基于μC/OS-II水下异物打捞机器人控制系统的设计

Design of a μC/OS-II Based Control System for a Underwater Foreign-salvage Robot

摘要:

核电站日常运行或大修期间进行水下作业时,普遍存在检测不直观、异物无意跌落等问题,对堆芯回路及燃料组件造成影响,导致大修周期变短、时间变长、资源耗费严重;针对这些问题,该文提出了一种基于μC/OS-II嵌入式操作系统的核用水下异物打捞机器人的设计方法;硬件上将各功能节点模块化,采用RS485总线通讯方式,便于系统扩展及维护；软件上将μC/OS-II嵌入式操作系统移植于微处理器中,实现了系统的实时性,同时增强了系统的鲁棒性和冗余性;现场水下试验证明,该打捞机器人具有较强的可靠性,同时也验证了该设计方法的可行性和有效性。

Abstract:

In the daily operation or overhauling period of nuclear power station, the underwater operations have the prevalence that detection is not intuitive, unintentional foreign falls and other issues. These affect the core circuit and the fuel assembly, cause overhaul cycle shorter, time becomes longer, severe resource consumption. To solve these problems, this paper presents an design method based on μC/OS-II embedded operating system nuclear foreign-salvage robot in underwater. In hardware each node of function uses modular design, the communication method based on RS485 bus. It facilitates system expansion and maintenance. In software μC/OS-II embedded operating system is migrated into the microprocessor. This method realizes the system's real-time, enhances the system's robustness and redundancy. The field tests in underwater show that the salvage robot has strong reliability, but also verify the feasibility and effectiveness of the design method.