基于TOF传感器的堵板拆装机器人水室定位

Positioning of the Robot Water Chamber Based on TOF Sensor

在进行核电站检修工作时,提前确定机器人在水室外的工作位置可以为机械臂进入人孔提供相对更大的活动范围和操作空间。为提高后续堵板作业的工作效率,通过建立蒸汽发生器人孔与机器人的相对空间位置数学模型,制定了一种基于TOF(Time of flight,飞行时间)激光位移传感器的定位方法,经实际操作可实现一次侧堵板的拆装工作。并通过机械臂末端位置对比实验得到该方法的相对重复定位误差为0.0845%,具有一定的可靠性。

During the maintenance of nuclear power plants,determining the working position of the robot in the water room in advance can provide a relatively larger movement range and operating space for the mechanical arm to enter the manhole.In order to improve the working efficiency of the subsequent blocking plate operation,a positioning method based on the TOF laser displacement sensor is developed by establishing the mathematical model of the steam generator manhole and the robot,which can realize the disassembly and assembly of the primary side blocking plate through practical operation.And the relative repeated positioning error of this method is 0.0845%,which has a certain reliability.