智能系统学报2026，Vol.21Issue(2)：453-460,8.DOI:10.11992/tis.202508029
蒸汽发生器传热管检测机器人视觉定位方法
Visual localization method for steam generator heat transfer tube inspection robot
摘要
Abstract
The heat transfer tubes in steam generators are critical components of nuclear power systems and require reg-ular inspection to ensure safety.To address the insufficient autonomous positioning capability of existing heat transfer tube inspection robots,this study proposes an autonomous positioning method based on ArUco markers.Given the task's environmental characteristics,this method deploys ArUco markers on the robot's legs and a camera at the bottom of the water chamber,thereby enhancing the robustness and continuity of positioning.Furthermore,by incorporating prior information about the tube sheet,a dynamic method for updating the extrinsic camera parameters is introduced to im-prove the positioning accuracy of the robot's pneumatic anchor claws.Finally,through a position correction strategy for the pneumatic anchor claws,the serial numbers of the heat transfer tubes into which the claws are inserted can be accur-ately identified.Tests conducted by simulating the steam generator in a water chamber demonstrate that the proposed method achieves superior positioning accuracy,with a maximum positioning error of only 6.75 mm for the pneumatic anchor claws(a reduction of approximately 42.99％).This research provides a technical reference for the development of intelligent inspection equipment for nuclear power plants and visual positioning of robots in narrow,confined spaces.关键词
蒸汽发生器/传热管检测/机器人/水室/锚爪/ArUco标记/视觉定位/摄像机外参Key words
steam generators/heat transfer tube inspection/robot/water chamber/anchor claws/ArUco mark/visual po-sitioning/camera extrinsic parameters分类
信息技术与安全科学引用本文复制引用
李嘉玮,刘招金,李玉晓,陈建,顾欣,张国成,王刚..蒸汽发生器传热管检测机器人视觉定位方法[J].智能系统学报,2026,21(2):453-460,8.基金项目
国家自然科学基金项目(52471318). （52471318）
