CN106695741B

CN106695741B - A kind of method of mobile-robot system state-detection and initial work

Info

Publication number: CN106695741B
Application number: CN201710073477.6A
Authority: CN
Inventors: 吴文亮; 陈兵; 周东
Original assignee: China Eastern Electric Group Co Ltd
Current assignee: China Eastern Electric Group Co Ltd
Priority date: 2017-02-10
Filing date: 2017-02-10
Publication date: 2019-11-29
Anticipated expiration: 2037-02-10
Also published as: CN106695741A

Abstract

The present invention relates to a kind of mobile-robot system state-detection and the method for initial work, the mobile robot includes moving trolley system, multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system；Mobile robot travelling route tape is laid with, the calibration of key position point, exemplary program block is worked out and the calibration of the coordinate system of multi-joint mechanical arm system；High-risk environment state-detection, manually takes liquid tool to prepare at mobile robot state-detection；Mobile robot initial work；Mobile robot enters idle state, and supervisory control desk is waited to send the instruction of dangerization solution extraction.The present invention realizes automation, quantification and the normalizing operation for repeating quantitative dangerization solution under high-risk environment and extracting using mobile robot, so that contact of the completely isolated people with high-risk environment, reaches the requirement that dangerization solution sufficiently detects.

Description

A kind of method of mobile-robot system state-detection and initial work

Technical field

The present invention relates to dangerization solution extract and detection field, specifically a kind of mobile-robot system state-detection and The method of initial work.

Background technique

It is multiple that many places of the industries such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy can generate a large amount of components The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This Class dangerization solution generally using isolation method storage within the enclosed space, through collection storage, sample detection, purified treatment with And discharge and etc., after the methods of dilution or solidification processing, it is converted into the concentrate of small size and is stored, to corrosivity After being less than maximum allowable discharge index with radioactivity, is arranged and buried or spread in environment.The sampling of dangerization solution is examined Survey is very important link in treatment process, this stage by dangerization solution ingredient and content detect, only sufficiently Effective dangerization solution processing methods can be just found after detection, could be endangered and are reduced to most only after strictly handling It is low.

Dangerization solution sampling need to extract on a small quantity solution when detecting using advanced ways and means, carry out ingredient and content point Analysis.From the point of view of published record and data, most of dangerization solution extraction is constructed using the mode based on vacsorb Fixed dangerization solution extraction device, which is mainly made of vacuum pump, suction pipe, control switch and camera etc., with Dangerization solution processing equipment is fixed on somewhere together, and the extraction of dangerization solution, such device are completed in artificial presence Consider for stability almost without the measure controlled using accurate extraction, so being difficult to realize the quantitative and random of dangerization solution Sampling observation.Lack flexible extraction means and can not accurate quantification extract the problems such as restrict dangerization solution treatment effeciency promotion Bottleneck, since operation cannot be moved freely using fixed solution extraction device, when device breaks down or dangerization solution In the case where change of component, fixed solution extraction device can not be competent at sampling observation work, cause the processing of dangerization solution temporary when serious Stop, production line stop, brings huge economic loss.

In addition, many occasions do not have fixed dangerization solution extract equipment, when the danger solution type of extraction is relatively more, away from It is hand-manipulated in different environment even high-risk environment from when distant, working environment is more severe, needing people to enter, occur (1) operation in harsh environment at people's long period, vulnerable to injury；(2) dangerization solution taken amount is inaccurate, and operating efficiency is lower； (3) the problems such as extra dangerization solution is not easy to handle.These problems seriously affected dangerization solution detection treatment effeciency and The safety of people.

Summary of the invention

To overcome problem above of the existing technology, the present invention provides a kind of mobile-robot system state-detection and The method of initial work realizes oneself for repeating quantitative dangerization solution extraction under different high-risk environments using mobile robot Dynamicization, quantification and normalizing operation, so that contact of the completely isolated people with high-risk environment, reaches what dangerization solution sufficiently detected It is required that.

The present invention is realized by the following technical scheme:

A kind of method of mobile-robot system state-detection and initial work, the mobile robot include that movement is small Vehicle system, multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system；The shifting Mobile robot and supervisory control desk system wireless communication connection；It is characterized by:

A) moving trolley system travelling route tape is laid with, key position point is demarcated and the seat of multi-joint mechanical arm system The calibration of mark system；

B) high-risk environment state-detection, mobile robot state-detection, manually take liquid tool prepare；

C) mobile robot initial work；

D) mobile robot enters idle state, and supervisory control desk is waited to send the instruction of dangerization solution extraction.

Further, the tape includes navigation tape and terrestrial reference tape.

Further, the key position point includes starting point, intermediate point, dangerization solution pool point, test point and dangerization Then solution treatment trough point calibrates key position point with terrestrial reference tape corresponding with key position point on the ground.

Further, the coordinate system calibration of the multi-joint mechanical arm system includes: including multi-joint mechanical arm coordinate system It establishes and dead-center position is arranged.

Further, the high-risk environment state-detection is to obtain ambient condition ginseng in real time by environmental monitoring sensor Number, and be stored in the database of supervisory control desk system.

Further, the mobile robot receives the self-checking command that supervisory control desk system is sent, the mobile robot System mode detection includes carrying out battery capacity inquiry, moving trolley status inquiry, each joint states of multi-joint mechanical arm system Inquiry, chucking appliance system status inquiry, the inquiry of video ultrasound wave detection system, and state parameter is fed back into supervisory control desk system.

Further, the mobile robot initial work includes that moving trolley system returns to the mobile starting point in path, The each joint of multi-joint mechanical arm system returns to dead-center position, and the danger solution extraction device of chucking appliance system is perpendicular to ground, danger The pneumostop lid for changing solution storage system is closed, and video ultrasound wave detection system is ready.

Compared with prior art, beneficial effects of the present invention are as follows:

The present invention goes out to use using the mobile flexibility of moving trolley and the operating flexibility of mechanical arm, both collection advantageous design In the mobile-robot system that dangerization solution extracts, which can flexibly move in high-risk environment, fast operating, complete dangerization Solution is from programme planning to quantitative extraction again to the overall process treatment process of the processing of extra dangerization solution；

The present invention is laid with the guidance path of mobile robot using the navigation tape insensitive to high-risk environment, using number The navigation sensor of change reads navigation data recording on tape, and corrects in time to navigation error, keeps mobile robot errorless Difference is moved along navigation tape, is completed dangerization solution and is handled work；

It is molten that the operative scenario and process requirements that the present invention is extracted according to dangerization solution set starting point, intermediate point, dangerization The 5 class key position point such as liquid pool point, test point and dangerization solution treatment trough point, and demarcated with terrestrial reference tape, it can be shifting Mobile robot is mobile to provide correct reference point, ensures the accuracy of dangerization solution extraction process；

The present invention monitors the high-risk environment real-time perfoming of mobile work robot using environmental monitoring sensor, not only and When understand high-risk environment state, for dangerization solution extraction scheme formulate support is provided, additionally it is possible to by remotely monitoring high-risk ring Border provides data and supports for accident analysis and equipment repairing；

The present invention uses supervisory control desk and mobile robot to carry out data transmission with information-based means, be laid with by tape, The sequence of operations such as key point calibration, self-test and initialization operation realize that dangerization solution extracts procedure and the rule of preparation process Generalized.

Detailed description of the invention

Fig. 1 is System Working Principle figure of the invention.

Fig. 2 is the system composition block diagram of the invention.

Fig. 3 is mobile robot structure chart of the invention.

Fig. 4 is mobile-robot system control structure figure of the invention.

Fig. 5 is control instruction of the invention and transmittance process network diagramming.

Fig. 6 is wireless telecommunication system network topological diagram of the invention.

