面向核事故应急处置的遥操作系统设计与实验研究

doi:10.12305/j.issn.1001-506X.2024.05.15

Abstract

Abstract:

A robot teleoperation system based on dynamic self-organizing network is studied and designed to address the characteristics of severe physical shielding, complex emergency response conditions, and unclear operation objects at nuclear accident sites. A spatial gradient based artificial potential field force guidance algorithm is proposed using virtual models superimposed on real backhaul videos while maintaining good communication in a ad-hoc network's real-time Mesh. Operators can improve operational efficiency and telepresence under time delay conditions by observing changes in the model in the visual interaction system and feeling the guiding force applied to the self-developed main hand. The experiment shows that under nuclear radiation conditions, the communication delay of the teleoperation system at 130 m is below 30 ms, which can meet the bandwidth requirements of video transmission. The experiment of obstacle avoidance and grasping guided by force guidance is verified the feasibility of the algorithm and the engineering practicality of the teleoperation system. Therefore, the robot teleoperation system based on dynamic self-organizing network designed in this article can enable operators to participate in the teleoperation system in a more intuitive and natural way, effectively improving the safety and operational performance of operators in completing complex teleoperation tasks.

Key words: nuclear accident, teleoperation system, ad-hoc network, force guidance, telepresence

CLC Number:

TP242

Hang LI, Yanpeng HOU, Wusheng CHOU, Lingda MENG. Design and experimental study of teleoperation system for emergency response in nuclear accident[J]. Systems Engineering and Electronics, 2024, 46(5): 1607-1618.

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References 30

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项目	参数
最大持续反馈力/N	5.56
最大反馈力矩/Nm	0.43
直线分辨率/mm	1.02
角度分辨率/rad	5.29e-05
工作空间/mm³	＞200×200×200
重量/kg	15.78

关节i	α_i－1/(°)	a_i－1/m	d_i/m	θ_i/(°)
1	0	0	l₁	90+θ₁
2	-90	0	0	-90+θ₂
3	0	l₂	0	90+θ₃
4	90	0	l₃₄	θ₄
5	-90	0	0	θ₅
6	90	0	0	θ₆

距离	数据类型	局域网				5G
距离	数据类型	数据1	数据2	数据3	平均值	数据1	数据2	数据3	平均值
0 m无AP	上传/Mbps	-	-	-	-	6.39	6.50	7.72	6.87
	下载/Mbps	-	-	-	-	65.41	67.37	56.78	63.19
	时延/ms	-	-	-	-	28.00	40.00	20.00	29.33
0 m双AP	上传/Mbps	174.00	171.00	172.00	172.33	7.97	8.70	8.12	8.26
	下载/Mbps	174.00	171.00	172.00	172.33	60.07	55.96	63.30	59.78
	时延/ms	1.00	1.00	1.00	1.00	29.00	23.00	24.00	25.33
65 m双AP	上传/Mbps	97.70	103.00	99.90	100.20	8.02	7.85	7.93	7.93
	下载/Mbps	97.70	103.00	99.90	100.20	55.43	57.81	56.43	56.56
	时延/ms	2.00	3.00	2.00	2.33	28.00	24.00	26.00	26.00
130 m 3AP 自由组网	上传/Mbps	55.80	56.40	56.50	56.23	7.47	8.03	7.33	7.61
	下载/Mbps	55.80	56.40	56.50	56.23	55.76	51.83	54.55	54.05
	时延/ms	3.00	3.00	2.00	2.67	24.00	29.00	24.00	25.67
130 m 3AP 链式组网	上传/Mbps	43.20	45.30	43.10	43.87	7.29	8.41	7.65	7.78
	下载/Mbps	43.20	45.30	43.10	43.87	53.75	53.22	52.45	53.14
	时延/ms	3.00	3.00	2.00	2.67	29.00	26.00	71.00	42.00

次数	时延/ms	次数	时延/ms	次数	时延/ms	次数	时延/ms
1	7.38	9	9.57	17	4.77	25	7.65
2	1.94	10	1.82	18	1.75	26	1.42
3	2.29	11	1.80	19	3.64	27	6.35
4	1.75	12	1.94	20	8.65	28	13.88
5	3.57	13	1.86	21	10.44	29	5.78
6	10.9	14	1.84	22	7.65	30	4.21
7	6.20	15	4.50	23	4.69	31	2.97
8	3.46	16	4.70	24	6.99	32	2.94

Design and experimental study of teleoperation system for emergency response in nuclear accident

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