面向核电RCV的机器人自适应机理与高效作业方法研究

项目名称： 面向核电RCV的机器人自适应机理与高效作业方法研究

项目编号： No.61473113

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 张明路

作者单位： 河北工业大学

项目金额： 86万元

中文摘要： 高效高可靠性是决定核电站机器人性能的直接因素。本项目以核电站一回路中化学和容积控制系统（RCV）的放射性过滤器更换作业为背景，拟研制一台适用于更换放射性过滤器的移动本体，重点解决核电站机器人高可靠性移动机构与高效作业方法。 研究内容：1）以核电站RCV过滤器更换机器人的作业环境入手，提出一种适应RCV过滤器更换作业环境的新型被动自适应机器人移动平台，围绕机器人移动本体与地形交互的科学问题，探索被动自适应机构机理；2）基于机器人移动平台，围绕机器人作业效率的科学问题，探索核环境下基于点云的移动机器人三维环境动态建模、定位技术、基于力反馈的临场虚拟技术，提出一种基于全局的三维环境模型粗定位与基于局部力反馈的精定位相结合的新型可视化高效作业方法。 本项目旨在揭示移动机构与复杂地形交互机理，探讨核环境下机器人定位与精确作业的共性方法，本项目可推动我国核电站机器人技术发展，具有重要的理论与应用价值。

中文关键词： 核电站化学和容积控制系统（RCV）；移动机器人；被动自适应；可视化高效作业；动态建模与定位

英文摘要： The preformance of robots used in nuclear power plants is directly decided by high-efficiency and high reliability. In this proposal, the radioactive filter replacement operation in chemical and volume control system (RCV) in primary coolant circuit as background, a mobile robot is intended to develop for replacing the radioactive filter in main order to solve the problem of high reliable mobile mechanism and high efficient operation of robots used in nuclear power plants. Research contents: 1)Starting from moving mechanisms of robots used in nuclear power plants for replacing chemical and volume control system (RCV), a passive adaptive mobile platform that adapts to this environmen of filter replacement operation is proposed. According to the exchanging mechanism between the moving body and terrain, theory of passive adaptive mechanism is explored. 2)According to operation efficiency of robot, dynamic model, positioning technology and tele-presence virtual technology based on force feedback of mobile robot in 3D environment are explored on basis of point cloud under nuclear enviroment. A new visual efficient method of combining coarse positioning based on a global 3D model of the environment and accurate positioning based on local force feedback is proposed. 3)This proposal is aimed at revealing interaction theory of moving mechanism and complex terrain, and discussing the general method of robot localization and accurate operation under nuclear environment. This proposal can promote China robot used in nuclear power plants, and it has important values in the theory and application.

英文关键词： chemical and volume control system (RCV);mobile robot;passive adaptive;visual efficient operation;dynamic modeling and allocation