Intelligent transport vehicle for sampling radioactive waste liquid of nuclear power plant and control method

Abstract

The invention relates to the technical field of nuclear waste liquid transport vehicles, and discloses an intelligent transport vehicle for nuclear power plant radioactive waste liquid sampling and a control method.The transport vehicle comprises a chassis, a storage part arranged on the chassis and a mechanical arm used for grabbing a carrier containing nuclear waste liquid; the storage part is internally provided with a plurality of carrying positions for placing the carriers, each carrying position is internally provided with a weighing module and a positioning module, and the weighing modules and the positioning modules are electrically connected with the mechanical arm; the positioning module is used for detecting and positioning the position of the carrier placed on the carrying position and outputting positioning information; when the mechanical arm places the grabbed carrier on the carrying position, the mechanical arm adjusts the lowering position of the carrier according to the positioning information of the grabbed carrier by the positioning module, so that the lowering position of the carrier is matched with the position of the weighing module; therefore, the total weight of the carrier and the nuclear waste liquid contained in the carrier can be accurately obtained. The carrier is positioned and calibrated at the specific height, positioning and lowering of the carrier are guided, the collision risk of the carrier during lowering can be effectively avoided, and potential safety hazards are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear waste liquid transport vehicles, and in particular to an intelligent transport vehicle and a control method for sampling radioactive waste liquid in a nuclear power plant. Background Art

[0002] In recent years, with the rapid development of economy, the consumption of electric energy has been increasing. Among them, coal used for thermal power generation is a non-renewable resource, while wind power and electric power generation are greatly restricted by natural conditions and have certain regional characteristics. Nuclear energy has the advantages of small footprint, no carbon dioxide, no air pollution, stable and reliable operation, etc., so it is increasingly valued by people, and the number of nuclear power plants is also increasing.

[0003] A large amount of nuclear waste liquid is generated during the operation, maintenance and decommissioning of nuclear power plants. When discharging it, directly discharging it into specialized treatment equipment not only poses unknown safety risks, but is also not conducive to the overall risk control of the nuclear power system. Therefore, it is necessary to sample, transport and treat these nuclear waste liquids, and judge whether the various parameters of the nuclear waste liquid are within the standard range based on the test and treatment results of the samples. Due to the large sampling volume, the participation of manpower in this process is not conducive to the sampling operation, and manual participation in the transportation process is prone to safety hazards.

[0004] At present, intelligent transport vehicles equipped with robotic arms are mostly used to sample and transport nuclear waste liquid from carriers (such as bottles, cans, etc.) of nuclear waste liquid. However, the accurate loading volume of the nuclear waste liquid cannot be obtained, and only a rough estimate can be made based on the standard capacity of the carrier, which is not conducive to the operation of the sample processing end. At the same time, when the carrier is loaded onto the vehicle, not only can the robotic arm and the placement position not produce effective coordination, but also cause interference, such as blocking the mark, landing, etc. The robotic arm itself cannot achieve accurate positioning and placement. Summary of the invention

[0005] In order to solve the above problems, the present invention provides an intelligent transport vehicle and control method for sampling radioactive waste liquid in nuclear power plants. The cooperation between the robotic arm and the placement position can realize the precise positioning and placement of the nuclear waste liquid carrier, effectively obtain the loading volume in the nuclear waste liquid carrier, and facilitate the overall planning of subsequent operations.

[0006] In a first aspect, the present invention provides an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant, comprising a chassis, a storage portion provided on the chassis, and a mechanical arm for grabbing a carrier containing the radioactive waste liquid, wherein the storage portion is provided with a plurality of loading positions for placing the carrier, each of the loading positions is provided with a weighing module and a positioning module, and the weighing module and the positioning module are both electrically connected to the mechanical arm;

[0007] The positioning module is used to detect the position of the carrier lowered to the carrier and output positioning information;

[0008] When the robotic arm places the grasped carrier onto the loading position, the robotic arm adjusts the lowering position of the carrier according to the positioning information of the grasped carrier provided by the positioning module, so that the lowering position of the carrier matches the position of the weighing module, thereby accurately obtaining the total weight of the carrier and the nuclear waste liquid contained therein.

[0009] Preferably, the chassis at least includes a motion unit, a driving module, and a remote control unit, the driving module is electrically connected to the motion unit, and the remote control unit is electrically connected to the driving module; the motion unit is arranged at the bottom and / or side of the chassis.

[0010] Preferably, the chassis further comprises an operating part, the operating part is arranged parallel to one side of the storage part, a carrying area is arranged on the operating part, and the mechanical arm is installed on the carrying area; the carrying area is located on one side of the operating part, and a parking point for supporting the mechanical arm is arranged on the other side of the operating part;

[0011] The multiple loading positions on the storage portion are evenly distributed, and an inner guardrail is arranged around each loading position, and the diameter of the inner guardrail is larger than the diameter of the carrier; an outer guardrail is arranged on the edge of the storage portion, and the height of the outer guardrail is larger than the height of the inner guardrail; the height of the outer guardrail is at least two-thirds of the height of the carrier.

[0012] Preferably, an overhead layer is provided on the storage portion, a plurality of loading positions are divided and arranged on the surface layer of the overhead layer, and the weighing module and the positioning module are embedded in the overhead layer; the weighing modules are distributed in a ring shape around the positioning module, and the positioning module is arranged in the central area of ​​the loading positions.

[0013] Preferably, a plurality of supporting parts and identification parts are provided at the bottom of the carrier, and the plurality of supporting parts are distributed in a ring shape around the identification part, the identification part is arranged at the center position of the bottom of the carrier, and the distribution ring diameter of the supporting part is the same as the distribution ring diameter of the weighing module; a positioning mark is provided on the identification part, and the relative position of the positioning mark and the plurality of supporting parts is fixed.

