一种核电厂取水口水下清淤巡检机器人控制系统的设计  

Design of control system for underwater dredging inspection robot for water intake of nuclear power plant

作　　者：菅佳乐 张文杰 简垠帆 韩王畴 曾美琳[4] JIAN Jiale;ZHANG Wenjie;JIAN Yinfan;HAN Wangchou;ZENG Meilin(China Nuclear Power Engineering Co.,Ltd.,Beijing 100044,China;Shanghai Jingyi Intelligent Control Technology Co.,Ltd.,Shanghai 210000,China;Hainan Nuclear Power Co.,Ltd.,Hainan Haikou 572733,China;Jiangxi Vocational and Technical College of Industry and Trade,Jiangxi Nanchang 330038,China)

机构地区：[1]中国核电工程有限公司,北京100044 [2]上海景奕智能控制技术有限公司,上海210000 [3]海南核电有限公司,海南海口572733 [4]江西工业贸易职业技术学院,江西南昌330038

出　　处：《工业仪表与自动化装置》2025年第2期9-14,共6页Industrial Instrumentation & Automation

基　　金：江西省教育厅科学技术研究项目(GJJ2202718)。

摘　　要：由于核电厂取水口具有水域环境复杂且淤泥较多等特征,因此清淤工作必须高度重视,为此设计一款清淤巡检机器人控制系统,系统运行时可利用避碰声纳、姿态、深度以及压力等传感器对运动数据进行获取,同时还会通过LED灯、摄像头、浑浊度传感器、温湿度传感器对环境数据进行获取,并且传输至核心处理器。核心处理器处理数据在解析和处理数据后,在调整运动姿态以及控制机械臂清淤的同时,通过压缩算法将环境、运动数据压缩,然后向终端控制中心传输。控制中心成功接收数据之后,能够根据需要,向清淤巡检机器人发送指令以调节其工作状态。系统经验证可知,系统能够精准获取环境数据并高效调控水下机器人工作状态,对于环境监测和运动调控要求都能够很好地满足。Due to the complex water environment and high amount of silt at the water intake of nuclear power plants,dredging work must be highly valued.Therefore,a dredging inspection robot control system is designed,which can use collision avoidance sonar,attitude,depth,and pressure sensors to obtain motion data during operation.At the same time,environmental data is also obtained through LED lights,cameras,turbidity sensors,temperature and humidity sensors,and transmitted to the core processor.After parsing and processing the data,the core processor adjusts the motion posture and controls the robotic arm to clear silt.At the same time,it compresses the environment and motion data through compression algorithms and transmits it to the terminal control center.After successfully receiving data,the control center can send instructions to the dredging inspection robot as needed to adjust its working status.The system has been verified to be able to accurately obtain environmental data and efficiently regulate the working status of underwater robots,meeting the requirements for environmental monitoring and motion control very well.

关 键 词：清淤 巡检机器人 控制系统 精确感知 

分 类 号：TN06[电子电信—物理电子学]