Research And Development Of The Hardware Platform Of The Robot Control System In The Nuclear Environment

With the wide application of nuclear energy,the working environment with radiation,such as nuclear power plant and nuclear power plant,also increases.The radiation damage caused by various radiations in the nuclear environment is enormous,so there is an increasing demand for stable driving and operating robots in the nuclear environment.Based on the related technologies at home and abroad,this paper gives a detailed discussion on how to develop a remote control terminal and a working robot in a nuclear environment that can accept remote control operation.The main contents of this paper are as follows:(1)In this article,the overall structure of the remote control terminal and the nuclear robot is designed.The structure includes the design of the functional module of the internal hardware structure of the remote control terminal,the design of the functional module of the hardware structure of the nuclear robot,and the formulation of the communication method between the two.(2)The hardware structure inside the control terminal is designed,and the required devices are filtered and assembled according to the corresponding functional requirements.The bottom control logic of control terminal is designed and implemented in Keil software using C language.(3)The formulation and implementation of the radiation protection scheme for the nuclear robot end,according to the characteristics of each device in the nuclear robot end,the lead-tungsten alloy is selected to wrap and shield the equipment as a whole,and the radiation-resistant vacuum cable is used for the communication cable.(4)The power supply and communication paths between the devices on the nuclear robot end are designed and implemented,and the devices are selected according to the radiation resistance and working performance parameters,the selected devices are used,and the hardware paths on the bottom of the robot end are constructed according to the radiation protection scheme.Then,in the ROS platform of industrial computer,the underlying control logic scheme is designed,and the corresponding function nodes are implemented by code.(5)By testing the control terminal and the nuclear robot terminal,the operation and performance parameters of the components and devices are tested,and the feasibility and robustness of the related theory are verified.The nuclear robot designed with the lead-tungsten alloy shielding protection scheme can work normally in a certain radiation intensity nuclear environment through the radiation resistance test of professional institutions.The control terminal can operate the nuclear robot remotely to perform the corresponding actions.The successful development of nuclear robots can be used to carry out the corresponding tasks instead of artificial access to radiation environment such as nuclear power stations.This is important to reduce radiation damage and safe use of nuclear energy.