[0014] Preferably, the positioning module includes a projection unit, a collection unit, and a processing unit. The projection unit is arranged at the center position of the carrier or the collection unit is arranged at the center position of the carrier. The projection unit, the collection unit and the processing unit are electrically connected to the processing unit, and the processing unit is electrically connected to the robotic arm. The projection of the projection unit matches the positioning mark, the collection unit is used to collect the overlapping image of the projection and the positioning mark, and the processing unit is used to identify the overlapping image and output the positioning information.

[0015] Preferably, the robotic arm is disposed at a corner of the storage portion, the loading position is not provided near the robotic arm, and a plurality of loading positions are provided at other positions of the storage portion.

[0016] The loading positions in the storage section are all within the operating area of ​​the robot arm.

[0017] In a second aspect, the present invention provides a control method for an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant, which is applicable to the transport vehicle described in the first aspect, and the control method comprises:

[0018] Acquiring the grasping state of the robot arm, and when the robot arm grasps the carrier, allocating an idle position for the grasped carrier;

[0019] Acquire the position information of the assigned loading position, and place the captured carrier to the loading position according to the assigned position information of the loading position;

[0020] When it is detected that the descending height of the carrier reaches the preset positioning height, the positioning module carried on the carrier is started to position the carrier and output positioning information; the lowering position of the carrier is adjusted according to the positioning information so that the positioning mark at the bottom of the carrier matches the projection of the positioning module; the positioning information includes a horizontal vector and a deflection angle;

[0021] After it is detected that the carrier has been lowered, the overlapping image of the positioning mark and the projection is obtained. If the positioning mark matches the projection, the weighing data of the weighing module is obtained and the positioning module is turned off.

[0022] Further, when it is detected that the descending height of the carrier reaches a preset positioning height, the positioning module carried on the carrier is started to position the carrier and output positioning information, which specifically includes:

[0023] Presetting the positioning height according to the height of the inner guardrail, and detecting the descending height during the lowering process of the vehicle;

[0024] When the descending height reaches the positioning height, the mechanical arm is suspended, the positioning module is started, and the positioning module is projected upward, and the projected image is located at the identification portion at the bottom of the carrier;

[0025] Acquire a bottom image of the vehicle, wherein the bottom image at least includes the projected image and the positioning mark;

[0026] A horizontal vector pointing from the center point of the image to the center point of the positioning mark and a deflection angle between the image and the positioning mark are calculated, and the horizontal vector and the deflection angle are output as the positioning information.

[0027] Further, adjusting the lowering position of the carrier according to the positioning information so that the positioning mark at the bottom of the carrier matches the projection of the positioning module specifically includes:

[0028] The error range of overlap matching between the preset projected image and the positioning mark; the error range includes a center error range and a deflection error range;

[0029] Acquire the positioning information, and correct the hovering position of the robotic arm according to the positioning information so that the lowering position of the carrier grasped by the robotic arm is corrected synchronously;

[0030] Acquire the bottom image of the vehicle after correction, and calculate the deviation value between the image and the positioning mark; the deviation value includes a center deviation value and an angle deviation value;

[0031] Determine whether the deviation value is greater than the error range:

[0032] If yes, re-output the positioning information based on the bottom image after correction, and correct the hovering position of the robot arm again according to the re-output positioning information until the deviation value is less than the error range;

[0033] If not, the positioning mark is matched with the image, the lowering position of the carrier after the last correction is obtained, and the carrier is lowered to the loading position based on the lowering position.

[0034] Further, after detecting that the carrier has been lowered, obtaining the overlapping image of the positioning mark and the projection, if the positioning mark matches the projection, obtaining the weighing data of the weighing module and closing the positioning module, specifically includes:

[0035] Presetting the lowering height according to the height of the vehicle;

[0036] Acquire the descending height of the vehicle, and when the descending height reaches the lowering height, the vehicle completes lowering;

[0037] After the carrier is lowered, the overlapping image of the positioning mark and the projection is obtained to determine whether the positioning mark matches the projection:

[0038] If they match, release the carrier, obtain the weighing data of the weighing module, and turn off the positioning module;

[0039] If they do not match, the carrier is lifted to the positioning height, and the positioning module carried on the carrier is restarted to position the carrier and output positioning information.

[0040] The beneficial effects of the present invention are:

[0041] The present invention relates to an intelligent transport vehicle and a control method for sampling radioactive waste liquid in nuclear power plants. Clear loading positions (i.e., the placement positions of the loading positions) are divided on the transport vehicle. A positioning module is mounted on the loading position to cooperate with a mechanical arm to implement precise positioning and placement, so that the carrier can stably fall on a weighing module, thereby ensuring the stability and accuracy of weighing.

[0042] The present invention positions and calibrates the carrier at a specific height, and guides the positioning and lowering of the carrier, which can effectively avoid the collision risk of the carrier when it is lowered, and reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic side view of an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant;

[0045] Figure 2 The top view layout diagram of an intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants;

[0046] Figure 3 It is a schematic diagram of the misalignment of the projection and positioning mark;

[0047] Figure 4 It is a schematic diagram of the alignment of projection and positioning mark;

[0048] Figure 5 A flow chart of a control method of an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant;

[0049] Figure 6A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0050] In the figure: 1. chassis; 2. overhead layer; 3. loading area; 4. carrier; 5. weighing module; 6. positioning module; 7. projection; 11. storage part; 12. working part; 13. motion unit; 14. identification tag; 21. outer guardrail; 22. inner guardrail; 23. second loading area; 31. parking point; 41. support part; 42. identification part; 421. positioning mark; 300. electronic equipment; 301. central processing unit; 302. communication bus; 303. user interface; 304. network interface; 305. memory. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0052] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following description provides multiple embodiments of the present invention, and different embodiments can be replaced or combined, so the present invention can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present invention should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiment may not be clearly described in the following text.

