Special Intelligent Robot for Nuclear Reactor and Its Control Method

Abstract

The present disclosure relates to a special intelligent robot for nuclear reactors and a control method thereof. The special intelligent robot for nuclear reactors 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 seal structure. The dynamic seal structure includes two redundant dynamic seal rings and a leak detection system. The control system is used to control the movement of the mechanical system. Through the special intelligent robot for nuclear reactors according to the embodiments of the present disclosure, it has excellent dynamic sealing performance. In the case of the failure of any one of the dynamic seal rings, there is still a remaining dynamic seal ring to ensure the sealing performance of the mechanical system of the special intelligent robot for nuclear reactors. And it has an automatic leak detection function, which can issue an alarm in the case of the failure of the dynamic seal structure to prompt the maintenance of the dynamic seal structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and particularly 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 carrying out material irradiation tests, scarce isotope production, and neutron science research. In order to improve the irradiation test capacity, nearly three hundred irradiation target positions (for accommodating materials to be irradiated and isotope production samples) and numerous irradiation channels are arranged within a 2-meter diameter range in the wide-energy-spectrum ultra-high-flux test reactor. The internal space is extremely narrow and complex, and the irradiation targets can only be loaded and unloaded through a small top cover of the pressure vessel (with a diameter of 500 mm). 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 overall pool shell type overall structure design, and there is nearly 8 meters of shielding water depth above the top of the pressure vessel. Therefore, the loading and unloading of irradiation targets face many challenges such as extremely complex operating spaces, small operating inlet diameters, and large shielding water depths.

[0003] Currently, the loading and unloading of irradiation targets in the test reactor completely rely on maintenance personnel and long-handled tools for manual operation. This operation method can only be applied to the situation where there is no obstruction in the space above the irradiation target. The loading and unloading efficiency of the irradiation target is low, and it will cause maintenance personnel to face a relatively large radioactive irradiation dose. This traditional manual operation method is not applicable to the loading and unloading of irradiation targets in the wide-energy-spectrum ultra-high-flux test reactor. Therefore, there is an urgent need to develop a special intelligent robot with high precision and high flexibility that can be applied to extremely complex operating environments.

[0004] The spatial dimensions corresponding to the initial state (i.e., the state where all moving arms are fully extended) of the intelligent robots commonly used in the prior art are relatively large, making it difficult to install and fix them in narrow and complex spaces such as the core of the wide-energy-spectrum ultra-high-flux nuclear reactor; moreover, the spatial range required for these robots to recover from the folded state to the initial state is also relatively large, and they are not suitable for the nuclear reactor core environment. On the other hand, when completing the loading and unloading tasks of irradiation targets in the wide-energy-spectrum ultra-high-flux reactor core, the intelligent robot needs to withstand the water pressure of no less than 12 meters of shielding water, and it is necessary to consider the compatibility between the sealing material and the reactor coolant, as well as problems such as the degradation of the material properties of the sealing material under 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 such as performing complex tasks such as loading and unloading irradiation targets in the relatively complex and narrow internal space environment of the nuclear reactor core. Summary of the Invention

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

[0007] According to one aspect of the present disclosure, there is provided a special intelligent robot for nuclear reactors, including: the special intelligent robot for nuclear reactors 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 seal structure, and the dynamic seal structure includes two redundant dynamic seal 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 by the rotating joints, 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 rotating joints and the telescopic joints include motor drive devices.

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

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

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

[0013] According to another aspect of the present disclosure, there is provided a control method for a special intelligent robot for a nuclear reactor. The method is applied to the control system of the special intelligent robot for a nuclear reactor as described above, and includes: respectively constructing 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. Among them, 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 characteristics 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, determining potential initial path key points corresponding to the special intelligent robot for the nuclear reactor; according to the intelligent robot digital model and the nuclear reactor digital model, performing a qualification check on the potential initial path key points to determine a qualification check result corresponding to the potential initial path key points. Among them, the qualification check includes interference check, singularity check, and joint module load check; in the case where the qualification check result corresponding to the potential initial path key points is unqualified, adjusting the potential initial path key points until the qualification check result corresponding to the adjusted potential initial path key points is qualified; determining the potential initial path key points with a qualified qualification check result or the adjusted potential initial path key points as initial path key points, and repeating the above process until an initial movement path for the special intelligent robot for the nuclear reactor to move from the initial position to the target position is determined. Among them, the initial path key points are used to simulate any position passed through in the initial movement path; performing interpolation processing and smoothing processing on the initial movement path to determine a plurality of target path key points. Among them, the target path key points are used to determine a target movement path for the special intelligent robot for the nuclear reactor to move 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 manner, the determining the 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 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 feature distance; for the determined initial path key point K n-1 , determining the feature space gradient value between the initial path key point K n-1 and the target position as the initial path key point K n to be determinedThe corresponding characteristic space gradient reference value, where n is a positive integer greater than or equal to 1. When n equals 1, the initial path key point K0 is the initial position; according to the characteristic space gradient value between each spatial characteristic point and the target position, and the characteristic space gradient reference value, respectively determine the characteristic space gradient deviation value corresponding to each spatial characteristic point; among all the spatial characteristic points whose characteristic space gradient deviation value is not greater than the characteristic space gradient deviation value threshold, determine the spatial characteristic point with the smallest characteristic space gradient deviation value as the potential initial path key point.

[0015] In a possible implementation manner, when the eligibility check result corresponding to the potential initial path key point is unqualified, adjust the potential initial path key point until the eligibility check result corresponding to the adjusted potential initial path key point is qualified, including: according to the order of the characteristic space gradient deviation value from small to large, respectively perform an eligibility check on each spatial characteristic point whose characteristic space gradient deviation value is not greater than the characteristic space gradient deviation value threshold until a spatial characteristic point with a qualified eligibility check result is determined, and determine this spatial characteristic point as the adjusted potential initial path key point.

