Special intelligent robot for nuclear reactor and control method thereof

Abstract

The invention relates to a special intelligent robot for a nuclear reactor and a control method of the special intelligent robot. The special intelligent robot for the nuclear reactor comprises a mechanical system and a control system based on the CAN bus technology. The mechanical system comprises a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, each joint comprises a dynamic sealing structure, and each dynamic sealing structure comprises two dynamic sealing rings which are redundant to each other and a leak detection system; the control system is used for controlling the mechanical system to move. The special intelligent robot for the nuclear reactor disclosed by the embodiment of the invention has excellent dynamic sealing performance, and under the condition that any one dynamic sealing ring fails, the remaining dynamic sealing ring still can ensure the sealing performance of a mechanical system of the special intelligent robot for the nuclear reactor; and the special intelligent robot for the nuclear reactor has an automatic leak detection function, and can give an alarm under the condition that the dynamic sealing structure fails so as to prompt to maintain the dynamic sealing structure, so that the safety and reliability of the special intelligent robot for the nuclear reactor are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a special intelligent robot for a nuclear reactor and a control method thereof. Background Art

[0002] The wide energy spectrum ultra-high flux test reactor is a major basic scientific facility and a large scientific device for conducting material irradiation tests, scarce isotope production and neutron science research. In order to improve the irradiation test capability, the wide energy spectrum ultra-high flux test reactor has arranged nearly 300 irradiation target test positions (used to accommodate materials to be irradiated and isotope production samples) and numerous irradiation channels within a 2-meter diameter range. The internal space is extremely narrow and complex, and the irradiation targets can only be loaded and unloaded through the small top cover of the pressure vessel (diameter 500mm). At the same time, in order to reduce the radiation dose of the wide energy spectrum ultra-high flux reactor, the test reactor adopts an integral pool shell overall structure design, and there is a shielding water depth of nearly 8 meters above the top of the pressure vessel. Therefore, the loading and unloading of irradiation targets faces many challenges such as extremely complex operating space, small operating entrance diameter and large shielding water depth.

[0003] At present, the loading and unloading of irradiated targets in test reactors completely rely on manual operation by maintenance personnel and long-handled tools. This operation method is only applicable to the case where there is no shielding above the irradiated targets. The loading and unloading efficiency of irradiated targets is low, and it will cause maintenance personnel to face a large radiation dose. This traditional manual operation method is not applicable to the loading and unloading of irradiated targets in wide energy spectrum ultra-high flux test reactors. Therefore, it is urgent to develop high-precision and high-flexibility special intelligent robots that can be used in extremely complex operating environments.

[0004] The initial state of the commonly used intelligent robots in the prior art (i.e. the state in which all the moving arms are fully extended) corresponds to a relatively large space size, which makes it difficult to install and fix them in a small and complex space such as the core of a wide energy spectrum ultra-high flux nuclear reactor; moreover, the space range required for these robots to return from a folded state to an initial state is also relatively large, and they are not suitable for the nuclear reactor core environment. On the other hand, when the wide energy spectrum ultra-high flux core completes the task of loading and unloading irradiated targets, the intelligent robots need to withstand the water pressure of shielding water of no less than 12 meters, and need to consider the compatibility between the sealing material and the reactor coolant, as well as the degradation of the sealing material performance due to irradiation. The requirements for the dynamic sealing performance of the intelligent robot are relatively high.

[0005] In addition, since the intelligent robots commonly used in the prior art usually work in a relatively friendly space environment, their corresponding control methods are relatively simple and cannot be applied to application scenarios where complex tasks such as loading and unloading of irradiated targets are performed in the relatively complex and narrow internal space environment of a nuclear reactor core. Summary of the invention

[0006] In view of this, the present disclosure proposes a technical solution of a special intelligent robot for a nuclear reactor and a control method thereof.

[0007] According to one aspect of the present disclosure, a special intelligent robot for a nuclear reactor is provided, comprising: the special intelligent robot for a nuclear reactor comprises a mechanical system, and a control system based on CAN bus technology; the mechanical system comprises a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, and each joint comprises a dynamic sealing structure, the dynamic sealing structure comprises two redundant dynamic sealing rings and a leak detection system; the control system is used to control the movement of the mechanical system.

[0008] In a possible implementation, the plurality of moving arms are connected via the rotating joint, and at least one moving arm is provided with the telescopic joint, and the telescopic joint is used to adjust the length of the moving arm.

[0009] In a possible implementation, the rotary joint and the telescopic joint include a motor drive device.

[0010] In a possible implementation, the rotary joint and the telescopic joint are hollow structures, wherein the hollow structure is used to arrange power lines and control lines corresponding to the control system.

[0011] In a possible implementation, any dynamic sealing ring includes a highly elastic rubber ring in the form of a Gly ring and a self-lubricating polymer material.

[0012] In a possible implementation, the leak detection system includes a highly water-absorbent filling material, a conductive coil, a lead, a current signal collector, and a power supply.

[0013] According to another aspect of the present disclosure, a control method for a special intelligent robot for a nuclear reactor is provided, which is applied to the control system of the special intelligent robot for a nuclear reactor, comprising: constructing a nuclear reactor digital model corresponding to a target nuclear reactor and an intelligent robot digital model corresponding to the special intelligent robot for the nuclear reactor, respectively, wherein the nuclear reactor digital model is used to reflect the internal environment information corresponding to the target nuclear reactor, and the intelligent robot digital model is used to reflect the external dimensions and structural features corresponding to the special intelligent robot for the nuclear reactor; determining potential initial path key points corresponding to the special intelligent robot for the nuclear reactor according to a preset three-dimensional space point distribution feature distance, a feature space gradient deviation value threshold, the nuclear reactor digital model and the intelligent robot digital model; performing a qualification check on the potential initial path key points according to the intelligent robot digital model and the nuclear reactor digital model, and determining qualification check results corresponding to the potential initial path key points, wherein the qualification check includes Interference check, singularity check and joint module load check; when the qualification check result corresponding to the potential initial path key point is unqualified, adjust the potential initial path key point until the qualification check result corresponding to the adjusted potential initial path key point is qualified; determine the potential initial path key point with a qualified qualification check result or the adjusted potential initial path key point as the initial path key point, and repeat the above process until the initial motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position is determined, wherein the initial path key point is used to simulate any position passed in the initial motion path; interpolate and smooth the initial motion path to determine a plurality of target path key points, wherein the target path key points are used to determine the target motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position in the target nuclear reactor, and the number of the target path key points is greater than or equal to the number of the initial path key points.

[0014] In a possible implementation, the method of determining the potential initial path key points corresponding to the special intelligent robot for the nuclear reactor according to the preset three-dimensional space point distribution characteristic distance, the characteristic space gradient deviation value threshold, the nuclear reactor digital model and the intelligent robot digital model includes: arranging a plurality of spatial feature points in the digital model corresponding to the target nuclear reactor according to the three-dimensional space point distribution characteristic distance; for the determined initial path key points K n-1 , the initial path key point K n-1 The feature space gradient value between the target position and the target position is determined as the initial path key point K to be determined nThe corresponding feature space gradient reference value, wherein n is a positive integer greater than or equal to 1, when n is equal to 1, the initial path key point K0 is the initial position; according to the feature space gradient value between each spatial feature point and the target position, and the feature space gradient reference value, the feature space gradient deviation value corresponding to each spatial feature point is determined respectively; among all the spatial feature points whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold, the spatial feature point with the smallest feature space gradient deviation value is determined as the potential initial path key point.

[0015] In one possible implementation, when the qualification check result corresponding to the potential initial path key point is unqualified, the potential initial path key point is adjusted until the qualification check result corresponding to the adjusted potential initial path key point is qualified, including: performing a qualification check on each spatial feature point whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold in order from small to large, until the spatial feature point whose qualification check result is determined to be qualified, and determining the spatial feature point as the adjusted potential initial path key point.

