3D Virtual Reality Control for Nuclear NDT Robots
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Solution Overview
Problem
Current non-destructive testing robots for nuclear reactor pressure vessels face inefficiencies and safety concerns due to the use of two-dimensional graphical control methods, which complicate precise positioning and movement in complex environments, leading to low efficiency and high error rates.
Innovation Solution
The implementation of a three-dimensional virtual reality technology for non-destructive testing robots, enabling a comprehensive and precise control system through the establishment of a three-dimensional virtual environment, modeling of robots and parts, global coordinate systems, and graphical transformation algorithms, allowing for accurate and safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If two-dimensional graphical display control method is used, then the control system is simpler, but the positioning precision and movement control efficiency are reduced
Solution Approach 1:
The patent transitions from two-dimensional graphical display to three-dimensional virtual reality display. The 3D virtual environment provides spatial visualization of the robot's position, posture, and movement trajectory, enabling operators to accurately perceive the robot's state in complex nuclear reactor pressure vessel environments. This dimensional enhancement resolves the contradiction by providing comprehensive spatial information that 2D display cannot convey, thereby improving positioning precision without excessive complexity increase.
Solution Approach 2:
The patent creates a virtual copy of the nuclear reactor pressure vessel interior and the testing robot within the 3D virtual environment. This virtual model replicates the physical environment's geometry, obstacles, and robot characteristics, allowing operators to visualize and control robot movements in a risk-free virtual space. The copying principle enables precise positioning control by providing an accurate virtual representation that mirrors real-world spatial relationships.
2Ease of operation
If manual iterative adjustment is used for robot positioning, then the control method is simpler, but the testing efficiency and productivity are reduced
Solution Approach 1:
The patent implements real-time feedback mechanisms where the 3D virtual display continuously shows the robot's actual position, posture, and movement status. This feedback loop allows operators to immediately see the results of control commands and make timely adjustments, eliminating the need for multiple iterative attempts. The feedback principle resolves the contradiction by providing actionable information that reduces trial-and-error adjustments, thereby improving testing efficiency while maintaining operational simplicity.
Solution Approach 2:
The patent enables preliminary planning of robot movement trajectories in the 3D virtual environment before executing actual movements. Operators can simulate and optimize movement paths, identify potential obstacles, and pre-program complex positioning sequences. This preliminary action reduces the need for iterative adjustments during actual testing, significantly improving productivity while keeping the control interface intuitive and easy to use.
3Device complexity
If two-dimensional graphical control is used, then the device complexity is lower, but the safety and reliability of robot operation are reduced
Solution Approach 1:
The patent introduces a 3D virtual reality environment as an intermediary between the operator and the physical robot. This virtual intermediary provides comprehensive visualization of the robot's position, posture, and surrounding environment, enabling operators to make safer control decisions. The intermediary principle resolves the contradiction by filtering and presenting critical safety information in an intuitive 3D format, improving operational reliability without requiring excessive system complexity.
Solution Approach 2:
The patent enables operators to anticipate and prevent potential safety issues by visualizing the robot's future position and posture in the 3D virtual environment before actual movements occur. The system can highlight potential collisions, out-of-bound conditions, or unsafe configurations in advance, allowing operators to take corrective action before problems arise. This preliminary anti-action principle enhances safety and reliability by proactively preventing errors rather than reacting to them after they occur.
Data Source
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AI summary
An intelligent testing method of a non-destructive testing robot based on virtual reality technology, the method comprises the following steps:(1) a non-destructive testing robot for a non-destructive test is installed to a preset position inside the reactor pressure vessel;(2) the position calibration of each degree-of-freedom movement axis is performed after each degree-of-freedom movement axis of the non-destructive testing robot is recovered to an initial state, and a global coordinate system and an axle coordinate system of each degree-of-freedom movement axis are constructed;(3) a corresponding relationship between the simulation model and the actual device;(4) the non-destructive testing robot simulation model transform the position and posture in three-dimension virtual environment on basis of the real-time position and posture information feedback values of each degree-of-freedom movement axle of the non-destructive testing robot acquired thereby, and synchronous movement of the non-destructive testing robot is virtually displayed and controlled for a non-destructive test.