[0016] In a possible implementation manner, the method further includes: when the eligibility check results corresponding to all spatial characteristic points whose characteristic space gradient deviation values are not greater than the characteristic space gradient deviation value threshold are all unqualified, increase the characteristic space gradient deviation value threshold to determine the adjusted deviation value threshold; according to the three-dimensional space point distribution characteristic distance and the adjusted deviation value threshold, determine the secondarily adjusted potential initial path key point; perform an eligibility check on the secondarily adjusted potential initial path key point to determine the eligibility check result corresponding to the secondarily adjusted potential initial path key point; when the eligibility check result corresponding to the secondarily adjusted potential initial path key point is qualified, determine the secondarily adjusted potential initial path key point as the adjusted potential initial path key point.

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

[0018] The special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure includes a mechanical system and a control system. Among them, 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 seal structure. The dynamic seal structure includes two redundant dynamic seal rings, which can ensure that there is still one remaining dynamic seal ring to guarantee the sealing performance of the mechanical system of the special intelligent robot for a nuclear reactor in the case of the failure of any one of the dynamic seal rings; the dynamic seal structure further includes a leak detection system with an automatic leak detection function, which can send an alarm in time in the case of the failure of the dynamic seal structure to prompt technicians to maintain the dynamic seal structure, thereby improving the safety and reliability of the special intelligent robot for a nuclear reactor. Controlling the movement of the mechanical system by using a control system based on CAN bus technology can ensure the transmission efficiency and transmission reliability of the control information of the special intelligent robot for a nuclear reactor while minimizing the diameter of the CAN bus, thereby meeting the comprehensive requirements of the special intelligent robot for a nuclear reactor for underwater dynamic sealing, control information transmission reliability, and real-time performance in special environments such as the core of a nuclear reactor.

[0019] According to the following detailed description of the exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings included in and constituting a part of this specification, together with the specification, illustrate the exemplary embodiments, features, and aspects of the present disclosure and are used to explain the principles of the present disclosure.

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

[0022] Figure 2 Schematic structural diagram of a rotary joint according to an embodiment of the present disclosure;

[0023] Figure 3 Schematic structural diagram of a telescopic joint according to an embodiment of the present disclosure;

[0024] Figure 4 Schematic structural diagram of a dynamic seal structure according to an embodiment of the present disclosure;

[0025] Figure 5 Schematic structural diagram of a mechanical system according to an embodiment of the present disclosure;

[0026] Figure 6 Schematic diagram of the characteristic scale of a mechanical system according to an embodiment of the present disclosure;

[0027] Figure 7 Schematic installation diagram of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure;

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

[0029] Figure 9 Schematic process diagram of a control method for a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure. Detailed implementation manners

[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 drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0031] The special term "exemplary" herein means "serving as an example, embodiment, or illustration". Any embodiment described herein as "exemplary" is not necessarily to be construed as superior to or better than other embodiments.

[0032] The term "and / or" herein merely describes an association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set composed of A, B, and C.

[0033] In addition, for a better illustration of the present disclosure, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some instances, methods, means, elements, and circuits well-known to those skilled in the art are not described in detail so as to highlight the gist of the present disclosure.

[0034] An embodiment of the present disclosure provides a special intelligent robot for a nuclear reactor. At each joint thereof, a dynamic sealing structure including two mutually redundant dynamic sealing rings and a leak detection system is provided, which can improve the dynamic sealing performance of the special intelligent robot for a nuclear reactor and has an automatic leak detection function. In the case of the failure of the dynamic sealing structure, an alarm can be issued in a timely manner to prompt technicians to maintain the dynamic sealing structure. The special intelligent robot for a nuclear reactor according to the embodiment of the present disclosure will be described in detail below.

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

[0036] The mechanical system 101 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 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, as long as the performance requirements such as corrosion resistance, radiation resistance, and mechanical properties are met. For example, stainless steel materials with high corrosion resistance can be used, etc. The present disclosure does not make specific limitations thereto.

[0038] The specific forms of the rotating joints and telescopic joints can be flexibly set according to actual usage requirements, as long as the preset design requirements are met. The present disclosure does not make specific limitations thereto; the specific content of the design requirements here can be flexibly set according to actual usage requirements. For example, it can include stroke requirements, load requirements, positioning accuracy requirements, traversal range requirements, and external dimension requirements, etc. The present disclosure does not make specific limitations thereto.

[0039] In one example, the design requirements include stroke requirements, load requirements, positioning accuracy requirements, traversing range requirements, and external dimension requirements. Among them, the stroke 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 traversing 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 one possible implementation, the rotary joint and the telescopic joint include motor drive devices.

[0041] Figure 2 The schematic structural diagram of a rotary joint according to an embodiment of the present disclosure is shown. As Figure 2 shown, the rotary joint can be set as an integrated rotary joint module 200 based on the motor drive device. Among them, the motor drive device 200 can include a joint motor 201 and a motor support 202.

[0042] Figure 3 The schematic structural diagram of a telescopic joint according to an embodiment of the present disclosure is shown. As Figure 3 shown, the telescopic joint can be set as an integrated linear motion joint module 300 based on the motor drive device. Among them, the motor drive device 300 can include a joint motor 301 and a lead screw 302. The joint motor 301 can drive the inner cylinder of the moving arm along the lead screw 302 to perform linear motion within the outer cylinder of the moving arm, so as to control the telescopic movement of the moving arm.

[0043] By using the motor drive device, the sizes of the rotary joint and the telescopic joint can be reduced, thereby reducing the space size of the mechanical system 101, and the difficulty of installation and fixation of the special intelligent robot for nuclear reactors in narrow and complex environments such as the nuclear reactor core can be reduced.

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

[0045] The rotary joint and the telescopic joint will be described in detail in combination with possible implementation manners of the present disclosure later, and will not be elaborated here.

[0046] A dynamic sealing structure including two redundant dynamic sealing rings and a leak detection system is provided at each joint of the mechanical system 101 to ensure the sealing performance and reliability of the mechanical system 101. Among them, the leak detection system is arranged between the two dynamic sealing rings.

