A method for automatic planning of movement and operation paths based on mobile robots
A mobile robot and automatic planning technology, applied in the direction of instruments, manipulators, motor vehicles, etc., can solve problems such as vulnerability to injury, economic loss, production line shutdown, etc., to reduce labor intensity and safety risks, coordinate and coordinate actions, and improve real-time The effect of manipulating data
Active Publication Date: 2020-01-10
中国东方电气集团有限公司
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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 of the hazardous chemical solution change In some cases, the fixed solution extraction device is not capable of sampling inspection, and in severe cases, it will cause the suspension of hazardous solution treatment and the shutdown of the production line, resulting in huge economic losses
[0004] In addition, there is no fixed hazardous solution extraction equipment in many occasions. When the extracted hazardous solutions are of many types, the distance is relatively long, and the working environment is relatively harsh, people need to enter different environments or even high-risk environments to manually operate, and (1 ) People work in a harsh environment for a long time and are vulnerable to injury; (2) The amount of hazardous chemical solution is not accurate, and the operating efficiency is low; (3) Excess hazardous chemical solution is not easy to handle and other problems
These problems have seriously affected the processing efficiency and human safety in the detection of hazardous chemical solutions.
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[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0058] According to the characteristics of hazardous chemical solutions and the process of automatic quantitative extraction, considering the operational safety and the reliable realization of functions, an automatic quantitative extraction system for hazardous chemical solutions in high-risk environments based on mobile robots is designed. The working principle is as follows: figure 1 shown. The idea of separating the control mechanism and the executive mechanism is adopted as a whole. The mobile robot system is placed inside the high-risk environment as the actuator, and the main console is placed outside the high-risk environment as the control mechanism. It has good flexibility in the scene where the chemical composition is uncertain, there are many types, and the random quantitative extraction of hazardous chemical solutions with high sa...
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The invention relates to a method for automatic planning of movement and operation paths based on a mobile robot. The method includes the following steps: a mobile car system receives a starting command from a main console system; the mobile car system responds to key position point information and detection amounts previously sent by the main console The test liquid number and the test liquid designated discharge point information in the plan are used to plan the moving path of the mobile car system. After completion, the moving path planning information is stored in the mobile car system; the mobile car system sends work instructions and the amount of test liquid in the test dosage plan. information to the multi-joint manipulator system; the multi-joint manipulator system performs operation path planning of the multi-joint manipulator system, and upon completion, the operation path planning is stored in the multi-joint manipulator system; mobile car movement path planning and multi-joint manipulator system operation path After the planning is completed, the mobile car system feeds back the planning completion information to the main console system, waiting for the next movement instruction of the main console system.
Description
technical field [0001] The invention relates to the field of hazardous solution extraction and detection, in particular to a method for automatic planning of moving and operating paths based on mobile robots. 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 w...
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IPC IPC(8): G05D1/02B25J5/00
CPCG05D1/0214G05D1/0223G05D1/0225G05D1/0255G05D1/0263G05D1/0268G05D1/0276B25J5/007
Inventor 李晋航陈兵吴文亮
Owner 中国东方电气集团有限公司