[0016] In a possible implementation, the method further includes: when the qualification check results corresponding to all spatial feature points whose feature space gradient deviation values ​​are not greater than the feature space gradient deviation value threshold are all unqualified, increasing the feature space gradient deviation value threshold to determine the adjusted deviation value threshold; determining the potential initial path key points after secondary adjustment based on the three-dimensional space point distribution feature distance and the adjusted deviation value threshold; performing a qualification check on the potential initial path key points after secondary adjustment to determine the qualification check results corresponding to the potential initial path key points after secondary adjustment; when the qualification check results corresponding to the potential initial path key points after secondary adjustment are qualified, determining the potential initial path key points after secondary adjustment as the adjusted potential initial path key points.

[0017] In a possible implementation, the method further includes: when the qualification check results corresponding to all the potential initial path key points after the second-level adjustment are unqualified, reducing the three-dimensional space point distribution characteristic distance to determine the adjusted characteristic length; determining the potential initial path key points after the third-level adjustment according to the adjusted characteristic length and the adjusted deviation value threshold; performing a qualification check on the potential initial path key points after the third-level adjustment to determine the qualification check results corresponding to the potential initial path key points after the third-level adjustment; when the qualification check results corresponding to the potential initial path key points after the third-level adjustment are unqualified, repeating the above process until the qualification check results corresponding to the potential initial path key points after the third-level adjustment are qualified; when the qualification check results corresponding to the potential initial path key points after the third-level adjustment are qualified, determining the potential initial path key points after the third-level adjustment as the adjusted potential initial path key points.

[0018] The special intelligent robot for nuclear reactors of the disclosed embodiment includes a mechanical system and a control system. The mechanical system includes a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, and each joint includes a dynamic sealing structure, and the dynamic sealing structure includes two mutually redundant dynamic sealing rings, so that when any dynamic sealing ring fails, there is still a remaining dynamic sealing ring to ensure the sealing of the mechanical system of the special intelligent robot for nuclear reactors; the dynamic sealing structure also includes a leak detection system, which has an automatic leak detection function, and can issue an alarm in time when the dynamic sealing structure fails, so as to prompt the technicians to maintain the dynamic sealing structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors. By controlling the movement of the mechanical system with a control system based on CAN bus technology, the transmission efficiency and transmission reliability of the control information of the special intelligent robot for nuclear reactors can be guaranteed when the diameter of the CAN bus is as small as possible, thereby meeting the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing and control information transmission reliability and real-time performance in special environments such as the core of the nuclear reactor.

[0019] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0021] Figure 1 A block diagram showing a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure is shown;

[0022] Figure 2 A schematic structural diagram of a rotary joint according to an embodiment of the present disclosure is shown;

[0023] Figure 3 A schematic structural diagram of a telescopic joint according to an embodiment of the present disclosure is shown;

[0024] Figure 4 A structural schematic diagram of a dynamic sealing structure according to an embodiment of the present disclosure is shown;

[0025] Figure 5 A schematic diagram showing the structure of a mechanical system according to an embodiment of the present disclosure is shown;

[0026] Figure 6 A schematic diagram showing characteristic dimensions of a mechanical system according to an embodiment of the present disclosure;

[0027] Figure 7 A schematic diagram showing the installation of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure is shown;

[0028] Figure 8 A flow chart showing a control method of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure;

[0029] Fig. 9 A process schematic diagram of a special intelligent robot control method for a nuclear reactor according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0031] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0032] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0033] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0034] The disclosed embodiment provides a special intelligent robot for a nuclear reactor, each joint of which is provided with a dynamic sealing structure including two mutually redundant dynamic sealing rings and a leak detection system, which can improve the dynamic sealing performance of the special intelligent robot for a nuclear reactor, and has an automatic leak detection function, which can promptly issue an alarm in the event of a dynamic sealing structure failure, so as to prompt the technician to maintain the dynamic sealing structure. The special intelligent robot for a nuclear reactor of the disclosed embodiment is described in detail below.

[0035] Figure 1 FIG. 1 is a block diagram of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure. Figure 1 As shown, the special intelligent robot 100 for nuclear reactors includes a mechanical system 101 and a control system 102 based on CAN (Controller Area Network) bus technology.

[0036] The mechanical system 101 includes multiple moving arms, multiple rotating joints and at least one telescopic joint, and each joint includes a dynamic sealing structure, which includes two redundant dynamic sealing rings and a leak detection system; the control system 102 is used to control the movement of the mechanical system.

[0037] Among them, the materials used to manufacture the moving arms, rotating joints and telescopic joints can be flexibly set according to actual usage requirements, and can meet the performance requirements such as corrosion resistance, radiation resistance, and mechanical properties. For example, stainless steel materials with high corrosion resistance can be used, and the present disclosure does not make specific limitations on this.

[0038] The specific forms of the rotating joints and telescopic joints can be flexibly set according to actual usage requirements as long as they meet the preset design requirements. The present disclosure does not make any specific limitations on this. The specific content of the design requirements here can be flexibly set according to actual usage requirements. For example, it may include stroke requirements, load requirements, positioning accuracy requirements, traversal range requirements and external size requirements, etc. The present disclosure does not make any specific limitations on this.

[0039] In one example, the design requirements include travel requirements, load requirements, positioning accuracy requirements, traversal range requirements and external dimensions requirements. Among them, the travel requirement needs to be greater than 3m, the load requirement needs to be greater than 10kg, the positioning accuracy requirement needs to be no greater than ±2mm, the traversal range requirement needs to be greater than 2m, and the cross-sectional dimension requirement corresponding to any position except the top support structure needs to be less than 0.4m.

[0040] In a possible implementation, the rotary joint and the telescopic joint include a motor drive device.

[0041] Figure 2 FIG. 2 is a schematic diagram showing a structure of a rotary joint according to an embodiment of the present disclosure. Figure 2 As shown, the rotary joint can be configured as an integrated rotary joint module 200 based on a motor drive device, wherein the motor drive device 200 can include a joint motor 201 and a motor support 202 .

[0042] Figure 3 FIG. 2 is a schematic diagram showing a structure of a telescopic joint according to an embodiment of the present disclosure. Figure 3 As shown, the telescopic joint can be configured as an integrated linear motion joint module 300 based on a motor drive device, wherein the motor drive device 300 may include a joint motor 301 and a lead screw 302, and the joint motor 301 can drive the inner cylinder of the motion arm to perform linear motion along the lead screw 302 within the outer cylinder of the motion arm, thereby controlling the motion arm to telescope.

[0043] By using a motor drive device, the size of the rotating joint and the telescopic joint can be reduced, thereby reducing the spatial size of the mechanical system 101, which can reduce the difficulty of installing and fixing the special intelligent robot for nuclear reactors in a narrow and complex environment such as a nuclear reactor core.

[0044] Optionally, the above-mentioned motor drive device can be replaced by other types of drive devices according to actual application requirements, such as a hydraulic drive device, a pneumatic device, etc., and the present disclosure does not make specific limitations on this.

[0045] The rotation joint and the telescopic joint will be described in detail later in conjunction with possible implementations of the present disclosure, and will not be elaborated here.

[0046] Each joint of the mechanical system 101 is provided with a dynamic sealing structure including two redundant dynamic sealing rings and a leakage detection system to ensure the sealing and reliability of the mechanical system 101. The leakage detection system is provided between the two dynamic sealing rings.

[0047] Through the redundant setting of the two dynamic sealing rings, when any one of the dynamic sealing rings fails, there is still the remaining dynamic sealing ring to ensure the sealing of the equipment. The specific forms of the two dynamic sealing rings can be flexibly set according to actual use requirements, and the present disclosure does not make specific limitations on this.

[0048] In a possible implementation, any dynamic sealing ring includes a highly elastic rubber ring in the form of a Gly ring and a self-lubricating polymer material.

[0049] Specifically, any dynamic sealing ring may include a highly elastic rubber ring in the form of a Gray ring and a self-lubricating polymer material. Among them, the highly elastic rubber ring can provide a pre-tightening force that meets the preset strength and has adaptive capabilities to achieve joint sealing; the self-lubricating polymer material meets the preset wear resistance and can be used to ensure that the moving sealing surface has a low friction coefficient. In addition, for the special environment of the core of a nuclear reactor, it is also necessary to consider the compatibility between the sealing material and the nuclear reactor coolant, as well as the material performance degradation of the sealing material under radiation. Therefore, the materials used for the highly elastic rubber ring and the self-lubricating polymer material need to have high radiation resistance.

