安全壳内置换料水箱检查机器人控制系统设计  

Design of Control System for Inspection Robot of In-Containment Refueling Water Storage Tank

作　　者：管朝鹏 吴东栋 桂亮 Guan Chaopeng;Wu DongDong;Gui Liang(China Nuclear Power Operation Technology Co.,Ltd.,Wuhan,430223,China;CNNC Key Laboratory on Nuclear Power In-service Inspection and Structural Integrity,Wuhan,430223,China)

机构地区：[1]中核武汉核电运行技术股份有限公司,武汉430223 [2]中核核动力在役检查及评定重点实验室,武汉430223

出　　处：《核动力工程》2023年第4期209-213,共5页Nuclear Power Engineering

摘　　要：针对核电机组在役大修期间安全壳内置换料水箱(IRWST)的水下检查需求,以及尽量减少人员辐射剂量的要求研制可远程控制的检查机器人。通过对IRWST检查需求的分析,明确机器人的功能,设计了机器人控制系统总体结构。为满足机器人小型化要求,设计了基于嵌入式系统的机器人驱动板、视频编码板和解码板,开发人性化操作的上下位机软件。结果表明,研制的水下检查机器人可快速、稳定完成对IRWST各部件的视频检查和异物打捞任务,进一步提升了核工业领域机器人运行维护水平。Aiming at the underwater inspection requirements of in-containment refueling water storage tank(IRWST)during the in-service overhaul of nuclear power unit and minimizing personnel radiation dose,a remote-controlled inspection robot is developed.Through the analysis of the IRWST inspection requirements,the function of the robot is defined,and the overall structure of the robot control system is designed.In order to meet the requirements of miniaturization of robot,the robot driver board,video coding board and decoding board based on embedded system are designed,and the upper and lower computer software of humanized operation is developed.The results show that the developed inspection robot can quickly and stably complete the video inspection and foreign object salvage tasks of various components of IRWST,which further improves the intelligent operation and maintenance level of robot in the nuclear industry.

关 键 词：安全壳内置换料水箱(IRWST) 水下检查机器人 视频检查 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TL386[自动化与计算机技术—控制科学与工程]