Underwater operating nuclear industry robot

Abstract

The application discloses an underwater operation nuclear industry robot, which comprises an amphibious moving system, an operation system, a recovery storage system and a visual identification system, wherein the amphibious moving system comprises a chassis, a land moving module, an underwater moving module and an adsorption fixing module; the operation system is installed on the front side of the top surface of the chassis and comprises a multi-degree-of-freedom mechanical arm and a grabbing manipulator; the multi-degree-of-freedom mechanical arm is installed on the top surface of the chassis, and the grabbing manipulator is installed at the end of the multi-degree-of-freedom mechanical arm; the recovery storage system is installed on the top surface of the chassis; the visual identification system is installed on the rear side of the top surface of the chassis and comprises a supporting module, an illumination module and an identification module; and the amphibious moving system, the operation system, the recovery storage system and the visual identification system are connected with a terminal controller. The underwater operation nuclear industry robot can flexibly enter an underwater operation area from land and is suitable for operation in various complex environments.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to an underwater nuclear industry robot. Background Technology

[0002] The nuclear industry is a core area of ​​national security and energy strategy. Its operating environment is characterized by high radioactivity, high temperature, confined spaces, and complex environments, posing significant safety risks to traditional manual operations. Currently, land-based nuclear industry robots are developing rapidly, but the recovery of nuclear waste discharged into water is still mainly done manually, lacking corresponding underwater nuclear industry robots.

[0003] The main sources of underwater nuclear waste include radioactive materials intentionally or accidentally released into the marine environment during human activities such as military, energy production, and scientific research. To avoid environmental pollution, the manual recycling process for nuclear waste is hampered by the need for oxygen in dimly lit environments and the presence of radiation, posing threats to personnel health and hindering recycling speed. Furthermore, it requires significant investment in developing underwater diving systems with lighting, oxygen supply, and radiation protection capabilities. The field of underwater nuclear waste recycling urgently needs an intelligent recycling robot to address these issues, enabling the robot to locate, collect, and retrieve underwater waste.

[0004] To address the aforementioned technical issues, this invention provides an underwater nuclear industry robot. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater nuclear industry robot to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides an underwater nuclear industry robot, comprising:

[0007] An amphibious mobile system, comprising a chassis, a land mobile module, an underwater mobile module, and an adsorption and fixation module, wherein the land mobile module and the underwater mobile module are mounted on both sides of the chassis, and the adsorption and fixation module is arranged on the bottom surface of the chassis;

[0008] The operating system has two sets of components installed on the front side of the top surface of the chassis. The operating system includes a multi-degree-of-freedom robotic arm and a gripping robotic arm. The multi-degree-of-freedom robotic arm is installed on the top surface of the chassis, and the gripping robotic arm is installed at the end of the multi-degree-of-freedom robotic arm.

[0009] A recycling and storage system is installed on the top surface of the chassis and is arranged correspondingly to the operating system;

[0010] A visual recognition system is installed on the rear side of the top surface of the chassis. The visual recognition system includes a support module, a lighting module, and a recognition module. The lighting module and the recognition module are both installed on the support module.

[0011] The terminal controller is connected to the amphibious mobile system, the operation system, the recovery and storage system, and the visual recognition system.

[0012] The underwater nuclear industry robot provided by the present invention includes a land-based mobile module comprising:

[0013] The driven wheel disks are provided in two sets, and the two sets of driven wheel disks are rotatably connected to the side of the chassis through a rotary joint. The two sets of driven wheel disks are driven by track.

[0014] A drive wheel is connected to a motor in the chassis via a rotating joint. The drive wheel is located between two sets of driven wheels and meshes with the driven wheels.

[0015] The diameter of the driven wheel is smaller than the diameter of the driving wheel.

[0016] The underwater nuclear industry robot provided by the present invention includes an underwater mobility module comprising:

[0017] A bracket, which is fixedly connected to the middle position of the side of the chassis;

[0018] A propeller rod, which is rotatably connected to the end of the bracket;

[0019] A propeller, which is rotatably connected to the end of the propeller shaft via a revolute joint;

[0020] The bracket and the paddle rod can be adjusted at a 90° angle.

[0021] The underwater nuclear industry robot provided by the present invention includes an adsorption and fixation module comprising:

[0022] An electric push cylinder, which is vertically fixed to the bottom surface of the chassis;

[0023] A suction cup, which is fixed to the bottom of the electric push cylinder.

