A way of nuclear station inspection robot location

Nuclear safety is an important strategic demand in China. Steam generator is one of the key equipment in nuclear station, therefore its daily detection is very important. Robot is the most effective mean of detecting steam generator, and the location in the steam generator will greatly improves the detection efficiency of the robot in the detection process. This paper establishes a coordinate system consists of steam generator and detection robot, clarifies the location problem we need to solve. Then we establish odometer location model and image location model with its sensors, then derive and analyze both of the two models. This paper fuses the above two models together through particle filter method, introduces the location method we use and the specific steps are given. In the end of this paper, we design experiments for the robot location, experiments show that the particle filter location for nuclear station steam generator climbing-robot is accuracy and effectively.