Архитектура и алгоритмы функционирования системы технического зрения радиационно стойких манипуляторов

Abstract

The key aspect of radiation-proof manipulators used in nuclear industry is human presence in the manipulator control loop due to a wide variety of performed operations and the nondeterministic nature of the working environment. Relatively large distances between the control stations and the manipulators, imperfect visibility of the sealed chamber’s inner space from the control station necessitate the use of computer vision systems. They serve both for general chamber observation as well as local observation of the manipulator end-effector working area. High levels of radiation impose certain limitations on the primary video sensors with regard to radiation resistance and service life. This requires special technical solutions to ensure additional radiation protection as well as design and algorithmic ways of minimizing the influence of hazardous environment. Modern trends in digital manufacturing design are based on a system of unique identification of materials, package, etc. One of the technically viable ways is applying optical labels containing barcodes that are identified by algorithms. The article covers the design, structure, functional possibilities and experimental results of one of the radiation-proof manipulator vision systems. This system is designed for working together with radiation-proof robotic electromechanical manipulators installed in sealed chambers of nuclear plants.