CN110977999A - Nuclear power station nuclear instrument source test intelligent robot - Google Patents
Nuclear power station nuclear instrument source test intelligent robot Download PDFInfo
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- CN110977999A CN110977999A CN201911151099.4A CN201911151099A CN110977999A CN 110977999 A CN110977999 A CN 110977999A CN 201911151099 A CN201911151099 A CN 201911151099A CN 110977999 A CN110977999 A CN 110977999A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses an intelligent robot for nuclear instrument source tests of nuclear power stations, which comprises a robot body and a control module, wherein a sensor element and a robot walking mechanism are arranged on the robot body; the control module comprises a central control unit, a motion control module, an information processing module, an autonomous navigation module, a power management module and a peripheral equipment interface module; the central control unit receives the data information sent by each module and forms a control instruction to control each module; the motion control module is used for controlling the movement of the robot body; the information processing module is used for processing and transmitting the acquired data and realizing man-machine interaction; the autonomous navigation module is used for planning a moving path of the robot and performing mobile navigation; the power management module is used for carrying out power on-off control and power intelligent protection on the robot; the peripheral equipment interface module is used for controlling external expansion equipment. The robot can carry the source to carry out the test according to the set test logic and route and the test requirement.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to an intelligent robot for a nuclear instrument source test of a nuclear power station.
Background
With the rapid development of the nuclear power industry, the nuclear power robot technology is widely valued by a plurality of researchers in various countries in the world. The research on nuclear robots has been carried out in countries such as the united states, the united kingdom and japan as early as the last 40 centuries. After experiencing the chernobel nuclear accident, which is one of the most serious nuclear accidents in history, and the fukushima nuclear accident, countries in the world have recognized the nuclear power station patrol and accident handling robots again, and a great deal of effort is invested in developing related products. Among them, the nuclear power robot which is relatively representative is: m1 remote robot developed by ANL, usa; "pioneer" co-developed in the united states and russia, EMSM series robots in germany, fossar series robots in france, SAMSIN series robots in the united states, and Packbot and Warrior robots of the iorbot corporation, and the like. The operating distance of the Quince robot jointly developed by Japan thousand-leaf industrial university, International rescue system research institution and Japan northeast university can reach 2km, the highest tolerance dose rate can reach 100Gy/h, the endurance time can reach 5h, and the Quince robot plays an active role in rescue work of Fudao nuclear power stations.
Although the domestic nuclear power robot starts later, with the increase of research and development investment of the national nuclear power robot in the last ten years, research and development of the domestic nuclear power robot also obtain certain achievements. For example, the Beijing university of aerospace develops RT3-EOD, RAPTOR explosive disposal robots. The southeast university and the south Beijing military chemical research institute collaborate to develop a robot with a mechanical arm extending length of 1m and capable of climbing stairs with a height of no more than 45 degrees, and the like.
During debugging of the nuclear power station, the nuclear instrument needs to use a neutron source to perform qualitative test and verification on the detector, and the test has high radiation and limited test space. Therefore, a nuclear instrument source test intelligent robot system needs to be invented, workers can be replaced to enter an irradiation environment to complete a given test task, and the probability of injury and labor intensity of nuclear power workers are reduced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a robot for nuclear instrument source test of a nuclear power station.
The purpose of the invention is realized by adopting the following technical scheme:
experimental intelligent robot of nuclear power station nuclear instrument source includes: the robot comprises a robot body and a control module arranged in the robot body, wherein a sensor element for acquiring external environment information and a robot walking mechanism for realizing the movement of the robot body are arranged on the robot body; the control module is used for controlling the motion and action of the robot body and comprises a central control unit, a motion control module, an information processing module, an autonomous navigation module, a power supply management module and a peripheral equipment interface module, wherein the motion control module, the information processing module, the autonomous navigation module, the power supply management module and the peripheral equipment interface module are connected with the central control unit; the central control unit receives data information sent by each module, analyzes and processes the data to form a control instruction to control each module; the motion control module is used for controlling the movement of the robot body; the information processing module is used for processing and transmitting data acquired by the sensor element and realizing man-machine interaction; the autonomous navigation module is used for planning a moving path of the robot and performing mobile navigation; the power supply management module is used for carrying out power-on and power-off control and intelligent power supply protection on the robot; the peripheral equipment interface module is used for controlling external expansion equipment.
