Controller for a nuclear power plant robot

Abstract

The utility model provides a kind of controller of nuclear power plant robot, including the shell made of shielding material, and the printed circuit board, dual mode redundancy circuit and RISC-V architecture chip being set in shell inside;Printed circuit board adopts optimization wiring design;Dual mode redundancy circuit is set on printed circuit board, and is used to realize master-slave execution unit periodic switching by frequency division signal;RISC-V architecture chip is installed on printed circuit board, solve the problem of insufficient radiation resistance of existing nuclear power robot controller in the application in irradiation environment.

Description

Technical Field

[0001] This utility model relates to the field of nuclear power, and in particular to a controller for a nuclear power plant robot. Background Technology

[0002] In recent years, with the rapid development of nuclear industry technology, the demand for automation and intelligence in nuclear industry equipment has been increasing. Nuclear power robots, as important equipment in the nuclear industry, have been widely used. However, most existing nuclear power robot controllers are ordinary industrial controllers, which do not have radiation resistance and cannot be directly applied to irradiated environments.

[0003] In irradiated environments, auxiliary measures such as external shielding and rear-mounted controllers are typically used to protect the controller. External shielding shells are made of materials such as lead-bismuth alloys or tungsten alloys to block radiation. Rear-mounted controllers place the controller in a safe area away from high-dose regions, allowing only components such as measurement probes and cameras to be near the high-dose working area. While these auxiliary measures achieve radiation resistance, they also introduce a series of problems. The use of shielding shells significantly increases the size and weight of the controller, greatly limiting the design flexibility of the robot; and rear-mounted controllers require long cables for connection, which undoubtedly increases the system's complexity and the risk of failure. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a controller for a nuclear power plant robot, so as to solve the problem of insufficient radiation resistance of existing nuclear power robot controllers in irradiated environment applications.

[0005] The technical solution adopted by this utility model to solve its technical problem is: to construct a controller for a nuclear power plant robot, including a shell made of shielding material, and a printed circuit board, a dual-mode redundant circuit and a RISC-V architecture chip disposed inside the shell.

[0006] The printed circuit board adopts an optimized wiring design; the dual-mode redundancy circuit is set on the printed circuit board and is used to realize the periodic switching of master and slave execution units through frequency division signals; the RISC-V architecture chip is mounted on the printed circuit board.

[0007] Preferably, in the controller of the nuclear power plant robot constructed in this utility model, the dual-mode redundant circuit includes a comparator, a rollback module, an accumulator register, and two execution units. Both execution units are electrically connected to the comparator, the comparator is electrically connected to the rollback module, and the rollback module is electrically connected to the accumulator register.

[0008] Preferably, in the controller of the nuclear power plant robot constructed in this utility model, the execution unit includes a first execution unit and a second execution unit, the first input terminal of the comparator is connected to the output terminal of the first execution unit, the second input terminal of the comparator is connected to the output terminal of the second execution unit, and the output terminal of the comparator is connected to the input terminal of the rollback module;

[0009] The first execution unit is used to delay the output of the received input signal, and the second execution unit is used to directly output the received input signal; the comparator is used to receive the input signal from the first execution unit and the input signal from the second execution unit, and send the trigger signal obtained after comparison to the rollback module; the rollback module is used to perform an error rollback operation after receiving the trigger signal from the comparator.

[0010] Preferably, the controller of the nuclear power plant robot constructed in this utility model further includes at least one three-mode hardening module, as well as a register and / or latch connected to the three-mode hardening module;

[0011] Each of the three-mode hardening modules includes a first flip-flop, a second flip-flop, and a third flip-flop, and also includes an OR gate, a first AND gate, a second AND gate, and a third AND gate; the data input terminals of the first flip-flop, the second flip-flop, and the third flip-flop are all connected to the corresponding register or latch; the output terminals of the first flip-flop and the second flip-flop are connected to the first input terminal of the OR gate through the first AND gate, the output terminals of the second flip-flop and the third flip-flop are connected to the second input terminal of the OR gate through the second AND gate, the output terminals of the first flip-flop and the third flip-flop are connected to the third input terminal of the OR gate through the third AND gate, and the output terminal of the OR gate is connected to the output terminal of the RISC-V architecture chip.