[0024] The underwater nuclear industry robot provided by the present invention includes a multi-degree-of-freedom robotic arm comprising:

[0025] Robotic arm drive motor I, which is fixed on the chassis;

[0026] Robotic arm drive gear I, which is fixedly connected to the output shaft of the robotic arm drive motor I.

[0027] The robotic arm driven gear I is rotatably connected to the top surface of the chassis via a bearing. The robotic arm driven gear I meshes with the robotic arm drive gear I. The lower arm of the robotic arm is coaxially and fixedly connected to the top surface of the robotic arm driven gear I.

[0028] The middle arm of the robotic arm is rotatably connected to the end of the lower arm of the robotic arm via a revolute joint;

[0029] The upper arm of the robotic arm is rotatably connected to the end of the middle arm of the robotic arm via a revolute joint. Angle adjustment components are respectively provided between the middle arm and the lower arm of the robotic arm, and between the middle arm and the upper arm.

[0030] The angle adjustment assembly includes a robotic arm drive motor II, a robotic arm drive gear II, and a robotic arm driven gear II. The robotic arm driven gear II is rotatably connected to the lower end of the robotic arm and the middle end of the robotic arm. The robotic arm drive motor II is fixed on the middle end of the robotic arm and the upper end of the robotic arm. The robotic arm drive gear II is fixed on the output shaft of the robotic arm drive motor II. The robotic arm drive gear II meshes with the robotic arm driven gear II.

[0031] A robotic arm electric actuator, wherein the robotic arm electric actuator is fixed to the end of the upper arm of the robotic arm, and a fixing tube is fixedly connected to the end of the robotic arm electric actuator;

[0032] A gripper camera, which is fixed to the fixed tube.

[0033] The underwater nuclear industry robot provided by the present invention includes a gripping manipulator comprising:

[0034] A robotic electric actuator, wherein the cylinder portion of the robotic electric actuator is fixed inside the fixed tube;

[0035] Fixed base I, fixed to the end of the fixed tube, with a clearance hole at the center of the fixed base I;

[0036] Fixed base II, which is positioned opposite to fixed base I, and fixed base I and fixed base II are coaxially fixedly connected by a fixing rod;

[0037] A pad is disposed between the fixed base I and the fixed base II and is slidably connected to the fixed rod. The movable end of the robotic electric push rod passes through the clearance hole and is fixed at the center position of the pad.

[0038] The gripper is provided in several groups, and the several groups of grippers are rotatably connected to one side of the fixed base II via a mounting seat;

[0039] A connecting rod assembly, one end of which is rotatably connected to the gripper, and the other end of which passes through the fixed base II and is fixedly connected to the pad. The connecting rod assembly is also slidably connected to the fixed base II.

[0040] The underwater nuclear industry robot provided by the present invention includes a recovery and storage system comprising:

[0041] A recycling bin, which is fixedly connected to the top surface of the chassis, and the top of the recycling bin is open;

[0042] A cover plate is rotatably connected to the top of the recycling bin via a mounting shaft. An opening and closing motor is installed on the recycling bin and is axially connected to the mounting shaft.

[0043] The underwater nuclear industry robot provided by the present invention includes a support module comprising:

[0044] A support rod, which is vertically and fixedly connected to the top surface of the chassis;

[0045] A multi-degree-of-freedom linkage assembly, wherein the multi-degree-of-freedom linkage assembly is mounted on the top of the support rod;

[0046] A gimbal, which is mounted at the end of the multi-degree-of-freedom linkage assembly.

[0047] The present invention discloses the following technical effects:

[0048] 1) This invention has amphibious mobility on land and underwater, and can flexibly enter the underwater operation area from the land without the need for additional transfer equipment, which greatly improves the convenience and efficiency of the operation and is suitable for operation in a variety of complex environments.

[0049] 2) The operating system uses a multi-degree-of-freedom robotic arm and a gripping manipulator, which has high flexibility and precision.

[0050] 3) The adsorption and fixing module can firmly attach the robot during underwater operations, preventing the robot from moving due to water flow or other external forces, ensuring the stability and safety of the operation process, reducing the risk of accidents, and ensuring the safety of the operating equipment.

[0051] 4) The visual recognition system is equipped with a lighting module and a recognition module, which can provide clear visual information in complex underwater environments, accurately identify the location and features of the operation, provide a reliable basis for the precise operation of the robotic arm, and improve the accuracy and reliability of the operation.