Compared with the prior art, the invention has the beneficial effects that: this intelligent robot compact structure, the appearance rule can adapt to the experimental special operational environment operation requirement of nuclear instrument source, can preset experimental logic and route according to the experimenter, carries the source to the target position in proper order according to experimental demand and carries out corresponding experimental test, loads the module through the arm with the source and carries out the space setting, satisfies the demand that multi-angle multiposition source was place to and the state of transferring of real-time supervision source. The robot control system (control module) of the invention adopts the design principles of modularization and loose coupling and the design schemes of layering type, modularization and bus type, a central control unit is designed as a top main controller layer, a motion control module, an information processing module, an autonomous navigation module, a power supply management module and a peripheral equipment interface module form a middle functional module layer, and each submodule of the middle functional module is a bottom specific function execution module layer, so that the mutual influence among the layers of modules can be reduced, the reliability of the system is improved, and the robot can be ensured to distribute neutron sources to a target position in real time, efficiently, stably and reliably.
Further, the robot body comprises a shell and a rack arranged in the shell; the frame comprises a base and a frame arranged on the base, the robot walking mechanism is arranged on the base, and the shell is connected with the frame; and the shell is provided with a mechanical arm interface for connecting a mechanical arm.
Further, the shell is an aluminum alloy shell, and a radiation-proof isolation layer is arranged on the shell.
Further, the sensor element includes a camera, an ultrasonic sensor, and a laser radar.
Furthermore, the information processing module comprises a human-computer interaction module and a sensor sensing and sampling module, the human-computer interaction module is used for receiving external instruction data and remotely transmitting collected data, and the sensor sensing and sampling module is used for carrying out back-end processing on the data collected by the sensor element so as to obtain pose data of the robot.
Furthermore, the human-computer interaction module comprises a wireless communication unit, and the wireless communication unit comprises a ZigBee communication module and a radio frequency communication module.
Two communication technologies are adopted to carry out classified transmission on data so as to ensure the stability of data transmission.
Furthermore, the motion control module comprises a micro-processing unit, a wheel encoder, a wheel driving motor controller and a brake device; the brake device is connected with an emergency stop button arranged on the shell and used for realizing the stop operation in emergency; the micro-processing unit is connected with the central control unit, the walking action information and the state of the robot body are fed back to the central control unit, the motion control instruction sent by the central control unit is received, the motion control instruction is sent to the wheel encoder, the wheel encoder compiles and converts the motion control instruction and sends the motion control instruction to the wheel driving motor controller, and the wheel driving motor controller controls the action of the motor according to the instruction; the robot walking mechanism is a walking wheel.
Further, the wheel drive motor controller is a fuzzy adaptive PID controller.
The robot motion process combines the self-adaptive fuzzy algorithm to control the speed, the direction and the like of the motor, the self-adaptive fuzzy PID algorithm is used in the robot motion control link to adjust PID parameters in real time, a control system model of the intelligent robot on the field is established, the problem that the actual track of the robot deviates due to variable factors such as the driving direction, the angle and the like in track tracking is analyzed, and motion information and states are fed back to the main control unit in real time, so that the stability and the accuracy of the robot motion are improved.
Further, the autonomous navigation module comprises a positioning module, an obstacle avoidance module, a cross-country module and a groove ladder identification module; the positioning module is used for establishing a map according to pose data of the robot, the off-road module is used for identifying the space environment of the position where the robot is located, the groove step identification module is used for identifying the ground environment of the position where the robot is located, the obstacle avoidance module receives the map establishing result from the positioning module and the obstacle identification result of the off-road module and the groove step identification module, corresponding action strategies are executed, the obstacle avoidance module sends the obstacle identification result to the central control unit, and the central control unit formulates a motion control command according to the action strategies.