[0012] Preferably, the controller of the nuclear power plant robot constructed in this invention further includes a static random access memory connected to the RISC-V architecture chip, and the static random access memory includes dual interlocked memory units.

[0013] Preferably, the controller of the nuclear power plant robot constructed in this utility model further includes a three-mode redundancy module. The signal input acquisition and signal output drive of the three-mode redundancy module are hardware three-mode redundancy, and the data communication and data storage of the three-mode redundancy module are software three-mode redundancy.

[0014] Preferably, in the controller of the nuclear power plant robot constructed according to this utility model, the thickness of the outer shell is in the range of 10-11 mm, and the shielding material is a lead-bismuth alloy material with a density of 11000 kg / m³. 3 Furthermore, the interior of the outer casing is provided with a fixing structure for the printed circuit board.

[0015] Preferably, the controller of the nuclear power plant robot constructed in this utility model further includes an external interface module, which is electrically connected to the printed circuit board; the external interface module includes a power interface, a software debugging interface, a bus expansion interface, a network interface, and an input / output interface, all of which are electrically connected to the printed circuit board.

[0016] Preferably, in the controller of the nuclear power plant robot constructed in this utility model, the outer shell includes a limiting structure for fixing the external interface module. One end of the limiting structure is fixed on the inner side of the outer shell, and the other end of the limiting structure passes through a notch on the external interface module and engages with the opposite side of the outer shell.

[0017] Preferably, the controller of the nuclear power plant robot constructed in this utility model further includes a data storage module, a switch signal input / output module, a voltage-type analog input / output module, a current-type analog input / output module, a temperature acquisition module, a frequency measurement module, an incremental encoder measurement module, a first communication module, a second communication module, a third communication module, a network communication module, and a power output module, all electrically connected to the printed circuit board, so as to realize signal exchange with the outside through the external interface module.

[0018] By implementing this utility model, the following beneficial effects can be achieved:

[0019] The nuclear power plant robot controller disclosed in this utility model improves the accuracy and stability of the controller in a radiation environment by employing a radiation-hardened design and a RISC-V architecture chip, along with dual-mode redundancy circuitry to achieve periodic switching between master and slave execution units and promptly correcting errors caused by radiation interference. Furthermore, it enhances the reliability of signal transmission and processing in a radiation environment by implementing triple-mode redundancy design for signal input acquisition and output drive functions, utilizing multiple sets of parallel circuits for cross-verification and processing of signals. Additionally, by using a lead-bismuth alloy in the casing, the high-density material directly blocks radiation, solving the problem of insufficient radiation resistance in nuclear power robot controllers used in radiation environments. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0021] Figure 1 This is an exploded view of the structural schematic diagram of the controller of the nuclear power plant robot in some embodiments of this utility model;

[0022] Figure 2 This is a schematic diagram of the three-mode ruggedized module of the controller for a nuclear power plant robot in some embodiments of this utility model. Detailed Implementation

[0023] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0024] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0025] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0026] See Figure 1 One embodiment of this utility model discloses a controller for a nuclear power plant robot, including a shell made of shielding material, and a printed circuit board, a dual-mode redundancy circuit, and a RISC-V (Reduced Instruction Set Computer-Five) architecture chip disposed inside the shell; the printed circuit board adopts an optimized wiring design; the dual-mode redundancy circuit is disposed on the printed circuit board and is used to realize the periodic switching of master and slave execution units through frequency division signals; the RISC-V architecture chip is mounted on the printed circuit board.

