Nuclear power plant working robot and control system thereof

Abstract

The invention relates to a nuclear power plant working robot and a control system thereof, which belong to the fields of robots and automation equipment. The nuclear power plant working robot is a crawler-type mobile manipulator and is composed of a mobile platform driven by double crawlers and a four freedom degree manipulator carried on the mobile platform. The nuclear power plant working robot can move inside a nuclear power plant, has two control modes of manual remote control and autonomous control, and is remotely controlled by a wireless or wired mode. The control system of the nuclear power plant working robot includes a host monitoring and planning control system and a robot control system which are matched to control the operation of the robot. The robot operates autonomously, is safe and reliable, can complete certain dangerous tasks in high radioactivity environment; the robot has small size, stable performance, great maneuverability and low operation cost; a crawler-type chassis has strong gripping force as well as certain climbing and obstacle clearing ability, and is suitable to walking over complex terrains; and the robot has high intelligence degree and can realize autonomous control and manual remote control.

Description

technical field [0001] The invention belongs to the field of robots and automation equipment, and in particular provides a general nuclear power plant operating robot and its control system. Background technique [0002] With the rapid and comprehensive development of my country's economy, the demand for energy is increasing. Nuclear energy is a clean energy with extremely high energy density. The vigorous development of nuclear energy and the construction of nuclear power plants are also in line with my country's new ideas of energy conservation and emission reduction. However, there are a large amount of radioactive substances in the reactor of the nuclear power plant, and many operating processes of the nuclear power plant are radioactive, and the damage of nuclear radiation to the human body is fatal. In the early days of the nuclear industry, personal injury and death accidents occurred continuously due to improper operation of personnel during inspection, maintenance a...

Images