Control method of visual detecting device in nuclear fusion cabin

Abstract

The invention discloses a control method of a visual detecting device in a nuclear fusion cabin. The control method of the visual detecting device in the nuclear fusion cabin is characterized in that a front body segment lateral positioning module and a rear body segment lateral positioning module are symmetrically arranged on two ends of a middle body segment axial movement module so as to form a walking mechanism; a visual observation cradle head is arranged on the front body segment lateral positioning module and located in the front of the front body segment lateral positioning module; the front body segment lateral positioning module is connected with the middle body segment axial movement module through a front dual-universal-joint; the rear body segment lateral positioning module is connected with the middle body segment axial movement module through a rear dual-universal-joint. According to the control method of the visual detecting device in the nuclear fusion cabin provided by the invention, the movement range of the walking mechanism is wide, a walking track can spread across the circumference of a large dual-annular channel in the bottom part of the nuclear fusion cabin, and the visual observation cradle head is arranged in a matching way, so that the omni-directional visual information acquisition of a D-shaped section annular space in the nuclear fusion cabin can be completed.

Description

[0001] The application number is 2015101006777, the application date is 20150306, and the title of the invention is a visual observation mechanism and control method working in a nuclear fusion cabin. The applicant is a divisional application of the invention patent application of the Hefei Institute of Physical Science, Chinese Academy of Sciences. technical field [0002] The invention belongs to the field of nuclear environment remote control robot and automation technology, and more specifically relates to a visual observation mechanism and a control method working in a nuclear fusion cabin. Background technique [0003] Tokamak is a ring-shaped container that uses magnetic confinement to achieve controlled nuclear fusion. Its center is a ring-shaped vacuum chamber with a coil wound outside; when it is powered on, a huge spiral magnetic field will be generated inside the Tokamak, which will The plasma in it is heated to very high temperatures for the purpose of nuclear fu...

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Problems solved by technology

[0006] The present invention provides a control method for the visual detection device in the nuclear fusion cabin in order to avoid the shortcomings of the above-mentioned prior art, so as to overcome the detection range of the inner space of the nuclear fusion cabin caused by the cantilever solution in the prior art And defects such as limited positioning accuracy and unstable operation, so that its motion track can cover the large double ring channel at the bottom of the entire nuclear fusion cabin. The motion gait is similar to worm walking, with good running stability and simple control. It is equipped with a visual observation platform to realize All-round visual information collection of three degrees of freedom in the interior space of the nuclear fusion cabin, in order to reduce the load-carrying capacity requirements of the robot walking mechanism body, and improve the motion adaptability of the nuclear environment remote control robot platform to the structured and specific environment inside the nuclear fusion cabin

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