Furthermore, the power management module comprises an embedded processor, a power monitoring circuit, a power switch network and a power conversion component; the power conversion assembly is connected with a robot power supply and converts high-voltage direct current into low-voltage direct current required by each circuit module; the power switch network is used for distributing the converted low-voltage direct current to each module according to channels; the power supply monitoring circuit is used for monitoring the power supply state of the robot according to the data acquired by the embedded processor and sending the monitoring data to the embedded processor; the embedded processor is used for collecting state signal data of the power supply and performing power on-off control and power supply protection according to the signal data.
Furthermore, the power management module also comprises a low-power detection module and an autonomous recharging module; the low-power detection module is used for judging whether the battery power is in a preset threshold range according to the power data acquired by the embedded processor and sending low-power reminding information to the central control unit according to a judgment result; the automatic recharging module is used for making a route for recharging according to the position of the charging power supply.
Through low electric quantity monitoring module and independently recharging module, provide the power supply scheme of high reliability, high safety for the robot, guarantee that the robot is stable, work high-efficiently.
Further, the peripheral equipment interface module comprises a mechanical arm interface module, a dispatching system interface module and a placing box interface module; the dispatching system interface module is used for receiving action instructions of the central control unit and sending the action instructions to the mechanical arm interface module, the mechanical arm interface module controls the actions of the mechanical arm, and the placing box loaded with the neutron source is conveyed to a specified position; the box placing interface module is used for detecting the environment state of the box placing position and the state of the articles in the box, the box placing interface module is connected with a sensor arranged at the box placing position, and the data collected by the sensor is sent to the central control unit.
Furthermore, data transmission and information interaction are carried out among the modules through buses.
Drawings
FIG. 1 is a schematic diagram of an external structure of a robot body according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a robot body according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control module according to an embodiment of the present invention;
FIG. 4 is a block diagram of a control system hierarchy according to an embodiment of the present invention;
FIG. 5 is a block diagram of a motion control module according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a mapping process of an autonomous navigation module according to an embodiment of the present invention;
FIG. 7 is a block diagram of a power management module according to an embodiment of the invention.
Detailed Description
The present invention will be further described with reference to the following embodiments.
The intelligent robot of this embodiment is used for the experiment of nuclear power station nuclear instrument source, and intelligent robot includes the robot body and sets up the control module in the robot body. As shown in fig. 1 and 2, the robot body includes a housing 1 and a frame 2. The housing 1 is disposed outside the frame 2 to house the frame 2 therein. The shell 1 can be made of an aluminum alloy material, and further, in order to isolate radiation, a radiation-proof material isolating layer is sprayed on the shell 1. The frame 2 comprises a base 2-1 and a frame 2-2 arranged on the base 2-1, wherein the base 2-1 is provided with a walking wheel 2-3, and the walking wheel 2-3 is used as a robot walking mechanism for realizing the moving function of the robot body. The frame 2-2 is used for mounting the housing 1, and other components such as an ultrasonic sensor.
As shown in FIG. 1, a mechanical arm interface 1-1, a camera interface 1-2 and an emergency stop button 3 are arranged on the top of a housing 1. The mechanical arm interface 1-1 is used for connecting a mechanical arm (not shown), and the camera interface 1-2 is used for installing a camera (not shown). The front side wall of the shell 1 is provided with ultrasonic sensor windows 1-3 and laser radar windows 1-4, the left side wall, the right side wall and the rear side wall of the shell 1 are also provided with the ultrasonic sensor windows 1-3, and the ultrasonic sensor and the laser radar are positioned in the shell 1 and respectively correspond to the ultrasonic sensor windows 1-3 and the laser radar windows 1-4 in position. The ultrasonic sensor, the laser radar, and the binocular camera constitute the sensor element of the present embodiment. The ultrasonic sensor 4 and the laser radar are both arranged on the frame 2-2. The control module is arranged on the base 2-1. The source is fixed in a shielding capsule which can be placed in a loading position provided in the casing 1, thus protecting the source in a stable and safe condition under any circumstances.
The control module is used for controlling the movement of the robot body, comprises the movement of the robot body and the action of the mechanical arm, and bears a control system of the intelligent robot. As shown in fig. 3, the control module includes a central control unit 6, a motion control module 7, an information processing module 8, an autonomous navigation module 9, a power management module 10, and a peripheral device interface module 11, where the central control unit 6 is respectively connected to the motion control module 7, the information processing module 8, the autonomous navigation module 9, the power management module 10, and the peripheral device interface module 11, and the central control unit 6 receives data information fed back by each module, analyzes and processes the fed-back data, and forms a control instruction to control each module. The modules of the invention carry out data transmission and information interaction through the bus.