[0053] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present invention. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the described order, and various steps may be added, omitted or combined. In addition, the features described in some examples may be combined in other examples.

[0054] According to a first aspect of the present invention, the present invention provides an intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants, see Figure 1-Figure 4, mainly includes a chassis 1 and a storage part 11 arranged on the chassis 1, and a mechanical arm for grabbing a carrier 4 containing nuclear waste liquid. A plurality of loading positions for placing the carrier 4 are arranged in the storage part 11, and a weighing module 5 and a positioning module 6 are arranged in each loading position. The weighing module 5 and the positioning module 6 are electrically connected to the mechanical arm; the positioning module 6 is used to detect the position of the carrier 4 positioned and lowered to the loading position and output the positioning information; when the mechanical arm places the grabbed carrier 4 on the loading position, the lowering position of the carrier 4 is adjusted according to the positioning information of the grabbed carrier 4 by the positioning module 6, so that the lowering position of the carrier 4 matches the position of the weighing module 5, thereby accurately obtaining the total weight of the carrier 4 and the nuclear waste liquid contained therein.

[0055] In the present invention, the placement positions of the carrier 4 are divided on the chassis 1, and a plurality of loading positions are divided on the storage portion 11, each loading position corresponds to one or more carriers 4 for placement, and a positioning module 6 is mounted on the loading position to assist in positioning when the carrier 4 is placed, and cooperate with the automatic control of the mechanical arm to achieve stable and accurate lowering. At the same time, a targeted weighing module 5 is set on the loading position, and the carrier 4 is weighed when it is positioned and placed, so as to obtain accurate nuclear waste liquid loading data.

[0056] It is understandable that the deadweight of the carrier 4 is fixed. After obtaining the detection data of the weighing module 5, the deadweight of the carrier 4 is subtracted to obtain the weight of the nuclear waste liquid. According to the weight of the nuclear waste liquid carried on the transport vehicle, it is possible to determine whether the transport vehicle is fully loaded, adjust the running speed of the transport vehicle, and plan the response plan for the nuclear waste liquid treatment end.

[0057] In an embodiment of the present invention, the robot arm should be configured with a claw structure for grasping based on the carrier 4. For example, for a cylindrical carrier 4, two semicircular claw structures in a ring shape as a whole can be configured; for a prismatic carrier 4, a symmetrical plate clamp can be configured; when there is space for implementation, the claw structure can be divided into an upper and lower part for grasping at the same time to ensure the stability of grasping.

[0058] It is feasible that the claw structure can also grasp the port structure of the carrier 4. Similarly, it should be matched with a corresponding grasping structure. For example, if it is a ring-shaped port, a short-moment opening and closing claw can be configured to clamp the port structure of the carrier 4 to lift the carrier 4. However, this method makes it easy for the carrier 4 to shake. The lower part of the claw can be matched with a limiting structure to support the main structure of the carrier 4 to prevent it from shaking.

[0059] In specific implementation, the body or the port structure of the carrier 4 can be grasped according to actual needs, which will not be described in detail in the present invention.

[0060] In an embodiment of the present invention, the chassis 1 at least includes a motion unit 13, a driving module, and a remote control unit. The driving module is electrically connected to the motion unit 13, and the remote control unit is electrically connected to the driving module. The motion unit 13 is arranged at the bottom and / or side of the chassis 1.

[0061] Specifically, the motion unit 13 can be a roller and a transmission structure, and the drive module can be a drive motor. The drive motor cooperates with the transmission structure to drive the roller to move, thereby driving the transport vehicle to run on a fixed track and / or an exclusive regional line; the remote control unit is used for staff intervention control.

[0062] The rollers in the motion unit 13 may be arranged at the bottom and / or the side of the chassis 1, and the power may be transmitted by the transmission structure.

[0063] In the present invention, the robot arm can be set on the chassis 1 alone, or arranged in the storage portion 11, but it should be clear that the loading positions in the storage portion 11 should all be located within the operating area of ​​the robot arm.

[0064] In a specific embodiment, see Figure 1 , Figure 2 The chassis 1 also includes a working part 12, which is arranged in parallel on one side of the storage part 11, and can be in a front-to-back position relationship; a loading area 3 is arranged on the working part 12, and the robotic arm is installed on the loading area 3; the loading area 3 is located on one side of the working part 12, and a parking point 31 for supporting the robotic arm is arranged on the other side of the working part 12, which can be used for stopping and resting. Of course, for balance considerations, follow-up rollers can be added at appropriate positions. In this case, the overall structure of the transport vehicle is loose, with a larger loading capacity, and the movement of the robotic arm is less restricted, but the volume of the transport vehicle is larger. The mutual interference between the working part 12 and the storage part 11 is small, and the loading positions can be normally arranged in the storage part 11.

[0065] In another possible embodiment, Figure 2 The layout of the storage part 11 on the right side of the storage part 11 is that the mechanical arm is set at a corner of the storage part, and a second loading area 23 is set in the storage part 11. No loading position is set near the mechanical arm, and multiple loading positions are set at other positions of the storage part; the position close to the second loading area 23 is easy to collide with the mechanical arm, so no loading position is set, and the slightly farther area can be normally set with loading positions. In this case, the utilization rate of the storage part 11 is low, but the overall structure of the transport vehicle is compact.

[0066] In an embodiment of the present invention, the placement of the carrier 4 is implemented based on the loading position, and a guardrail can be provided around the loading position to prevent the carrier 4 from tilting and directly tipping over when in operation or unstable placement; similarly, an integral guardrail can be provided based on the storage portion 11 to prevent the carrier 4 from falling directly from the transport vehicle.