Fig. 7 is supervisory control desk system hardware and software frame diagram of the invention.

Fig. 8 is the supervisory control desk software and hardware network architecture of the invention.

Fig. 9 is supervisory control desk shape assumption diagram of the invention of the invention.

Figure 10 is moving trolley system module block diagram of the invention.

Figure 11 is moving trolley body interior structure chart of the invention.

Figure 12 is multi-joint mechanical arm system module block diagram of the invention.

Figure 13 is grip device system construction drawing of the invention.

Figure 14 is vision ultrasound examination composition and schematic diagram of the invention.

Figure 15 is danger solution memory system architecture figure of the invention.

Figure 16 is that power system modules of the invention constitute figure.

Figure 17 is that mobile robot dangerization solution of the invention extracts overall flow figure

Figure 18 is mobile-robot system state-detection and initialization process of the invention.

Figure 19 is instruction issuing of the invention and process of data communication figure.

Figure 20 is movement routine process planning figure of the invention.

Figure 21 is the automatic positioning of danger solution and quantitative extraction process of the invention.

Figure 22 is the transport of danger solution and fixed point tapping process of the invention.

Figure 23 is extra danger solution Auto Processing of the invention.

Specific embodiment

The present invention is further illustrated below in conjunction with the drawings and specific embodiments.

According to the characteristics of dangerization solution and process that automatic ration extracts, the reliable reality of operational safety and function is considered It is existing, design dangerization solution automatic ration extraction system under a kind of high-risk environment based on mobile robot, working principle such as Fig. 1 institute Show.The whole thought separated using control mechanism and executing agency, mobile-robot system is placed on high-risk as executing agency Environmental interior, supervisory control desk are placed on outside high-risk environment as control mechanism, are not only suitble to general solution quantitatively to extract at random and are wanted It asks, is further adapted for the danger solution that radioactivity is high, chemical component is uncertain, variety type is more, safety requirements is high and quantitatively extracts at random It is required that scene, have good flexibility.

As shown in Figure 2: the system includes supervisory control desk system, wireless communication data Transmission system, moving trolley system, more Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system Deng.Wherein, moving trolley system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision Ultrasonic wave detecting system constitutes mobile-robot system.

As shown in Figure 3: the mobile robot includes moving trolley system, multi-joint mechanical arm system, chucking appliance system, view Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination System, dangerization solution storage system are arranged in moving trolley system；The supervisory control desk system is based on communication network and moves Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving trolley system, it sends simultaneously Liquid information and movement instruction is taken to give moving trolley system；The moving trolley system receives and supervisory control desk system is forwarded to issue Liquid information and movement instruction are taken, realizes that mobile robot acquires and place the movement on route in dangerization solution；The movement is small Vehicle system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system and fixture System is connected, and the video ultrasound wave detection system is realized by communication network and connect with supervisory control desk system communication.

Fig. 4 is the system structure control figure of mobile robot, and supervisory control desk system is used as at instruction transmission and real time data Reason center, by communication module in real time with the main systems such as moving trolley system, multi-joint mechanical arm system, vision ultrasound examination The auxiliary systems such as system, multi-functional clamp system and dangerization solution storage system connect, and constitute and move under high-risk environment Robot control system.

Specifically, supervisory control desk system is connect with wireless mixing local area network with wireless communication module by wired, wirelessly Communication module is connected by Ethernet interface with the PLC controller of moving trolley system.Moving trolley system and multi-joint are mechanical Arm system uses master-slave control mode, i.e. the PLC controller of moving trolley system as main website, multi-joint mechanical arm system PLC controller is connected as slave station, the two by Prifibus DP module interface, for executing mobile and operation behavior, and it is more Articulated mechanical arm pedestal is mounted on moving trolley top nose.Dangerization solution storage system is mounted on moving trolley top rear, Its measuring cup weight sensor and pneumostop lid solenoid valve are integrated by O/I module and moving trolley PLC controller, are used In dangerization solution secure storage and carrying.Multi-functional clamp system is mounted on mechanical arm tail end, detection sensor, pneumatic system Solenoid valve etc. is integrated by O/I module and mechanical arm controller, is quantitatively extracted and is clamped for dangerization solution.It is mounted on Power-supply system inside moving trolley provides the energy needed for moving, operating, detect for main system and auxiliary system, by wireless charging The three parts such as electric installation, Li-ion batteries piles and power management module composition, wherein power management module is by MCU micro-control list The power control of member, PMIC power management integrated circuit and various sensors composition.

Fig. 5 is control instruction of the invention and transmittance process network diagramming, and system control instruction and transmittance process are described as, work Supervisory control desk sends dangerization solution extracting parameter signal, movement through radio transmitting device by instruction input and sending module when making Command signal is to moving trolley system, vision ultrasonic wave detecting system and power-supply system, and three digest journals and its auxiliary system are certainly Examine errorless rear start-up operation.Moving trolley is moved according to instruction, and sending action, which instructs, after completion assignment of mission gives multi-joint machinery Arm makes mechanical arm carry out corresponding dangerization solution extraction and grasping manipulation, dangerization solution storage system while mechanical arm acts It works according to the control instruction cooperative mechanical arm of moving trolley.In addition, the view that vision ultrasonic wave detecting system arrives collection in worksite Frequency information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and battery status Feed back to master control platform.

Fig. 6 is wireless telecommunication system network topological diagram, and inside and outside high-risk environment, building is based on IEEE 802.11b/g/a/h The WIFI wireless network of communications protocol, by WIFI wireless network be data medium, connection supervisory control desk, moving trolley system, Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute high-risk environment under control data, video data, state Effective channel of the transmission such as data.

Communication system is mainly made of wireless aps, wireless data transceiving device, local area network etc., and wherein local area network is to be based on The Ethernet of IEEE802.3 communications protocol building, supervisory control desk are directly connected to local area network by wired mode；Wireless aps and nothing Line data transmitter-receiver set is addressable device, and wireless aps are directly connected to local area network, wireless communication apparatus one by wired mode End is connect with moving trolley system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through WIFI network and AP are wirelessly connected, to realize control data, the high-speed transfer of video data, status data.

Fig. 7 is supervisory control desk system hardware and software frame diagram of the invention, and supervisory control desk is by display, main control computer, reality When hardware such as communication server, data server, video server, network communication module and monitoring application system, back-end data The software sharings such as library, service software.It is wired with it is wireless mix local area network by way of it is mechanical with moving trolley system, multi-joint The real-time communications such as arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, send simultaneously It takes liquid information and movement instruction to modules, realizes the remote control of mobile robot.

It monitors application system to develop based on windows platform, be mounted on main control computer, there is basic data maintenance mould Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module, The big module of security protection alarm module and real-time data communication module etc. six.

Fig. 8 is the software and hardware network architecture of supervisory control desk system, main control computer, data server, video server etc. It is connected in the form of bus over ethernet, by network communication module, main control computer and each server real-time communication, just Data query and processing are carried out in monitoring software.Communications service software is installed, in time crawl master above real-time communication server The instruction that control computer is assigned grabs the status data and sensing data of subsystems feedback to subsystems, and It is stored on data server and video server.Installation relation type database on data server, provides number for monitoring software It is supported according to storing, real-time storage operations data, feedback data, basis maintenance data, safe operation status data, transmission refer to Enable historical data etc..The collected video information of video server real-time storage vision ultrasonic system and ultrasonic height detection Information.

Fig. 9 is a kind of shape assumption diagram of supervisory control desk of the invention, appearance is designed using ergonomics thought, by two A display, a station and master control platform shell composition, two of them display one is used for visual control, a use It is sent and received in control instruction；Master control platform shell is made of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, radiation protection, Corrosion-resistant effect.

