since first layer determines lower end plug portion in entire image substantially
Position；According to approximate location one layer of search still further below, and assess the matching degree of the chamfered shape of lower end plug in two images.
Capable positioning is filled in the lower end of nuclear fuel rod in Fig. 6 using shape template trained in Fig. 8, finally searches out combustion
The position of end plug template, angle and similarity difference are as shown in the table under charge bar:
Lower end plug positional parameter in image in Fig. 6
Since matching degree reached for 98.211% (being greater than 90%), that is, think the exact position that can obtain lower end plug；Using
Row value Row, train value Col and the angle value θ of lower end plug regional center1Rectangular area as shown in Figure 9 is drawn for input.Its
In, l is selected according to the size of lower end plug1For 200 pixels and l2For 140 pixels.According to lower end plug positional parameter to lower end plug
Picture to be positioned is split, and the area-of-interest for obtaining lower end plug is as shown in Figure 10.
Step a3, characteristics of image is extracted；
In order to which the later period is accurately identified the pose of end plug under fuel rod, need accurately to extract fuel from area-of-interest
The azimuth information of the location information of end plug end face center and lower end plug axis under stick.
Still by taking Fig. 6 as an example, denoising is carried out to the area-of-interest being partitioned into Figure 10 using gaussian filtering；According to figure
As gray threshold carries out lower end plug area-of-interest image segmentation to end plug region under fuel rod and carry out morphology opening operation, obtain
Obtain the region of end plug under fuel rod；Minimum rectangle envelope is used to the figure being partitioned into, minimum external square in image can be acquired
The coordinate value at the boundary midpoint of shape.
Wherein, the area-of-interest after denoising is as shown in figure 11, such as Figure 12 of the area-of-interest after region segmentation institute
Showing, the area-of-interest using minimum rectangle envelope is as shown in figure 13, in Figure 13, point (u1, v1) be under fuel rod end plug exist
End center point in first camera image coordinate system.
When pixel under extraction on the projection line of the bus of end plug cylinder and open slot seamed edge, in order to eliminate lower end plug
The interference of end-beveling and open slot inboard circular arc portion, further reduces the area-of-interest of image, only retains such as Figure 14 institute
The middle section image of the area-of-interest shown；Extract the column part bus outline of end plug and the rib of open slot under fuel rod
The series of pixels point of edge profile, then each section of profile is fitted respectively using least square method, it obtains as shown in figure 15
The seamed edge straight line of the cylinder bus of end plug and open slot under fuel rod；And then find out the axis and open slot of lower end plug cylinder
Center line, and then calculate the deflection θ of the lower end plug axis of image coordinate system and be open groove center line and lower end plug cylinder
The radius r of the distance d of axis and lower end plug cylinder, as shown in figure 16.
The lower end plug end on projection relationship as shown in the geometry and Figure 17 of end plug under fuel rod is it is found that lower end plug is open
The angle of deflection of slot can be found out by formula α=arcsin (d/r).
Similarly, using the above method, the image of end plug is handled under the fuel rod that can be acquired to second camera, is obtained
End center point (u of the end plug under second camera image coordinate system under fuel rod2, v2) and fuel rod under end plug axis direction
Angle
The specific calculated result of the present embodiment is as follows:
(u1, v1)=(951.0,444.7)
θ=- 100.095 °
α=4.944 °
(u2, v2)=(752.3,990.4)
Specific embodiment six
The present embodiment is nuclear fuel rod pose automatic identifying method embodiment.
The nuclear fuel rod pose automatic identifying method of the present embodiment, on the basis of specific embodiment four and embodiment five,
The spatial pose information of end plug under calculating nuclear fuel rod described in step b is further limited, specifically:
Step b1, the orthogonal binocular stereo vision model that end plug spatial pose detects under nuclear fuel rod is established；
Step b2, lower position of the end plug in first camera coordinate system is calculated；
Step b3, lower posture of the end plug in first camera coordinate system is calculated；
Step b4, the spatial pose in the lower alive boundary's coordinate system of end plug is calculated.