[0067] In a specific embodiment, multiple load positions on the storage portion 11 are evenly distributed, and an inner guardrail 22 is arranged around each load position. The diameter of the inner guardrail 22 is larger than the diameter of the carrier 4, and a certain lowering error can be allowed. The inner guardrail 22 exists at the bottom of the carrier 4, and its height is relatively low, which can be used for the robot arm to obtain, identify, and locate the position information of the load position; an outer guardrail 21 is arranged on the edge of the storage portion 11, and the height of the outer guardrail 21 is greater than the height of the inner guardrail 22; the height of the outer guardrail 21 is at least two-thirds of the height of the carrier 4 to prevent the carrier 4 from falling from the transport vehicle.

[0068] Exemplarily, the carrier 4 is a cylindrical structure, the inner guardrail 22 may be an annular structure, and the outer guardrail 21 may be provided based on the area occupied by the storage portion 11 .

[0069] In order to facilitate the robot arm to identify and locate each load position, the load positions can be evenly distributed in a fixed sequence and positioned according to the relative position relationship; a load position label can also be set in each load position, and each load position can be positioned by identifying the load position label.

[0070] In an embodiment of the present invention, an identification label 14 may be provided at the front end of the storage portion 11 and the upper surface of the chassis 1 outside the outer guardrail 21. The identification label 14 is used to identify the transport vehicle. Each transport vehicle corresponds to an identification label 14, which can be used to record the running track of the transport vehicle to prevent the transport vehicle from deviating from the established route.

[0071] In an embodiment of the present invention, the weighing module 5 and the positioning module 6 are arranged based on the load position, but the division of the load position is performed based on the chassis 1. Exposing the weighing module 5, the positioning module 6, etc. directly on the chassis 1 is not conducive to the placement of the carrier 4. Therefore, in the present invention, an overhead layer 2 is arranged on the storage portion 11, the load position is transferred to the upper surface of the overhead layer 2, and the weighing module 5 and the positioning module 6 are embedded in the overhead layer 2, and at the same time, it does not affect the support for the carrier 4.

[0072] In a specific embodiment, an overhead layer 2 is provided on the storage portion 11, and a plurality of loading positions are divided and arranged on the surface of the overhead layer 2, and a weighing module 5 and a positioning module 6 are embedded in the overhead layer 2; the weighing module 5 is distributed in a ring shape around the positioning module 6, and the positioning module 6 is arranged in the central area of ​​the loading position.

[0073] Exemplarily, the overhead layer 2 can be an internally hollow frame structure, which is arranged on the storage part 11 belonging to the chassis 1, and the loading positions are divided on the upper surface of the overhead layer 2. An inner guardrail 22 is constructed based on the loading positions, and a weighing module 5 and a positioning module 6 are installed in an embedded manner, wherein the weighing module 5 is distributed in a ring shape around the positioning module 6, and the positioning module 6 is arranged in the central area of ​​the loading position.

[0074] In the present invention, a plurality of supporting parts 41 and an identification part 42 are provided at the bottom of the carrier 4. The plurality of supporting parts 41 are distributed in a ring shape around the identification part 42. The identification part 42 is provided at the center position of the bottom of the carrier 4, and the distribution ring diameter of the supporting parts is the same as the distribution ring diameter of the weighing module 5. When the carrier 4 is coaxial with the load position, the supporting parts just fall on the weighing module 5. At this time, the weighing module 5 can obtain accurate weighing data. A positioning mark 421 is provided on the identification part 42, and the relative position of the positioning mark 421 and the plurality of supporting parts 41 is fixed.

[0075] For example, the support portion 41 may be a footrest, and the identification portion 42 may be a patch structure attached to the center of the bottom of the carrier 4. A positioning mark 421 is set at the center of the patch structure. The positioning mark 421 may be a cross structure, and each bracket of the cross corresponds to a footrest, such as Figure 3 , Figure 4 As shown in ; of course, the positioning mark 421 can also be other structural forms, such as a square frame, with each corner of the frame corresponding to a foot.

[0076] In the present invention, the positioning module 6 includes a projection unit, a collection unit, and a processing unit. The projection unit is arranged at the center position of the carrier or the collection unit is arranged at the center position of the carrier. The projection unit, the collection unit and the processing unit are electrically connected, and the processing unit is electrically connected to the robotic arm. The projection 7 of the projection unit matches the positioning mark 421, the collection unit is used to collect the overlapping images of the projection 7 and the positioning mark 421, and the processing unit is used to identify the overlapping images and output the positioning information.

[0077] Among them, the projection unit can be a laser projector, and the acquisition unit can be a high-definition camera; taking the projection unit being arranged at the center of the carrier as an example, the acquisition unit can be arranged on the side of the projection unit. At this time, the image projected upward by the projection unit to the bottom of the carrier is coaxial with the carrier, but the acquisition unit has a certain acquisition angle, which can be appropriately corrected to obtain accurate image data, so as to facilitate the calculation of the deviation between the projection 7 and the positioning mark 421.

[0078] Exemplarily, the projection unit may include a light source and a shading sheet, the light source is disposed below the shading sheet, the shading sheet is embedded in the center of the carrier and flush with the upper surface of the overhead layer 2, and after the light source is turned on, the hollow pattern on the shading sheet can be transmitted upward. Considering the magnification effect of the projection, the vertically upward light can be emitted through the focusing effect, so that the image size of the projection 7 meets the requirements within a certain height (such as a preset positioning height).

[0079] Of course, the arrangement of the light sources may also be adjusted to form a specific pattern by combining multiple light sources and irradiating the bottom of the carrier 4 .