[0047] Through the redundant setting of two dynamic sealing rings, even if any one of the dynamic sealing rings fails, there is still one remaining dynamic sealing ring to ensure the sealing performance of the device. Among them, the specific forms of the two dynamic sealing rings can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

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

[0049] Specifically, any one of the dynamic sealing rings can include a highly elastic rubber ring in the form of a Gleitring 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 an adaptive ability for joint sealing; the self-lubricating polymer material meets the preset wear resistance and can be used to ensure a low friction coefficient on the moving sealing surface. In addition, for the special environment of the core of a nuclear reactor, the compatibility between the sealing material and the nuclear reactor coolant, as well as the degradation of the material properties of the sealing material under irradiation, also need to be considered. 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 highly 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, and the present disclosure does not make specific limitations thereon.

[0051] In one example, the highly elastic rubber ring can use ethylene propylene diene monomer (EPDM) with high radiation resistance, and its performance can be further improved by adding radiation-resistant functional fillers and radiation protection agents.

[0052] The specific form of the material used for the self-lubricating polymer material can be flexibly set according to actual usage requirements, as long as it meets the requirements of friction, wear resistance, and radiation resistance, and the present disclosure does not make specific limitations thereon.

[0053] In one example, the self-lubricating polymer material can use materials such as polyimide, polyether ether ketone, 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 a timely manner when the sealing ring near the outside fails, so as to detect the leakage of the dynamic sealing structure and prompt relevant staff to maintain the dynamic sealing structure. Among them, the specific form of the leak detection system can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon; the specific form of the alarm signal can be flexibly set according to actual usage requirements. For example, it can include audible and visual prompts, etc., and the present disclosure does not make specific limitations thereon.

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

[0057] The highly water-absorbent filling material 403 cannot conduct electricity in a dry state. At this time, the conductive coil 404 is in an open state, and the leak detection system will not emit an alarm signal. When the seal ring 401 as the outer seal fails, the highly water-absorbent filling material 403 will absorb the coolant (including brine) infiltrating into the dynamic seal 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; after detecting the current signal, the current signal collector will emit an alarm signal.

[0058] The specific form of the highly water-absorbent filling material can be flexibly set according to actual usage requirements, as long as it has the moisture absorption ability to meet the preset requirements. For example, the highly water-absorbent filling material can include materials woven from superabsorbent fibers (SAF), etc. The present disclosure does not make specific limitations on this. Among them, the specific content of the preset requirements for the moisture absorption ability can be flexibly set according to actual usage requirements. For example, it can include that the weight of the absorbed moisture of the material is not less than 200 times its own weight, etc. The present disclosure does not make specific limitations on this.

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

[0060] In addition, the highly water-absorbent filling material has excellent water absorption and water retention properties, and the leak detection system reserves sufficient expansion space for it to ensure that the highly water-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, preventing the previously leaked coolant 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 operate normally in the initial 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 usage 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 manners in related technologies, and materials and structures with higher radiation resistance performance can be preferably adopted. The present disclosure does not make specific limitations on this.

[0062] Through the redundant design of the two dynamic sealing rings and the use of radiation-resistant materials, the dynamic sealing effect, safety, and reliability can be improved, enabling the dynamic sealing structure to adapt to the high water pressure and high radiation environment such as the core of a nuclear reactor. By using the leak detection system in the dynamic sealing structure, an alarm can be issued in a timely manner when any one of the dynamic sealing rings fails, prompting relevant staff to maintain the dynamic sealing structure and 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 a wide energy spectrum and ultra-high flux reactor. Among them, the specific form of the control system 102 can be flexibly set according to actual usage requirements and can be realized based on the CAN bus technology. The present disclosure does not make specific limitations on this.

[0064] Using the control system based on the CAN bus technology to control the movement of the mechanical system can ensure the transmission efficiency and transmission reliability of the control information of the special intelligent robot for nuclear reactors under the condition that 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, 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 in the embodiments of the present disclosure includes a mechanical system and a control system. Among them, the mechanical system includes multiple moving arms, multiple rotating joints, and at least one telescopic joint, and each joint includes a dynamic seal structure. The dynamic seal structure includes two redundant dynamic seal rings, which can ensure that in the case of failure of any one of the dynamic seal rings, there is still a remaining dynamic seal ring to ensure the sealing performance of the mechanical system of the special intelligent robot for nuclear reactors; the dynamic seal structure also includes a leak detection system with an automatic leak detection function, which can send an alarm in time in the case of failure of the dynamic seal structure to prompt technicians to maintain the dynamic seal structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors. Using the control system based on CAN bus technology to control the movement of the mechanical system can ensure the transmission efficiency and transmission reliability of the control information of the special intelligent robot for nuclear reactors under the condition that the diameter of the CAN bus is as small as possible, so as to meet the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing, control information transmission reliability, and real-time performance in special environments such as the core of nuclear reactors.

[0066] In a possible implementation manner, the multiple moving arms are connected by rotating joints, and at least one telescopic joint is arranged on at least one moving arm, and the telescopic joint is used to adjust the length of the moving arm.

[0067] The commonly used intelligent robots in the prior art can be classified into serial robots, parallel robots, and serial-parallel hybrid robots according to the structural form. Among them, serial robots can connect multiple moving arms with fixed lengths in series through multiple rotating joints, and can traverse a large space range, and are suitable for the application scenarios of loading and unloading irradiated target parts in nuclear reactors; parallel robots can achieve a large load-bearing capacity and stiffness through the parallel connection of moving arms, but their space traversal range is small and they are not suitable for the application scenarios of loading and unloading irradiated target parts in nuclear reactors; serial-parallel hybrid robots can combine the structural advantages of serial robots and parallel robots, but their structures are usually more complex.

[0068] Therefore, serial robots and serial-parallel robots can be used for loading and unloading irradiated target parts of the experimental reactor of nuclear reactors. However, the spatial dimensions corresponding to the initial state (i.e., the state where all moving arms are fully extended) of these intelligent robots are relatively large, and it is difficult to install and fix them in the narrow and complex space of the core of a wide-energy-spectrum ultra-high-flux nuclear reactor; moreover, the space range required for these robots to recover from the folded state to the initial state is also relatively large, and they are not suitable for the core environment of nuclear reactors.