Figure 10 is moving trolley system module block diagram of the invention, mobile dress of the moving trolley system as whole system It sets, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement is small Vehicle system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is for providing The physical structure of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control Module is connected by drive module with basic machine；The navigation module is connected with control module.

Figure 11 be moving trolley system ontology internal structure chart of the invention, moving trolley basic machine, by trolley body, Steering mechanism and sensing element composition, wherein trolley body is in rectangular shape, and vehicle body frame uses aluminium alloy extrusions, is carried out Totally-enclosed radiation protection processing, the sheet lead of car body outside laying 1 ~ 2mm thickness is as shielding material；Car top is main supporting part Point, there is the multi-joint mechanical arm mounting hole of four threaded holes that are uniformly distributed along the circumference by front position, being bolted makes moving trolley It connects together with the base fixing plate of multi-joint mechanical arm；There is dangerization solution storage device mounting base in position to car body top rearward, It is rigidly connected by the mounting base on bolt and dangerization solution storage device；Car body the right and left bottom is distributed with two pairs symmetrically Four McCrum wheels, constitute the movable part of trolley；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving antenna with The wireless communication apparatus of car interior connects, and constitutes the wireless communication module of trolley.

Car interior is three layers of mounting structure, logic connecting relation is referring to " moving machine according to the principle for rationally utilizing space Device people's System control structures figure ", first layer is upper layer, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and Vision ultrasonic treatment unit, the control unit of specific multi-joint mechanical arm include 1 multi-joint mechanical arm controller, 1 fortune The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus is 1 set of wireless telecommunications based on wireless WIFI Device, vision ultrasonic treatment unit are 1 set of position detecting device based on CCD camera and ultrasonic wave；The second layer is middle layer, The predominantly control unit of moving trolley, pneumatic system, the control unit of specific moving trolley include 1 moving trolley control Device, 1 motion-control module, 4 moving trolley wheels servo-driver, pneumatic system includes that 1 set dangerization solution is stored and filled Set pneumatic device, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic device, 1 set of multi-functional clamp device quantitative liquid getting dress The pneumatic device set；Third layer is bottom, provides the power supply device of power for each device, specifically have one group of lithium battery string and 1 electric power controller.Trolley bottom four corners direction is disposed with 4 McCrum wheel servo motors and motor reducer, centre Location arrangements have the navigation sensor and landmark sensor, a wireless charging receiver of a set of magnetic induction navigation.

Moving trolley steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel System.McCrum wheel is made of two wheel hubs and a certain number of pony roll, using both ends support construction, small roller axis and wheel Hub axis angle is ± 45 °, and the two material is all made of corrosion-resistant radiation proof material.Two left-handed spiral configurations in four McCrum wheels With two right-handed spiral configurations, moving trolley car body the right and left is mounted in such a way that two left two right four-wheels are arranged symmetrically；Each wheat Carat nurse wheel and a DC servo motor and motor reducer are direct-connected, pass through the speed control different to four wheels, realize The movement of trolley different directions.

Control module: including PLC controller and motion-control module, moving trolley adds motion control using PLC controller The modes such as module carry out motion control, and wherein PLC is mainly responsible for communicates with supervisory control desk, are received in time by WIFI communication mode The control instruction and feedback trolley travelling status data that supervisory control desk issues；Motion-control module is responsible for executing the received letter of PLC Number instruction, to moving trolley feedback navigation signal, position signal handled and calculated in real time, export control signal to direct current Servo-driver.In addition, moving trolley integrally uses Open Control mode of the host computer in conjunction with slave computer, wherein host computer For supervisory control desk system, slave computer is the PLC controller of moving trolley system.

Drive module: moving trolley driving uses DC servo motor driver and DC servo motor, DC servo electricity Machine driver one end is connected with the motion-control module in moving trolley PLC controller, and one end is connected with DC servo motor. The motion-control module of PLC controller sends digital quantity high-speed pulse signal to servo-driver, and servo-driver uses position Control model generates the pwm signal of impulse form according to the signal of control signal and servo motor feedback, through power amplification rear-guard Dynamic servo motor, the pulse and direction signal that servo motor is issued according to servo-driver are started, stopped, being inverted and are become The movement such as speed.

Navigation module: the module is made of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance Sensor and magnetic landmark sensor, magnetic stripe are divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment, Therefore the navigation module of moving trolley is designed by the way of magnetic stripe navigation, trolley bottom is equipped with magnetic navigation sensor by front position And landmark sensor, for detecting in the predetermined guiding magnetic stripe and terrestrial reference magnetic stripe being laid in ground.When moving trolley is run, magnetic navigation Sensor vertical certain distance above magnetic stripe acquires the magnetic field strength of magnetic stripe, judges that magnetic stripe is inclined relative to magnetic navigation sensor It offs normal and sets, accordingly moving trolley adjust automatically, it is ensured that move ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and accordingly Judge running position and changes operating status.Terrestrial reference magnetic stripe is attached to the ground beside navigation magnetic stripe perpendicular to navigation magnetic stripe direction On.

Communication module: being made of wireless communication apparatus and signal transmitting and receiving antenna, and wherein wireless communication apparatus is wireless data R-T unit, is mounted on first layer inside moving trolley, and signal transmitting and receiving antenna is mounted on right side outside moving trolley.Wireless telecommunications Module one end uses WLAN standard agreement IEEE 802.11b/g/a/h, connect with supervisory control desk real-time radio, in time Obtain master control platform issue take liquid instruct and movement instruction, while by the state of moving trolley and interconnected system notify at once to Master control platform.The wireless communication module other end is connected with moving trolley PLC controller by Ethernet interface, in time issues master control platform Take liquid instruction and movement instruction to pass to moving trolley PLC, while the moving trolley PLC feedback signal received being passed to always Console.

Figure 12 is multi-joint mechanical arm system module block diagram of the invention, and the multi-joint mechanical arm system is according to high-risk Environment dangerization solution quantitatively extracts one that feature designs and integrates machinery, control, open chain link-type electrically and right angle seat Mark formula mixed type articulated robot, working range farthest reach 2 meters, are mounted at the top of moving trolley by bolt, small with movement The work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed are completed in vehicle cooperation.It mainly include basic machine, servo Driving and motion control portion.

Basic machine is made of execution unit, mechanical arm body, sensing element.Execution unit by servo motor, retarder, The components such as bearing and bearing block composition.Sensing element is the ginseng such as angle, revolving speed, electric current, voltage for detecting each axis servo motor Several sensors.Mechanical arm body is made of pedestal, pedestal, large arm, forearm and end telescopic shaft, is total to there are four freedom degree, It is wherein revolute pair between pedestal and pedestal, pedestal and large arm, large arm and forearm, is mobile between forearm and end telescopic shaft Pair, and angle remains 90 ° between forearm and end telescopic shaft.

Mechanical arm pedestal use rectangular section hollow aluminum casting, the DC servo drive motor of internal mounting seat, The components such as retarder, bearing and bearing block, base bottom are a fixed plate with four threaded holes that are uniformly distributed along the circumference, this Fixed plate is rigidly connected with the multi-joint arm mounting hole in moving trolley by bolt.Pedestal is using in circular cross-section Empty aluminum casting, inside are equipped with the components such as DC servo drive motor, retarder, bearing and the bearing block of large arm.Greatly Arm uses the hollow and thin-walled aluminum casting of circular cross-section, and inside is equipped with DC servo drive motor, retarder, the bearing of forearm And the components such as bearing block.Forearm uses the solid aluminum casting of circular cross-section, and end is equipped with the execution of end telescopic shaft The components such as component, i.e. servo motor, synchronous belt, nuts ball lead screw.End telescopic shaft is by servo motor, synchronous belt, nut Ball-screw and end effector composition make feed screw nut exist inside ball-screw kinematic pair by the way of nut driving The synchronized band driving of DC servo motor is lower to generate rotary motion, to drive the linear motion of lead screw progress vertical direction.

