Robot Emergency Optimization Disposal In Nuclear Reactor Accident Based On Virtual Simulation System

The condition of nuclear reactor accidents is extremely difficult to analyze and there is plenty of highly radioactive particles in the envi-ronment,which workers can't enter for emergency disposal.Therefore,it is necessary to develop anti-nuclear reinforcement robots to replace workers for this special environment.How to increase the efficiency of robot operations is particularly important on the basis of the safety and reliability?In combination with need of the Research on Key Tech-nologies of Nuclear Emergency Disposal Robots,this paper optimizes the design and implementation of robot emergency disposal methods on the utilize of virtual simulation technology.First,radiation field analysis and three-dimensional building modeling of the nuclear reactor environment are performed.According to the functional requirements of the anti-nuclear robot under accident condition,the kinematics analysis and three-dimensional modeling of the body are also per-formed.Second,control of the emergency robot in accident environment includes three aspects:the dynamic planning of the disposal task,the self-adaptation of the moving path,and the intelligent decision-making of the disposal plan.First,for dynamic task planning,an emergency response model is built to rank the tasks,which are decomposed tem-porally by weighted AndOrTree and transferred to AOE-Net to achieve task assignment and conflict resolution.Self-adaptive path prepro-cessing algorithm of the robot is random profile approach,and then the processed path is transferred by the trajectory tracking and reactive navigation respectively in the safe area and the affected area.The global smoothing path of robot movement could deal with unknown obstacles or unexpected accidents.Finally,the expert's fuzzy decision evaluation model is established to evaluate the robot's emergency dis-posal plan and find the optimal solution.Through the implementation of the virtual reality simulation platform with the human-computer interaction function,the feasibility of the system design scheme is verified.The simulation results of the emergency disposal towards small break accident show that the robot can reach the accident position and autonomously handle the accident task within the radiation dose threshold.The validity of system design has been verified.