[0080] In the present invention, the projection unit projects upwards and projects the image to the bottom of the carrier 4. From the perspective of the robot arm, regardless of whether the carrier 4 blocks the positioning module 6, the carrier 4 cannot interfere with the positioning effect of the positioning module 6. It should be clear that when the robot arm grabs the carrier 4 and moves it to the top of the carrier, generally no large position deviation will occur. The center of the projection 7 can fall on the bottom of the carrier 4, and effective positioning correction can be performed, and the hovering position of the carrier 4 can be adjusted so that the center of the projection 7 overlaps with the center of the positioning mark 421; further, the carrier 4 can be rotated so that the posture of the projection 7 matches the posture of the positioning mark 421.

[0081] For example, if the image of the projection 7 and the positioning mark 421 are the same or of the same type, such as a cross or a frame structure of a cross, the image of the projection 7 and the positioning mark 421 are overlapped or matched in an ideal state, such as Figure 4 As shown in FIG. 4 , the projection 7 is a cross frame structure, and the positioning mark 421 is a cross, which is just located in the frame structure. If the lowering position of the carrier 4 is not accurate, the image of the projection 7 and the positioning mark 421 are misaligned, such as Figure 3 As shown in , if the carrier continues to be lowered in such a position, the support portion 41 and the weighing module 5 will be misaligned, and the weighing data obtained by the weighing module 5 may have a large error.

[0082] In this case, the bottom of the carrier 4 can be captured by the acquisition unit to obtain the overlapping image of the projection 7 and the positioning mark, and the deviation can be calculated according to the degree of overlap, so as to output the positioning information for correcting the lowering position of the carrier, adjust the robotic arm according to the positioning information, and synchronously complete the correction of the lowering position of the carrier.

[0083] In the embodiment of the present invention, the carrier is precisely lowered to ensure that the carrier falls stably on the weighing module 5. The arrangement of the support portion 41 and the weighing module 5 will affect the overlap deviation between the projection 7 and the positioning mark 421. Based on this, the accuracy requirement for lowering the carrier can be optimized, as follows:

[0084] As a feasible embodiment, the support portion 41 may also be a ring-shaped foot, and the weighing module 5 may be a ring-shaped structure. In this case, it is only necessary for the center of the image of the projection 7 to overlap with the center of the positioning mark 421 .

[0085] As another feasible embodiment, when the support portion 41 is a regional foot and the weighing module 5 is also a plurality of regional weighing units, each foot corresponds to a weighing unit. At this time, the image of the projection 7 needs to completely overlap with the positioning mark 421, that is, the center overlaps and the posture is consistent.

[0086] Of course, other feasible implementation / cooperation methods are not excluded. In the present invention, a plurality of support parts 41 in the form of pads and an annular weighing module 5 are used as examples for illustration, and the image to be projected 7 and the positioning mark 421 are completely overlapped as a standard for explanation.

[0087] In the present invention, the object to be grasped by the mechanical arm carried by the transport vehicle is the carrier containing the nuclear waste liquid. The state of the carrier can be that the nuclear waste liquid is loaded, and the mechanical arm only needs to grasp the carrier at the corresponding position; or it can be empty, and the mechanical arm grasps the carrier and receives and loads the nuclear waste liquid at the corresponding nuclear waste liquid discharge port. After the nuclear waste liquid is received, the carrier is lowered to the transport vehicle. The discharge of nuclear waste liquid can be metered, and quantitative discharge is carried out according to the capacity of the carrier to ensure that the nuclear waste liquid does not overflow from the carrier; of course, it should be determined that the carrier reaches the discharge position of the nuclear waste liquid before quantitative discharge of the nuclear waste liquid.

[0088] According to a second aspect of the present invention, a control method for the transport vehicle described in the above technical solution is also provided. Figure 5 , Figure 5 The following is a flow chart of a control method of an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant provided by an embodiment of the present invention. In the embodiment of the present invention, the control method includes:

[0089] S101. Acquire the grasping state of the robot arm. When the robot arm grasps a carrier, allocate an idle position for the grasped carrier.

[0090] The execution subject of the present invention may be a control system of the transport vehicle, which controls the robotic arm to complete the grabbing, positioning and lowering of the carrier.

[0091] In the present invention, obtaining the grasping state of the robot arm specifically includes:

[0092] If the carrier is already filled with nuclear waste liquid, the robotic arm can directly grab the carrier and lower it onto the transport vehicle;

[0093] If the carrier does not contain nuclear waste liquid, after obtaining the gripping state of the robot arm, the carrier should be lowered onto the transport vehicle after the carrier completes the loading of the nuclear waste liquid. The nuclear waste liquid can be quantitatively released according to the capacity of the carrier, and when the release is completed, it can be considered that the current carrier has completed the loading of the nuclear waste liquid.

[0094] Based on the actual situation, after it is determined that the robot arm has grasped the carrier, an idle position can be allocated to the grasped carrier and the carrier can be placed on the position.

[0095] In one possible implementation mode, the state of the carrier may include an idle state and a loaded state under normal circumstances. The state of the carrier may be judged based on the weighing module mounted thereon. When the weighing module has valid feedback parameters, the carrier is considered to be in a loaded state, that is, a carrier is placed on the carrier. When the weighing module does not have valid feedback parameters, the carrier is considered to be in an idle state and the carrier can be lowered.

[0096] In the present invention, there is a one-to-one correspondence between the allocated load positions and the carriers. The robotic arm can be driven to place the carrier on the corresponding load position. The relative position relationship between the load positions is fixed, and each load position and the robotic arm have a stable relative position relationship. The carrier can be lowered directly according to the preset load position data.

[0097] S102, obtaining the position information of the allocated loading position, and placing the captured carrier to the loading position according to the position information of the allocated loading position.

[0098] In an embodiment of the present invention, the relative position relationship between multiple load positions is fixed, and the position information of each load position can be directly preset and entered into the control system of the transport vehicle, or the robotic arm can perform real-time positioning and identification based on the relative position relationship between the load positions.

