Mechanical arm positioning and obstacle avoiding system in Tokamak cavity

Abstract

The invention discloses a mechanical arm positioning and obstacle avoiding system in a Tokamak cavity, wherein a sensor signal collecting module is responsible for collecting signals of depth sensors installed in all positions of the Tokamak cavity; collected signals are input into a sensor signal processing module to be preprocessed; the sensor signal processing module works out spatial positions of a mechanical arm and the cavity, and data of various knuckles, corners and the like of the mechanical arm after the mechanical arm is skeletonized; results calculated serve as output signals of the sensor signal processing module to be sent to a mechanical arm control system module and a VR (virtual reality) real-time display module; the mechanical arm control system module judges whether the data sent by the sensor signal processing module are smaller than a collision early warning threshold values based on the signals from the sensor signal processing module, and if the data are smaller than the threshold values, an obstacle avoiding strategy is started; and the VR real-time display module displays the positions of the mechanical arm and the cavity in real time in a simulation environment according to the data sent by the sensor signal processing module, and provides an interface for human-computer interaction. The mechanical arm positioning and obstacle avoiding system can effectively realize the positioning and obstacle avoiding of the mechanical arm in the Tokamak cavity.

Description

technical field [0001] The invention relates to a system used in the technical field of mechanical control, in particular to a system for positioning and avoiding obstacles of a mechanical arm in a tokamak cavity based on depth sensor information. Background technique [0002] Due to the large internal and external area and volume of the tokamak device, the inner wall is generally designed by block manufacturing and reassembly process. Taking EAST as an example, its size is generally about 0.25m2 (50cm×50cm), and it weighs tens of kilograms. In order to prevent radiation and leakage accidents, the required welding and assembly accuracy is ±2mm or higher. After ITER is running, the temperature of the inner wall is as high as 120-200°C, the heat energy density can reach 5MW / m2 when it is started, and 0.5MW / m2 when it is shut down, the vacuum degree is 10-6, the magnetic field strength can reach 6.2T, and the gamma radiation is the highest. Up to 10Gy / h. This working conditi...

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