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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

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机械工程前沿:英文版 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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