The information processing module is used for processing and transmitting data acquired by the sensor and realizing man-machine interaction. As shown in fig. 4, the information processing module includes a human-computer interaction module and a sensor sensing and sampling module, the human-computer interaction module is configured to receive external instruction data and remote transmission of collected data, for example, the human-computer interaction module may receive an instruction from an input device such as a voice input unit, a keyboard input unit, a touch screen input unit, a network communication unit, and send the instruction to the central control unit, and the human-computer interaction module may also feed back information collected by a sensor of the robot to the remote terminal. The man-machine interaction module comprises a wireless communication unit, the wireless communication unit of the embodiment comprises a ZigBee communication module and a radio frequency communication module, and two communication technologies can be adopted for data transmission. The ZigBee communication module is used for transmitting light data, and the ZigBee communication module is matched with the high-performance high-gain antenna, has the capabilities of strong penetrating power and long communication distance, and can meet the requirements that data signals penetrate a shielding layer with the thickness of 1m and stable communication is achieved within 2 km. The ZigBee communication module is communicated with a ZigBee route outside the island, and the data signal is converted into a TCP/IP protocol by the ZigBee route and uploaded to a remote terminal server and is displayed on an interactive interface of the remote terminal. The radio frequency communication module is used for transmitting big data such as real-time images, and the transmission rate of the ZigBee communication technology is low, so that the real-time image transmission cannot achieve an ideal effect. The wireless communication unit can also realize remote control, the server can control the walking and the action of the robot in a remote control mode, and the image information and the sensor information are transmitted back to the remote terminal server.
The sensor perception and sampling module is used for carrying out rear-end optimization processing on data collected by sensor elements such as a camera, an ultrasonic sensor and a laser radar so as to obtain pose data of the robot. After acquiring pose data of the robot from the sensor sensing and sampling module, the central control unit sends the pose data to the autonomous navigation module 9 (positioning module) for mapping. The sensor perception and sampling module can adopt an RTS filtering algorithm of a self-adjusting interval to carry out filtering fusion and error compensation on data so as to realize omnibearing recognition and perception of the surrounding environment of the robot and form multi-layer three-dimensional data, thereby realizing centimeter-level real-time positioning precision, ensuring that the robot can accurately position in real time, perceive surrounding obstacles, avoid in time and select an optimal path in the process of delivering a neutron source to a target position, and ensuring that a nuclear instrument source test is safely, efficiently and normally and smoothly carried out.
The motion control module is used for controlling the movement of the robot body, and after receiving the motion control command of the central control unit, the motion control module compiles and interprets the motion control command and then executes corresponding actions. In this embodiment, the movement of the robot is realized by the traveling wheels arranged on the base, as shown in fig. 5, the motion control module includes a microprocessor unit, a wheel encoder, a wheel driving motor controller, and a brake device (not shown), the brake device is connected to the emergency stop button, the brake device is used for realizing the stop operation in an emergency, and when the emergency stop button is pressed, the brake device controls the driving motor of the traveling wheels to stop working according to the signal of the emergency stop button. The microprocessor unit is connected with the central control unit and receives the central control unitThe motion control instruction sent by the element is sent to a wheel encoder, the wheel encoder is used for compiling and converting the motion control instruction and then sending the motion control instruction to a wheel driving motor controller, the wheel driving motor controller is used for controlling the action of a motor according to the instruction, and the micro-processing unit is used for simultaneously feeding back the walking action information and the state of the robot body to the central control unit to form closed-loop control. The wheel driving motor of the embodiment is a brushless direct current motor, the speed and direction of the motor are controlled by adopting a self-adaptive fuzzy algorithm, a wheel driving motor controller adopts a fuzzy self-adaptive PID controller, and the controller adopts an error e and an error change rate ecAs input, e and e at different times can be satisfiedcThe PID parameters are determined by real-time adjustment and continuous adjustment, which requires the self-tuning of PID parameters, and the PID parameters with better effect obtained in this embodiment are P-16, I-3 and D-1.6. The motion control module can analyze the problem that the actual track of the robot deviates due to variable factors such as driving direction, angle and the like in track tracking, and feeds back motion information and state to the central control unit in real time so as to improve the stability and accuracy of the motion of the robot.