Sheet lead is laid on each axis of basic machine and servo motor surface, is placed on outside moving trolley；Control section and Servo-drive is partially disposed in inside moving trolley, mitigates the influence of radiation.

Figure 13 is multi-functional clamp structure chart of the invention, the multi-functional clamp device is a collection quantitative liquid getting with Electricity, gas control device of the function in one are carried in clamping, are rigidly attached at multi-joint mechanical arm end by bolt, appearance and interior Portion's structure is as shown below.

Multi-functional clamp device include a chuck body, a rotating device, a pneumatic scroll chuck device and One quantitative liquid taking device.

Multi-functional clamp device is controlled by mechanical arm PLC controller, and action process is described as multi-joint mechanical arm PLC control The liquid that takes that device receives the transmission of moving trolley PLC controller instructs or fetching instruction, if taking liquid to instruct, then multi-joint mechanical arm Controller controls rotating device and quantitative liquid taking device is gone to position straight down, then controls the pneumatic electricity of quantitative liquid taking device Magnet valve is opened, then danger solution progresses into quantitative liquid taking device.At the same time, the gas flow letter in quantitative liquid taking device Breath, pressure information, dangerization solution height information, to multi-joint mechanical arm controller, are reached and are set by respective sensor rapid feedback Stopping acts after quantitative.If fetching instruction, then multi-joint mechanical arm controller control rotating device turns scroll chuck device To position straight down, then scroll chuck air-operated solenoid valve opening is controlled, realizes the opening and tightening of scroll chuck, reach and grab The purpose taken, at the same time, the clip pressure force information in scroll chuck device are closed by respective sensor rapid feedback to more Mechanical arm controller is saved, cooperates with air-operated solenoid valve, realizes the accurate control of grasp force.

The chuck body front is in octagon, is divided into symmetrical two halves, the plane of symmetry and horizontal plane angle at 45 °.Fixture For body upper part by flanged joint in the 4th shaft end of multi-joint mechanical arm, lower part installs one self-centering three in the horizontal direction Dog chuck device installs a quantitative liquid taking device in vertical direction.

The rotating device is made of rotary cylinder, cylinder piston, cylinder fixing piece, silencer, position sensor etc., rotation Rotaring cylinder is mounted in the chuck body upper half by cylinder fixing piece, and cylinder piston is fixedly linked with chuck body lower half, Power is provided by rotary cylinder when work, is realized by 180 ° of rotations of cylinder and is relatively rotated between chuck body two halves, thus real The tool of existing scroll chuck device and quantitative liquid taking device is converted.Position sensor is used to detect whether cylinder piston has rotated 180 ° of positions, and information will pass to multi-joint mechanical arm PLC controller in place.

The pneumatic scroll chuck device is pressed for cylindrical pneumatic self-centering three jaw arrangement by ontology, 3 claws, 3 Force snesor, a set of pneumatic device composition.

Scroll chuck device noumenon is cylindrical, and there is gas circuit in inside, is pneumatically connected mouth and claw guide groove；3 claws are equal Cloth is on cylindrical body claw guide groove, using stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material, is convenient for liquid taking cup Clamping operation.Pressure sensor is mounted on the inside of claw, is protected by anti-skidding acid and alkali-resistance flexible material, is held for monitoring crawl The grasp force when measuring cup of dangerization solution, and pressure information is passed to the PLC controller of multi-joint mechanical arm.

Scroll chuck pneumatic device includes one 35 logical digital electric magnet valves, two bidirectional speed control valves, a pressure Force control valve and pipeline.Air circuit connection relationship is, a gas circuit is connected by pipeline with pressure-control valve first, then with electromagnetism Valve is connected, and is divided into two gas circuits, and then two gas circuit pipelines are connected with two bidirectional speed control valves, last two pipelines and sheet The mouth that is pneumatically connected on body is connected.Wherein digital electric magnet valve is connected with the PLC controller of multi-joint mechanical arm, passes through multi-joint The PLC controller control digital electric magnet valve of mechanical arm, and then the on-off of whole gas circuit is controlled, realize that claw is tightened and opened simultaneously The function of opening.Pneumatic device is mounted on moving trolley inner second layer.

Scroll chuck by I-shaped flange be threaded in octagon chuck body on one side on, three-jaw when off working state Chuck axis is parallel to the ground, and scroll chuck axis is perpendicular to the ground when working condition.

The quantitative liquid taking device, including one take liquid container ontology, a set of detection sensing device, a set of pneumatic device.

Taking liquid container ontology is a cylindric Corrosion Resistant Frp container, and ontology left upper portion has a pneumatic system to connect Interface, ontology right side are that liquid level position detects sensing device, and body interior is moved piston and is divided into upper and lower container chamber.Upper container Room is gas compartment, and two spring fixed end and a compressed spring are installed in the inside, it is ensured that gas compartment stablizes effectively work.Under Container chamber is liquid chamber, for holding the danger solution of extraction.It is mobile piston among ontology, sealing ring is placed at piston both ends, Sealing ring can effectively ensure that the partition of gas compartment and liquid chamber.

Detecting sensing device is a set of liquid level position detection sensor, in long strip, is pasted onto and takes on the right side of liquid container ontology, For detecting the elevation information of liquid level during Liquid extracting, multi-joint mechanical arm is passed to after data processing and conversion PLC controller.The liquid level that liquid level position detection sensor is made of bonding agent, solid capacitor component, data converting circuit etc. Detection device, solid capacitor component are centainly composed of N group solid-state alminium electrolytic condenser, can be sent out according to the height change of liquid level Raw capacitance size variation, then capacitance size variation is converted into digital quantity through data converting circuit, to realize the real-time of liquid level Monitoring.Solid capacitor component is pasted by bonding agent to be taken on the right side of liquid container ontology, and one layer of corrosion-resistant radiation protection is laid in outside Sheet lead material.

Pneumatic device includes one 33 logical digital electric magnet valves, a vacuum generator component, a bidirectional speed control Valve, a flow sensor, a baroceptor and pipeline processed, wherein there are two outlets for 33 logical digital electric magnet valves Mouthful, vacuum generator component has an air inlet, a gas outlet.For solenoid valve, one of them goes out the connection type of pneumatic device Port is connected with the air inlet of vacuum generator component, another gas outlet is connected with the gas outlet of vacuum generator component, together When vacuum generator component gas outlet be connected with speed control valve, centre connection one monitoring gas circuit in gas flow rate flow Sensor, speed control valve take liquid container ontology to be connected, the baroceptor of one monitoring airline pressure of centre connection.Pneumatic dress It is equipped with a gas source air inlet and a gas outlet, gas source air inlet connects external air source, in gas outlet and quantitative liquid taking device Take liquid container ontology be connected, the control terminal of the digital electric magnet valve in pneumatic device and the PLC controller of multi-joint mechanical arm It is connected, realizes the on-off of the PLC control pneumatic device gas circuit of multi-joint mechanical arm.The working method of pneumatic device is gas source through electricity Magnet valve generates positive pressure or negative pressure when flowing through vacuum generator component, makes that the indoor pressure of liquid container bulk gas is taken to be more than or less than The indoor pressure of liquid, piston move downward or upward under pressure difference effect, realize the accurate extraction and discharge of liquid.Pneumatically Device is mounted on moving trolley inner second layer.

Quantitative liquid taking device by I-shaped flange be threaded in octagon chuck body on one side on, when working condition its Central axis is vertical with ground holding.