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

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

[0071] Through the telescopic joint 5012, the telescopic joint 5022, and the telescopic joint 5025, the lengths of the moving arm 5013, the moving arm 5023, and the moving arm 5026 can be flexibly adjusted, so that the length of the mechanical system 101 in the initial state can be effectively limited according to actual usage requirements, facilitating the installation and fixation of the special intelligent robot 100 for nuclear reactors in a narrow and complex space such as the core of a nuclear reactor, and reducing the space range required for the special intelligent robot 100 for nuclear reactors to return from the folded state to the initial state, so that it can meet the requirements of performing target tasks in a narrow and complex space such as the core of a nuclear reactor, and expanding the applicable range of the special intelligent robot for nuclear reactors.

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

[0073] Figure 7 Schematic diagram showing the installation of a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure. As Figure 7 shown, through the telescopic joint, the length of the moving arm of the special robot can be controlled to meet the space limitation inside 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 at the small top cover.

[0074] By introducing a telescopic joint on the moving arm with a fixed length, the special intelligent robot for a nuclear reactor provided by the present disclosure can couple two motion forms of rotation and telescoping, so that in the case of having a large space traversal range, by reducing the initial length of the moving arm, the space size of the special intelligent robot for a nuclear reactor in the initial state can be reduced, which is convenient for the special intelligent robot for a nuclear reactor to be installed and fixed in a narrow and complex environment such as the core of the nuclear reactor, and to perform target tasks, improving the application range and flexibility of the special intelligent robot for a nuclear reactor.

[0075] In a possible implementation manner, the rotary joint and the telescopic joint are hollow structures, and among them, the hollow structure is used to arrange the power line and the control line 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 of the mechanical system 101 by the control system 102, the rotary joints and telescopic joints can be both set as hollow structures, so as to facilitate the arrangement of the power lines and control lines corresponding to the control system 102 and provide radiation shielding for the power lines and control lines. Among them, the specific way of arranging the power lines and control lines corresponding to the control system 102 in the hollow structure can be flexibly set according to the actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0077] The special intelligent robot for nuclear reactors in the embodiments of the present disclosure includes a mechanical system and a control system. Among them, the mechanical system includes a plurality of moving arms, a plurality of rotary joints and at least one telescopic joint. The plurality of moving arms are connected by the rotary joints, and the telescopic joint is arranged on at least one moving arm. The telescopic joint is used to adjust the length of the moving arm. Thus, by introducing the telescopic joint on the moving arm with a fixed length and coupling the two motion forms of rotation and telescoping, it is possible to make the special intelligent robot for nuclear reactors reduce its spatial size in the initial state when it has a large spatial traversal range, which is convenient for the special intelligent robot for nuclear reactors to be installed and fixed in a narrow and complex environment such as the core of a nuclear reactor, and to perform target tasks, thereby improving the applicable range and flexibility of the special intelligent robot for nuclear reactors. Each joint includes a dynamic seal structure. The dynamic seal structure includes two redundant dynamic seal rings, which can ensure that there is still one remaining dynamic seal ring to guarantee the sealing performance of the mechanical system of the special intelligent robot for nuclear reactors in the case of the failure of any one of the dynamic seal rings; the dynamic seal structure further includes a leak detection system with an automatic leak detection function, which can issue an alarm in time in the case of the failure of the dynamic seal structure to prompt the technical personnel to maintain the dynamic seal structure, thereby improving the safety and reliability of the special intelligent robot for nuclear reactors. Using the control system based on the CAN bus technology to control the movement of the mechanical system can ensure the transmission efficiency and transmission reliability of the control information of the special intelligent robot for nuclear reactors under the condition that the diameter of the CAN bus is as small as possible, so as to meet the comprehensive requirements of the special intelligent robot for nuclear reactors for underwater dynamic sealing, transmission reliability and real-time performance of control information in special environments such as the core of a nuclear reactor.

[0078] According to another aspect of the embodiments of the present disclosure, there is also provided a control method for a special intelligent robot for a nuclear reactor, which can be applied to the control system of the special intelligent robot for a nuclear reactor as described above. 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 a nuclear reactor, the characteristic space gradient value is used to determine potential initial path key points with high directivity and selectivity at a high search efficiency; further combined with the eligibility check, multi-dimensional checks are performed on the potential initial path key points determined during the path planning process to improve the safety of the special intelligent robot for a nuclear reactor when moving along the target movement path, so that the target movement path for controlling the special intelligent robot for a nuclear reactor can be determined on the basis of taking into account the efficiency and reliability of the path planning. The control method for the special intelligent robot for a nuclear reactor of the present disclosure will be described in detail below.

[0079] Figure 8 The flowchart showing a control method for a special intelligent robot for a nuclear reactor according to an embodiment of the present disclosure is shown. This control method for a special intelligent robot for a nuclear reactor can be executed by the control system of the special intelligent robot for a nuclear reactor as described above. As Figure 8 shown, this control method for a special intelligent robot 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 a nuclear reactor are respectively constructed. Among them, 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 characteristics corresponding to the special intelligent robot for a nuclear reactor.

[0081] The target nuclear reactor here can represent any nuclear reactor where the special intelligent robot for a nuclear reactor needs to be deployed, including but not limited to a wide-energy-spectrum high-flux test reactor, which can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereto.

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

[0083] The intelligent robot digital model corresponding to the special intelligent robot for nuclear reactors can truly and accurately reflect the external dimensions, structural features, degrees of freedom of movement, and other characteristics 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 intelligent robot digital model can be a three-dimensional simulation model, and its content can 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 deployed state, and the structural features corresponding to the mechanical system, etc. The present disclosure does not make specific limitations on this.

[0084] The specific manner of constructing the nuclear reactor digital model corresponding to the target nuclear reactor and the intelligent robot digital model corresponding to the special intelligent robot for nuclear reactors can refer to the implementation manners in related technologies. The present disclosure does not make specific limitations on this.

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

[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, potential initial path key points can be determined, and then based on the potential initial path key points, the initial movement path of the special robot for nuclear reactors from the initial position to the target position in the target nuclear reactor can be determined. Among them, the specific manner of determining the potential initial path key points can be flexibly set according to actual usage requirements. The present disclosure does not make specific limitations on this.