[0050] The specific form of the material used for the high-elastic rubber ring can be flexibly set according to actual usage requirements, as long as it meets the requirements of elasticity, compatibility and radiation resistance. The present disclosure does not make specific limitations on this.

[0051] In one example, the high elastic rubber ring may use EPDM rubber with high radiation resistance, and its performance may be further improved by adding radiation resistant functional fillers and radiation protective agents.

[0052] The specific form of the material used in the self-lubricating polymer material can be flexibly set according to actual usage requirements and can meet the requirements of friction, wear resistance and radiation resistance. The present disclosure does not make specific limitations on this.

[0053] In one example, the self-lubricating polymer material may use materials such as polyimide, polyetheretherketone and polytetrafluoroethylene with high wear resistance and radiation resistance, and its performance can be further improved by modification (such as adding particles, fiber reinforcement, etc.).

[0054] The leak detection system can send out an alarm signal in time when the sealing ring near the outside fails, indicating that the dynamic sealing structure has leaked, and prompting relevant staff to maintain the dynamic sealing structure. The specific form of the leak detection system can be flexibly set according to actual use requirements, and the present disclosure does not make specific restrictions on this; the specific form of the alarm signal can be flexibly set according to actual use requirements, for example, it can include sound and light prompts, etc., and the present disclosure does not make specific restrictions on this.

[0055] In a possible implementation, the leak detection system includes a highly water-absorbent filling material, a conductive coil, a lead wire, a current signal collector, and a power supply.

[0056] Figure 4 FIG. 2 is a schematic diagram showing a dynamic sealing structure according to an embodiment of the present disclosure. Figure 4 As shown, the dynamic sealing structure includes a dynamic sealing ring 401 as an outer seal, a dynamic sealing ring 402 as an inner seal, a strong water-absorbing filling material 403 located between the dynamic sealing ring 401 and the dynamic sealing ring 402, a conductive coil 404 located in the strong water-absorbing filling material 403, and a lead 405 electrically connected to the conductive coil 404. The lead 405 is also connected to a current signal collector and a power supply.

[0057] The highly water-absorbent filling material 403 cannot conduct electricity in a dry state, and the conductive coil 404 is in a disconnected state at this time, and the leak detection system will not send out an alarm signal. When the sealing ring 401 as the outer seal fails, the highly water-absorbent filling material 403 will absorb the coolant (containing salt water) that has penetrated into the dynamic sealing structure, thereby turning into a conductive material to connect the conductive coil 404, so that the conductive coil 404, the lead wire 405, the current signal collector and the power supply form a closed loop; the current signal collector will send out an alarm signal after detecting the current signal.

[0058] The specific form of the highly absorbent filling material can be flexibly set according to the actual use requirements, and it is sufficient to ensure that the water absorption capacity meets the preset requirements. For example, the highly absorbent filling material can include a material made of super absorbent fiber (SAF), etc., and the present disclosure does not make specific limitations on this. Among them, the specific content of the preset requirements for water absorption capacity can be flexibly set according to the actual use requirements, for example, it can include that the weight of water absorbed by the material is not less than 200 times its own weight, etc., and the present disclosure does not make specific limitations on this.

[0059] It should be noted that the highly absorbent filling material should be fixed on the side of the moving sealing surface corresponding to the dynamic sealing structure and close to the fixed sealing surface. Among them, the part of the highly absorbent filling material close to the fixed sealing surface needs to adopt a lower weaving density to reduce the friction coefficient between the highly absorbent filling material and the fixed sealing surface, thereby reducing the influence of the highly absorbent filling material on the joint movement.

[0060] In addition, the highly absorbent filling material has excellent water absorption and water retention properties, and the leak detection system reserves sufficient expansion space for it, ensuring that the highly absorbent filling material has the ability to absorb the coolant that enters the installation gap between the two dynamic sealing rings due to the failure of the dynamic sealing ring, and prevents the coolant that leaked in the early stage from directly entering the internal damage control components of the special intelligent robot for nuclear reactors. In this way, the special intelligent robot for nuclear reactors can work normally in the early stage of leakage, providing time for performing emergency operations. Among them, the specific value of the expansion space volume can be flexibly set according to actual use requirements, and the present disclosure does not make specific limitations on this.

[0061] The specific forms of the conductive coil, lead wire, current signal collector and power supply can all refer to the implementation methods in the relevant technology, and materials and structures with high radiation resistance can be preferably used, and the present disclosure does not make specific limitations on this.

[0062] The redundant design of two dynamic sealing rings and the use of radiation-resistant materials can improve the dynamic sealing effect, safety and reliability, making the dynamic sealing structure adaptable to high water pressure and high radiation environments such as the core of a nuclear reactor. The leak detection system in the dynamic sealing structure can promptly issue an alarm when any dynamic sealing ring fails, prompting relevant staff to maintain the dynamic sealing structure, further improving the reliability of the dynamic sealing structure.

[0063] The control system 102 can be used to control the movement of the mechanical system 101, so that the special intelligent robot 100 for nuclear reactors can perform target tasks in extremely complex core environments such as wide energy spectrum ultra-high flux reactors. The specific form of the control system 102 can be flexibly set according to actual usage requirements, and can be implemented based on CAN bus technology, and this disclosure does not make specific limitations on this.

[0064] By using a control system based on CAN bus technology to control the movement of the mechanical system, the transmission efficiency and reliability of the control information of the special intelligent robot for nuclear reactors can be guaranteed while keeping the CAN bus diameter as small as possible, thereby meeting the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing and control information transmission reliability and real-time performance in special environments such as the core of a nuclear reactor.

[0065] The special intelligent robot for nuclear reactors of the disclosed embodiment includes a mechanical system and a control system. The mechanical system includes a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, and each joint includes a dynamic sealing structure, and the dynamic sealing structure includes two mutually redundant dynamic sealing rings, so that when any dynamic sealing ring fails, there is still a remaining dynamic sealing ring to ensure the sealing of the mechanical system of the special intelligent robot for nuclear reactors; the dynamic sealing structure also includes a leak detection system, which has an automatic leak detection function, and can issue an alarm in time when the dynamic sealing structure fails, so as to prompt the technicians to maintain the dynamic sealing structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors. By controlling the movement of the mechanical system with a control system based on CAN bus technology, the transmission efficiency and transmission reliability of the control information of the special intelligent robot for nuclear reactors can be guaranteed when the diameter of the CAN bus is as small as possible, thereby meeting the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing and control information transmission reliability and real-time performance in special environments such as the core of the nuclear reactor.

[0066] In a possible implementation, a plurality of moving arms are connected via a rotating joint, and at least one moving arm is provided with a telescopic joint, and the telescopic joint is used to adjust the length of the moving arm.

[0067] Commonly used intelligent robots in the prior art can be divided into serial robots, parallel robots and serial-parallel hybrid robots according to their structural forms. Among them, serial robots can connect multiple fixed-length motion arms in series through multiple rotating joints, can traverse a larger spatial range, and are suitable for the application scenarios of loading and unloading irradiated targets in nuclear reactors; parallel robots can achieve greater load-bearing capacity and rigidity through the parallel connection of motion arms, but their spatial traversal range is small and they are not suitable for the application scenarios of loading and unloading irradiated targets in nuclear reactors; serial-parallel hybrid robots can combine the structural advantages of serial robots and parallel robots, but their structures are usually more complicated.

[0068] Therefore, serial robots and serial-parallel robots can be used to load and unload irradiation targets in the test reactor of the nuclear reactor. However, the initial state of these intelligent robots (i.e., the state in which all the moving arms are fully extended) corresponds to a large space size, which makes it difficult to install and fix them in the narrow and complex space of the core of the wide energy spectrum ultra-high flux nuclear reactor; and the space range required for these robots to return to the initial state from the folded state is also large, which is not suitable for the core environment of the nuclear reactor.