Figure 14 is vision ultrasound examination working principle diagram of the invention, and vision ultrasonic wave detecting system is a set of wireless Remote monitoring system is mobile-robot system " eyes ", to use the obstacle monitored in movement routine, calculate mobile robot Spatial position.The system is mainly made of supervisory control desk, wireless communication module and digital sampling and processing, wherein data Acquisition processing module is made of processing unit, vision module and ultrasonic wave module.

Vision ultrasonic wave detecting system merges vision and ultrasonic technology, and vision module and ultrasonic wave module is made to cooperate work Make, calculates spatial position coordinate.Its principle is the two-dimensional image information obtained under high-risk environment with industrial CCD camera, through image Processing is converted into plane XY coordinate information, then obtains the information in short transverse, i.e. Z coordinate information by ultrasonic sensor, and two Person can get spatial position coordinate after logic cell processes, and it is accurately fixed that moving trolley system is carried out according to spatial coordinated information Position.

Supervisory control desk monitoring application system has vision ultrasonic wave monitoring module, by wireless WIFI and wireless communication module with Data acquisition module is connected, and the processing unit in data acquisition module uses embedded ARM processor, obtains industrial CCD in real time The collected video information of camera and the collected elevation information of ultrasonic displacement sensor, and by Ethernet interface and wirelessly Communication module, by data feedback to supervisory control desk, data are placed on video server by supervisory control desk, carry out ring convenient for monitoring module Border visual control and image space coordinate calculate.

Data acquisition processing device includes two pieces of right angle mounting plates, an image pick-up card, 2 industrial CCD sensors, one A ultrasonic displacement sensor, a ultrasonic wave analog-digital commutator, an embedded ARM processor and a wireless telecommunications Device, wherein ccd sensor is connected by image pick-up card with embedded ARM processor, and ultrasonic sensor is turned by modulus Changing device is connected with embedded ARM processor, is then inserted into formula arm processor and is connected with wireless communication apparatus.Right angle mounting plate It is one of to be mounted between mechanical arm tail end and grip device, front one industrial CCD sensor of installation and a ultrasound Wave displacement sensor, the two cooperation carry out the data acquisition of the height and position of plan-position and dangerization liquid level of solution.Another piece straight Angle mounting plate is mounted on the right side of grip device, installs an industrial CCD sensor thereon, for monitoring that dangerization solution is quantitative in real time Liquid level in extraction process and device.

Image pick-up card, ultrasonic wave analog-digital commutator, embedded ARM processor, wireless communication apparatus are mounted on movement Car interior, wherein wireless communication apparatus is by wireless WIFI using 802.11b/g/a/h standard agreement and supervisory control desk video The connection of ultrasound examination module real-time radio, image information and ultrasonic digital information are passed in time.

Figure 15 is danger solution memory system architecture figure of the invention.The dangerization solution storage device, is mainly used to pacify The danger solution that full storage and reliable transhipment mobile robot are quantitatively extracted, specifically include a rectangular storage ontology, 3 take Liquid measure cup, 3 weight sensors, a set of pneumatic device.

Storage ontology be corrosion-resistant radiation-resistant stainless steel material, mainly by cavity ontology, moving cylinder, link mechanism, Top pressure closure, sealed bolster composition.Cavity ontology is in cuboid, and intermediate there are three cavitys, can accommodate 3 tempered glass materials Liquid-taken amount cup.Cavity ontology upper surface symmetrical centre rearward location interval certain distance arrange two small one and large one cuboid it is convex Rise, small cuboid protrusion for connecting, big cuboid protrusion for limiting top pressure closure spatial dimension, make its on cavity ontology End face keeping parallelism.It is rectangular pneumostop lid above cavity ontology, pneumostop base portion places 3 than liquid-taken amount rim of a cup The bigger sealed bolster of diameter can prevent from splashing down out in dangerization solution transportational process after normal sealing.Pneumostop lid tail portion is solid Determine link mechanism, connecting rod middle position and small cuboid project through hinge 1 and form revolute pair, connecting rod tail portion and a movable gas The piston of cylinder forms revolute pair connection by hinge 2.There are four depositing in mounting base, with moving trolley for two side bottom of cavity ontology Storage device mounting base is rigidly connected with bolt.

Moving cylinder is made of air rammer and cylinder block, and air rammer is cylindrical, is passed through with link mechanism end Hinge 2 forms revolute pair；Cylinder block is cylindrical, and right side is there are two mouth is pneumatically connected, for connecting pneumatic device；Cylinder cylinder Moving cylinder is freely rotated can with around hinge 3 by the formation revolute pair of hinge 3 in body bottom and cavity ontology rear end face.

Liquid-taken amount cup uses transparent tempered glass material, mating with the cavity on storage ontology, not of the same race for storing The liquid of class.Weight sensor uses rondelle resistance-strain type weight sensor, is connected through a screw thread and is fixed on liquid-taken amount cup Cavity bottom, with the liquid-taken amount cupuliform into cavity at face contact.It measures numerical value and is connected to after A/D is converted by data line Moving trolley PLC controller, to monitor the dynamic weight of dangerization solution in liquid-taken amount cup constantly.

Pneumatic device in storage device includes one 35 logical digital electric magnet valves, two bidirectional speed control valves, one A pressure-control valve and pipeline.Air circuit connection relationship is, a gas circuit is connected by pipeline with pressure-control valve first, then with Solenoid valve is connected, and is divided into two gas circuits, then two gas circuit pipelines are connected with two bidirectional speed control valves, last two pipelines It is connected with the mouth that is pneumatically connected of cylinder.Wherein digital electric magnet valve is controlled by moving trolley PLC controller, in multi-joint mechanical arm When system carries out taking the relevant actions such as liquid, tapping, moving trolley PLC controller sends corresponding control signal and gives pneumatic device electromagnetism Valve control terminal, driving top pressure closure cooperative mechanical arm, which executes, opens and closes operation.The pneumatic device is mounted in moving trolley Portion's second layer.

The connection schematic diagram of storage device and moving trolley controller is as shown below, and moving trolley controller and storage fill Solenoid valve connection in setting, controls gas path on-off, realizes the opening and closing of top pressure closure；Weight sensor passes through converter It is connected with moving trolley PLC controller, takes the weight information of dangerization solution during liquid in real time, dangerization is realized by feedback The control of solution precise quantification.

Figure 16 is that power system modules of the invention constitute figure.The power-supply system, for being mentioned for mobile-robot system For electric power energy that is mobile and operating, it is made of battery, wireless charging device and power-supply management system, wherein battery is High density lithium battery strings are directly moving trolley, multi-joint mechanical arm etc. provides DC power supply；Wireless charging device uses magnetic coupling The energy transmission mode for closing resonance carries out non-contact wireless charging to the supplying cell of mobile robot, by transmitting module, receives The two parts such as module composition；Power-supply management system is a battery strings management system, by data acquisition module, control protection mould The composition such as block, memory module, balance module, for carrying out cell-state monitoring, battery cell equilibrium, battery charging management And cell safety protection etc..

Moving trolley wireless charging system circuit diagram is as follows, and the system is by power supply transmitting module and power supply receiving module Composition, power supply transmitting module are made of wireless base station apparatus and transmission power management module, and wherein wireless base station apparatus is by high frequency Driving source, resonance transmission circuit and repeat circuit composition, whole device are installed on the ground of safety zone, constitute power supply transmitting End；Power supply receiving module is made of radio receiver and reception power management module, and wherein radio receiver is steady by rectifying Volt circuit, resonance receive circuit and power management module composition, are installed on moving trolley bottom, constitute power supply receiving end.