[0052] 5) All systems in this invention are connected to a terminal controller, enabling automated control and collaborative operation. The terminal controller can automatically adjust the operating parameters of each system based on feedback information from the visual recognition system, achieving efficient recycling operations, reducing manual intervention, and improving the level of intelligence in the operation. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a schematic diagram of the underwater nuclear industry robot of the present invention;

[0055] Figure 2 This is a schematic diagram of the amphibious mobility system of the present invention;

[0056] Figure 3 This is a schematic diagram of the structure of the multi-degree-of-freedom robotic arm of the present invention;

[0057] Figure 4 This is a schematic diagram of the gripping robot of the present invention;

[0058] Figure 5 This is a schematic diagram of the recycling and storage system of the present invention;

[0059] Figure 6 This is a schematic diagram of the visual recognition system of the present invention;

[0060] Figure 7 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure I ;

[0061] Figure 8 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure II

[0062] Figure 9 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure III ;;

[0063] Figure 10 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure IV ;

[0064] Figure 11 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure V ;

[0065] Figure 12 This is a schematic diagram of the robot's working dynamics according to the present invention. Figure VI .

[0066] Among them, 1. Amphibious mobility system;

[0067] 110. Chassis; 120. Land-based mobile module; 130. Underwater mobile module; 140. Adsorption and fixation module;

[0068] 121. Driven wheel; 122. Track; 123. Drive wheel;

[0069] 131. Support frame; 132. Paddle shaft; 133. Propeller;

[0070] 141. Electric push cylinder; 142. Suction cup;

[0071] 2. Operating system;

[0072] 210. Multi-degree-of-freedom robotic arm; 220. Grasping robotic hand; 230. Angle adjustment assembly;

[0073] 211. Robotic arm drive motor I; 212. Robotic arm drive gear I; 213. Robotic arm driven gear I; 214. Robotic arm middle arm; 215. Robotic arm upper arm; 216. Robotic arm electric actuator; 217. Fixed tube; 218. Grasp camera;

[0074] 221. Mechanical arm push rod; 222. Fixed base I; 223. Fixed base II; 224. Gripper; 225. Connecting rod assembly;

[0075] 231. Robotic arm drive motor II; 232. Robotic arm drive gear II; 233. Robotic arm driven gear II;

[0076] 3. Recycling and storage system;

[0077] 310. Recycling bin; 320. Cover plate;

[0078] 4. Visual recognition system;

[0079] 410. Support module; 420. Lighting module; 430. Recognition module;

[0080] 411. Support rod; 412. Multi-degree-of-freedom linkage assembly; 413. Gimbal. Detailed Implementation

[0081] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0082] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0083] Reference Figures 1-12 This invention provides an underwater nuclear industry robot, comprising:

[0084] The amphibious mobile system 1 includes a chassis 110, a land mobile module 120, an underwater mobile module 130, and an adsorption and fixation module 140. The land mobile module 120 and the underwater mobile module 130 are installed on both sides of the chassis 110, and the adsorption and fixation module 140 is arranged on the bottom surface of the chassis 110.

[0085] The operating system 2 has two sets of components installed on the front side of the top surface of the chassis 110. The operating system 2 includes a multi-degree-of-freedom robotic arm 210 and a gripping robot 220. The multi-degree-of-freedom robotic arm 210 is installed on the top surface of the chassis 110, and the gripping robot 220 is installed at the end of the multi-degree-of-freedom robotic arm 210.

[0086] The recycling and storage system 3 is installed on the top surface of the chassis 110 and is arranged in a corresponding manner to the operating system 2;

[0087] The visual recognition system 4 is installed on the rear side of the top surface of the chassis 110. The visual recognition system 4 includes a support module 410, an illumination module 420 and a recognition module 430. The illumination module 420 and the recognition module 430 are both installed on the support module 410.

[0088] The terminal controller, amphibious mobile system 1, operation system 2, recovery and storage system 3, and visual recognition system 4 are all connected to the terminal controller.