[0069] In view of this, in the embodiment of the present disclosure, a telescopic joint is introduced on a fixed-length motion arm, so that the special intelligent robot for a nuclear reactor provided by the present disclosure can couple the two forms of motion, rotation and telescopic. Specifically, the multiple motion arms of the mechanical system 101 can be connected by a rotation joint, and at least one motion arm is provided with a telescopic joint to adjust the length of the motion arm.

[0070] Figure 5 FIG. 2 is a schematic diagram showing a structure of a mechanical system according to an embodiment of the present disclosure. Figure 5 As shown, the mechanical system 101 includes 5 rotating joints and 3 moving arms provided with telescopic joints, which can provide 5 rotational degrees of freedom and 3 telescopic degrees of freedom. Specifically, the mechanical system 101 can be decomposed into a vertical lifting and rotating platform 501 and a vertically distributed telescopic mechanical arm system 502. Among them, the vertical lifting and rotating platform 501 includes from top to bottom: a rotating joint 5011, and a moving arm 5013 provided with a telescopic joint 5012. The vertically distributed telescopic mechanical arm system 502 includes from top to bottom: a rotating joint 5021, a moving arm 5023 provided with a telescopic joint 5022, a rotating joint 5024, a moving arm 5026 provided with a telescopic joint 5025, a rotating joint 5027 and a rotating joint 5028. An operating device such as a gripper can also be provided at the rotating joint 5028.

[0071] Through the telescopic joints 5012, 5022 and 5025, the lengths of the moving arms 5013, 5023 and 5026 can be flexibly adjusted, so that according to actual usage requirements, the length of the mechanical system 101 in the initial state can be effectively limited, which facilitates the installation and fixation of the special intelligent robot 100 for nuclear reactors in narrow and complex spaces such as the core of a nuclear reactor, and can reduce the space range required for the special intelligent robot 100 for nuclear reactors to recover from a folded state to an initial state, so that it can meet the needs of performing target tasks in narrow and complex spaces such as the core of a nuclear reactor, thereby expanding the scope of application of special intelligent robots for nuclear reactors.

[0072] Figure 6A schematic diagram showing characteristic dimensions of a mechanical system according to an embodiment of the present disclosure is shown. The minimum length of the mechanical system is 3069.5 mm and the maximum length is 4394.5 mm. Among them, the length L1 of the rotating joint 5011 in the vertical direction is 90mm, the length L2 of the moving arm 5013 equipped with the telescopic joint 5012 in the vertical direction is 1290 to 2060mm, the length L3 of the rotating joint 5021 in the horizontal direction is 130mm, the length L4 of the moving arm 5023 equipped with the telescopic joint 5022 in the vertical direction is 685 to 855mm, the length L5 of the rotating joint 5024 in the horizontal direction is 130mm, the length L6 of the moving arm 5026 equipped with the telescopic joint 5025 in the vertical direction is 890 to 1275mm, the length L7 of the rotating joint 5027 in the horizontal direction is 102mm, and the length L8 of the rotating joint 5028 in the horizontal direction is 170mm; the length L9 of the gripper 601 in the vertical direction is 114.5mm, and the length L10 in the horizontal direction is 215mm.

[0073] Figure 7 FIG. 1 is a schematic diagram showing the installation of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure. Figure 7 As shown, through the telescopic joint, the length of the moving arm of the special robot can be controlled to meet the space limitation in the core of the nuclear reactor, and the special robot can be loaded into the nuclear reactor through the opening of the pressure vessel and installed on the small top cover.

[0074] By introducing a telescopic joint on a moving arm of fixed length, the special intelligent robot for a nuclear reactor provided by the present invention can couple the two forms of movement of rotation and telescopic movement, so that when having a larger spatial traversal range, by reducing the initial length of the moving arm, the spatial size of the special intelligent robot for a nuclear reactor in an initial state can be reduced, which facilitates the installation and fixation of the special intelligent robot for a nuclear reactor in a small and complex environment such as the core of a nuclear reactor, and the execution of target tasks, thereby improving the scope of application and flexibility of the special intelligent robot for a nuclear reactor.

[0075] In a possible implementation, the rotary joint and the telescopic joint are hollow structures, wherein the hollow structure is used to arrange power lines and control lines corresponding to the control system 102 .

[0076] In order to further improve the convenience of installation and fixation of the special intelligent robot 100 for nuclear reactors, and to ensure the reliability and safety of the control system 102 controlling the mechanical system 101, the rotary joint and the telescopic joint can be set as a hollow structure to facilitate the arrangement of the power line and control line corresponding to the control system 102, and to provide radiation shielding for the power line and the control line. The specific method of arranging the power line and the control line corresponding to the control system 102 in the hollow structure can be flexibly set according to actual use requirements, and the present disclosure does not make specific restrictions on this.

[0077] The special intelligent robot for nuclear reactors of the disclosed embodiment includes a mechanical system and a control system. The mechanical system includes a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, wherein the plurality of moving arms are connected by rotating joints, and at least one moving arm is provided with a telescopic joint, which is used to adjust the length of the moving arm. Thus, by introducing a telescopic joint on a moving arm of fixed length and coupling the two forms of rotation and telescopic movement, the special intelligent robot for nuclear reactors can reduce its spatial size in the initial state when it has a large spatial traversal range, and is convenient for the special intelligent robot for nuclear reactors to be installed and fixed in a small and complex environment such as the core of a nuclear reactor, and to perform target tasks, thereby improving the scope of application and flexibility of the special intelligent robot for nuclear reactors. Each joint includes a dynamic sealing structure, which includes two redundant dynamic sealing rings, so that when any dynamic sealing ring fails, there is still a remaining dynamic sealing ring to ensure the sealing of the mechanical system of the special intelligent robot for nuclear reactors; the dynamic sealing structure also includes a leak detection system with an automatic leak detection function, which can issue an alarm in time when the dynamic sealing structure fails to prompt technicians to maintain the dynamic sealing structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors. The control system based on CAN bus technology is used to control the movement of the mechanical system, and the transmission efficiency and reliability of the control information of the special intelligent robot for nuclear reactors can be guaranteed while the CAN bus diameter is as small as possible, thereby meeting the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing and control information transmission reliability and real-time performance in special environments such as the core of a nuclear reactor.

[0078] According to another aspect of the embodiment of the present disclosure, a control method for a special intelligent robot for a nuclear reactor is also provided, which can be applied to the control system of the special intelligent robot for a nuclear reactor mentioned above, and can determine the potential initial path key points with high directionality and selectivity with high search efficiency based on the nuclear reactor digital model corresponding to the target nuclear reactor and the intelligent robot digital model corresponding to the special intelligent robot for the nuclear reactor by using the characteristic space gradient value; further combined with the qualification check, the potential initial path key points determined in the path planning process are checked in multiple dimensions to improve the safety of the special intelligent robot for the nuclear reactor when moving along the target motion path, so that the target motion path of the special intelligent robot for the nuclear reactor can be determined on the basis of taking into account the efficiency and reliability of path planning. The control method for a special intelligent robot for a nuclear reactor disclosed in the present disclosure is described in detail below.

[0079] Figure 8 The flowchart of a control method of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure is shown. The control method of a special intelligent robot for a nuclear reactor can be executed by the control system of the special intelligent robot for a nuclear reactor. Figure 8 As shown, the special intelligent robot control method for a nuclear reactor includes:

[0080] In step S801, a nuclear reactor digital model corresponding to the target nuclear reactor and an intelligent robot digital model corresponding to the special intelligent robot for the nuclear reactor are constructed respectively, wherein the nuclear reactor digital model is used to reflect the internal environment information corresponding to the target nuclear reactor, and the intelligent robot digital model is used to reflect the external dimensions and structural features corresponding to the special intelligent robot for the nuclear reactor.

[0081] The target nuclear reactor here may refer to any nuclear reactor that requires the deployment of a special intelligent robot for the nuclear reactor, including but not limited to a wide energy spectrum high-throughput test reactor. It may be flexibly configured according to actual usage requirements, and the present disclosure does not make any specific limitation on this.

