Robot For Auxiliary Installation Of Out-of-Core Detectors Digital Twin Implementation

In recent years,with the development of the new generation of information technologies such as the Internet of things,big data,cloud computing and artificial intelligence,digital twin technology has been applied more and more widely,especially in intelligent manufacturing fields such as aerospace,electric power,shipping,medical treatment and industrial robots.In order to explore the application of digital twin technology in the operation and maintenance of nuclear equipment,based on the actual requirements of the "Guohe One" demonstration project in the national major science and technology project,this paper takes the auxiliary installation of robots by detectors outside reactors as the research object,constructs a robot digital twin system,and conducts systematic research on the robot bidirectional control and operation rehearsal.The research work of this paper is as follows:(1)According to the experimental situation of the robot in the simulation body at the bottom of the "Guohe One" reactor cavity,with the help of the concept of five-dimension digital twin model,the design objectives and principles of the robot digital twin system are established,and the system framework and development framework of the robot assisted installation by the detector outside the reactor are constructed.(2)Taking the auxiliary installation robot of detectors outside the reactor as the research object,SolidWorks,3dMax and Unity3D were used to jointly build a virtual model of the robot.The visualization effect of the model is enhanced by lightweight process,material ball and light source design.The object-oriented characteristic is used to change the model attributes,so that the model has the same motion characteristics as the real robot.(3)On the basis of analyzing the operating rules of the robot system,data acquisition and control,data transmission and processing,and data driving are realized according to the interface of the main station of the robot system,so as to realize the bidirectional control of the virtual robot model and the real robot.Firstly,an information model should be established to analyze the data that the robot needs to collect and control in the process of detector installation and replacement.Then the data acquisition and control of the robot actuator are realized by accessing the circuit of the control unit mounted on the Ethernet bus through the script.Finally,the script of data acquisition is assigned to the virtual model of the robot,and the virtual model is iteratively driven by the continuous update of the data during the robot operation to complete the follow-up.The data control script is reflected on the control panel of the digital twin system,and the physical robot movement is controlled through the control panel.(4)On the basis of the completed bidirectional control,the Mecanum wheel of the robot chassis is analyzed kinematics.Based on the rehearsal control idea of the robot teleoperation control mode and combined with the digital twin technology,a rehearsal control algorithm of the typical mechanism of the mobile robot is designed.The algorithm is verified by experiment,so as to realize the application of data and improve the "service"problem in the five-dimension digital twin structure model.