[0087] In a possible implementation manner, according to the preset three-dimensional space point distribution feature distance D, feature space gradient deviation value threshold Δ th , nuclear reactor digital model, and intelligent robot digital model, determining the potential initial path key points corresponding to the special intelligent robot for nuclear reactors 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 feature distance D; for the determined initial path key point K n-1 , determining the feature space gradient value between the initial path key point K n-1 and the target position as the to-be-determined initial path key point K 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 serves as the reference starting point when selecting the to-be-determined initial path key point K′1. 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 to-be-determined initial path key point K′1. By combining the feature space gradient values 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, directly among all the spatial feature points whose feature space gradient deviation values are not greater than the feature space gradient deviation value threshold Δ th 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 formed by connecting the initial path key point K0 and the potential initial path key point K′1 is the shortest and has a relatively high path quality.

[0093] The feature space gradient deviation value threshold Δ th can be used to control the path length and path quality of the initial motion path. The smaller the feature space gradient deviation value threshold Δ th the shorter the path length and the higher the path quality of the initial motion path, but the greater the difficulty in determining the potential initial path key point. The specific value of the feature space gradient deviation value threshold Δ th can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0094] Based on the same principle, the already determined initial path key point K n-1 is used as the reference starting point when selecting the to-be-determined initial path key point K′ n , and the feature space gradient value between the initial path key point K n-1 and the target position is determined as the feature space gradient reference value corresponding to the to-be-determined initial path key point K′ n . Then, according to the feature space gradient values 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 can be determined respectively. Directly among all the spatial feature points whose feature space gradient deviation values are not greater than the feature space gradient deviation value threshold Δ th 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 a relatively high search efficiency, the method of coupling the random distribution of three-dimensional spatial feature points and the minimization of the feature space gradient deviation value can be used to improve the directivity and selectivity of path planning, so as to facilitate the subsequent construction of a target motion path with a shorter motion path and a higher path quality.

[0096] In step S803, according to the digital model of the special 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, where the qualification check includes interference check, singularity check, and joint module load check.

[0097] The potential initial path key point K' determined through the above process n , only considers factors such as the effectiveness of the motion path (whether it can reach the target position), the path length of the motion path, and the path quality. However, in the actual motion process, the special intelligent robot for nuclear reactors may need to change its configuration multiple times to perform the target task and may need to carry additional loads such as grasping operating tools. Therefore, during the path planning and control of the special intelligent robot for nuclear reactors, it is also necessary to perform a qualification check on the potential initial path key point K' n to further judge the feasibility of the potential initial path key point K' n and determine the qualification check results corresponding to the potential initial path key point K' n .

[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 judge whether the special intelligent robot for nuclear reactors will interfere with the internal environment of the nuclear reactor at the potential initial path key point K' n ; the singularity check can be used to judge whether the robot configuration of the special intelligent robot for nuclear reactors is continuous and unique at the potential initial path key point K' n ; the joint module load check can be used to judge whether the load of each joint in the mechanical system of the special intelligent robot for nuclear reactors exceeds the preset joint bearing capacity at the potential initial path key point K' n .

[0099] Specifically, according to the digital model of the special intelligent robot corresponding to the special intelligent robot for nuclear reactors, the robot configuration of the special intelligent robot for nuclear reactors at the potential initial path key point K' n can be determined; and then, based on the robot configuration of the special intelligent robot for nuclear reactors at the potential initial path key point K' n , interference check, singularity check, and joint module load check are respectively performed to determine the qualification check results.

[0100] Among them, the specific method for determining the robot configuration of the special intelligent robot for nuclear reactors at the potential initial path key point K' n can refer to the implementation methods in related technologies, and the present disclosure does not make specific limitations on this.

[0101] In one example, based on the digital model of the robot, the inverse kinematics method can be used to determine the special intelligent robot for nuclear reactor at the key point K' of the potential initial path in combination with the attitude requirements of the special intelligent robot for nuclear reactor. n The specific form of the inverse kinematics method can be determined according to the implementation manners in the related art. For example, the gradient descent method and the cuckoo search algorithm can be used for mutual correction to achieve the inverse kinematics. The present disclosure does not make specific limitations thereto.

[0102] The specific manner of interference check can be referred to the implementation manners in the related art, and the present disclosure does not make specific limitations thereto.

[0103] In one example, according to the spatial position relationship between the robot configuration of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path and the digital model of the nuclear reactor, it can be determined whether there is interference between the special intelligent robot for nuclear reactor at the key point K' of the potential initial path and the internal environment of the nuclear reactor. n n

[0104] The specific manner of singularity check can be referred to the implementation manners in the related art, and the present disclosure does not make specific limitations thereto.

[0105] In one example, according to the robot configuration of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path, the singularity of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path can be determined, and the singularity check is performed in combination with a preset singularity threshold. According to the comparison result between the singularity of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path and the singularity threshold, the singularity check result of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path can be determined. The specific value of the singularity threshold can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereto. n n n n

[0106] The specific manner of joint module load check can be referred to the implementation manners in the related art, and the present disclosure does not make specific limitations thereto.

[0107] In one example, according to the robot configuration of the special intelligent robot for nuclear reactor at the key point K' of the potential initial path, the load of each joint at the key point K' of the potential initial path can be determined. For any one joint, the load of the joint at the key point K' of the potential initial path can be n n n ​​​​​​​​The load at a certain point is compared with the rated bearing capacity of the joint to determine whether the joint is overloaded. When there is at least one key at the potential initial path key point K′ n is overloaded, it can be determined that the load inspection of the joint module of the special intelligent robot for nuclear reactors at the potential initial path key point K′ n is unqualified. Among them, the rated 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 thereon.

[0108] By performing interference inspection, singularity inspection, and joint module load inspection, multi-dimensional qualification inspection is carried out on the potential initial path key point K′ n can improve the safety and reliability of path planning, predict potential risks of the mechanical system of the special intelligent robot for nuclear reactors during the movement process, and prevent the mechanical system from being damaged or control failures from occurring 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 above three inspections, the qualification inspection can also include other inspection contents, which can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

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

[0111] The potential initial path key point K′ n The corresponding qualification inspection result is unqualified, which can indicate that at least one of the inspection results corresponding to the interference inspection, the singularity inspection, and the joint module load inspection is unqualified. In this case, it means that the potential initial path key point K′ n is not feasible and needs to be adjusted. Among them, the specific method of adjusting the potential initial path key point K′ n can be flexibly set according to actual usage requirements. For example, based on the foregoing process, a spatial feature point that satisfies the feature space gradient deviation value threshold Δ th can be reselected as the adjusted potential initial path key point, etc., and the present disclosure does not make specific limitations thereon.