[0082] The digital model of a nuclear reactor corresponding to the target nuclear reactor can truly and accurately reflect the internal environment information corresponding to the target nuclear reactor. Its specific form and content can be flexibly set according to actual usage requirements. For example, the digital model of a nuclear reactor can be a three-dimensional simulation model, and its content may include information such as the structural dimensions and pipeline layout inside the target nuclear reactor. The present disclosure does not make specific limitations on this.

[0083] The digital model of the intelligent robot corresponding to the special intelligent robot for nuclear reactors can truly and accurately reflect the corresponding external dimensions, structural features, and degrees of freedom of movement of the special intelligent robot for nuclear reactors. Its specific form and content can be flexibly set according to actual usage requirements. For example, the digital model of the intelligent robot can be a three-dimensional simulation model, and its content may include the spatial dimensions of the mechanical system of the special intelligent robot for nuclear reactors in the initial state, the spatial dimensions in the fully expanded state, and the structural features corresponding to the mechanical system, etc. The present disclosure does not make specific limitations on this.

[0084] The specific method of constructing the digital model of a nuclear reactor corresponding to the target nuclear reactor and the digital model of an intelligent robot corresponding to the special intelligent robot for the nuclear reactor can refer to the implementation methods in the relevant technology, and the present disclosure does not make specific limitations on this.

[0085] In step S802, the potential initial path key points corresponding to the special intelligent robot for the nuclear reactor are determined according to the preset three-dimensional space point distribution characteristic distance, characteristic space gradient deviation value threshold, nuclear reactor digital model and intelligent robot digital model.

[0086] According to the preset three-dimensional space point distribution feature distance D and feature space gradient deviation value threshold Δ th , based on the nuclear reactor digital model, the potential initial path key points can be determined, and then the initial motion path of the special robot for the nuclear reactor from the initial position to the target position in the target nuclear reactor can be determined according to the potential initial path key points. Among them, the specific method of determining the potential initial path key points can be flexibly set according to actual use requirements, and this disclosure does not make specific limitations on this.

[0087] In a possible implementation, according to the preset three-dimensional space point distribution characteristic distance D, characteristic space gradient deviation value threshold Δ th , a nuclear reactor digital model and an intelligent robot digital model, determine the potential initial path key points corresponding to the special intelligent robot for the nuclear reactor, including: according to the three-dimensional space point distribution characteristic distance D, arrange multiple spatial feature points in the digital model corresponding to the target nuclear reactor; for the determined initial path key points K n-1 , the initial path key point K n-1 The feature space gradient value between the target position and the target position is determined as the initial path key point K to be determined nThe corresponding feature space gradient reference value, wherein n is a positive integer greater than or equal to 1, when n is equal to 1, the initial path key point K0 is the initial position; according to the feature space gradient value between each spatial feature point and the target position, and the feature space gradient reference value, the feature space gradient deviation value corresponding to each spatial feature point is determined respectively; among all the spatial feature points whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold, the spatial feature point with the smallest feature space gradient deviation value is determined as the potential initial path key point.

[0088] Specifically, according to the preset three-dimensional spatial point distribution characteristic distance D, the interior of the nuclear reactor digital model is filled with spatial feature points, wherein the preset three-dimensional spatial point distribution characteristic distance D can be used to control the density of the spatial feature points, and the larger the value of the three-dimensional spatial point distribution characteristic distance D, the smaller the density of the spatial feature points, and the smaller the value of the three-dimensional spatial point distribution characteristic distance D, the greater the density of the spatial feature points. The specific value can be flexibly set according to actual usage requirements, and the present disclosure does not make any specific limitation on this.

[0089] Furthermore, the distances between these spatial feature points and the surface of the nuclear reactor digital model and the surface of the intelligent robot digital model can be controlled to be no less than a preset feature distance d, thereby ensuring that the special intelligent robot for the nuclear reactor will not interfere with the internal environment of the target nuclear reactor when the position corresponding to any spatial feature point is in the initial state. The specific value of the feature distance d here can be flexibly set according to actual use requirements, and this disclosure does not make specific limitations on this.

[0090] Under the ideal condition that there are no obstacles in the internal environment of the nuclear reactor core, the characteristic space gradient value between the initial position and the target position can be used to determine the shortest motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position. However, there are usually obstacles in the internal environment of the target nuclear reactor due to special structures, pipeline layouts and other factors. Due to the need to avoid obstacles, the shortest motion path cannot usually be directly used as the target motion path for controlling the special intelligent robot for the nuclear reactor to move in the target nuclear reactor.

[0091] In view of this, the control method provided by the embodiment of the present disclosure can further calculate the feature space gradient value between each spatial feature point and the target position, and use the feature space gradient deviation value relative to the feature space gradient value between the initial position (or the previous initial path key point) and the target position as the basis for selecting potential initial path key points, so as to improve the directionality and selectivity of path planning and achieve control of the path length of the motion path while avoiding obstacles.

[0092] Specifically, the initial position can be determined as the initial path key point K0, which is used as the reference starting point when selecting the initial path key point K′1 to be determined, and the feature space gradient value between the initial position and the target position is used as the feature space gradient reference value corresponding to the initial path key point K′1 to be determined. Combined with the feature space gradient value between each spatial feature point and the target position, the feature space gradient deviation value of each spatial feature point relative to the feature space gradient reference value is calculated. Then, the feature space gradient deviation value is directly set to be no greater than the feature space gradient deviation value threshold Δ th Among all the spatial feature points, the spatial feature point with the smallest feature space gradient deviation value is determined as the potential initial path key point K′1. At this time, the motion path connected by the initial path key point K0 and the potential initial path key point K′1 is the shortest and has a higher path quality.

[0093] Feature space gradient deviation threshold Δ th It can be used to control the path length and path quality of the initial motion path, the feature space gradient deviation value threshold Δ th The smaller it is, the shorter the path length of the initial motion path is and the higher the path quality is, but it will be more difficult to determine the potential key points of the initial path. Feature space gradient deviation value threshold Δ th The specific value of can be flexibly set according to actual usage requirements, and this disclosure does not make any specific limitation on this.

[0094] Based on the same principle, the determined initial path key points K can be n-1 , as the initial path key point K′ to be determined n The reference starting point used when the initial path key point K n-1 The feature space gradient value between the target position and the target position is determined as the initial path key point K′ to be determined n The corresponding feature space gradient reference value can then be used to determine the feature space gradient deviation value corresponding to each spatial feature point according to the feature space gradient value between each spatial feature point and the target position and the feature space gradient reference value. The feature space gradient deviation value can be directly set to be no greater than the feature space gradient deviation value threshold Δ th Among all the spatial feature points, the spatial feature point with the smallest feature space gradient deviation value is determined as the potential initial path key point K′ n .

[0095] Through the above process, while ensuring high search efficiency, the directionality and selectivity of path planning can be improved by coupling the random distribution of three-dimensional space feature points with the minimization of feature space gradient deviation values, so that a target motion path with a shorter motion path and higher path quality can be constructed subsequently.

[0096] In step S803, based on the digital model of the intelligent robot, a qualification check is performed on the potential initial path key points to determine the qualification check results corresponding to the potential initial path key points, wherein the qualification check includes interference check, singularity check and joint module load check.

[0097] The potential initial path key points K′ determined by the above process n , only the effectiveness of the motion path (whether the target position can be reached), the path length of the motion path, and the path quality are considered. However, in the actual motion process, the special intelligent robot for nuclear reactors may need to change its configuration many times to perform the target task, and may need to bear additional loads such as grasping and operating tools. Therefore, in the process of path planning and control of the special intelligent robot for nuclear reactors, it is also necessary to calculate the potential initial path key points K′ n Perform eligibility check to further determine the potential initial path key point K′ n feasibility, determine the potential initial path key point K′ n The corresponding qualification check results.

[0098] Among them, the qualification check can include interference check, singularity check and joint module load check. Among them, the interference check can be used to determine whether the special intelligent robot for nuclear reactor is at the potential initial path key point K′ n Will it interfere with the internal environment of the nuclear reactor? The singularity check can be used to determine whether the special intelligent robot for the nuclear reactor is at the potential initial path key point K′ n The joint module load check can be used to determine whether each joint in the mechanical system of the special intelligent robot for the load nuclear reactor is at the potential initial path key point K′ n Whether the load at the joint exceeds the preset joint load capacity.