Battery dump energy entrained by mobile robot power-supply management system real-time monitoring, and by wireless WIFI it is real-time on Supervisory control desk is reported, if remaining capacity is lower than certain threshold value in an inactive state, master control platform can prompt to move when distributing task Mobile robot system charge is insufficient, needs to charge；If execute work in electricity be lower than certain threshold value, mechanically moving people to Master control platform issues low battery alarm, interrupt it is current take liquid or moving operation, save current task state, master control platform waited to assign Charging instruction.When mobile robot charges, it first is automatically moved to charging emitter installation site along navigation tape, at this time power supply Electric main is converted into 24V direct current through wireless charging device by input terminal, and is stored in lithium battery group.After completing charging, Task status before mobile robot recovery, continues corresponding operating.

Composition based on above system, it is proposed that a kind of dangerization solution quantifies extracting method, this method is suitable for high-risk Dangerization solution sampling detection-phase, by introducing a kind of danger solution extraction system based on mobile robot, by high-risk environment Used in fixed dangerization solution extraction device be substituted for the corrosion resistant mobile robot dangerization solution extraction device of radiation protection, To realize that dangerization solution is efficient, quantify, Visual Inference operation.

Dangerization solution extraction system involved in this method including a supervisory control desk, a set of wireless network communication system, The movement of one integrated moving trolley, multi-joint mechanical arm, multi-functional clamp, storage device and vision ultrasonic wave detecting system Robot system.The thought separated using control mechanism and executing agency, mobile-robot system are placed on as executing agency Inside high-risk environment, supervisory control desk is placed on outside high-risk environment as control mechanism, and supervisory control desk passes through wireless network communication system Mobile-robot system in system real-time control high-risk environment.

The ontologies such as moving trolley and multi-joint mechanical arm in dangerization solution extraction system involved in this method use matter Light resistant material lays radiation-resistant sheet lead in each body surface；Control system is using the good strong antijamming capability of shielding PLC, and being sealed in inside moving trolley, is isolated with high-risk environment completely, only allows the electrical enforcement division such as servo motor, stepper motor Part is in high-risk environment.

Figure 17 is that mobile robot dangerization solution of the invention extracts overall flow figure.A kind of danger based on mobile robot Change the method that solution processing methods include mobile-robot system state-detection and initial work；Supervisory control desk system dangerization is molten The method that liquid extraction instruction is assigned；The method that movement routine is planned automatically；The side that dangerization solution is automatically positioned and quantitatively extracts Method；The method that dangerization solution secure storage, transport and fixed point are placed；The method that extra dangerization solution automatically processes；Mobile machine People, which is first moved to different Wei Hua solution areas according to the given instruction of supervisory control desk outside high-risk environment and carries out dangerization solution automatically, to be determined Amount is extracted, and is stored with the danger solution storage device in moving trolley；It is complete that dangerization solution is transported detection designated position again Task is placed at fixed point dangerization solution, waits and manually takes the subsequent every detection work of dangerization solution progress away；Last moving machine Processed or extra dangerization solution is transported dangerization solution treatment trough and process in order by device people.

Figure 18 is mobile-robot system state-detection and initialization process of the invention.High-risk environment is considered in this method It is smaller on the tape influence for being layered on ground, therefore moving trolley carries out navigation movement by the way of tape induction.In advance on ground On according to systematic schematic diagram lay out trolley travelling route with navigation tape, cook up starting point, test point, intermediate point, dangerization The key positions point such as solution pool point and extra dangerization solution process points, and key position point is calibrated with terrestrial reference tape.

This method is related to moving operation of the moving trolley from starting point through intermediate point with dangerization solution point to test point, therefore needs It to be worked out and store path mobile process block in advance inside Mobile trolley control system.It also relates to carry out using mechanical arm Dangerization solution quantitatively extracts, dangerization solution puts back to storage device, the tapping of monitor station fixed point, extra dangerization solution automatic clamping, more The typical operations such as remaining dangerization solution processing, therefore need to work out and store in advance corresponding operating program in mechanical arm control system Block.

Before carrying out the extraction of dangerization solution, navigation tape need to be carried out and be laid with, i.e., first used on the ground according to systematic schematic diagram Navigation tape lays out trolley mobile route, cooks up starting point A, intermediate point B, dangerization solution pool point C, test point D and danger Change the key positions point such as solution treatment trough point E, wherein starting point only one, be labeled as A；There are two intermediate points, labeled as B1, B2；There are three dangerization solution pool points, is labeled as C1, C2, C3；There are three test points, is labeled as D1, D2, D3；The processing of dangerization solution Slot point has one, is labeled as E.Then key position point is calibrated on the ground with terrestrial reference tape corresponding with key point.

After tape is laid with, the calibration of multi-joint mechanical arm coordinate system is carried out, multi-joint mechanical arm establishment of coordinate system is specifically included It is set with dead-center position, wherein multi-joint mechanical arm coordinate system includes fundamental coordinate system Base, reference frame Ref, tool seat Mark system Tool, fundamental coordinate system Base setting are examined coordinate system Ref and are arranged in multi-joint at multi-joint mechanical arm base bottom center Mechanical arm tail end telescopic shaft bottom centre, tool coordinates system Tool1 are arranged in quantitative liquid taking device bottom centre, tool coordinates system Tool2 is arranged at pneumatic scroll chuck device chuck upper surface center.Multi-joint mechanical arm zero point is carried out after establishment of coordinate system Position setting, with the forearm side of multi-joint mechanical arm and top surface respectively with moving trolley side and top surface keeping parallelism, more function It is criterion that energy fixture and moving trolley and ground, which keep certain safe distance,.

Multi-joint mechanical arm coordinate calibration after, carry out high-risk environment state-detection, mobile-robot system state-detection, The contents such as liquid tool preparation are manually taken, guarantee that the environmental parameter that dangerization solution extracts extracts dress in zone of reasonableness and dangerization solution It sets good for use.Dangerization solution environmental state-detection includes, timely by the environmental monitoring sensor being mounted under high-risk environment Ambient condition parameter is obtained, and is stored in historical data base, history environment data query is convenient for.Mobile-robot system state Detection includes that supervisory control desk sends self-checking command to mobile-robot system, then mobile-robot system progress battery capacity is looked into Inquiry, moving trolley status inquiry, each joint states inquiry of robotic arm, multi-functional clamp status inquiry, video ultrasound wave detection system The functional modules self-tests such as system inquiry, after all module checks, feed back supervisory control desk for state parameter.It need to be detected in advance simultaneously Platform manually takes liquid to prepare, and prepares radiation protection corrosion resistant rubber gloves, to be sought out for taking out mobile robot by instruction Dangerization solution；Check whether specified tapping point is occupied, and liquid-taken amount cup is not then placed on monitor station designated position.

In addition, mobile-robot system self-test starts initial work after all going well, i.e. moving trolley returns to path shifting Dynamic starting point, each joint of mechanical arm return to dead-center position, and multi-functional clamp dangerization solution extraction device is perpendicular to ground, dangerization Solution storage device sealing cover is closed, and dangerization solution storage system sealing cover is closed, and video ultrasound wave detection system is begun preparing Work etc..

After initial work, moving trolley enters idle state, and supervisory control desk is waited to assign further instruction.

Figure 19 is instruction issuing of the invention and process of data communication figure.Mobile-robot system items preparation is completed After, then it is specified according to detection demand setting detection dosage scheme, including detection liquid number, detection amount of liquid, detection liquid Three parameters such as tapping point, then taking in liquid information input and instruction sending module in supervisory control desk application monitoring system input Three detection dosage parameters, the liquid-taken amount cup that supervisory control desk allows according to the dangerization solution storage device in mobile-robot system Quantity and the occupied situation of volume, monitor station and the information inspection such as Wei Hua solution area dangerization solution storage class and amount of storage are used The reasonability of amount scheme.