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

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

[0114] In the case where the eligibility check result is qualified, the potential initial path key point K′ n , or the adjusted potential initial path key point, can be determined as the initial path key point K n , and the process of steps S801 to S804 is repeated until a complete initial motion path of the special intelligent robot for nuclear reactors moving from the initial position to the target position can be determined 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 directivity and selectivity can be used to connect the initial position and the target position, so as to determine an initial motion path with a shorter motion distance and higher path quality while ensuring the search efficiency.

[0116] In step S806, interpolation processing and smoothing processing are performed on the initial motion path to determine multiple target path key points. Among them, the target path key points are used to determine the target motion path of the special intelligent robot for nuclear reactors moving from the initial position to the target position in the target nuclear reactor, and the number of target path key points is greater than or equal to the number of initial path key points.

[0117] There may be problems such as fewer path control positions and poor path continuity in the initial motion path determined by the foregoing iterative process. Therefore, interpolation processing can be performed on the initial motion path to increase the number of path key points, and smoothing processing can be performed on the initial motion path to improve the smoothness and continuity of the path, so as to determine multiple target path key points to form a continuous and smooth target motion path. The specific methods of interpolation processing and smoothing processing can refer to the implementation methods in related technologies, and the present disclosure does not make specific limitations on this.

[0118] Furthermore, the control method for the special intelligent robot for nuclear reactors provided by the present disclosure can also, based on the target motion path, use the digital model of the special intelligent robot for nuclear reactors and the digital model of the nuclear reactor to preview and simulate the motion process of the special intelligent robot for nuclear reactors, so as to discover in advance the potential risks that may exist in the motion process of the special intelligent robot for nuclear reactors and further improve the safety of the motion of the special intelligent robot for nuclear reactors.

[0119] In the embodiments of the present disclosure, by constructing a digital model of a nuclear reactor that can reflect the internal environmental information corresponding to the target nuclear reactor, it is possible to combine the preset three-dimensional spatial point distribution characteristic distance and the characteristic space gradient deviation value threshold to improve the directivity and selectivity of path planning while ensuring a high search efficiency, and determine potential initial path key points that can construct a motion path with a shorter length and higher path quality. By constructing an intelligent robot model that can reflect the external dimensions and structural characteristics of the special intelligent robot for nuclear reactors, it is possible to perform multi-dimensional qualification inspections on the potential initial path key points, including interference inspection, singularity inspection, and joint module load inspection, and obtain the corresponding qualification inspection results to judge the feasibility of the potential initial path key points, thereby improving the safety and reliability of path planning, predicting potential risks of the mechanical system of the special intelligent robot for nuclear reactors during the movement process, and preventing damage to the mechanical system or failure of the control system caused by interference with the internal environment of the nuclear reactor, discontinuous robot configuration, or overloaded joints. In the case where the qualification inspection result corresponding to the potential initial path key point is unqualified, the potential initial path key point can be adjusted until the qualification inspection result corresponding to the adjusted potential initial path key point is qualified. The potential initial path key points with qualified qualification inspection results, or the adjusted potential initial path key points, are determined as the initial path key points for forming the initial motion path, and the above process is repeated until the initial motion path of the special intelligent robot for nuclear reactors moving from the initial position to the target position is determined. Then, interpolation processing and smoothing processing are performed on the initial motion path to determine a plurality of target path key points with a quantity greater than or equal to the quantity of the initial path key points, so as to determine a continuous and smooth target motion path that can control the special intelligent robot for nuclear reactors to move from the initial position to the target position, realizing the complete path planning of the special intelligent robot for nuclear reactors moving in the target nuclear reactor by using the method of coupling the random distribution of three-dimensional spatial feature points and the minimization of the characteristic space gradient deviation value, and further controlling the special intelligent robot for nuclear reactors to move safely and reliably along the target motion path.

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

[0121] In a possible implementation, when the eligibility check result corresponding to the potential initial path key point is unqualified, the potential initial path key point is adjusted until the eligibility check result corresponding to the adjusted potential initial path key point is qualified, including: performing an eligibility check on each spatial feature point whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold in ascending order of the feature space gradient deviation value until a spatial feature point with a qualified eligibility check result is determined, and determining this spatial feature point as the initial path key point.

[0122] Figure 9 FIG. shows a schematic process diagram of a special intelligent robot control method for a nuclear reactor according to an embodiment of the present disclosure. As Figure 9 shown, based on the aforementioned method of coupling the random distribution of three-dimensional spatial feature points and the minimization of the feature space gradient deviation value, the potential initial path key point K' can be determined n . Using the inverse kinematics method and combining with the pose requirements of the special intelligent robot for the nuclear reactor, after determining the robot configuration corresponding to the potential initial path key point K' of the special intelligent robot for the nuclear reactor n , an eligibility check including interference check, singularity check, and joint bearing capacity check can be performed, and combined with the corresponding three-level adjustment strategy, the path planning of the intelligent robot for the nuclear reactor in the complex environment of the reactor core can be realized.

[0123] When the eligibility check result corresponding to the potential initial path key point K' n is qualified, the potential initial path key point K' n can be determined as the initial path key point K n , and the next iteration process can be performed to determine the initial path key point K n+1 .

[0124] When the eligibility check result corresponding to the potential initial path key point K' n is unqualified, the first-level adjustment can be performed on the potential initial path key point K' n . Specifically, an eligibility check can be performed one by one on all spatial feature points whose feature space gradient deviation value is not greater than the feature space gradient deviation value threshold in ascending order of the feature space gradient deviation value until an adjusted potential initial path key point with a qualified eligibility check result is obtained.

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

[0126] Through the above process, it is possible to keep the threshold Δ of the deviation value of the feature space gradient th unchanged, that is, while keeping the requirements for the path length and path quality of the motion path unchanged, to achieve the first-level adjustment of the potential initial path key point K′ n .

