Dual-computer redundant embedded control system suitable for nuclear industrial robot

Abstract

The invention discloses a dual-computer redundant embedded control system suitable for a nuclear industrial robot. The dual-computer redundant control system comprises a host computer (100) taking a personal computer 104 (PC) as a main controller, and a backup computer (200) taking ARM9E as a controller, wherein the host computer (100) and the backup computer (200) are arranged on the nuclear industrial robot, and in electric signal connection with a robot drive control module (400) through a 485 bus; and instruction information is transmitted between the nuclear industrial robot and an uppercomputer (300) through an optical fiber. A state detection command is set for each module in the dual-computer redundant control system, and state information is continuously sent to the upper computer in the program operation process, so that the operating state of each module can be determined through different state information returned by the modules, and the position of a fault can be accurately determined once the fault occurs; the position of the fault can be more accurately located, so a more preferable method can be provided for making a decision about the robot with the fault; meanwhile, important reference information is provided for the return overhaul of the robot, so that the same fault is prevented in the future.

Description

technical field [0001] The present invention relates to an activation control system of a nuclear industrial robot, more particularly, a control system for activation and control of a nuclear industrial robot with a dual-machine redundant embedded control system. Background technique [0002] my country's nuclear industry is a national strategic industry. Because the nuclear radiation and radioactive substances involved in the nuclear industry are very dangerous, it is also a very special industry. A large number of operations in my country's nuclear industry and emergency response to nuclear incidents require quantitative measurement of radiation sites and determination of the scope of pollution sources, and even direct contact with nuclear radioactive materials. Nuclear facility pollution sites often have strong radiation fields, conventional protective measures are difficult to implement or the protective effect is extremely limited after implementation, and it is difficu...

AI Technical Summary

Problems solved by technology

On the one hand, due to the great danger of nuclear radiation and radioactive substances involved in nuclear industrial sites, once a robot fails, it is difficult for staff to retrieve the robot; on the other hand, nuclear industrial robots work in a nuclear radiation environment, which is a harsh industry The environment, nuclear radiation has strong interference and destructiveness to the robot control system and the navigation sensor device, and is prone to unpredictable accidents

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