[0027] The dual-mode redundancy circuit is connected to the RISC-V architecture chip 1 and achieves periodic switching between master and slave execution units through a frequency division signal. The RISC-V architecture chip 1 adopts a radiation-hardened design and contains a RISC-V architecture chip. The printed circuit board 2 includes a printed circuit board with optimized routing. The casing 3 is made of lead-bismuth alloy material. RISC-V (Reduced Instruction Set Computer-Five) is an open-source instruction set architecture. The instruction set architecture is the interface between software and hardware, defining which basic instructions (such as addition, jump, memory access, etc.) the CPU can execute. The RISC-V core instruction set is small, and expansion modules can be added as needed.

[0028] Furthermore, in the controller of the nuclear power plant robot constructed in this utility model, the execution unit includes a first execution unit and a second execution unit. The first input terminal of the comparator is connected to the output terminal of the first execution unit, the second input terminal of the comparator is connected to the output terminal of the second execution unit, and the output terminal of the comparator is connected to the input terminal of the rollback module. The first execution unit is used to delay the output of the received input signal, and the second execution unit is used to directly output the received input signal. The comparator is used to receive the input signal from the first execution unit and the input signal from the second execution unit, and send the trigger signal obtained after comparison to the rollback module. The rollback module is used to perform an error rollback operation after receiving the trigger signal from the comparator.

[0029] Further, see Figure 2The controller for the nuclear power plant robot disclosed in this utility model further includes at least one three-mode hardening module, and registers and / or latches connected to the three-mode hardening module; the number of the three-mode hardening modules corresponds to the number of registers and latches. Each three-mode hardening module includes a first flip-flop D1, a second flip-flop D2, and a third flip-flop D3, and also includes an OR gate O1, a first AND gate A1, a second AND gate A2, and a third AND gate A3; the data input terminals of the first flip-flop D1, the second flip-flop D2, and the third flip-flop D3 in each three-mode hardening module are all connected to the corresponding registers or latches. Figure 2 A schematic diagram is shown showing a bit Din of a register or latch connected to a first flip-flop D1, a second flip-flop D2, and a third flip-flop D3. The clock inputs of the first flip-flop D1, the second flip-flop D2, and the third flip-flop D3 are respectively connected to a first clock CLK1, a second clock CLK2, and a third clock CLK3. The outputs of the first flip-flop D1 and the second flip-flop D2 are connected to the first input of the OR gate O1 through the first AND gate A1. The outputs of the second flip-flop D2 and the third flip-flop D3 are connected to the second input of the OR gate O1 through the second AND gate A2. The outputs of the first flip-flop D1 and the third flip-flop D3 are connected to the third input of the OR gate O1 through the third AND gate A3. The output of the OR gate O1 is connected to the output of the RISC-V architecture chip 1.

[0030] Furthermore, in the controller of the nuclear power plant robot disclosed in this embodiment, the registers and latches in the RISC-V architecture chip 1 adopt a three-mode redundancy strategy. The three-mode redundancy strategy achieves signal selection and judgment by setting AND gates and OR gates after three sets of parallel registers.

[0031] Furthermore, the static random access memory connected to the RISC-V architecture chip 1 is a dual-interlocked memory cell structure. In some embodiments, the static random access memory is a 12T dual-interlocked memory cell structure, and the static random access memory includes an ECC (Error-Correcting Code) verification and error correction function module.

[0032] Furthermore, the controller of the nuclear power plant robot disclosed in this embodiment also includes a three-mode redundancy module, wherein the signal input acquisition and signal output drive of the three-mode redundancy module are hardware three-mode redundancy, and the data communication and data storage are software three-mode redundancy.

[0033] Furthermore, in the controller of the nuclear power plant robot disclosed in this embodiment, the thickness of the outer shell 3 ranges from 10 to 11 mm, and the shielding material is a lead-bismuth alloy with a density of approximately 11,000 kg / m³. 3 Furthermore, the outer casing 3 is provided with a fixing structure for mounting the printed circuit board 2.