The autonomous navigation module 9 is used for planning a moving path of the robot and performing mobile navigation, and can realize functions of autonomous positioning, navigation, obstacle avoidance, environmental perception and identification of the robot and the like. The autonomous navigation module comprises a positioning module, an obstacle avoidance module, a cross-country module and a groove ladder identification module. As shown in fig. 6, after the camera, the ultrasonic sensor and the laser radar acquire data, the acquired visual data, ultrasonic data and laser data are optimized by the information processing module (sensor sensing and sampling module) for multi-sensor information fusion, minimum sensor total error integration and the like to obtain pose data of the robot, the pose data are sent to the positioning module, and a map is built by the positioning module according to the pose data. When the positioning module builds a map, a light-weight grid positioning map integrating laser and vision is adopted, the map is a geometric grid map, and a two-dimensional map scanned by a laser radar and road information identified and extracted by a binocular camera are integrated. The two-dimensional grid map can reduce the cost of storing enough laser and visual positioning and obstacle avoidance information, and meanwhile, the map also comprises a part of laser radar ray scanning outline map, lane lines in a structured road extracted by a binocular camera, road edges in an unstructured road, parking lots and other information. The acquired visual data adopts an Encoder frame and a Decode frame, the convolution layer is subjected to Depthwise and pointwise processing to reduce network parameters, and Feature Pyramid is added to ensure that the segmentation content is as follows: the system comprises roads, road lines, road edges, vehicles, pedestrians, pedestrian paths, grasslands, lamp posts, houses, traffic lights and traffic signs, so that the all-around recognition and perception of the environment around the robot are realized, multi-level three-dimensional data is formed, the RTS filtering algorithm in a self-adjusting interval is adopted to carry out filtering fusion and error compensation on the data, and the centimeter-level real-time positioning accuracy is realized. The off-road module and the groove ladder identification module are used for identifying and detecting different types of obstacles according to data collected by the sensor elements, wherein the off-road module is used for identifying the space environment of the position where the robot is located, the groove ladder identification module is used for identifying the ground environment of the position where the robot is located, and the positioning module is used for sending the image building result, the off-road module and the groove ladder identification module to the obstacle avoidance module. The obstacle avoidance module is used for making a corresponding action strategy according to the map and the obstacle recognition result, such as direct avoidance or obstacle crossing, the action strategy is sent to the central control unit, and the central control unit makes a motion control command according to the action strategy. The autonomous navigation module can ensure that the robot can accurately position in real time, sense surrounding obstacles, avoid in time and select an optimal path in the process of distributing the neutron source to a target position, so that a nuclear instrument source test is safely, efficiently and normally carried out.
The power management module is used for realizing power-on and power-off control and power intelligent protection of the robot, and as shown in fig. 7, the power management module comprises an embedded processor, a power monitoring circuit, a power switch network and a power conversion component. The embedded processor has the functions of signal acquisition, power state monitoring, fault diagnosis, power failure protection, system reconstruction and the like, and can realize the functions of real-time detection of the battery state, power on-off control and power protection. The embedded processor of this embodiment adopts the DSP processor of the TI company, and the peripheral of the DSP processor is configured with the FPGA and the AD sampling circuit, which can complete the operations of collecting analog quantity signals and discrete quantity signals such as voltage and current, detecting data, controlling the output of the analog quantity/discrete quantity signals, communicating with the central control unit, managing the power configuration table, and maintaining the application interface. The power conversion assembly is connected with a robot power supply (battery) and is used for converting high-voltage direct current into low-voltage direct current required by each circuit module. The converted low-voltage direct current is distributed to each module by a power switch network according to channels. The power supply monitoring circuit is used for monitoring the state of a power supply (battery) of the robot according to data collected by the embedded processor, and when the condition that an external power supply is abnormal is monitored, the embedded processor performs corresponding degradation power-off operation. Furthermore, the power management module further comprises a low-power detection module and an autonomous recharging module, and low-power monitoring and autonomous charging of the robot can be achieved. The low-power detection module judges whether the battery power is in a preset threshold range or not based on the power data acquired by the embedded processor, for example, whether the battery power reaches 20% of a rated power or not, when the battery power is lower than the preset threshold, the low-power detection module communicates with the central control unit, low-power reminding information is sent to the central control unit, the central control unit evaluates the current task state, and if the current power can complete the task, the task is preferentially completed; if the current electric quantity is judged to be insufficient to finish the task, charging operation is preferentially carried out, the central control unit sends an instruction to the automatic recharging module, the automatic recharging module formulates a route for returning to charge according to the position of the charging power supply, the central control unit formulates a motion control instruction according to the return route and sends the motion control instruction to the motion control module, and the robot is controlled to return to charge.
