Research On Assembly Technology Of Nuclear Rods Based On Binocular Vision

The rapid increase in demand for nuclear rods urgently need the realization of the automatic assembly of nuclear rods. However, due to the high precision measurement requirements of the orientation and position of the nuclear fuel rod in the process of assembly, the traditional automatic equipment can’t complete the assembly task of nuclear rods. Because the visual measurement of rods position method does not require contact with the fuel rods in high speed. Therefore, the assembly technology of nuclear rods based on binocular visual is researched in this paper. Aims to solve the insufficient of external environment perception of traditional equipment problems and improve efficiency of the assemble of nuclear rods, and then nuclear power industry will be developed.To achieve the automated assembly of nuclear rods, orthogonal binocular cameras fixed on the workbench are chosed according to the characteristics of nuclear rods assembly work. A method of dection of nuclear rod is presented. A method of celebration of orthogonal binocular cameras is presented to adjust two cameras.To detect pose nuclear rods in a high speed, a new detection method of the nuclear fuel rods pose is determined. In this method, the midpoint at the end of the plug is taken as feature point to detect nuclear rods position. The edges of the plug are taken as feature lines to detect nuclear rods orientation. And then the pose of fuel rod can be getted through position information and the orientation information.To feedback nuclear rods pose to the manipulator system, manipulator kinematics parameters are changed through the MATLAB. The control of manipulator system the lower end of fule rod to is complated to make the nuclear rods to a point or trajectory in Simulink simulation system.To verify the feasibility of this scheme, the Motoman HP20 D Robot and two CMOS cameras are used to build the hardware platform, and the visual servo control platform software is builed with C++. The system complete assemble automation of nuclear rods in a higher speed. The method of this paper has reference value for other axis part assembly task based on visual.