The flow chart for calculating the spatial pose information of end plug under nuclear fuel rod is as shown in figure 18.
Below by taking specific image as an example, elaborate to the spatial pose information for calculating end plug under nuclear fuel rod.
Step b1, the orthogonal binocular stereo vision model that end plug spatial pose detects under nuclear fuel rod is established；
The camera arrangement of orthogonal binocular vision system according to Fig.2, establishes orthogonal binocular as shown in figure 19
Stereo visual system model.Wherein, O-XYZ is world coordinate system, O1-X1Y1Z1And o1-x1y1The respectively camera of first camera
Coordinate system and plane of delineation coordinate system, O2-X2Y2Z2And o2-x2y2Respectively the camera coordinates system of second camera and the plane of delineation are sat
Mark system, and the optical axis Z of second camera2With the optical axis Z of first camera1It is orthogonal；M is the end face center point of lower end plug, and N is lower end plug
Any point not being overlapped with M on axis, m1n1And m2n2Respectively MN is in o1-x1y1And o2-x2y2On projection；θ andRespectively
For line segment m1n1And m2n2In plane o1-x1y1And o2-x2y2Interior deflection.Lower end plug is respectively in o1-x1y1And o2-x2y2Interior
Characteristic point m1And m2Pixel coordinate (u1, v1) and (u2, v2) and α, θ andIt can be according to method described in specific embodiment five
It obtains.
Step b2, lower position of the end plug in first camera coordinate system is calculated；
According to camera imaging principle: coordinate of the end plug end face center M under first camera coordinate system under nuclear fuel rod
It is worth (X1, Y1, Z1) and (u1, v1) between relationship are as follows:
Wherein: fx1、fy1With u01、v01For the intrinsic parameter of first camera.
For second camera, coordinate value (X of the point M under second camera coordinate system can be similarly obtained2, Y2, Z2) and (u2, v2)
Between relationship are as follows:
Wherein: fx2、fy2With u02、v02For the intrinsic parameter of second camera.
In fact, coordinate value (X of the point M under second camera coordinate system2, Y2, Z2) and its under the coordinate system of first camera
Coordinate value (X1, Y1, Z1) there are following relationships:
Wherein: R21And T21The respectively coordinate system O of second camera2-X2Y2Z2Coordinate system O relative to first camera1-
X1Y1Z1Spin matrix and translation matrix, can be obtained according to method described in specific embodiment three.
On the basis of above formula, according to the point M subpoint m in two camera image coordinate systems respectively1And m2Pixel sit
Scale value (u1, v1) and (u2, v2) and two cameras intrinsic parameter (fx1、fy1、u01、v01) and (fx2、fy2、u02、v02), calculate lower end
End center point M is filled in first camera coordinate system O1-X1Y1Z1In position coordinates (X1, Y1, Z1):
Step b3, lower posture of the end plug in first camera coordinate system is calculated；
The yaw angle β and pitch angle γ of posture can roots in first camera coordinate system by the line segment MN of end plug axis under indicating
According to θ andIt determines, the specific method is as follows:
For easy analysis, establish using point M as origin, with coordinate system O1-X1Y1Z1The coordinate system O ' being substantially parallel1-X′1Y′1Z′1, as shown in figure 20.Then MN is located at coordinate system O '1-X′1Y′1Z′1In attitude matrix R '1As it is located at coordinate system
O1-X1Y1Z1In attitude matrix R1。
According to orthogonal binocular stereo vision model as shown in figure 19, projection m of the MN in two camera image planes1n1With
m2n2MN is respectively parallel in O '1-X′1Y′1With O '1-Y′1Z′1On projection, Er Qieyou:
While yaw angle β and θ,There are following relationships:
Eliminate a, b and c, can by θ andAcquire β:
It is obtained under nuclear fuel rod respectively after the angle of deflection of end plug, yaw angle β and pitch angle γ, so that it may determine lower end plug
Axis MN is in first camera coordinate system O1-X1Y1Z1In attitude matrix R1Are as follows:
R1=R '1=Rotz (α) Roty (β) Rotx (γ)
Step b4, the spatial pose in the lower alive boundary's coordinate system of end plug is calculated.