The peripheral equipment interface module is used for controlling external expansion equipment and comprises a mechanical arm interface module, a dispatching system interface module and a placing box interface module. The mechanical arm interface module is connected with the mechanical arm, the dispatching system interface module is used for receiving an action instruction of the central control unit and sending the action instruction to the mechanical arm interface module, the mechanical arm interface module controls the action of the mechanical arm, and the placing box loaded with the neutron source is conveyed to a specified position. The placing box interface module is used for detecting the environment state of the placing box loading position and the state of the articles in the placing box, the placing box interface module is connected with a sensor arranged at the placing box loading position, and the data collected by the sensor is sent to the central control unit.
The robot has a compact structure and a regular appearance, and can meet the use requirements of special working environments of nuclear instrument source tests. The control system (control module) of the robot adopts a layered, modularized and bus design to form a modularized structure tree with clear structural layers, thereby realizing the layered modularized design of the system. The central control unit is designed into a top main controller layer, the motion control module, the information processing module, the autonomous navigation module, the power management module and the peripheral equipment interface module form a middle functional module layer, each submodule of the middle functional module is a bottom specific function execution module layer, and a three-level control system architecture can reduce the mutual influence among all layers of modules; the modular design can eliminate the coupling among all modules, achieves high-cohesion low-coupling, each module is relatively independent, the addition and deletion of the modules cannot influence the operation of the whole system, and the reliability of the system is improved.
Aiming at the influence of the nuclear radiation environment on the performance of the robot, a mechanical blocking structure of an aluminum alloy shell and a radiation material isolation layer is adopted on the shell design, and a multi-channel redundancy design can be further adopted for a hardware circuit in a control module, so that even if a certain channel is damaged by radiation particles, other channels can replace the damaged channel, the hardware system can keep normal work, and the reliability, safety and stability of the robot assisting in carrying out nuclear instrument source tests are effectively improved; the service life of the robot in the nuclear radiation environments with different degrees is prolonged to a great extent.
Various other changes and modifications to the above-described embodiments and concepts will become apparent to those skilled in the art from the above description, and all such changes and modifications are intended to be included within the scope of the present invention as defined in the appended claims.
Claims (13)
1. Experimental intelligent robot of nuclear power station nuclear instrument source, its characterized in that includes: the robot comprises a robot body and a control module arranged in the robot body, wherein a sensor element for acquiring external environment information and a robot walking mechanism for realizing the movement of the robot body are arranged on the robot body;
the control module is used for controlling the motion and action of the robot body and comprises a central control unit, a motion control module, an information processing module, an autonomous navigation module, a power supply management module and a peripheral equipment interface module, wherein the motion control module, the information processing module, the autonomous navigation module, the power supply management module and the peripheral equipment interface module are connected with the central control unit;
the central control unit receives data information sent by each module, analyzes and processes the data to form a control instruction to control each module; the motion control module is used for controlling the movement of the robot body; the information processing module is used for processing and transmitting data acquired by the sensor element and realizing man-machine interaction; the autonomous navigation module is used for planning a moving path of the robot and performing mobile navigation; the power supply management module is used for carrying out power-on and power-off control and intelligent power supply protection on the robot; the peripheral equipment interface module is used for controlling external expansion equipment.