[0089] In operation, when the robot needs to move from land to a location near water, the land-based mobility module 120 activates. For example, a wheeled or tracked structure (e.g., 122) drives the chassis 110 forward, backward, and turn, enabling the robot to reach the appropriate location. Upon reaching the water, the underwater mobility module 130 activates, using propellers (e.g., 133) or biomimetic propulsion to propel the robot underwater towards the nuclear waste area. During this movement, the adsorption and fixation module 140 remains inactive. The robot uses the visual recognition system 4 to determine the specific location of the nuclear waste. Upon reaching the target location, the adsorption and fixation module 140 activates, firmly attaching the robot to the underwater work surface to prevent movement during operation and ensure operational stability and safety. The lighting module 420 of the visual recognition system 4 provides sufficient illumination to the underwater environment, ensuring that the recognition module 430 can clearly acquire images or three-dimensional information of the underwater nuclear waste and accurately identify its location, shape, size, and other characteristics. Based on feedback from the vision recognition system 4, the terminal controller controls the multi-degree-of-freedom robotic arm 210 to perform precise movements, moving the gripping robot 220 to the location of the nuclear waste. The gripping robot 220 picks up the nuclear waste using an appropriate gripping method based on its shape and characteristics. After picking up the nuclear waste, under the command of the terminal controller, the multi-degree-of-freedom robotic arm 210 moves the nuclear waste above the recycling and storage system 3 and places it into the recycling and storage system 3 for proper storage. After completing one waste recycling cycle, the robot releases the adsorption and fixation module 140 from its adsorption state and continues to move underwater or on land according to task requirements, searching for the next nuclear waste target, repeating the above process of waste identification, gripping, and storage until all recycling tasks are completed, and finally returns to the designated location.

[0090] Further optimization of the scheme, the land mobile module 120 includes:

[0091] Driven wheel 121, two sets of driven wheel 121 are provided, and the two sets of driven wheel 121 are rotatably connected to the side of chassis 110 through a rotating pair. The two sets of driven wheel 121 are driven by track 122.

[0092] The drive wheel 123 is connected to the motor in the chassis 110 via a rotating joint. The drive wheel 123 is located between two sets of driven wheels 121 and meshes with the driven wheels 121.

[0093] The diameter of the driven wheel 121 is smaller than the diameter of the driving wheel 123.

[0094] A motor inside the chassis 110 drives the drive wheel 123 to rotate. Because the drive wheel 123 meshes with the driven wheel 121, and the driven wheel 121 is transmitted through the track 122, the rotation of the drive wheel 123 will drive the driven wheel 121 and the track 122 to rotate, enabling the robot to move on land. The diameter of the driven wheel 121 is smaller than that of the drive wheel 123, which can increase the torque and improve the robot's climbing and obstacle-crossing capabilities.

[0095] Further optimization of the design, the underwater mobile module 130 includes:

[0096] Bracket 131 is fixedly connected to the middle position of the side of chassis 110;

[0097] The propeller rod 132 is rotatably connected to the end of the bracket 131;

[0098] Propeller 133 is rotatably connected to the end of propeller 132 via a revolute joint;

[0099] The bracket 131 and the propeller 132 can be adjusted by 90°.

[0100] The propeller 133 is mounted at the end of the propeller shaft 132, which is rotatably connected to the support 131 and can be adjusted by 90°. By adjusting the angle between the propeller shaft 132 and the support 131, the propulsion direction of the propeller 133 can be changed. The motor drives the propeller 133 to rotate and generate thrust, propelling the robot to perform forward, backward, and turning movements underwater.

[0101] Further optimization of the design, the adsorption and fixation module 140 includes:

[0102] Electric push cylinder 141 is vertically fixed to the bottom surface of chassis 110;

[0103] Suction cup 142 is fixed to the bottom of electric push cylinder 141.

[0104] The electric cylinder 141 pushes the suction cup 142 downward, so that the suction cup 142 contacts the working surface. Then, the air pressure regulating device (such as a vacuum pump) inside the suction cup 142 creates a negative pressure inside the suction cup 142, thereby firmly adhering the robot to the working surface, which facilitates stable underwater operation.

[0105] Further optimization of the design, the multi-degree-of-freedom robotic arm 210 includes:

[0106] Robotic arm drive motor I211 is fixed on chassis 110;

[0107] Robotic arm drive gear I212 is fixedly connected to the output shaft of robotic arm drive motor I211.

[0108] The robotic arm driven gear I213 is rotatably connected to the top surface of the chassis 110 via a bearing. The robotic arm driven gear I213 meshes with the robotic arm drive gear I212. The lower arm of the robotic arm is coaxially and fixedly connected to the top surface of the robotic arm driven gear I213.