[0034] Furthermore, the controller of the nuclear power plant robot disclosed in this embodiment also includes an external interface module 5, which is electrically connected to the printed circuit board 2. The external interface module 5 includes a power interface, a software debugging interface, a bus expansion interface, a network interface, and an input / output interface, which are electrically connected to the printed circuit board 2 respectively. Each interface can be electrically connected to the printed circuit board 2 through wiring.

[0035] Furthermore, in the controller of the nuclear power plant robot disclosed in this embodiment, the outer shell 3 includes a limiting structure 4 for fixing the external interface module 5. One end of the limiting structure 4 is fixed on the inner side of the outer shell 3, and the other end of the limiting structure 4 passes through a notch on the external interface module 5 and engages with the opposite side of the outer shell 3.

[0036] Furthermore, in the controller of the nuclear power plant robot disclosed in this embodiment, the functional modules of the controller include a data storage module, a switch signal input / output module, a voltage-type analog input / output module, a current-type analog input / output module, an NTC temperature acquisition module, a frequency measurement module, an incremental encoder measurement module, a first communication module, a second communication module, a third communication module, a network communication module, and a power output module. Each of the functional modules is electrically connected to the printed circuit board 2 and realizes signal interaction through the external interface module 5.

[0037] One embodiment of this utility model provides a nuclear power plant robot controller comprising a RISC-V architecture chip 1, a printed circuit board 2, and a housing 3. The RISC-V architecture chip 1 is mounted on the printed circuit board 2, and the printed circuit board 2 is mounted inside the housing 3. The RISC-V architecture chip 1 can be designed with radiation hardening. A dual-mode redundancy circuit achieves periodic switching between master and slave execution units through frequency division signals. This circuit includes two execution units, a comparator, a rollback module, and an accumulator register. The input signal of the execution unit is compared with the output signal of the other execution unit after delay processing. If they are inconsistent, the rollback module is triggered to perform an error rollback operation. The on-chip registers and latches adopt a triple-mode redundancy strategy. Signal selection and judgment are achieved by setting AND and OR gates after three sets of parallel registers. The static random access memory is a 12T dual-interlocked memory cell structure and includes an ECC (Error Correction Code) verification and error correction function module. The printed circuit board 2 is a printed circuit board with optimized routing. Its signal input acquisition and signal output drive adopt hardware triple-mode redundancy, while data communication and data storage adopt software triple-mode redundancy. The outer shell 3 is made of material with a thickness of 10-11mm and a density of approximately 11,000 kg / m³. 3 Made of lead-bismuth alloy, the controller has an internal fixing structure for mounting the printed circuit board 2, and a limiting structure 4 for fixing the external interface module 5. One end of the limiting structure 4 is fixed to the inner side of the housing, and the other end passes through the notch of the external interface module 5 and engages with the opposite side of the housing. The external interface module 5 includes a power interface, a software debugging interface, a bus expansion interface, a network interface, and an input / output interface, which are electrically connected to the printed circuit board 2. The controller's functional modules include a data storage module, a switch signal input / output module, a voltage-type analog input / output module, a current-type analog input / output module, an NTC (Negative Temperature Coefficient) temperature acquisition module, a frequency measurement module, an incremental encoder measurement module, a first communication module, a second communication module, a third communication module, a network communication module, and a power output module. Each functional module is electrically connected to the printed circuit board 2 and achieves signal interaction through the external interface module 5.

[0038] The specific working principle of this embodiment is as follows:

[0039] Employing a radiation-resistant RISC-V architecture, the chip naturally boasts superior radiation resistance compared to the ARM architecture. Internally, the chip integrates dual-mode redundancy circuitry, using a frequency-divided signal to achieve periodic master-slave switching between the two execution units. When the input signal of one execution unit, after delay processing, is inconsistent with the output signal of the other unit, the comparator triggers a rollback module, reverting the erroneous unit's state to the most recent correct state. Simultaneously, a register is incremented to record the number of errors, thereby correcting radiation-induced computational errors in real time and improving the stability of core operations.