2. The intelligent robot for nuclear instrument source test in nuclear power plant as claimed in claim 1, wherein: the robot body comprises a shell and a rack arranged in the shell; the frame comprises a base and a frame arranged on the base, the robot walking mechanism is arranged on the base, and the shell is connected with the frame;
and the shell is provided with a mechanical arm interface for connecting a mechanical arm.
3. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the shell is an aluminum alloy shell, and a radiation-proof isolation layer is arranged on the shell.
4. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the sensor element comprises a camera, an ultrasonic sensor and a laser radar.
5. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the information processing module comprises a human-computer interaction module and a sensor sensing and sampling module, the human-computer interaction module is used for receiving external instruction data and remotely transmitting collected data, and the sensor sensing and sampling module is used for carrying out back-end processing on the data collected by the sensor elements so as to obtain pose data of the robot.
6. The intelligent robot for nuclear instrument source test in nuclear power plant according to claim 5, characterized in that: the man-machine interaction module comprises a wireless communication unit, and the wireless communication unit comprises a ZigBee communication module and a radio frequency communication module.
7. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the motion control module comprises a micro-processing unit, a wheel encoder, a wheel driving motor controller and a brake device; the brake device is connected with an emergency stop button arranged on the shell and used for realizing the stop operation in emergency; the micro-processing unit is connected with the central control unit, the walking action information and the state of the robot body are fed back to the central control unit, the motion control instruction sent by the central control unit is received, the motion control instruction is sent to the wheel encoder, the wheel encoder compiles and converts the motion control instruction and sends the motion control instruction to the wheel driving motor controller, and the wheel driving motor controller controls the action of the motor according to the instruction;
the robot walking mechanism is a walking wheel.
8. The intelligent robot for nuclear instrument source test in nuclear power plant according to claim 7, characterized in that: the wheel drive motor controller is a fuzzy self-adaptive PID controller.
9. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the autonomous navigation module comprises a positioning module, an obstacle avoidance module, a cross-country module and a groove ladder identification module; the positioning module is used for establishing a map according to pose data of the robot, the off-road module is used for identifying the space environment of the position where the robot is located, the groove step identification module is used for identifying the ground environment of the position where the robot is located, the obstacle avoidance module receives the map establishing result from the positioning module and the obstacle identification result of the off-road module and the groove step identification module, corresponding action strategies are executed, the obstacle avoidance module sends the obstacle identification result to the central control unit, and the central control unit formulates a motion control command according to the action strategies.
10. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the power supply management module comprises an embedded processor, a power supply monitoring circuit, a power supply switch network and a power conversion assembly; the power conversion assembly is connected with a robot power supply and converts high-voltage direct current into low-voltage direct current required by each circuit module; the power switch network is used for distributing the converted low-voltage direct current to each module according to channels; the power supply monitoring circuit is used for monitoring the power supply state of the robot according to the data acquired by the embedded processor and sending the monitoring data to the embedded processor; the embedded processor is used for collecting state signal data of the power supply and performing power on-off control and power supply protection according to the signal data.
11. The intelligent robot for nuclear instrument source test in nuclear power plant according to claim 10, characterized in that: the power management module also comprises a low-power detection module and an automatic recharging module; the low-power detection module is used for judging whether the battery power is in a preset threshold range according to the power data acquired by the embedded processor and sending low-power reminding information to the central control unit according to a judgment result; the automatic recharging module is used for making a route for recharging according to the position of the charging power supply.
12. The intelligent robot for nuclear power plant nuclear instrument source test according to claim 1 or 2, characterized in that: the peripheral equipment interface module comprises a mechanical arm interface module, a dispatching system interface module and a placing box interface module; the dispatching system interface module is used for receiving action instructions of the central control unit and sending the action instructions to the mechanical arm interface module, the mechanical arm interface module controls the actions of the mechanical arm, and the placing box loaded with the neutron source is conveyed to a specified position; the box placing interface module is used for detecting the environment state of the box placing position and the state of the articles in the box, the box placing interface module is connected with a sensor arranged at the box placing position, and the data collected by the sensor is sent to the central control unit.
13. The intelligent robot for nuclear instrument source test in nuclear power plant as claimed in claim 1, wherein: the modules carry out data transmission and information interaction through the bus.
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