[0109] The middle arm 214 of the robotic arm is rotatably connected to the end of the lower arm of the robotic arm via a revolute joint;

[0110] The upper arm 215 of the robotic arm is rotatably connected to the end of the middle arm 214 of the robotic arm via a revolute joint. Angle adjustment components 230 are respectively provided between the middle arm 214 and the lower arm of the robotic arm, and between the middle arm 214 and the upper arm 215 of the robotic arm.

[0111] The angle adjustment assembly 230 includes a robotic arm drive motor II 231, a robotic arm drive gear II 232, and a robotic arm driven gear II 233. The robotic arm driven gear II 233 is rotatably connected to the end of the lower arm and the end of the middle arm 214 of the robotic arm. The robotic arm drive motor II 231 is fixed on the middle arm 214 and the upper arm 215 of the robotic arm. The robotic arm drive gear II 232 is fixed on the output shaft of the robotic arm drive motor II 231. The robotic arm drive gear II 232 meshes with the robotic arm driven gear II 233.

[0112] The robotic arm electric actuator 216 is fixed to the end of the upper arm 215 of the robotic arm, and a fixing tube 217 is fixedly connected to the end of the robotic arm electric actuator 216.

[0113] The gripper camera 218 is fixed on the fixing tube 217.

[0114] The robotic arm drive motor I 211 drives the lower arm to rotate via gear meshing. The middle arm 214 and the lower arm, as well as the upper arm and the middle arm, are angled via an angle adjustment assembly 230. Within the angle adjustment assembly 230, the drive motor drives the gears, which in turn drive the driven gears, achieving relative rotation between the arms. The robotic arm electric actuator 216 can fine-tune the axial position of the gripping manipulator 220, and the gripper camera 218 is used to acquire image information of the grasped target.

[0115] Further optimization of the solution, the gripping robotic arm 220 includes:

[0116] The mechanical hand electric push rod 221 has its cylinder body fixed inside the fixed tube 217;

[0117] Fixed base I222 is fixed to the end of fixed tube 217, and a clearance hole is provided at the center of fixed base I222;

[0118] Fixed base II223 is set opposite to fixed base I222, and fixed base I222 and fixed base II223 are coaxially fixedly connected by a fixing rod;

[0119] A pad is set between fixed base I 222 and fixed base II 223 and is slidably connected to the fixed rod. The movable end of the robotic electric push rod 221 passes through the clearance hole and is fixed at the center position of the pad.

[0120] The gripper 224 is provided in several sets, and the several sets of grippers 224 are rotatably connected to one side of the fixed base II 223 through the mounting base;

[0121] The connecting rod assembly 225 has one end rotatably connected to the gripper 224, and the other end passes through the fixed base II 223 and is fixedly connected to the pad. The connecting rod assembly 225 is also slidably connected to the fixed base II 223.

[0122] The telescopic push rod 221 of the robotic arm extends and retracts, causing the pad to slide along the fixed rod. Through the action of the connecting rod group 225, the gripper 224 can perform opening and closing actions, thereby grabbing or releasing objects.

[0123] Further optimization of the solution, the recycling and storage system 3 includes:

[0124] The recycling bin 310 is fixedly connected to the top surface of the chassis 110, and the top of the recycling bin 310 is open.

[0125] The cover plate 320 is rotatably connected to the top of the recycling bin 310 via a mounting shaft. The recycling bin 310 is equipped with an opening and closing motor, which is shaft-connected to the mounting shaft.

[0126] The top of the recycling bin 310 is open to receive waste. The cover plate 320 is rotatably connected to the top of the recycling bin 310 via a mounting shaft. The opening and closing motor drives the mounting shaft to rotate, thereby opening and closing the cover plate 320 to facilitate the placement and removal of waste.

[0127] Further optimization of the solution, supporting module 410 includes:

[0128] Support rod 411 is vertically fixed to the top surface of chassis 110;

[0129] A multi-degree-of-freedom linkage assembly 412 is installed at the top of the support rod 411;

[0130] The gimbal 413 is installed at the end of the multi-degree-of-freedom linkage 412.

[0131] The lighting module 420 is further optimized and includes:

[0132] The light bulb is mounted on the pan-tilt head 413.

[0133] The scheme has been further optimized, and the identification module 430 includes:

[0134] The camera is mounted on the PTZ 413.

