Vision Solution for In-Vessel Remote Maintenance Application

Abstract

Remote Handling and Robotics is a rapidly evolving technology. In the Tokamaks, the human presence is forbidden during nominal and maintenance operations due to the high levels of radiation, temperature and vacuum. Intelligent Remote handling and Robotics system hence will play an important role in performing various tasks such as remote maintenance, Inspection and Material handling.

For years, robots have used encoders and a closed-loop servo system to ensure the robot reaches the desired destination. Vision can also be used to enhance the robot control system. Robotic vision is a critical tool for robots used in automation and for service robots that assist humans in multiple ways, from military to consumer applications. Vision-guided robots use imaging technologies such as structured light systems, two-camera stereo systems, time-of-flight sensors, and single-lens camera systems. It enables robots to be deployed into new unidentified areas. Vision based Robotic systems are employed in Tokamaks for In-Vessel Visualization, sending the position feedback to the control system. In this project work, a stereo image processing systems has been designed and implemented which has the capabilities like measuring the dimensions of the object, color, shape and border detection, position feedback, distance and depth measurements etc.