Human-machine cooperative control system for underwater welding robot in limited waters

A control system and underwater welding technology, applied in welding equipment, manufacturing tools, arc welding equipment, etc., can solve the problems of lack of stability and accuracy, high cost, low efficiency, etc., to enhance the flexibility of movement and expand work Space, the effect of improving precision

Inactive Publication Date: 2018-12-21
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it cannot handle cracks on the sidewall
[0005] In summary, all of the above underwater robots still lack the ability to crack weld, and l...

Method used

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  • Human-machine cooperative control system for underwater welding robot in limited waters
  • Human-machine cooperative control system for underwater welding robot in limited waters
  • Human-machine cooperative control system for underwater welding robot in limited waters

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Embodiment Construction

[0030] A human-machine cooperative control system for underwater welding robots in limited water areas. In order to minimize human intervention, a human-machine cooperative control strategy (HMC2S) is used to greatly improve efficiency. HMC2S divides the UWV system into three layers: including the control system and actuators. The control system is a control system of human-machine collaborative control, which is divided into three layers: planning layer, control layer and execution layer;

[0031] The planning layer is the top layer, which can interact with people, perform motion planning and welding trajectory planning through data calculation, and form commands and send them to the control layer;

[0032] The control layer is an intermediate layer that receives commands from the planning layer and sends commands to the execution layer;

[0033] The execution layer is the bottom layer in HMC2S, which receives commands from the control layer and executes commands by controlli...

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Abstract

The invention provides a human-machine cooperative control system for an underwater welding robot in limited waters, and relates to the underwater repair operation of a nuclear power pool. The controlsystem is divided into three layers: a planning layer, a control layer, and an executing layer. The planning layer performs motion planning and welding trajectory planning through data calculation, and generates a command to send to the control layer. The control layer receives commands from the planning layer and sends commands to the executing layer. The executing layer receives commands from the control layer and executes commands by controlling the motion of an executor. The human-machine cooperative control system for underwater welding robot in limited waters is suitable for underwaterwelding operations.

Description

technical field [0001] The invention relates to the underwater restoration operation of nuclear power pools. Background technique [0002] In recent years, robots have been widely used in underwater operations, such as ocean exploration, seabed grabbing, and underwater operations. Especially underwater welding (UWV) robots can be used for routine inspection and emergency maintenance of spent fuel pools (SFP) in nuclear power plants. Since cracks occasionally appear on the wall of SFP, it is of great significance to develop a welding robot for preventing nuclear leakage cracks. However, the relevant research data on SFP are limited. [0003] To date, various UWVs for underwater inspection at SFP have been developed. Odakura and Kometani developed an underwater robot (ROV) to perform crack size measurements on core internals by adsorption on wall surfaces. Cho et al. designed the Korea Power Robot Vision Test System (KeproVt) for visual inspection, which consists of an und...

Claims

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Application Information

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IPC IPC(8): B23K9/00B23K9/12
CPCB23K9/0061B23K9/12
Inventor 陶建国邓立平罗阳邹晨洋李浩孙清洁丁亮邓宗全
Owner HARBIN INST OF TECH
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