[0127] When the eligibility check results corresponding to all the spatial feature points whose feature space gradient deviation values are not greater than the feature space gradient deviation value threshold Δ th are all unqualified, it indicates that within the limit range of the current feature space gradient deviation value threshold Δ th , it is impossible to achieve the adjustment of the potential initial path key point K′ n . It is necessary to reduce the requirements for the path length and path quality of the motion path to perform the second-level adjustment on the potential initial path key point K′ n .

[0128] In a possible implementation manner, the method further includes: when the eligibility check results corresponding to all the spatial feature points whose feature space gradient deviation values are not greater than the feature space gradient deviation value threshold Δ th are all unqualified, increasing the feature space gradient deviation value threshold Δ th , determining the adjusted deviation value threshold; according to the three-dimensional space point distribution feature distance and the adjusted deviation value threshold, determining the potential initial path key point after the second-level adjustment; performing an eligibility check on the potential initial path key point after the second-level adjustment to determine the eligibility check result corresponding to the potential initial path key point after the second-level adjustment; when the eligibility check result corresponding to the potential initial path key point after the second-level adjustment is qualified, determining the potential initial path key point after the second-level adjustment as the adjusted potential initial path key point.

[0129] Taking the above Figure 9 as an example, as Figure 9 shown, when the eligibility check results corresponding to all the spatial feature points whose feature space gradient deviation values are not greater than the feature space gradient deviation value threshold are all unqualified, it is possible to perform the second-level adjustment on the potential initial path key point K′ n . Specifically, the feature space gradient deviation value threshold Δ th can be increased to determine the adjusted deviation value threshold. According to the three-dimensional space point distribution length and the adjusted deviation value threshold, based on the existing initial path key point K n-1, by using the method of coupling the random distribution of three-dimensional spatial feature points with the minimization of the deviation value of the feature space gradient, the potential initial path key points after the secondary adjustment can be determined, and the eligibility check of the potential initial path key points after the secondary adjustment can be carried out. When the eligibility check result corresponding to the potential initial path key points after the secondary adjustment is qualified, the potential initial path key points after the secondary adjustment can be directly determined as the initial path key point K n , and the next iteration process is carried out to determine the initial key point K n+1 .

[0130] Through the above process, by reducing the requirements for the path length and path quality of the motion path, the selection range of the potential initial path key points after the secondary adjustment can be increased, and the second-level adjustment of the potential initial path key point K' n can be realized.

[0131] When the eligibility check results corresponding to all the potential initial path key points after the secondary adjustment are unqualified, it means that by adjusting the deviation value threshold Δ th of the feature space gradient and reducing the requirements for the path length and path quality of the motion path, the adjustment of the potential initial path key point K' n still cannot be realized, and the third-level adjustment of the potential initial path key point K' n needs to be carried out.

[0132] In a possible implementation manner, the method further includes: when the eligibility check results corresponding to all the potential initial path key points after the secondary adjustment are unqualified, reducing the three-dimensional spatial point distribution feature distance D to determine the adjusted feature length; determining the potential initial path key points after the tertiary adjustment according to the adjusted feature length and the adjusted deviation value threshold; carrying out the eligibility check on the potential initial path key points after the tertiary adjustment to determine the eligibility check result corresponding to the potential initial path key points after the tertiary adjustment; when the eligibility check result corresponding to the potential initial path key points after the tertiary adjustment is unqualified, repeating the above process until the eligibility check result corresponding to the potential initial path key points after the tertiary adjustment is qualified; when the eligibility check result corresponding to the potential initial path key points after the tertiary adjustment is qualified, determining the potential initial path key points after the tertiary adjustment as the adjusted potential initial path key points.

[0133] Taking the above Figure 9 as an example, as Figure 9 shown, when the eligibility check results corresponding to all the potential initial path key points after the secondary adjustment are unqualified, the potential initial path key point K' nPerform the third-level adjustment. Specifically, the length D of the three-dimensional space point distribution can be reduced to determine the adjusted distribution length. Based on the adjusted distribution length and the adjusted deviation value threshold, and based on the existing initial path key points K n-1 , by using the method of coupling the random distribution of three-dimensional space feature points with the minimization of the deviation value of the feature space gradient, the potential initial path key points after the third-level adjustment can be determined, and the eligibility check of the potential initial path key points after the third-level adjustment can be performed. When the eligibility check result corresponding to the potential initial path key points after the third-level adjustment is qualified, the potential initial path key points after the third-level adjustment can be directly determined as the initial path key points K n , and the next iteration process can be performed to determine the initial key points K n+1 .