Scheme reasonableness check condition and detailed step:

(1) quantity of the liquid-taken amount cup in current memory device is N number of, each volume M liter, then detection liquid number Number≤N, every kind of detection amount of liquid≤M liter；

(2) there is P test point in the monitor station for placing detection liquid, and there there are Q to be occupied, then detection liquid is numbered Number≤P-Q；

(3) the danger solution of Wei Hua solution area storage has R seed type, and every kind has T to rise amount of storage, and every kind of amount of storage cannot Less than S liter, then being allowed to the detection liquid number number≤R extracted, and every kind of detection amount of liquid≤T-S liter.

After scheme reasonableness check, supervisory control desk is determined according to detection dosage parameter from starting point A to dangerization solution The key positions points such as treatment trough point E.Planning process is that detection dosage parameter includes detection liquid number, detection liquid in detail Amount, detection liquid specify tapping point, determine dangerization solution pool point then numbering according to detection liquid, specify tapping point according to detection liquid It determines test point, is taken in supervisory control desk monitoring application system true according to these conditions inside liquid information input and instruction sending module Dangerization solution pool point C and test point D are made, is connected with fixed starting point A, intermediate point B and dangerization solution treatment trough point E Get up, it may be determined that go out from A to E, return the point of key position as A.

After key position point determines, key position point and dosage parameter are sent.Supervisory control desk passes through wireless telecommunication system Key position point and detection dosage parameter are sent to the moving trolley in mobile-robot system, moving trolley receives correlation It after information, feeds back to supervisory control desk information and receives situation, supervisory control desk transmission is waited the next step action order such as to start or stop.

Figure 20 is movement routine process planning figure of the invention.Supervisory control desk sends enabled instruction by wireless telecommunication system To moving trolley, that is, send the program instruction that a triggering moving trolley is started to work；Moving trolley receives root after enabled instruction Movement routine planning is carried out according to the key position point information that supervisory control desk is previously sent, planning information is stored in movement after the completion Trolley PLC controller；Then moving trolley PLC controller sends the information such as the work order cooked up and liquid extraction parameter Give multi-joint mechanical arm system PLC controller；After mechanical arm PLC controller receives information, multi-joint mechanical arm operation is carried out Planning information is stored in multi-joint mechanical arm PLC controller after the completion by path planning.Mobile-robot system planning is completed Afterwards, supervisory control desk planning situation is fed back to, supervisory control desk is waited to send next step action order.

The movement routine planning of moving trolley refers to:

1) path planning program block is worked out inside moving trolley PLC controller, which receives supervisory control desk first The mobile circuit of the key position point processing sent after the enabled instruction of transmission according to supervisory control desk, the direction of motion and mobile speed The kinematic parameters such as degree；

2) using path planning program block according to the space coordinate operation moving trolley key position being arranged under high-risk environment The design position information of point, the comparison reference point as the actual position information that navigation sensor and landmark sensor detect；

3) using path planning program block, 1 aided location point is planned on guidance path both sides between key position point, and It calculates part and assists kinematic parameters such as mobile circuit, the direction of motion and movement speed etc., when guidance path is obstructed, Moving trolley can be selected subsidiary loop bypass obstacle and continue to move to；

4) inside path planning program block add moving trolley navigation data processing subroutine block, the blockette by with In the data that processing magnetic navigation sensor and magnetic landmark sensor detect, it is ensured that moving trolley is moved along navigation magnetic stripe or auxiliary Dynamic circuit is mobile；

5) it is mapped using path planning program block planning out position and signal, i.e., moving trolley is moved to different key positions Put the work order sent to multi-joint mechanical arm PLC controller and dangerization solution extracting parameter, the reality fed back to supervisory control desk Border location information and equipment operation condition, wherein work order includes that dangerization solution quantitatively extracts, dangerization solution puts back to storage dress It sets, 5 typical multi-joints machinery such as the tapping of monitor station fixed point, extra dangerization solution automatic clamping, extra dangerization solution are toppled over Arm operation element order can be identified with M01 ~ M05 respectively, and dangerization solution extracting parameter mainly includes mentioning for every kind of dangerization solution Taken amount can be identified with P01 ~ P03 respectively.

The operation planning of multi-joint mechanical arm refers to:

1) operation planning program block is worked out inside multi-joint mechanical arm PLC, which receives small from movement first The information such as the work order of vehicle transmission and dangerization solution extracting parameter；

2) mechanical arm During typical operation is planned using operation planning program block, extract and handle according to practical dangerization solution Operating characteristics, dangerization solution quantitatively extracts, dangerization solution puts back to storage device for extraction, monitor station pinpoints tapping, extra dangerization is molten 5 During typical operations such as liquid automatic clamping, the processing of extra dangerization solution, are then worked out inside operation planning program block mechanical Arm typical operation blockette；

3) movement rule of each process is set using operation planning program block, operation movement routine, moving direction and Movement speed, the danger solution extracting parameter sent then in conjunction with supervisory control desk are modified robotic arm manipulation program block together, are allowed to It is applicable in different danger solution and extracts requirement；

4) work order is parsed, using operation planning program block according to certain rule by different work orders It is bound with corresponding modified operation sequence block, constitutes the mapping one by one of work order and operation sequence block.

In addition, the mobile circuit of moving trolley is described as, moving trolley starts from starting point A, and tape navigates through centre Point B to specified useless point C, completes that dangerization solution quantitatively extracts and after dangerization solution stores, moving trolley navigates and is moved to monitor station D after manually carrying out the detection of dangerization solution, transports extra dangerization solution to dangerization solution treatment trough point E, last moving trolley returns to Starting point A.

Figure 21 is the automatic positioning of danger solution and quantitative extraction process of the invention.Moving trolley is by the rule of step described in Figure 20 The path drawn is moved to specified dangerization solution point C from starting point A, sends control signal later and gives multi-joint mechanical arm system, orders It is enabled to begin preparing work.Quantitative liquid taking device rotation first in the multi-functional clamp device of multi-joint mechanical arm system end To working position；Then multi-joint mechanical arm is raised to safe altitude, the vision module guidance in vision ultrasonic wave detecting system Under move to specified dangerization solution pool the inside, determine plan-position, while the ultrasonic wave mould in vision ultrasonic wave detecting system BOB(beginning of block) work, detects the distance between dangerization liquid level of solution and taken amount device, determines height and position；Then multi-joint machine Tool arm PLC controller determines quantitative liquid taking device spatial position coordinate according to the plan-position and height and position that detect, and Controlling quantitative liquid taking device, deeply the following certain distance in dangerization solution face, progress first time dangerization solution are quantitatively inhaled by certain speed It takes, after uptake reaches setting value, dangerization solution is transferred in the liquid-taken amount cup of storage device；Then according to previous receipt To take that liquid instructs and path planning, moving trolley are transferred to next dangerization solution point, carry out dangerization solution for the second time and quantify It draws, analogizes with this, the quantitative liquid getting operation until completing all specified dangerization solution points.

Specifically, the I/O port of multi-joint mechanical arm PLC controller can directly issue control signal, drive in pneumatic system Vacuum generator component controls the accurate air-breathing and deflation of pneumatic system, then quantitative liquid taking device utilizes this when taking liquid every time Kind principle realizes that liquid is accurately drawn and discharge.

