摘要
核反应堆压力容器顶盖由于其贯穿件数量多,环境剂量率高,导致在役检查操作存在诸多不便,针对该问题,设计了一套基于AGV运载平台的反应堆压力容器顶盖检查机器人系统。该系统由AGV控制器、AGV运载平台、扫查器驱动控制模块和PC等组成,采用SLAM算法进行电子地图搭建和定位导航,运用双目视觉原理进行顶盖贯穿件的管口对中,并根据顶盖无损检测方法开发设计相应的控制软件,以此实现对机器人的远程操控。现场测试表明,该模块化控制系统性能稳定,实用性强,达到了设计要求,具有一定的应用前景。
Due to the large number of penetrations and high environmental dose rate of nuclear reactor pressure vessel head,there are many inconveniences in the process of in⁃service inspection.To solve this problem,this paper designs a set of reactor pressure vessel head inspection robot system based on AGV carrier platform.The system is composed of AGV controller,AGV carrier platform,scanner drive control module and PC,SLAM algorithm is used for electronic map building,positioning and navigation,binocular vision principle is used for nozzle alignment of top cover penetration,and the corresponding control software is developed and designed according to the top cover nondestructive testing method,so as to realize the remote control of the robot.The field test shows that the modular control system has stable performance and strong practicability,meets the design requirements,and has a certain application prospect.
作者
赵琛
ZHAO Chen(State Nulclear Power Plant Serivice Company,Shanghai 200233,China)
出处
《电子设计工程》
2023年第1期16-21,共6页
Electronic Design Engineering
基金
国家重大专项资助(2019ZX06005002)。