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

[0135] In the embodiments of the present disclosure, by constructing a digital model of a nuclear reactor that can reflect the internal environmental information corresponding to the target nuclear reactor, it is possible to combine the preset three-dimensional spatial point distribution characteristic distance and the characteristic space gradient deviation value threshold, and improve the directionality and selectivity of path planning while ensuring a high search efficiency, so as to determine potential initial path key points that can construct a motion path with a shorter length and higher path quality. By constructing an intelligent robot model that can reflect the external dimensions and structural characteristics of the special intelligent robot for nuclear reactors, it is possible to perform multi-dimensional qualification inspections on the potential initial path key points, including interference inspection, singularity inspection, and joint module load inspection, and obtain the corresponding qualification inspection results to judge the feasibility of the potential initial path key points, thereby improving the safety and reliability of path planning, predicting potential risks of the mechanical system of the special intelligent robot for nuclear reactors during the movement process, and preventing damage to the mechanical system or failures of the control system caused by reasons such as interference with the internal environment of the nuclear reactor, discontinuous robot configurations, or overloaded joints. In the case where the qualification inspection result corresponding to the potential initial path key point is unqualified, the potential initial path key point can be adjusted at multiple levels in the order of reselecting spatial feature points, increasing the characteristic space gradient deviation value threshold, and decreasing the three-dimensional spatial point distribution characteristic distance until the qualification inspection result corresponding to the adjusted potential initial path key point is qualified. The potential initial path key points with qualified qualification inspection results, or the adjusted potential initial path key points, are determined as the initial path key points for forming the initial motion path, and the above process is repeated until the initial motion path for the special intelligent robot for nuclear reactors to move from the initial position to the target position is determined. Then, interpolation processing and smoothing processing are performed on the initial motion path to determine multiple target path key points with a quantity greater than or equal to the quantity of the initial path key points, so as to determine a continuous and smooth target motion path that can control the special intelligent robot for nuclear reactors to move from the initial position to the target position, realizing the method of coupling the random distribution of three-dimensional spatial feature points and the minimization of the characteristic space gradient deviation value, performing the complete path planning for the special intelligent robot for nuclear reactors to move in the target nuclear reactor, and further controlling the special intelligent robot for nuclear reactors 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 combined embodiments without violating the principle logic. Due to space limitations, the present disclosure will not elaborate further. Those skilled in the art can understand that in the above methods of the specific implementation manner, 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. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A special intelligent robot control method for a nuclear reactor, characterized in that The method is applied to the control system of a special intelligent robot for nuclear reactors. Among them, the special intelligent robot for nuclear reactors includes a mechanical system and the control system based on CAN bus technology. The mechanical system includes multiple moving arms, multiple rotating joints and at least one telescopic joint, and each joint includes a dynamic seal structure. The dynamic seal structure includes two redundant dynamic seal rings and a leak detection system. The control system is used to control the movement of the mechanical system and includes: Construct a nuclear reactor digital model corresponding to the target nuclear reactor and an intelligent robot digital model corresponding to the special intelligent robot for nuclear reactors respectively. Among them, 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 characteristics corresponding to the special intelligent robot for nuclear reactors; Determine the potential initial path key points corresponding to the special intelligent robot for nuclear reactors according to the preset three-dimensional space point distribution feature distance, feature space gradient deviation value threshold, the nuclear reactor digital model and the intelligent robot digital model; According to the intelligent robot digital model and the nuclear reactor digital model, conduct a qualification check on the potential initial path key points to determine the qualification check results corresponding to the potential initial path key points. Among them, the qualification check includes interference check, singularity check and joint module load check; In the case where the qualification check results corresponding to the potential initial path key points are unqualified, adjust the potential initial path key points until the qualification check results corresponding to the adjusted potential initial path key points are qualified; Determine the potential initial path key points with qualified qualification check results, or the adjusted potential initial path key points as the initial path key points, and repeat the above process until the initial movement path of the special intelligent robot for nuclear reactors from the initial position to the target position is determined. Among them, the initial path key points are used to simulate any position passed through in the initial movement path; Conduct interpolation processing and smoothing processing on the initial movement path to determine multiple target path key points. Among them, the target path key points are used to determine the target movement path of the special intelligent robot for nuclear reactors from the initial position to the target position in the target nuclear reactor, and the number of target path key points is greater than or equal to the number of initial path key points.

2. The method according to claim 1, characterized in that The multiple moving arms are connected through the rotating joints, 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.

3. The method according to claim 1 or 2, characterized in that, The rotating joints and the telescopic joints include motor drive devices.

4. The method according to claim 1 or 2, characterized in that, The rotating joints and the telescopic joints are of hollow structure. Among them, the hollow structure is used to arrange the power line and control line corresponding to the control system.

5. The method according to claim 1 or 2, characterized in that, Any one of the dynamic seal rings includes a high-elastic rubber ring in the form of a Gleitring and a self-lubricating polymer material.

6. The method according to claim 1 or 2, characterized in that, The leak detection system includes a strongly water-absorbent filling material, a conductive coil, a lead wire, a current signal collector and a power supply.

7. The method according to claim 1, characterized in that, 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 digital model of the nuclear reactor, and the digital model of the intelligent robot, 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 point K n-1 , the feature space gradient value between the initial path key point K n-1 and the target position is determined as the feature space gradient reference value corresponding to the initial path key point K n to be determined, where n is a positive integer greater than or equal to 1. When n equals 1, the initial path key point K0 is the initial position; Respectively determining the characteristic space gradient deviation value corresponding to each spatial feature point according to the characteristic space gradient value between each spatial feature point and the target position, and the characteristic space gradient reference value; Determining the spatial feature point with the smallest characteristic space gradient deviation value among all spatial feature points whose characteristic space gradient deviation value is not greater than the characteristic space gradient deviation value threshold as the potential initial path key point.

8. The method according to claim 7, wherein 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, includes: Performing a qualification check on each spatial feature point whose characteristic space gradient deviation value is not greater than the characteristic space gradient deviation value threshold in ascending order of the characteristic space gradient deviation value until a spatial feature point with a qualified qualification check result is determined, and determining this spatial feature point as the adjusted potential initial path key point.

9. The method according to claim 8, characterized in that, The method further includes: When the qualification check results corresponding to all spatial feature points whose characteristic space gradient deviation value is not greater than the characteristic space gradient deviation value threshold are unqualified, increasing the characteristic space gradient deviation value threshold to determine the adjusted deviation value threshold; Determining the potentially initially adjusted path key points according to the three-dimensional space point distribution characteristic distance and the adjusted deviation value threshold; Performing a qualification check on the potentially initially adjusted path key points to determine the qualification check result corresponding to the potentially initially adjusted path key points; When the qualification check result corresponding to the potentially initially adjusted path key points is qualified, determining the potentially initially adjusted path key points as the adjusted potential initial path key points.

10. The method according to claim 9, characterized in that, The method further includes: When the qualification check results corresponding to all potentially initially adjusted path key points are unqualified, reducing the three-dimensional space point distribution characteristic distance to determine the adjusted characteristic length; Determining the potentially third-adjusted path key points according to the adjusted characteristic length and the adjusted deviation value threshold; Performing a qualification check on the potentially third-adjusted path key points to determine the qualification check result corresponding to the potentially third-adjusted path key points; When the qualification check result corresponding to the potentially third-adjusted path key points is unqualified, repeating the above process until the qualification check result corresponding to the potentially third-adjusted path key points is qualified; In the case where the eligibility check result corresponding to the potentially initial path key points after the third-level adjustment is qualified, determine the potentially initial path key points after the third-level adjustment as the potentially initial path key points after the adjustment.

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