航姿参考系统在水冷壁机器人中的应用

Application of Air-Attitude Reference System in Water-wall Robot

本文针对电厂锅炉密闭的金属空间工况,以及作业环境复杂,干扰源多,影响了水冷壁机器人在炉内可靠定位的问题,首先分析了水冷壁机器人在炉内可靠定位的必要性;对比了多种水冷壁机器人多种定位系统的不足,阐述了航姿参考系统的原理以及应用于水冷壁机器人锅炉内定位的必要性和可行性;提出了航姿系统的安装方式及实现方式。

This paper focuses on the closed metal space working conditions of power plant boilers,as well as the complex operating environment,many interference sources,and the problem of reliable positioning of the robot in the furnace.First,the necessity of reliable positioning of the water-walled robot in the furnace is analyzed;The shortcomings of multiple positioning systems for waterwalled robots,the principles of the attitude and attitude reference system and the necessity and feasibility of applying the positioning in the boilers of the water-cooled walls are expounded;the installation and implementation of the attitude and attitude system are proposed.