[0099] Specifically, the key point K′ of the potential initial path of the special intelligent robot for the nuclear reactor can be determined according to the digital model of the intelligent robot corresponding to the special intelligent robot for the nuclear reactor. n The robot configuration at the potential initial path key point K′ is then n The robot configuration at each location is subjected to interference check, singularity check and joint module load check to determine the qualification check result.

[0100] Among them, determine the key point K′ of the potential initial path of the special intelligent robot for nuclear reactor n For the specific configuration of the robot, reference may be made to the implementation methods in the related art, and the present disclosure does not make any specific limitation on this.

[0101] In one example, based on the robot digital model, the kinematic inverse solution method can be used to determine the key point K′ of the potential initial path of the special intelligent robot for the nuclear reactor in combination with the posture requirements of the special intelligent robot for the nuclear reactor. n The specific form of the kinematic inverse solution method can be based on the implementation methods in the reference related technologies, for example, the gradient descent method and the cuckoo search algorithm can be used to perform mutual correction to achieve the kinematic inverse solution, etc., and the present disclosure does not specifically limit this.

[0102] For the specific method of interference checking, reference may be made to the implementation methods in the related art, and the present disclosure does not make any specific limitation on this.

[0103] In one example, a special intelligent robot can be used to locate the potential initial path key point K′ according to the nuclear reactor. n The robot configuration at the position and the spatial position relationship between the nuclear reactor digital model are used to determine the key point K′ of the potential initial path of the special intelligent robot for the nuclear reactor. n Whether there is any interference with the internal environment of the nuclear reactor.

[0104] For the specific method of singularity checking, reference may be made to the implementation methods in the related art, and the present disclosure does not make any specific limitation thereto.

[0105] In one example, a special intelligent robot can be used to locate the potential initial path key point K′ according to the nuclear reactor. n The robot configuration at the potential initial path key point K′ of the special intelligent robot for the nuclear reactor is determined n The singularity at the key point K′ of the potential initial path is detected by using a special intelligent robot for nuclear reactors. n The singularity at the point and the comparison result with the singularity threshold can determine the key point K′ of the potential initial path of the special intelligent robot for nuclear reactors. n The specific value of the singularity threshold can be flexibly set according to actual usage requirements, and this disclosure does not make any specific limitation on this.

[0106] For the specific method of joint module load inspection, reference may be made to the implementation methods in the relevant technology, and the present disclosure does not make any specific limitation on this.

[0107] In one example, a special intelligent robot can be used to locate the potential initial path key point K′ according to the nuclear reactor. n The robot configuration at the position where each joint is located is determined at the potential initial path key point K′ n For any joint, the load at the potential initial path key point K′ can be nThe load at the joint is compared with the rated load capacity of the joint to determine whether the joint is overloaded; when there is at least one key point K′ at the potential initial path key point n When the nuclear reactor is overloaded, the special intelligent robot can be determined at the potential initial path key point K′ n The joint module load inspection at the position fails. Among them, the rated load-bearing capacity of any joint can be determined according to the material and structure of the joint, and the present disclosure does not make specific limitations on this.

[0108] Through interference check, singularity check and joint module load check, the potential initial path key point K′ is n Multi-dimensional qualification checks can improve the safety and reliability of path planning, predict potential risks of the mechanical system of special intelligent robots for nuclear reactors during movement, and prevent damage to the mechanical system or control failures due to interference with the internal environment of the nuclear reactor, discontinuous robot configuration, or joint overload.

[0109] It should be noted that, in addition to the three inspections mentioned above, the qualification inspection may also include other inspection contents, which can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations on this.

[0110] In step S804, when the qualification check result corresponding to the potential initial path key point is unqualified, the potential initial path key point is adjusted until the qualification check result corresponding to the adjusted potential initial path key point is qualified.

[0111] Potential initial path key point K′ n The corresponding qualification check result is unqualified, which may mean that at least one of the inspection results corresponding to the interference check, the inspection result corresponding to the singularity check, and the inspection result corresponding to the joint module load check is unqualified. In this case, it indicates that the potential initial path key point K′ n It is not feasible and needs to be adjusted. Among them, the potential initial path key point K′ n The specific method of adjustment can be flexibly set according to the actual use requirements. For example, based on the above process, the threshold value Δ of the feature space gradient deviation value can be reselected. th The spatial feature points are used as the adjusted potential initial path key points, etc., and the present disclosure does not make any specific limitations on this.

[0112] The specific process of adjusting the key points of the potential initial path will be described in detail later in conjunction with possible implementation methods of the present disclosure, and will not be elaborated here.

[0113] In step S805, the potential initial path key points with qualified qualification check results, or the potential initial path key points after adjustment are determined as initial path key points, and the above process is repeated until the initial motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position is determined, wherein the initial path key points are used to simulate any position passed through in the initial motion path.

[0114] If the qualification check result is qualified, the potential initial path key point K′ can be n , or the adjusted potential initial path key point is determined as the initial path key point K n , and repeat the process from step S801 to step S804 until the complete initial motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position can be determined by using multiple initial path key points.

[0115] By performing path planning in a point-by-point iterative manner, multiple initial path key points with high directionality and selectivity can be used to connect the initial position and the target position in series, thereby determining an initial motion path with a shorter motion distance and higher path quality while ensuring search efficiency.

[0116] In step S806, the initial motion path is interpolated and smoothed to determine a plurality of target path key points, wherein the target path key points are used to determine the target motion path of the special intelligent robot for a nuclear reactor moving from an initial position to a target position in a target nuclear reactor, and the number of the target path key points is greater than or equal to the number of the initial path key points.

[0117] The initial motion path determined by the aforementioned iterative process may have problems such as fewer control positions of the path and poor continuity of the path. Therefore, the initial motion path can be interpolated to increase the number of key points of the path, and the initial motion path can be smoothed to improve the smoothness and continuity of the path, thereby determining multiple target path key points to form a continuous and smooth target motion path. The specific methods of interpolation and smoothing can refer to the implementation methods in the relevant technology, and the present disclosure does not specifically limit this.

[0118] Furthermore, the control method for the special intelligent robot for a nuclear reactor provided by the present invention can also preview and simulate the movement process of the special intelligent robot for a nuclear reactor based on the target motion path, using the digital model of the special intelligent robot for a nuclear reactor and the digital model of the nuclear reactor, thereby discovering in advance the potential risks that may exist in the movement process of the special intelligent robot for a nuclear reactor, and further improving the safety of the movement of the special intelligent robot for a nuclear reactor.

[0119] In the disclosed embodiment, by constructing a nuclear reactor digital model that can reflect the internal environment information corresponding to the target nuclear reactor, the preset three-dimensional space point distribution characteristic distance and characteristic space gradient deviation value threshold can be combined to improve the directionality and selectivity of path planning while ensuring high search efficiency, and determine the potential initial path key points that can construct a motion path with a shorter motion path and higher path quality. By constructing an intelligent robot model that can reflect the external dimensions and structural characteristics corresponding to the special intelligent robot for the nuclear reactor, the potential initial path key points can be subjected to multi-dimensional qualification checks including interference check, singularity check and joint module load check, and the corresponding qualification check results can be obtained to judge the feasibility of the potential initial path key points, thereby improving the safety and reliability of path planning, predicting the potential risks of the mechanical system of the special intelligent robot for the nuclear reactor during the movement process, and preventing interference with the internal environment of the nuclear reactor, discontinuous robot configuration, or joint overload, etc., which may cause damage to the mechanical system or control system failure. In the case where the qualification check result corresponding to the potential initial path key point is unqualified, the potential initial path key point can be adjusted until the qualification check result corresponding to the adjusted potential initial path key point is qualified. The potential initial path key points with qualified qualification check results or the potential initial path key points after adjustment are determined as the initial path key points used to constitute the initial motion path, and the above process is repeated until the initial motion path of the special intelligent robot for nuclear reactor from the initial position to the target position is determined, and then the initial motion path is interpolated and smoothed to determine a plurality of target path key points whose number is greater than or equal to the number of initial path key points, so as to determine a continuous and smooth target motion path that can control the special intelligent robot for nuclear reactor to move from the initial position to the target position, and realize the complete path planning of the special intelligent robot for nuclear reactor in the target nuclear reactor by coupling the random distribution of feature points in three-dimensional space with the minimization of feature space gradient deviation value, so as to control the special intelligent robot for nuclear reactor to move safely and reliably along the target motion path.