[0099] It is feasible. The load position itself does not have any substantial structural characteristics, and the inner guardrail set based on the load position can be used as the basic structure for positioning and identification. Each load position is numbered based on the positional relationship between multiple load positions, and when the load positions are allocated, the number can be allocated. When the carrier is lowered, the robot arm obtains the relative position relationship of the load positions, and determines the allocated load position based on the relative position relationship, and locates and sends it down with the help of the inner guardrail.

[0100] It is feasible that the position data of the carrier can be preset based on the position of the robot arm, and the position information of each carrier is calculated based on the position of the robot arm; when the robot arm is running, it starts from the initial position each time, and the end point of the operation is the position of the carrier.

[0101] As another feasible embodiment, each load position is provided with a load position label for identifying and positioning, and the position information of the allocated load position can be determined according to the load position label.

[0102] After the position information of the carrier is determined, the robot arm can be driven according to the position information to lower the carrier to the corresponding carrier position. However, in order to avoid the operation error of the robot arm, the lowering position should be verified and calibrated. At the same time, due to the existence of the inner guardrail and other carriers, there is a possibility of collision when the carrier is lowered, and these collisions should be avoided.

[0103] S103, when it is detected that the descending height of the vehicle reaches the preset positioning height, the positioning module carried on the carrier is started to position the vehicle and output positioning information; the lowering position of the vehicle is adjusted according to the positioning information so that the positioning mark at the bottom of the vehicle matches the projection of the positioning module.

[0104] In an embodiment of the present invention, the lowering position of the carrier can be corrected according to the descending height of the carrier. The positioning correction is implemented based on the positioning information output by the positioning module, and the robotic arm is adjusted to make the lowering position of the carrier correspond to the weighing module on the load position.

[0105] In a specific embodiment, the step of obtaining positioning information specifically includes:

[0106] Presetting the positioning height and detecting the descending height during the lowering process of the carrier;

[0107] When the descending height reaches the positioning height, the mechanical arm is suspended, the positioning module is started, and the positioning module is projected upward, and the projected image is located at the identification portion at the bottom of the carrier;

[0108] Acquire a bottom image of the vehicle, wherein the bottom image at least includes the projected image and the positioning mark;

[0109] A horizontal vector pointing from the center point of the image to the center point of the positioning mark and a deflection angle between the image and the positioning mark are calculated, and the horizontal vector and the deflection angle are output as the positioning information.

[0110] In the present invention, when acquiring positioning information, the robotic arm can be in a hovering state, and the hovering height is the positioning height. In this hovering position, there is no risk of collision at the bottom of the carrier, and horizontal adjustment and self-rotation can be performed, thereby achieving alignment between the carrier and the weighing module.

[0111] In the embodiment of the present invention, for accuracy considerations, multiple positioning corrections can be performed at a preset positioning height in order to achieve an ideal state in which the projected image and the positioning mark completely match and overlap, so that the positioning and lowering of the carrier can be carried out accurately.

[0112] The descent height of the carrier can be calculated based on the operating parameters of the robot arm, and the gripping position of the carrier by the robot arm can be fixed; when the gripping position is not fixed, it can be calculated based on the distance between the bottom of the carrier after gripping and the gripping position.

[0113] In a specific embodiment, when positioning correction is performed at a preset positioning height, it may be performed repeatedly for multiple times, and the specific steps include:

[0114] The error range of overlap matching between the preset projected image and the positioning mark; the error range includes a center error range and a deflection error range;

[0115] Acquire the positioning information, and correct the hovering position of the robotic arm according to the positioning information so that the lowering position of the carrier grasped by the robotic arm is corrected synchronously;

[0116] Acquire the bottom image of the vehicle after correction, and calculate the deviation value between the image and the positioning mark; the deviation value includes a center deviation value and an angle deviation value;

[0117] Determine whether the deviation value is greater than the error range:

[0118] If yes, re-output the positioning information based on the bottom image after correction, and correct the hovering position of the robot arm again according to the re-output positioning information until the deviation value is less than the error range;

[0119] If not, the positioning mark is matched with the image, the lowering position of the carrier after the last correction is obtained, and the carrier is lowered to the loading position based on the lowering position.

[0120] In the present invention, the hovering position of the robot arm is adjusted by the positioning information so that the projection overlaps with the positioning mark, and the carrier is lowered vertically at this position, so that the carrier can be stably lowered onto the weighing module. The misalignment between the projection effect and the positioning mark may include center deviation and angle deviation, so it should be ensured that these two deviations meet the requirements, that is, within the error range.

[0121] If a large error still exists after positioning correction is performed according to the positioning information, a secondary positioning correction can be performed based on the current image data.

[0122] It should be noted that when there are multiple positioning corrections, the lowering position after the last correction is the desired one, and the lowering of the carrier should continue based on this lowering position.

[0123] Based on the above steps, the positioning height can be preset based on the height of the inner guardrail at the loading position. Taking into account the possible multiple positioning corrections, multiple positioning corrections may be performed continuously at this positioning height, which will obviously reduce efficiency.

[0124] Preferably, this process can be simplified and the requirements for lowering accuracy can be optimized, such as widening the annular structure of the weighing module, shrinking the diameter of the inner guardrail, etc.; the problem of blurred projection at long distances can also be optimized. On this basis, two positioning corrections are set to consider the possibility of collision when placing the vehicle. The positioning height can be preset according to the height of the inner guardrail and the height of the vehicle, including a first positioning height and a second positioning height, wherein the first positioning height is set based on the height of the vehicle so that the hovering height of the vehicle is above other placed vehicles; the second positioning height is set based on the height of the inner guardrail so that the hovering height of the vehicle is above the inner guardrail; performing a positioning correction at each of the two positioning heights can effectively avoid collisions, and converting possible multiple positioning corrections into two operations to reduce the computational burden of lowering the vehicle in a single time and improve the lowering efficiency.

