Localized Coverage Planning for a Heat Transfer Tube Inspection Robot

IF 4.6 2区 计算机科学 Q2 ROBOTICS IEEE Robotics and Automation Letters Pub Date : 2025-03-03 DOI:10.1109/LRA.2025.3547675
Jiawei Li;Zhaojin Liu;Yuxiao Li;Yuanyue Li;Yimin Huang;Gang Wang
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Abstract

The heat transfer tubes of the steam generator are critical components of the nuclear power system and require regular inspection to ensure safety. The SG-Climbot, a quadruped heat transfer tube inspection robot, is equipped with a guiding device capable of simultaneously aligning with and inspecting two heat transfer tubes. Furthermore, The guiding device must execute hundreds of pose configuration transformations to complete a localized coverage inspection, thereby presenting challenges to the robot's efficient autonomous planning. This letter presents a planning framework for the SG-Climbot's localized coverage inspection task. The framework consists of four planning levels: pair planning, position and orientation planning for the guiding device, inspection sequence planning, and time-optimal trajectory planning. A maximum matching algorithm suitable for robotic arms equipped with dual execution devices to perform tasks has been proposed, achieving the optimal pairing of heat transfer tubes and reducing inspection time by over 48 minutes (18.32% improvement). In addition, we analyze the impact of various Traveling Salesman Problem (TSP) solving algorithms on sequence planning issues that require reaching numerous nodes within short operation times, reducing the arm operating time by 33.20 s (6.99% improvement). Finally, the effectiveness of the proposed planning algorithm was validated through simulations and experiments.
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蒸汽发生器的传热管是核电系统的关键部件,需要定期检查以确保安全。SG-Climbot 是一种四足传热管检测机器人,配备的导向装置能够同时对准并检测两根传热管。此外,导向装置必须执行数百次姿态配置变换才能完成局部覆盖检查,这给机器人的高效自主规划带来了挑战。本文针对 SG 机械手的局部覆盖检查任务提出了一个规划框架。该框架包括四个规划层次:配对规划、导向装置的位置和方向规划、检测序列规划以及时间最优轨迹规划。我们提出了一种适合配备双执行装置的机械臂执行任务的最大匹配算法,实现了导热管的最佳配对,并将检测时间缩短了 48 分钟以上(提高了 18.32%)。此外,我们还分析了各种旅行推销员问题(TSP)求解算法对需要在短时间内到达众多节点的序列规划问题的影响,从而将机械臂的操作时间减少了 33.20 秒(改进了 6.99%)。最后,通过模拟和实验验证了所提规划算法的有效性。
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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