[0120] It should be noted that the special intelligent robot control method for a nuclear reactor provided by the present invention can be applied not only to the application scenarios of a nuclear reactor core and the special intelligent robot for a nuclear reactor provided by the present invention, but can also be applied to other application scenarios or other intelligent robots and can be flexibly adjusted according to actual usage requirements.

[0121] In one possible implementation, when the qualification check result corresponding to the potential initial path key point is unqualified, the potential initial path key point is adjusted until the qualification check result corresponding to the adjusted potential initial path key point is qualified, including: performing a qualification check on each spatial feature point whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold in order of feature space gradient deviation value from small to large, until the spatial feature point whose qualification check result is determined to be qualified, and the spatial feature point is determined as the initial path key point.

[0122] Fig. 9 FIG. 2 is a schematic diagram showing a process of a special intelligent robot control method for a nuclear reactor according to an embodiment of the present disclosure. Fig. 9 As shown in FIG. 1 , based on the aforementioned method of coupling the random distribution of feature points in three-dimensional space with the minimization of the gradient deviation value in feature space, the potential initial path key point K′ can be determined. n Using the kinematic inverse solution method and the posture requirements of the special intelligent robot for nuclear reactors, the key point K′ of the potential initial path of the special intelligent robot for nuclear reactors is determined. n After the corresponding robot is configured, it can carry out qualification checks including interference check, singularity check and joint load-bearing capacity check, and combine with the corresponding three-level adjustment strategy to realize the path planning of the intelligent robot for nuclear reactors in the complex environment of the core.

[0123] At the potential initial path key point K′ n If the corresponding qualification check result is qualified, the potential initial path key point K′ can be n Determine the initial path key point K n , and then proceed to the next iteration process to determine the initial path key point K n+1 .

[0124] At the potential initial path key point K′ n If the corresponding qualification check result is unqualified, the potential initial path key point K′ can be n The first level adjustment is performed. Specifically, all spatial feature points whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold can be checked for eligibility one by one in the order of feature space gradient deviation value from small to large, until the potential initial path key points after adjustment with qualified eligibility check results are obtained.

[0125] Furthermore, since the adjusted potential initial path key point has passed the qualification check, the adjusted potential initial path key point can be directly determined as the initial path key point K n , and then proceed to the next iteration process to determine the initial path key point K n+1 .

[0126] Through the above process, the feature space gradient deviation threshold Δ can be maintained. th The potential initial path key point K′ is realized while keeping the requirements on the path length and path quality of the motion path unchanged. n First level adjustment.

[0127] In all feature space gradient deviation values, the value is not greater than the feature space gradient deviation value threshold Δ th If the qualification inspection results corresponding to the spatial feature points are all unqualified, it means that the current feature space gradient deviation value threshold Δ th Within the limited range of n The adjustment needs to reduce the requirements on the path length and path quality of the motion path to adjust the potential initial path key point K′ n Make second level adjustments.

[0128] In a possible implementation, the method further includes: when all feature space gradient deviation values ​​are not greater than a feature space gradient deviation value threshold Δ th When the qualification inspection results corresponding to the spatial feature points are all unqualified, increase the feature space gradient deviation value threshold Δ th , determine the adjusted deviation value threshold; determine the potential initial path key points after the second-level adjustment according to the three-dimensional space point distribution characteristic distance and the adjusted deviation value threshold; perform a qualification check on the potential initial path key points after the second-level adjustment, and determine the qualification check results corresponding to the potential initial path key points after the second-level adjustment; when the qualification check results corresponding to the potential initial path key points after the second-level adjustment are qualified, determine the potential initial path key points after the second-level adjustment as the adjusted potential initial path key points.

[0129] With the above Fig. 9 For example, Fig. 9 As shown in the figure, when the qualification inspection results corresponding to all spatial feature points whose feature space gradient deviation values ​​are not greater than the feature space gradient deviation value threshold are all unqualified, the potential initial path key point K′ can be n Perform the second level adjustment. Specifically, the feature space gradient deviation threshold Δ th , determine the adjusted deviation threshold. According to the three-dimensional space point distribution length and the adjusted deviation threshold, based on the existing initial path key points K n-1, using the method of coupling the random distribution of feature points in three-dimensional space with the minimization of the gradient deviation value of feature space, the potential initial path key points after secondary adjustment can be determined, and the qualification check of the potential initial path key points after secondary adjustment can be performed. If the qualification check result of the potential initial path key points after secondary adjustment is qualified, the potential initial path key points after secondary adjustment can be directly determined as the initial path key points K n , and the next iteration process is carried out to determine the initial key point K n+1 .

[0130] Through the above process, the requirements on the path length and path quality of the motion path can be reduced, the selection range of the potential initial path key points after the secondary adjustment can be increased, and the potential initial path key points K′ can be realized. n The second level of adjustment.

[0131] When the qualification check results corresponding to all the potential initial path key points after the secondary adjustment are unqualified, it means that by adjusting the feature space gradient deviation value threshold Δ th , reducing the requirements on the path length and path quality of the motion path, but still cannot achieve the potential initial path key point K′ n The adjustment of the potential initial path key point K′ n Make third level adjustments.

[0132] In a possible implementation, the method also includes: when the qualification check results corresponding to all the potential initial path key points after the second-level adjustment are unqualified, reducing the three-dimensional space point distribution characteristic distance D to determine the adjusted characteristic length; determining the potential initial path key points after the third-level adjustment according to the adjusted characteristic length and the adjusted deviation value threshold; performing a qualification check on the potential initial path key points after the third-level adjustment to determine the qualification check results corresponding to the potential initial path key points after the third-level adjustment; when the qualification check results corresponding to the potential initial path key points after the third-level adjustment are unqualified, repeating the above process until the qualification check results corresponding to the potential initial path key points after the third-level adjustment are qualified; when the qualification check results corresponding to the potential initial path key points after the third-level adjustment are qualified, determining the potential initial path key points after the third-level adjustment as the adjusted potential initial path key points.

[0133] With the above Fig. 9 For example, Fig. 9 As shown in the figure, when the qualification check results corresponding to all the potential initial path key points after the second-level adjustment are unqualified, the potential initial path key point K′ can be nPerform the third level adjustment. Specifically, the three-dimensional space point distribution length D can be reduced to determine the adjusted distribution length. According to the adjusted distribution length and the adjusted deviation value threshold, based on the existing initial path key points K n-1 , using the method of coupling the random distribution of feature points in three-dimensional space with the minimization of the gradient deviation value of feature space, the potential initial path key points after three-level adjustment can be determined, and the qualification check of the potential initial path key points after three-level adjustment can be performed. If the qualification check result of the potential initial path key points after three-level adjustment is qualified, the potential initial path key points after three-level adjustment can be directly determined as the initial path key points K n , and the next iteration process is carried out to determine the initial key point K n+1 .

[0134] When the qualification check results corresponding to all potential initial path key points after three-level adjustment are unqualified, the first-level adjustment, the second-level adjustment and the third-level adjustment can be performed step by step according to the above process again until the potential initial path key points after three-level adjustment whose qualification check results are qualified are determined.

