Integrirani sustav vida za nadzor i vođenje manipulatora za ispitivanje cijevi parogeneratora

scientific master's theses

• Author: Bruno Birgmajer
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Mario Essert (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2006-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing; Process Computing
• Universal decimal classification (UDC): 621.3 - Electrical engineering ; 004 - Computer science and technology. Computing. Data processing

Abstract

U ovom radu predstavljen je sustav robotskog vida za nadzor i vođenje manipulatora za inspekciju cijevi generatora pare u nuklearnim elektranama metodom vrtložnih struja. U jednom inspekcijskom ciklusu potrebno je ispitati po par stotina, pa i tisuća cijevi, te postoji nezanemariva vjerojatnost pojave grešaka poput pogrešne identifikacije cijevi. Nadzorni sustav vida uvodi se u upravljačku petlju inspekcijskog manipulatora kako bi se povećala njegova pouzdanost i uklonio problem krive identifikacije cijevi. Sustav koristi pametnu kameru, koja obavlja i snimanje i obradu slike, a montirana je blizu vrha alata manipulatora i Ethernet vezom povezana s kontrolerom gibanja i udaljenom operaterskom stanicom. Analizom snimljenih slika lociraju se i prate kružni otvori cijevi na kolektoru parogeneratora. Praćenjem kretanja manipulatora ispred mreže otvora na cijevnoj stijeni sustav može odrediti koordinate cijevi i potvrditi da je ispitna sonda ubačena u željenu cijev. U finalnom prilazu vrha alata manipulatora na otvor cijevi, sustav vida može automatski navoditi manipulator kako bi se ostvarilo precizno pozicioniranje vodilice sonde, što eliminira potrebu za ručnom korekcijom pozicije i produljuje vijek trajanja sonde. Integracija razvijenog sustava vida u sustav upravljanja manipulatorom omogućava razvoj potpuno automatskog inspekcijskog sustava koji bi zadovoljavao sve strože standarde sigurnosti nuklearnih elektrana. Predstavljeni sustav je inicijalno razvijen i testiran na laboratorijskoj maketi, a potom i uspješno primjenjen tijekom stvarne inspekcije u nuklearnoj elektrani.

Abstract (english)

This thesis presents a machine vision system for supervision and guidance of a tube inspection manipulator used for eddy-current inspections of steam generators in nuclear power plants. In one inspection cycle, few hundred or even few thousand steam generator tubes need to be tested, so omissions and errors can occur. A supervisory vision system is introduced into the inspection manipulator motion control loop to increase its reliability and eliminate the problem of tube misidentification. The system is using a smart camera, which performs both image acquisition and analysis, mounted at the manipulator instrument platform and linked via Ethernet connection to the motion controller and to the remote operator station. The acquired image is processed to locate and track circular tube openings. By tracking manipulator movements over the tube mesh the system can identify current tube coordinates and verify that the eddy-current probe is positioned into the desired tube. On final approach of the manipulator arm to the tube opening, the vision system can automatically guide the manipulator to achieve accurate positioning for probe insertion, thus eliminating the need for operator input and reducing probe wear. Integration of the developed vision system into the manipulator motion control system enables development of a more reliable and a fully automated inspection system to meet the ever-increasing nuclear power plant safety standards. The presented system was developed and tested on a laboratory model and then successfully implemented on a real manipulator during an actual inspection in a nuclear power plant.

• Keywords: robotski vid; obrada slike; upravljanje gibanjem s vizualnom povratnom vezom; kontrola gibanja; ispitivanje vrtložnim strujama; generator pare
• Keywords (english): machine vision; image processing; visual servoing; motion control; eddy current testing; steam generator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:673369
• Promotion: 2006
• Study programme: Title: Postgraduate master programe in computing; Study programme type: university; Study level: postgraduate; Academic / professional title: magistar inženjer računarstva (magistar inženjer računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-12-18 12:29:25