According to the method demarcated to Camera extrinsic number, first camera coordinate system can be calibrated relative to world coordinate system
Evolution matrix R1wWith posture changing matrix T1w。
Then, location matrix T of the lower end plug end face center M in world coordinate system can be found out respectivelywWith the appearance of lower end plug
State matrix Rw:
Rw=R1wR1
Location matrix TwWith attitude matrix RwIt is exactly the spatial pose in the lower alive boundary's coordinate system of end plug.
The embodiment of the present invention is described above, but the invention is not limited to the nuclear fuel rod of above-mentioned parameter skies
Between pose automatic identification specific embodiment, the above mentioned embodiment is only schematical, rather than restrictive,
Those skilled in the art under the inspiration of the present invention, are not departing from present inventive concept and claimed
In the case where range, it can also be applied in other nuclear fuel rods based on orthogonal Binocular Stereo Vision System assemble automatically, this
Within all belonging to the scope of protection of the present invention.The available prior art of each component part being not known in the present embodiment is subject to reality
It is existing.
Claims (4)
1. a kind of nuclear fuel rod pose automatic identifying method realizes that feature exists on nuclear fuel rod pose automatic identification equipment
In, comprising the following steps:
Step a, the characteristics of image of end plug under nuclear fuel rod is extracted；
Step b, the spatial pose information of end plug under nuclear fuel rod is calculated；
Step c, according to spatial pose information, nuclear fuel rod is assembled.
2. nuclear fuel rod pose automatic identifying method according to claim 1, which is characterized in that extraction described in step a
The characteristics of image of end plug under nuclear fuel rod, specifically:
Step a1, lower end plug profile information template is established；
Step a2, area-of-interest positioning and segmentation are carried out based on the obtained lower end plug profile information template of step a1；
Step a3, characteristics of image is extracted.
3. nuclear fuel rod pose automatic identifying method according to claim 1, which is characterized in that calculating described in step b
The spatial pose information of end plug under nuclear fuel rod, specifically:
Step b1, the orthogonal binocular stereo vision model that end plug spatial pose detects under nuclear fuel rod is established；
Step b2, lower position of the end plug in first camera coordinate system is calculated；
Step b3, lower posture of the end plug in first camera coordinate system is calculated；
Step b4, the spatial pose in the lower alive boundary's coordinate system of end plug is calculated.
4. nuclear fuel rod pose automatic identifying method according to claim 1,2 or 3, which is characterized in that in perfect condition
Under, definition nuclear fuel rod axis direction is Y-axis, the plane in screen where face and between the plane where the front end face of screen
Direction where intersection is Z axis, determines X-direction according to " cartesian coordinate system right-hand rule ", establishes cartesian coordinate system
O-XYZ；The nuclear fuel rod pose automatic identification equipment includes the first camera and second camera of quadrature arrangement,
The first camera optical axis direction is parallel to Z axis, and cross, the ordinate of image are respectively parallel to X-axis and Y-axis, for detecting
Displacement information and lower end plug open slot of the end plug relative to screen in X-direction and Y direction are revolved around Y-axis under nuclear fuel rod
Deflection θ of the angle of deflection and lower end plug axis turned in XOY plane；
The second camera optical axis direction is parallel to X-axis, and cross, the ordinate of image are respectively parallel to Y-axis and Z axis, for detecting
Under nuclear fuel rod end plug relative to screen Y direction and Z-direction displacement information and lower end plug axis in YOZ plane
Interior deflection
Based on the displacement information, deflection angle and deflection, the opposite position under nuclear fuel rod between end plug and screen is identified
Set and nuclear fuel rod under relative attitude between end plug open slot and screen.
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Also Published As
| Publication number | Publication date |
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| CN109000557B (en) | 2019-07-05 |
| CN108801135A (en) | 2018-11-13 |
| CN106123772A (en) | 2016-11-16 |
| CN108801135B (en) | 2019-07-05 |
| CN106123772B (en) | 2018-10-16 |
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