[0135] In the disclosed embodiment, by constructing a nuclear reactor digital model that can reflect the internal environment information corresponding to the target nuclear reactor, the preset three-dimensional space point distribution characteristic distance and characteristic space gradient deviation value threshold can be combined to improve the directionality and selectivity of path planning while ensuring high search efficiency, and determine the potential initial path key points that can construct a motion path with a shorter motion path and higher path quality. By constructing an intelligent robot model that can reflect the corresponding external dimensions and structural characteristics of the special intelligent robot for nuclear reactors, it is possible to perform multi-dimensional qualification checks on the potential initial path key points, including interference checks, singularity checks, and joint module load checks, and obtain corresponding qualification check results to determine the feasibility of the potential initial path key points, thereby improving the safety and reliability of path planning, predicting the potential risks of the mechanical system of the special intelligent robot for nuclear reactors during movement, and preventing interference with the internal environment of the nuclear reactor, discontinuity of the robot configuration, or joint overload, which may cause damage to the mechanical system or control system failure. In the case where the qualification check result corresponding to the potential initial path key point is unqualified, the potential initial path key point can be adjusted in multiple levels in the order of reselecting spatial feature points, increasing the threshold of feature space gradient deviation value, and reducing the characteristic distance of three-dimensional space point distribution, until the qualification check result corresponding to the adjusted potential initial path key point is qualified. The potential initial path key point with a qualified qualification check result or the adjusted potential initial path key point is determined as the initial path key point for constituting the initial motion path, and the above process is repeated until the initial motion path of the special intelligent robot for nuclear reactor moving from the initial position to the target position is determined, and then the initial motion path is interpolated and smoothed to determine multiple target path key points whose number is greater than or equal to the number of initial path key points, so as to determine a continuous and smooth target motion path that can control the special intelligent robot for nuclear reactor to move from the initial position to the target position, and realize the method of coupling the random distribution of three-dimensional space feature points with the minimization of feature space gradient deviation value to carry out the complete path planning of the special intelligent robot for nuclear reactor moving in the target nuclear reactor, so as to control the special intelligent robot for nuclear reactor to move safely and reliably along the target motion path.

[0136] It can be understood that the above-mentioned various method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not repeat them. It can be understood by those skilled in the art that in the above-mentioned method of the specific implementation method, the specific execution order of each step should be determined according to its function and possible internal logic.

[0137] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A special intelligent robot for a nuclear reactor, characterized in that: The special intelligent robot for nuclear reactor includes a mechanical system and a control system based on CAN bus technology; The mechanical system includes a plurality of moving arms, a plurality of rotating joints and at least one telescopic joint, and each joint includes a dynamic sealing structure, and the dynamic sealing structure includes two redundant dynamic sealing rings and a leak detection system; The control system is used to control the movement of the mechanical system.

2. The special intelligent robot for a nuclear reactor according to claim 1, characterized in that: The plurality of moving arms are connected via the rotating joints, and at least one moving arm is provided with the telescopic joint, which is used to adjust the length of the moving arm.

3. The special intelligent robot for a nuclear reactor according to claim 1 or 2, characterized in that: The rotating joint and the telescopic joint include motor drive devices.

4. The special intelligent robot for a nuclear reactor according to claim 1 or 2, characterized in that: The rotating joint and the telescopic joint are hollow structures, wherein the hollow structures are used to arrange power lines and control lines corresponding to the control system.

5. The special intelligent robot for a nuclear reactor according to claim 1 or 2, characterized in that: Any dynamic sealing ring includes a highly elastic rubber ring in the form of a Gly ring and a self-lubricating polymer material.

6. The special intelligent robot for a nuclear reactor according to claim 1 or 2, characterized in that: The leak detection system comprises a strong water-absorbing filling material, a conductive coil, a lead wire, a current signal collector and a power supply.

7. A control method for a special intelligent robot for a nuclear reactor, the method being applied to the control system of the special intelligent robot for a nuclear reactor as claimed in any one of claims 1 to 6, characterized in that: include: A nuclear reactor digital model corresponding to the target nuclear reactor and an intelligent robot digital model corresponding to the special intelligent robot for the nuclear reactor are respectively constructed, wherein the nuclear reactor digital model is used to reflect the internal environment information corresponding to the target nuclear reactor, and the intelligent robot digital model is used to reflect the external dimensions and structural features corresponding to the special intelligent robot for the nuclear reactor; Determine the potential initial path key points corresponding to the special intelligent robot for the nuclear reactor according to the preset three-dimensional space point distribution characteristic distance, the characteristic space gradient deviation value threshold, the nuclear reactor digital model and the intelligent robot digital model; According to the digital model of the intelligent robot and the digital model of the nuclear reactor, a qualification check is performed on the potential initial path key points to determine the qualification check results corresponding to the potential initial path key points, wherein the qualification check includes interference check, singularity check and joint module load check; When the qualification check result corresponding to the potential initial path key point is unqualified, adjusting the potential initial path key point until the qualification check result corresponding to the adjusted potential initial path key point is qualified; Determine the potential initial path key point with a qualified qualification check result, or the adjusted potential initial path key point as the initial path key point, and repeat the above process until the initial motion path of the special intelligent robot for the nuclear reactor from the initial position to the target position is determined, wherein the initial path key point is used to simulate any position passed in the initial motion path; The initial motion path is interpolated and smoothed to determine a plurality of target path key points, wherein the target path key points are used to determine a target motion path of the special intelligent robot for the nuclear reactor moving from an initial position to a target position in the target nuclear reactor, and the number of the target path key points is greater than or equal to the number of the initial path key points.

8. The method according to claim 7, characterized in that The method of determining the potential initial path key points corresponding to the special intelligent robot for the nuclear reactor according to the preset three-dimensional space point distribution characteristic distance, the characteristic space gradient deviation value threshold, the nuclear reactor digital model and the intelligent robot digital model includes: Arranging a plurality of spatial feature points in a digital model corresponding to a target nuclear reactor according to the three-dimensional spatial point distribution feature distance; For the determined initial path key point K n-1 , the initial path key point K n-1 The feature space gradient value between the target position and the target position is determined as the initial path key point K to be determined n The corresponding feature space gradient reference value, wherein n is a positive integer greater than or equal to 1, and when n is equal to 1, the initial path key point K0 is the initial position; Determine the feature space gradient deviation value corresponding to each spatial feature point according to the feature space gradient value between each spatial feature point and the target position and the feature space gradient reference value; Among all the spatial feature points whose feature space gradient deviation values ​​are not greater than the feature space gradient deviation value threshold, the spatial feature point with the smallest feature space gradient deviation value is determined as the potential initial path key point.

9. The method according to claim 8, characterized in that When the qualification check result corresponding to the potential initial path key point is unqualified, adjusting the potential initial path key point until the qualification check result corresponding to the adjusted potential initial path key point is qualified, including: According to the order of feature space gradient deviation values ​​from small to large, each spatial feature point whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold is checked for eligibility until the eligibility check result is determined to be a qualified spatial feature point, and the spatial feature point is determined as the adjusted potential initial path key point.

10. The method according to claim 9, characterized in that The method further comprises: When all the conformity inspection results corresponding to the spatial feature points whose feature space gradient deviation values ​​are not greater than the feature space gradient deviation value threshold are unqualified, increasing the feature space gradient deviation value threshold to determine an adjusted deviation value threshold; Determining the potential initial path key points after secondary adjustment according to the three-dimensional space point distribution characteristic distance and the adjusted deviation value threshold; Performing a qualification check on the potential initial path key points after the secondary adjustment, and determining a qualification check result corresponding to the potential initial path key points after the secondary adjustment; When the qualification check result corresponding to the potential initial path key point after the secondary adjustment is qualified, the potential initial path key point after the secondary adjustment is determined as the adjusted potential initial path key point.

11. The method according to claim 10, characterized in that The method further comprises: When all the qualification check results corresponding to the potential initial path key points after the secondary adjustment are unqualified, reducing the three-dimensional space point distribution characteristic distance to determine the adjusted characteristic length; Determining the potential initial path key points after the third level adjustment according to the adjusted characteristic length and the adjusted deviation value threshold; Performing a qualification check on the potential initial path key points after the three-level adjustment, and determining the qualification check results corresponding to the potential initial path key points after the three-level adjustment; In the case where the qualification check result corresponding to the key point of the potential initial path after the three-level adjustment is unqualified, repeating the above process until the qualification check result corresponding to the key point of the potential initial path after the three-level adjustment is qualified; When the qualification check result corresponding to the potential initial path key point after the three-level adjustment is qualified, the potential initial path key point after the three-level adjustment is determined as the adjusted potential initial path key point.

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