[0040] The chip's internal registers and latches employ a triple-modular redundancy design. Three sets of parallel registers use AND and OR gates for signal voting, ensuring the output is valid only when two or more signals are consistent, thus reducing errors caused by single-event flips. The static random access memory (SRAM) uses a 12T dual-interlocked memory cell (DICE) structure and integrates ECC error correction functionality, automatically detecting and correcting single-bit errors to ensure data storage reliability.

[0041] Printed circuit board 2 improves circuit stability and reduces irradiation interference with signal transmission by optimizing PCB layout. Triple redundancy design is employed in signal input acquisition, output drive, data communication, and data storage functions: signal input acquisition and output drive utilize hardware triple redundancy (three independent modules working in parallel), while data communication and storage utilize software triple redundancy (data is transmitted and stored three times). Multi-module cross-validation reduces the probability of signal errors caused by irradiation.

[0042] In some embodiments, the outer shell 3 has a thickness of 10.3 mm and a density of 11000 kg / m³. 3 The lead-bismuth alloy material directly blocks radiation through the physical properties of high-density materials. Compared with traditional shielding methods, it significantly reduces the thickness and weight of the outer shell while ensuring radiation resistance.

[0043] The nuclear power plant robot controller disclosed in this embodiment achieves radiation resistance through a triple-hardening design at the chip, board, and shell levels. The RISC-V architecture chip, leveraging its inherent radiation resistance and dual-mode redundancy circuitry, periodically switches between master and slave execution units using a frequency-divided signal. The input signal of one execution unit is delayed and compared with the output of another unit; if inconsistent, a rollback module is triggered for error correction. Simultaneously, registers and latches employ a triple-mode redundancy strategy (three sets of parallel registers combined with AND and OR gates for voting), and the SRAM uses a 12T dual-interlocked storage unit with integrated ECC verification, resisting radiation interference at the computation and storage levels. The printed circuit board 2 improves circuit stability through optimized PCB layout; hardware triple-mode redundancy is used for signal input acquisition and output drive, while software triple-mode redundancy is used for data communication and storage, reducing the probability of signal errors caused by radiation by utilizing parallel operation of multiple modules. The shell 3 is 10-11mm thick with a density of 11000kg / m³. 3 The lead-bismuth alloy material directly shields radiation, and the internal fixing and limiting structure 4 ensures the stable installation of the board-level module and the external interface module 5, reducing mechanical damage under irradiation. Each functional module interacts with the external interface module 5 via the board-level module, ultimately enabling the controller to operate stably in an environment with a gamma instantaneous dose rate of 200 Gy / h and a cumulative dose of 2000 Gy, avoiding the problems of large size and weight and system complexity caused by traditional auxiliary measures.

[0044] By implementing this utility model, the following beneficial effects can be achieved:

[0045] The nuclear power plant robot controller disclosed in this utility model improves the accuracy and stability of the controller in a radiation-hardened environment by employing a radiation-resistant design and a RISC-V architecture chip, along with dual-mode redundancy circuitry to achieve periodic switching between master and slave execution units. This allows for timely switching of execution units and error rollback when radiated interference causes computational errors, thus enhancing the controller's accuracy and stability in a radiation environment at the core level. Furthermore, the controller utilizes an optimized wiring circuit board (2) and employs a triple-mode redundancy design for signal input acquisition and output drive functions. Multiple parallel circuits are used for cross-verification and processing of signals, improving the reliability of signal transmission and processing at the board level in a radiation environment. Additionally, the use of a lead-bismuth alloy in the outer shell (3) directly blocks radiation due to the high-density material's physical properties, solving the problem of insufficient radiation resistance in nuclear power robot controllers used in radiation environments.

[0046] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, without departing from the concept of the present utility model, the above embodiments or technical features can be freely combined, and several modifications and improvements can be made. These all fall within the protection scope of the present utility model, that is, the embodiments described "in some embodiments" can be freely combined with any of the embodiments above and below. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A controller for a nuclear power plant robot, characterized by, It includes a housing made of shielding material, and a printed circuit board, dual-mode redundant circuit and RISC-V architecture chip disposed inside the housing; The printed circuit board adopts an optimized wiring design; the dual-mode redundancy circuit is set on the printed circuit board and is used to realize the periodic switching of master and slave execution units through frequency division signals; the RISC-V architecture chip is mounted on the printed circuit board.