[0135] The support rod 411 provides basic support, the multi-degree-of-freedom linkage 412 is installed at the top of the support rod 411, and the gimbal 413 is installed at the end of the linkage. The angle of the gimbal 413 is adjusted by the movement of the linkage, thereby adjusting the direction of the lighting module 420 and the recognition module 430.

[0136] The light is mounted on the gimbal 413, and the direction of illumination is adjusted by the gimbal 413 to provide sufficient lighting for the underwater environment, ensuring that the recognition module 430 can clearly acquire image information.

[0137] The camera is mounted on the 413 pan-tilt unit to capture images of the underwater environment. The images are then analyzed and processed using image processing algorithms to identify the location, shape, size, and other characteristics of the nuclear waste.

[0138] To further optimize the solution, the present invention also includes:

[0139] High-resolution underwater camera: Industrial-grade underwater cameras with high resolution and low light characteristics, such as some models of Teledyne DALSA, are selected to clearly capture images of nuclear waste under complex underwater lighting conditions.

[0140] Multispectral imager: can help identify nuclear waste of different materials. For example, some nuclear waste has unique reflective properties under specific spectra, and multispectral imaging can improve the accuracy of identification.

[0141] Depth cameras: such as the Intel RealSense series depth cameras, are used to obtain distance information between nuclear waste and robots to assist in positioning.

[0142] Image processing algorithms: Deep learning algorithms, such as convolutional neural networks (CNNs), are used to extract features and classify images captured by cameras to identify nuclear waste. The algorithm is trained using a large dataset of labeled nuclear waste images to improve its recognition accuracy.

[0143] 3D Reconstruction Algorithm: Combining data from depth cameras, the nuclear waste is reconstructed in 3D to obtain its precise spatial location and shape information.

[0144] Ultra-short baseline positioning system (USBL): Installed on the robot and mother ship, it determines the robot's position and attitude underwater by measuring the propagation time and phase difference of sound waves.

[0145] Inertial navigation systems (INS): such as Honeywell's HGuide series, provide robot attitude, velocity, and acceleration information to assist USBL systems in positioning and improve positioning stability and accuracy.

[0146] Data fusion algorithm: The data from USBL and INS are fused to eliminate the error of a single sensor and improve the accuracy and reliability of positioning.

[0147] High-performance industrial computers, such as Advantech's IPC-610 series, serve as the core control unit, processing data from the vision recognition and positioning system and issuing control commands to various actuators.

[0148] Motor driver: Used to drive the motors of the land movement module 120, the underwater movement module 130, the multi-degree-of-freedom robotic arm 210, and the gripping manipulator 220 to achieve precise motion control.

[0149] Motion control algorithm: Based on the results of the visual recognition and positioning system, the robot's motion path is planned, and the actions of each actuator are controlled to achieve precise grasping and recycling of nuclear waste.

[0150] Human-machine interface: Develop an intuitive human-machine interface to facilitate operators in real-time monitoring of the robot's status, adjusting parameters, and issuing commands.

[0151] The specific identification and positioning process is as follows: After the robot enters the underwater working area, it adjusts its position and attitude through the underwater movement module 130. The lighting module 420 is turned on to provide sufficient illumination for the vision recognition system 4. The high-resolution underwater camera and multispectral imager in the vision recognition system 4 begin scanning the surrounding environment, capturing images and transmitting them to the industrial computer. The image processing algorithm analyzes and processes the captured images to identify potential nuclear waste targets. If a target is identified, its approximate location information is recorded. The USBL and INS in the positioning system begin working, combining the approximate target location information recorded by the vision recognition system 4 to accurately locate the nuclear waste. The data fusion algorithm fuses the data from the USBL and INS to obtain the precise three-dimensional coordinates and attitude information of the nuclear waste, and transmits it to the control system. Based on the positioning results, the control system plans the robot's movement path and controls the robot to approach the nuclear waste target through the land movement module 120 (which can be considered as auxiliary movement adjustment underwater) and the underwater movement module 130. During the approach, the vision recognition system 4 continuously monitors the target position, and the control system adjusts the robot's movement direction and speed based on real-time feedback information to ensure accurate approach to the target. Once the robot approaches the appropriate location, the control system controls the movement of the multi-degree-of-freedom robotic arm 210, adjusting its posture so that the gripping manipulator 220 is aligned with the nuclear waste. The gripper camera 218 further confirms and locates the nuclear waste, ensuring accurate grasping. The control system controls the extension and retraction of the gripper's electric actuator 221, causing the gripper 224 to open and close, thus grasping the nuclear waste. After grasping the nuclear waste, the robot transports it to the vicinity of the recycling and storage system 3 via the underwater movement module 130 and the land movement module 120. The control system controls the opening and closing motor to open the cover 320 of the recycling bin 310, the robotic arm places the nuclear waste into the recycling bin 310, and then closes the cover 320. The robot continues to search for other nuclear waste targets in the underwater operating area, repeating the above search, location, approach, grasp, and recycling process until all nuclear waste is recovered.

