Method for system state detection and initial work of mobile robot

Abstract

The invention relates to a method for system state detection and initial work of a mobile robot. The mobile robot comprises a mobile trolley system, a multi-joint mechanical arm system, a clamp system, a visual ultrasonic detection system and a hazardous chemical solution storage system. The method includes the steps that a mobile robot marching route tape is laid, a key position point is calibrated, a typical program block is compiled, and coordinate system calibration of the multi-joint mechanical arm system is conducted; highly-hazardous environment state detection, mobile robot state detection and manual liquid taking tool preparation are conducted; initial work of the mobile robot is conducted; and the mobile robot enters an idle state and waits for a master console to send a hazardous chemical solution extracting instruction. By means of the method, the mobile robot is used for conducting automatic, quantitative and standard operation of quantitative hazardous chemical solution extracting repeatedly in a highly-hazardous environment, and therefore people can be completely isolated from the highly-hazardous environment without making contact with the highly-hazardous environment, and the requirement for sufficiently detecting the hazardous chemical solution is met.

Description

technical field [0001] The invention relates to the field of extraction and detection of hazardous chemical solutions, in particular to a method for state detection and initialization of a mobile robot system. Background technique [0002] Manufacturing, medical and health care, nuclear testing and nuclear power, metallurgy and chemical industries will produce a large number of hazardous chemical solutions with complex components, uneven concentrations, high corrosiveness, and high radioactivity, which can easily cause serious harm to humans, animals, and the environment. . This kind of hazardous chemical solution is generally stored in a closed space by means of isolation. After collection and storage, sampling and testing, purification treatment and discharge, etc., it is treated by dilution or solidification, and then converted into a small volume of concentrate and stored. After the corrosiveness and radioactivity are less than the maximum allowable discharge index, it ...

AI Technical Summary

Problems solved by technology

Judging from the published records and data, most of the hazardous chemical solution extraction uses a fixed hazardous chemical solution extraction device based on vacuum suction. The device is mainly composed of a vacuum pump, suction tube, control switch, and camera. The hazardous chemical solution processing equipment is fixed together in a certain place, and the extraction of the hazardous chemical solution is completed with manual participation. For the sake of stability, this type of device hardly adopts precise extraction control measures, so it is difficult to realize the quantitative and quantitative analysis of the hazardous chemical solution. random sampling

The lack of flexible extraction methods and the inability to accurately quantify the extraction have become bottlenecks restricting the improvement of the efficiency of hazardous chemical solution treatment. Since the fixed solution extraction device is used, it cannot be freely moved and operated. When the device fails or the components...

Images