Liquid container ontology is taken to be divided into upper and lower container chamber in quantitative liquid taking device, upper container room is gas compartment, lower container chamber For liquid chamber.Pneumatic system starts air-breathing first, makes gas compartment full of working gas, while by the movement in quantitative liquid taking device Piston is slowly pushed into bottommost, evacuation of liquid room.Multi-joint mechanical arm PLC controller control mechanical arm slowly moves downward, and makes Deeply the following certain distance in dangerization solution face, pneumatic system start to be vented quantitative liquid taking device, make the work in quantitative liquid taking device Plug slowly moves up, and the sensor on simultaneous quantitative liquid taking device constantly detects the danger amount of solution of extraction, danger to be detected When change amount of solution is equal with setting value, pneumatic system stops exhaust, and dangerization solution extraction operation is completed.Then multi-joint mechanical arm PLC controller transmission takes liquid to complete signal and gives dangerization solution storage device, and dangerization solution storage device detects dangerization solution in time Storage condition, control pneumatic system open top pressure closure, carry out storage dangerization solution and prepare.Multi-joint mechanical arm PLC controller Information is stored according to dangerization solution and selects new liquid-taken amount cup, and then dangerization solution is injected under the action of pneumatic system and is selected Liquid-taken amount cup.Dangerization solution storage device top pressure closure is finally closed, prevents from being scattered in dangerization solution transport process, it is so far complete It stores and operates at dangerization solution.At the same time, each joint of multi-joint mechanical arm returns to dead-center position, prepares to receive instruction progress It acts next time.

Figure 22 is the transport of danger solution and fixed point tapping process of the invention.Moving trolley is by the planning of step described in Figure 20 Path is moved to specified test point from dangerization solution point.In transportational process, dangerization solution storage device keeps closing, until reaching Designated position.Then fixed point tapping operation is carried out, moving trolley PLC controller control dangerization solution storage device is pneumatic first Top pressure closure is opened, and is retransmited tapping and is instructed multi-joint mechanical arm system of giving, after multi-joint mechanical arm system receives tapping instruction It being moved to above dangerization solution storage device, the chuck body that PLC controller controls multi-functional clamp device rotates 180 degree, It changes pneumatic scroll chuck device into, then the liquid-taken amount cup for storing dangerization solution is clamped out from dangerization solution storage device to one Fixed height, find specified tapping point and tapping height under the guidance of vision ultrasonic system, finally calls and weaves in advance Monitor station pinpoints tapping program block and liquid-taken amount cup is placed on specified monitor station.It so repeats, until the danger solution of extraction is complete Portion is placed on monitor station designated position.After pinpointing tapping operation completion, mechanically moving people's system stopping movement being waited in next step Action command.

Figure 23 is extra danger solution Auto Processing of the invention.After manually carrying out the detection of dangerization solution, extra danger Change solution and put back to former monitor station tapping point together with liquid-taken amount cup, presses the detection connecting with supervisory control desk beside tapping point and complete Button orders it that extra dangerization is molten then supervisory control desk sends extra dangerization solution process instruction to mobile-robot system Liquid is transferred to dangerization solution treatment trough point and is handled.Detection completing button on supervisory control desk passes through OI expansion card and master control meter Calculation machine is connected, and signal message inputs the monitoring application system on main control computer, passes through monitoring application system after processing Take liquid information input and instruction sending module that extra dangerization solution process instruction is sent to moving trolley system.

Mobile-robot system receives extra dangerization solution process instruction, with the pneumatic three-jaw in multi-joint mechanical arm system Liquid-taken amount cup is pressed from both sides back dangerization solution storage device and sealed by chuck assembly, and it is molten to be moved to dangerization according still further to the path planned Figure 20 Liquid treatment trough point, finds dangerization solution treatment trough tapping position under the guidance of vision ultrasonic system, and calling weaves in advance Extra danger solution processing routine block execute the processing work of extra dangerization solution.After completing extra dangerization solution processing work, It is moved to starting point according to the path that Figure 20 is planned, master control is waited to issue next step action command.So far first round danger is completed Change solution and extracts and handle task.

After completing the extraction of first round dangerization solution and processing task, whether mobile-robot system inquiry has new task, Do not stop then acting power cut-off, and feeds back to the signal of supervisory control desk task completion；Have, begins preparing the second wheel and take liquid Task so repeats, and takes liquid task until completion is all.

Description for the understanding of specific embodiment be only be to help to understand the present invention, rather than be used to limit this hair Bright.Those skilled in the art can use thought of the invention and carry out some modifications and changes, as long as its technological means does not have Have and be detached from thought and main points of the invention, still within protection scope of the present invention.

Claims

1. a kind of method of mobile-robot system state-detection and initial work, the mobile robot is completely isolated In high-risk environment, including moving trolley system, multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and danger Change solution storage system；The mobile robot carries out anticorrosion and radiation protection intensive treatment, car body and electronic component unit It is all made of totally-enclosed radiation protection protection；By WLAN between the mobile robot and supervisory control desk system, using remote The mode of process control communicates wirelessly connection；It is characterized by:

A) moving trolley system travelling route tape is laid with, key position point is demarcated and the coordinate system of multi-joint mechanical arm system Calibration；

C) mobile robot initial work；

D) mobile robot enters idle state, and supervisory control desk is waited to send the instruction of dangerization solution extraction；

After mobile-robot system items preparation is completed, then dosage scheme is detected according to detection demand setting, including It detects liquid number, detection amount of liquid, detection liquid and specifies three parameters of tapping point, then in supervisory control desk application monitoring system Three detection dosage parameters of input in liquid information input and instruction sending module are taken, supervisory control desk is according in mobile-robot system Dangerization solution storage device the liquid-taken amount cup quantity and the occupied situation of volume, monitor station and Wei Hua solution area dangerization that allow Solution storage class and amount of storage information check the reasonability of dosage scheme；

Scheme reasonableness check condition and detailed step:

(1) quantity of the liquid-taken amount cup in current memory device is N number of, each volume M liter, then the number of detection liquid number ≤ N, every kind of detection amount of liquid≤M liter；

(2) there is P test point in the monitor station for placing detection liquid, and there there are Q to be occupied, then detecting of liquid number Number≤P-Q；

(3) the danger solution of Wei Hua solution area storage has R seed type, and every kind has T to rise amount of storage, and every kind of amount of storage cannot be less than S liter, then being allowed to the detection liquid number number≤R extracted, and every kind of detection amount of liquid≤T-S liter.

2. the method for a kind of mobile-robot system state-detection according to claim 1 and initial work, feature Be: the tape includes navigation tape and terrestrial reference tape.

3. the method for a kind of mobile-robot system state-detection according to claim 2 and initial work, feature Be: the key position point includes starting point, intermediate point, dangerization solution pool point, test point and dangerization solution treatment trough point, Then key position point is calibrated on the ground with terrestrial reference tape corresponding with key position point.

4. the method for a kind of mobile-robot system state-detection according to claim 1 and initial work, feature Be: the coordinate system calibration of the multi-joint mechanical arm system includes: including multi-joint mechanical arm establishment of coordinate system and zero point position It installs.

5. the method for a kind of mobile-robot system state-detection according to claim 1 and initial work, feature Be: the high-risk environment state-detection is to obtain ambient condition parameter in real time by environmental monitoring sensor, and be stored in total In the database of control feature.

6. the method for a kind of mobile-robot system state-detection according to claim 1 and initial work, feature Be: the mobile robot receives the self-checking command that supervisory control desk system is sent, the mobile-robot system state-detection Including carrying out battery capacity inquiry, moving trolley status inquiry, each joint states inquiry of multi-joint mechanical arm system, fixture system System status inquiry, the inquiry of video ultrasound wave detection system, and state parameter is fed back into supervisory control desk system.

7. the method for a kind of mobile-robot system state-detection according to claim 1 and initial work, feature Be: the mobile robot initial work includes that moving trolley system returns to the mobile starting point in path, multi-joint mechanical arm The each joint of system returns to dead-center position, and the danger solution extraction device of chucking appliance system is perpendicular to ground, dangerization solution storage system The pneumostop lid of system is closed, and video ultrasound wave detection system is ready.