[0152] Fault handling and safety assurance

[0153] Sensors are installed in each system to monitor the equipment's operating status in real time, such as motor temperature and speed, and sensor signal strength. The control system analyzes the sensor data in real time, immediately issuing an alarm upon detecting an anomaly and attempting fault diagnosis to determine the type and location of the fault. When a fault occurs, the robot automatically stops its current operation and enters a safety mode. For example, if the underwater mobility module 130 malfunctions, the robot uses the adsorption and fixation module 140 to attach to a nearby work surface to prevent drifting. Operators obtain fault information through a human-machine interface and take appropriate actions based on the prompts, such as remotely restarting the equipment, adjusting parameters, or dispatching maintenance personnel.

[0154] Safety protection measures

[0155] The robot's outer shell is constructed from high-strength, corrosion-resistant materials, such as titanium alloy or special alloy steel, ensuring it remains undamaged in complex underwater environments. Waterproof seals are installed to prevent water from entering the robot and damaging its electronic equipment. An emergency power supply is provided to offer temporary power to critical equipment in the event of a main power failure, ensuring the robot can safely return to the surface.

[0156] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0157] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An underwater nuclear industry robot, characterized in that, include: An amphibious mobile system (1) includes a chassis (110), a land mobile module (120), an underwater mobile module (130), and an adsorption and fixation module (140). The land mobile module (120) and the underwater mobile module (130) are installed on both sides of the chassis (110), and the adsorption and fixation module (140) is arranged on the bottom surface of the chassis (110). The operating system (2) has two sets of components installed on the front side of the top surface of the chassis (110). The operating system (2) includes a multi-degree-of-freedom robotic arm (210) and a gripping manipulator (220). The multi-degree-of-freedom robotic arm (210) is installed on the top surface of the chassis (110), and the gripping manipulator (220) is installed at the end of the multi-degree-of-freedom robotic arm (210). A recycling and storage system (3) is installed on the top surface of the chassis (110) and is arranged correspondingly to the operating system (2); A visual recognition system (4) is installed on the rear side of the top surface of the chassis (110). The visual recognition system (4) includes a support module (410), a lighting module (420) and a recognition module (430). The lighting module (420) and the recognition module (430) are both installed on the support module (410). The terminal controller is connected to the amphibious mobile system (1), the operation system (2), the recycling and storage system (3), and the visual recognition system (4). The multi-degree-of-freedom robotic arm (210) includes: The robotic arm drive motor I (211) is fixed on the chassis (110); Robotic arm drive gear I (212), which is fixedly connected to the output shaft of robotic arm drive motor I (211). The mechanical arm driven gear I (213) is rotatably connected to the top surface of the chassis (110) via a bearing. The mechanical arm driven gear I (213) meshes with the mechanical arm drive gear I (212). The mechanical arm lower arm rod is coaxially fixedly connected to the top surface of the mechanical arm driven gear I (213). The middle arm (214) of the robotic arm is rotatably connected to the end of the lower arm of the robotic arm via a revolute joint; The upper arm (215) of the robotic arm is rotatably connected to the end of the middle arm (214) of the robotic arm via a revolute joint. Angle adjustment components (230) are respectively provided between the middle arm (214) and the lower arm of the robotic arm, and between the middle arm (214) and the upper arm (215) of the robotic arm. The angle adjustment assembly (230) includes a robotic arm drive motor II (231), a robotic arm drive gear II (232), and a robotic arm driven gear II (233). The robotic arm driven gear II (233) is rotatably connected to the end of the lower arm and the end of the middle arm (214) of the robotic arm. The robotic arm drive motor II (231) is fixed on the middle arm (214) and the upper arm (215) of the robotic arm. The robotic arm drive gear II (232) is fixed on the output shaft of the robotic arm drive motor II (231). The robotic arm drive gear II (232) meshes with the robotic arm driven gear II (233). The robotic arm electric actuator (216) is fixed to the end of the upper arm (215) of the robotic arm, and a fixing tube (217) is fixedly connected to the end of the robotic arm electric actuator (216). A gripper camera (218) is fixed on the fixing tube (217); The gripping robot (220) includes: The mechanical electric push rod (221) has its cylinder body fixed inside the fixed tube (217); Fixed base I (222), the fixed base I (222) is fixed to the end of the fixed tube (217), and a clearance hole is provided at the center of the fixed base I (222); Fixed base II (223), which is arranged opposite to fixed base I (222), and fixed base I (222) and fixed base II (223) are coaxially fixedly connected by a fixing rod; A pad is provided between the fixed base I (222) and the fixed base II (223) and is slidably connected to the fixed rod. The movable end of the robotic electric push rod (221) passes through the clearance hole and is fixed at the center position of the pad. A gripper (224) is provided in several groups, and the several groups of grippers (224) are rotatably connected to one side of the fixed base II (223) via a mounting seat; A connecting rod assembly (225) is provided, with one end of the connecting rod assembly (225) rotatably connected to the gripper (224) and the other end passing through the fixed base II (223) and fixedly connected to the pad. The connecting rod assembly (225) is also slidably connected to the fixed base II (223). Also included are: High-resolution underwater cameras can clearly capture images of nuclear waste under complex underwater lighting conditions; Multispectral imagers help identify nuclear waste of different materials; Depth cameras are used to acquire distance information between nuclear waste and robots to assist in positioning. The image processing algorithm employs deep learning to extract features and classify images captured by the camera to identify nuclear waste. It is trained using a large dataset of labeled nuclear waste images to improve the algorithm's recognition accuracy. The 3D reconstruction algorithm, combined with data from a depth camera, performs 3D reconstruction of nuclear waste to obtain its precise spatial location and shape information; An ultra-short baseline positioning system, installed on the robot and the mother ship, determines the robot's position and attitude underwater by measuring the propagation time and phase difference of sound waves; Inertial navigation systems provide robot attitude, velocity, and acceleration information to assist ultra-short baseline positioning systems in positioning, thereby improving the stability and accuracy of positioning. The data fusion algorithm combines data from the ultra-short baseline positioning system and the inertial navigation system to eliminate errors from a single sensor and improve positioning accuracy and reliability. High-performance industrial computers, as the core control unit, process data from the vision recognition and positioning system and issue control commands to various actuators.