2. The controller of the nuclear power plant robot according to claim 1, characterized in that, The dual-mode redundancy circuit includes a comparator, a rollback module, an accumulator register, and two execution units. Both execution units are electrically connected to the comparator, the comparator is electrically connected to the rollback module, and the rollback module is electrically connected to the accumulator register.

3. The controller of the nuclear power plant robot according to claim 2, characterized in that, The execution unit includes a first execution unit and a second execution unit. The first input terminal of the comparator is connected to the output terminal of the first execution unit, the second input terminal of the comparator is connected to the output terminal of the second execution unit, and the output terminal of the comparator is connected to the input terminal of the rollback module. The first execution unit is used to delay the output of the received input signal, and the second execution unit is used to directly output the received input signal; the comparator is used to receive the input signal from the first execution unit and the input signal from the second execution unit, and send the trigger signal obtained after comparison to the rollback module; the rollback module is used to perform an error rollback operation after receiving the trigger signal from the comparator.

4. The controller of the nuclear power plant robot of claim 1, wherein, It also includes at least one tri-mode hardening module, and registers and / or latches connected to the tri-mode hardening module; Each of the three-mode hardening modules includes a first flip-flop, a second flip-flop, and a third flip-flop, and also includes an OR gate, a first AND gate, a second AND gate, and a third AND gate; the data input terminals of the first flip-flop, the second flip-flop, and the third flip-flop are all connected to the corresponding register or latch; the output terminals of the first flip-flop and the second flip-flop are connected to the first input terminal of the OR gate through the first AND gate, the output terminals of the second flip-flop and the third flip-flop are connected to the second input terminal of the OR gate through the second AND gate, the output terminals of the first flip-flop and the third flip-flop are connected to the third input terminal of the OR gate through the third AND gate, and the output terminal of the OR gate is connected to the output terminal of the RISC-V architecture chip.

5. The controller of the nuclear power plant robot according to claim 4, characterized in that, It also includes a static random access memory (SRAM) connected to the RISC-V architecture chip, the SRAM comprising dual interlocked memory cells.

6. The controller of the nuclear power plant robot of claim 1, wherein, It also includes a triple-mode redundancy module, wherein the signal input acquisition and signal output driving of the triple-mode redundancy module are hardware triple-mode redundancy, and the data communication and data storage of the triple-mode redundancy module are software triple-mode redundancy.

7. The controller of the nuclear power plant robot of claim 1, wherein, The thickness of the shell ranges from 10 to 11 mm, the shielding material is a lead-bismuth alloy material, the density of the lead-bismuth alloy material is 11000 kg / m 3 , and the inside of the shell is provided with a fixing structure for the printed circuit board.

8. The controller of the nuclear power plant robot of claim 1, wherein, It also includes an external interface module, which is electrically connected to the printed circuit board; the external interface module includes a power interface, a software debugging interface, a bus expansion interface, a network interface, and an input / output interface, which are respectively electrically connected to the printed circuit board.

9. The controller of the nuclear power plant robot according to claim 8, characterized in that, The housing includes a limiting structure for fixing the external interface module. One end of the limiting structure is fixed to the inner side of the housing, and the other end of the limiting structure passes through a notch on the external interface module and engages with the opposite side of the housing.

10. The controller of the nuclear power plant robot of claim 8, wherein, It also includes a data storage module, a switch signal input / output module, a voltage-type analog input / output module, a current-type analog input / output module, a temperature acquisition module, a frequency measurement module, an incremental encoder measurement module, a first communication module, a second communication module, a third communication module, a network communication module, and a power output module, all electrically connected to the printed circuit board, to achieve signal exchange with the outside world through the external interface module.

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