[0125] For the first positioning height, a rough match can be made, and the corresponding first error range can be appropriately expanded to achieve the purpose of preventing the grasped vehicle from colliding with other vehicles; for the second positioning height, the matching accuracy can be improved, and the corresponding second error range can be set to narrow the error range to achieve the purpose of preventing the vehicle from expanding with the inner guardrail and being able to fall stably on the weighing module.

[0126] Through the guidance of two positioning heights, the vehicle can be effectively lowered accurately, while avoiding invalid behaviors such as repeated corrections and calculations caused by projection accuracy problems.

[0127] S104, when it is detected that the carrier has been lowered, the overlapping image of the positioning mark and the projection is obtained. If the positioning mark matches the projection, the weighing data of the weighing module is obtained and the positioning module is turned off.

[0128] In the present invention, the positioning module can be triggered to run in stages. When the carrier is not being lowered or the lowering height is insufficient, it may not run. When it is lowered to a certain height, the positioning module is triggered to run. After the positioning and lowering are completed, the positioning module on the carrier should be turned off. Before closing, the final verification can be performed. At the same time, the weighing data of the weighing module should only be obtained after the positioning and lowering of the carrier is completed, and valid and accurate data should not be obtained at other stages. Specifically, the detection data of the weighing module can be obtained after the final verification is completed.

[0129] In an embodiment of the present invention, step S104 specifically includes:

[0130] Presetting the lowering height according to the height of the vehicle;

[0131] Acquire the descending height of the vehicle, and when the descending height reaches the lowering height, the vehicle completes lowering;

[0132] After the carrier is lowered, the overlapping image of the positioning mark and the projection is obtained to determine whether the positioning mark matches the projection:

[0133] If they match, release the carrier, obtain the weighing data of the weighing module, and turn off the positioning module;

[0134] If they do not match, the carrier is lifted to the positioning height, and the positioning module carried on the carrier is restarted to position the carrier and output positioning information.

[0135] In the present invention, the descending height of the vehicle is limited, and the lowering height can be preset according to the height of the vehicle to determine whether the vehicle has landed. Of course, a weighing module can also be used to determine whether the vehicle has landed. When the descending height reaches the lowering height and the weighing module has valid detection data, it is considered that the vehicle has landed, and the vehicle can be released at this time.

[0136] In the present invention, before the vehicle lands, it can also be verified with the help of a positioning module, and whether the projection and the positioning mark match each other can be determined based on their overlapping images. If they match, it means that the landing point of the vehicle is in line with expectations; otherwise, it does not meet expectations, and the vehicle can be lifted up to a second positioning height and the positioning can be corrected again.

[0137] If the final verification result is a match, the carrier can be released and the detection data of the weighing module can be obtained. The detection data is the sum of the weight of the nuclear waste liquid and the weight of the carrier. The weight of the carrier is known, and by subtracting the weight of the carrier, the loading weight of the nuclear waste liquid can be obtained.

[0138] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present invention can be implemented with the help of software and / or hardware. "Unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0139] Each processing unit and / or module of the embodiment of the present invention may be implemented by an analog circuit that implements the functions described in the embodiment of the present invention, or may be implemented by software that executes the functions described in the embodiment of the present invention.

[0140] See also Figure 6 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present invention, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 6As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0141] The communication bus 302 is used to realize the connection and communication between these components.

[0142] The user interface 303 may include a display screen (Display) and a camera (Camera). The optional user interface 303 may also include a standard wired interface and a wireless interface.

[0143] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0144] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics central processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, and it can be implemented separately through a chip.

[0145] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301. As Figure 6 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0146] exist Figure 6 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the central processor 301 can be used to call the control application program of the control method of the intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants stored in the memory 305, and specifically perform the following operations:

[0147] Get the grasping status of the robot arm. When the robot arm grasps the carrier, allocate an idle position for the grasped carrier.

[0148] Obtaining the position information of the assigned loading position, and placing the captured carrier to the loading position according to the position information of the assigned loading position;

[0149] When it is detected that the descending height of the vehicle reaches the preset positioning height, the positioning module carried on the carrier is started to position the vehicle and output positioning information; the lowering position of the vehicle is adjusted according to the positioning information so that the positioning mark at the bottom of the vehicle matches the projection of the positioning module; the positioning information includes the horizontal vector and the deflection angle;

[0150] When it is detected that the carrier has been lowered, the overlapping image of the positioning mark and the projection is obtained. If the positioning mark matches the projection, the weighing data of the weighing module is obtained and the positioning module is turned off.

[0151] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0152] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0153] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0154] In the several embodiments provided by the present invention, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0157] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0158] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0159] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. The present invention is intended to cover any variation, use or adaptive change of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. An intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants, characterized in that: The invention comprises a chassis (1), a storage portion (11) arranged on the chassis (1), and a mechanical arm for grabbing a carrier (4) containing nuclear waste liquid, wherein the storage portion (11) is provided with a plurality of loading positions for placing the carrier (4), each of the loading positions is provided with a weighing module (5) and a positioning module (6), and the weighing module (5) and the positioning module (6) are both electrically connected to the mechanical arm; The positioning module (6) is used to detect the position of the carrier (4) lowered to the carrier position and output positioning information; When the robotic arm places the captured carrier (4) onto the loading position, the robotic arm adjusts the lowering position of the carrier (4) according to the positioning information of the captured carrier (4) obtained by the positioning module (6), so that the lowering position of the carrier (4) matches the position of the weighing module (5), thereby accurately obtaining the total weight of the carrier (4) and the nuclear waste liquid contained therein.

2. The intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants according to claim 1, characterized in that: The chassis (1) comprises at least a motion unit (13), a driving module, and a remote control unit; the driving module is electrically connected to the motion unit (13), and the remote control unit is electrically connected to the driving module; the motion unit (13) is arranged at the bottom and / or the side of the chassis (1).