2. The underwater nuclear industry robot according to claim 1, characterized in that, The land mobility module (120) includes: Driven wheel (121), the driven wheel (121) is provided in two sets, the two sets of driven wheel (121) are respectively rotatably connected to the side of the chassis (110) through a rotating pair, and the two sets of driven wheel (121) are driven by the track (122); A drive wheel (123) is connected to a motor in the chassis (110) via a rotating joint. The drive wheel (123) is located between two sets of driven wheels (121) and meshes with the driven wheels (121). The diameter of the driven wheel (121) is smaller than the diameter of the driving wheel (123).

3. The underwater nuclear industry robot according to claim 1, characterized in that, The underwater mobile module (130) includes: A bracket (131) is fixedly connected to the middle position of the side of the chassis (110); A propeller rod (132) is rotatably connected to the end of the bracket (131); A propeller (133) is rotatably connected to the end of the propeller shaft (132) via a revolute joint; The bracket (131) and the paddle (132) can be adjusted at a 90° angle.

4. The underwater nuclear industry robot according to claim 1, characterized in that, The adsorption and fixation module (140) includes: An electric push cylinder (141) is vertically fixed to the bottom surface of the chassis (110); A suction cup (142) is fixed to the bottom of the electric push cylinder (141).

5. The underwater nuclear industry robot according to claim 1, characterized in that, The recycling and storage system (3) includes: A recycling bin (310) is fixedly connected to the top surface of the chassis (110), and the top of the recycling bin (310) is open; A cover plate (320) is rotatably connected to the top of the recycling bin (310) via a mounting shaft. An opening and closing motor is installed on the recycling bin (310), and the opening and closing motor is axially connected to the mounting shaft.

6. The underwater nuclear industry robot according to claim 1, characterized in that, The support module (410) includes: Support rod (411), the support rod (411) is vertically fixed to the top surface of the chassis (110); A multi-degree-of-freedom linkage assembly (412) is mounted on the top of the support rod (411); A gimbal (413) is mounted at the end of the multi-degree-of-freedom linkage (412).

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