Research On Autonomous Dismantling Operation Planning Of Robot In Nuclear Environment

With the rapid development of the nuclear industry,while our country is vigorously building new nuclear power facilities,it is also facing the decommissioning and dismantling of early nuclear power facilities.The application of teleoperation robot technology in a nuclear environment can well prevent operators from being injured by nuclear radiation in decommissioning projects.However,due to the time delay of remote operation control method,the complexity of nuclear decommissioning tasks and other factors,the efficiency of manual remote operation is reduced,so the research of robot autonomous operation planning has become the key.This paper takes the robot working in the nuclear environment as the research object,and in-depth study the robot’s autonomous operation planning according to the situation of the nuclear equipment room to be decommissioned,so that the robot can complete the decommissioning work without collision,and reasonably and efficiently.The main content of this paper includes:(1)The internal situation and decommissioning requirements of the equipment room were introduced,and the technical analysis on them was carried out.The system scheme and its functions of the robot studied in this paper are designed.Then the robot task was analyzed and operation model design was carried out.Finally,the kinematics model of the robot in nuclear environment was established according to the DH method.The robot’s forward and inverse kinematics equations were obtained,and the problem of multiple inverse solutions was solved according to the principle of minimum joint rotation,and all were verified in MATLAB.(2)Aiming at the autonomous obstacle avoidance function in robot requirements,the robot collision detection algorithm and obstacle avoidance path planning algorithm in specific scenarios were proposed based on bounding box.Cylinder and sphere bounding boxes were used to envelop the rods,ends of robot and pipes,tanks in equipment room,and a collision detection calculation model was established.On this basis,a Rapid Exploring Random Tree method was proposed,which was improved by both the "target gravity" and the cost calculation method,so a collision-free path is planned.The simulation results in MATLAB show that the improved obstacle avoidance path planning algorithm can quickly and safely make the robot transfer between path points.(3)An autonomous positioning +local autonomous operation mode for pipeline dismantling was designed.Firstly,the obstacle avoidance path planning algorithm was used to transfer between the operating points,and then the cutting path was planned for the pipes of different diameters,which realized the self-adaptation cutting path planning of two-stage cutting for thick pipes and flat cutting for thin pipes.The cutting path was simulated in MATLAB.(4)The human-robot mixed operation mode of tank dismantling was designed.The mixed operation was carried out by manual positioning and autonomous dismantling of robots.The vault,wall and bottom of tank were manually positioned from top to bottom,and the robot autonomously plans the dismantling path.In the process of autonomous disassembly of the robot,the posture of the cutting nozzle of the plasma cutting machine were planned,and finally the simulation was carried out in MATLAB.(5)The human-robot mixed operation mode of waste recycling was designed,and the mixed operation was carried out by manual positioning and stably picking,and the robot autoreturn to the delivery point.The path was optimized by genetic algorithm to ensure the shortest path of the robot under the premise of no collision at the end of the robot.Finally,the recovery process was simulated in MATLAB.(6)Based on Visual Studio & Qt,the robot autonomous operation control system platform was developed,which integrated the robot’s motion control,state monitoring,communication connection and other system functions and HMI.The robot’s virtual simulation visualization window was developed based on Open Inventor.The robot tasks planning was carried out.On this platform,a virtual simulation of the robot’s dismantling of pipelines,tanks and their recovery operations was carried out,which verified the rationality of the robot’s autonomous operation mode design and dismantling operation planning.