3. The intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants according to claim 1, characterized in that: The chassis (1) further comprises an operating part (12), the operating part (12) being arranged parallel to one side of the storage part (11), the operating part (12) being provided with a loading area (3), and the mechanical arm being mounted on the loading area (3); the loading area (3) being located on one side of the operating part (12), and a parking point (31) for supporting the mechanical arm being arranged on the other side of the operating part (12); the plurality of loading positions on the storage part (11) being evenly distributed, each loading position being provided with an inner guardrail (22) around it, the diameter of the inner guardrail (22) being greater than the diameter of the carrier (4); the edge of the storage part (11) being provided with an outer guardrail (21), the height of the outer guardrail (21) being greater than the height of the inner guardrail (22); the height of the outer guardrail (21) being at least two thirds of the height of the carrier (4).

4. The intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants according to claim 1, characterized in that: An overhead layer (2) is provided on the storage portion (11), and a plurality of loading positions are arranged on the surface of the overhead layer (2); the weighing module (5) and the positioning module (6) are embedded in the overhead layer (2); the weighing module (5) is distributed in a ring shape around the positioning module (6), and the positioning module (6) is arranged in the central area of ​​the loading positions.

5. The intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants according to claim 4, characterized in that: The bottom of the carrier (4) is provided with a plurality of support portions (41) and an identification portion (42); the plurality of support portions (41) are distributed in a ring shape around the identification portion (42); the identification portion (42) is arranged at the center of the bottom of the carrier (4), and the distribution ring diameter of the support portion is the same as the distribution ring diameter of the weighing module (5); a positioning mark (421) is arranged on the identification portion (42), and the relative position of the positioning mark (421) and the plurality of support portions (41) is fixed.

6. The intelligent transport vehicle for sampling radioactive waste liquid in nuclear power plants according to claim 5, characterized in that: The positioning module (6) comprises a projection unit, a collection unit, and a processing unit. The projection unit is arranged at the center of the carrier or the collection unit is arranged at the center of the carrier. The projection unit and the collection unit are electrically connected to the processing unit, and the processing unit is electrically connected to the mechanical arm. The projection (7) of the projection unit matches the positioning mark (421). The collection unit is used to collect an overlapping image of the projection (7) and the positioning mark (421). The processing unit is used to identify the overlapping image and output the positioning information.

7. A control method for an intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant, characterized in that: Applicable to the intelligent transport vehicle for sampling radioactive waste liquid in a nuclear power plant as claimed in any one of claims 1 to 6, the control method comprising: Acquiring the grasping state of the robot arm, and when the robot arm grasps the carrier, allocating an idle position for the grasped carrier; Acquire the position information of the assigned loading position, and place the captured carrier to the loading position according to the assigned position information of the loading position; When it is detected that the descending height of the carrier reaches the preset positioning height, the positioning module carried on the carrier is started to position the carrier and output positioning information; the positioning information includes a horizontal vector and a deflection angle; the lowering position of the carrier is adjusted according to the positioning information so that the positioning mark at the bottom of the carrier matches the projection of the positioning module; After it is detected that the carrier has been lowered, the overlapping image of the positioning mark and the projection is obtained. If the positioning mark matches the projection, the weighing data of the weighing module is obtained and the positioning module is turned off.

8. The control method according to claim 7, characterized in that: When it is detected that the descending height of the carrier reaches a preset positioning height, the positioning module carried on the carrier is started to position the carrier and output positioning information, which specifically includes: Presetting the positioning height and detecting the descending height during the lowering process of the carrier; When the descending height reaches the positioning height, the mechanical arm is suspended, the positioning module is started, and the positioning module is projected upward, and the projected image is located at the identification portion at the bottom of the carrier; Acquire a bottom image of the vehicle, wherein the bottom image at least includes the projected image and the positioning mark; A horizontal vector pointing from the center point of the image to the center point of the positioning mark and a deflection angle between the image and the positioning mark are calculated, and the horizontal vector and the deflection angle are output as the positioning information.

9. The control method according to claim 8, characterized in that: Adjusting the lowering position of the carrier according to the positioning information so that the positioning mark at the bottom of the carrier matches the projection of the positioning module specifically includes: The error range of overlap matching between the preset projected image and the positioning mark; the error range includes a center error range and a deflection error range; Acquire the positioning information, and correct the hovering position of the robotic arm according to the positioning information so that the lowering position of the carrier grasped by the robotic arm is corrected synchronously; Acquire the bottom image of the vehicle after correction, and calculate the deviation value between the image and the positioning mark; the deviation value includes a center deviation value and an angle deviation value; Determine whether the deviation value is greater than the error range: If yes, re-output the positioning information based on the bottom image after correction, and correct the hovering position of the robot arm again according to the re-output positioning information until the deviation value is less than the error range; If not, the positioning mark is matched with the image, the lowering position of the carrier after the last correction is obtained, and the carrier is lowered to the loading position based on the lowering position.

10. The control method according to claim 9, characterized in that: After detecting that the carrier has been lowered, obtaining the overlapping image of the positioning mark and the projection, and if the positioning mark matches the projection, obtaining the weighing data of the weighing module and closing the positioning module, specifically includes: Presetting the lowering height according to the height of the vehicle; Acquire the descending height of the vehicle, and when the descending height reaches the lowering height, the vehicle completes lowering; After the carrier is lowered, the overlapping image of the positioning mark and the projection is obtained to determine whether the positioning mark matches the projection: If they match, release the carrier, obtain the weighing data of the weighing module, and turn off the positioning module; If they do not match, the carrier is lifted to the positioning height, and the positioning module carried on the carrier is restarted to position the carrier and output positioning information.

Images