a small climbing robot for the intelligent inspection

GOOD AFTERNOON

A Small Climbing Robot for the Intelligent Inspection of Nuclear Power Plants

Presented by:

B.HIMA CHANDANAM tech 1st year

DECS

CONTENTS

Introduction Need for Robot Locomotion design Hardware Software Specifications Conclusion

INTRODUCTION

Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power.

The healthy monitoring is the most important means.

A Wall climbing robotic system for intelligent monitoring in nuclear power plants is apt .

Why Climbing “Robot”?

• To protect human health and safety in radiation environment, the robotic systems should be developed to perform the dangerous tasks taking the place of humans.

Locomotion Mechanism Design

Leg adsorption mobile mechanism used.

It has the advantages of good adaptability to a variety of surfaces, flexible movement.

High safety and reliability.

Mechanism Design

Schematic diagram of Locomotion Mechanism

Hardware

Embedded controller

An embedded controller (EC) is a micro controller in computers that handles various system tasks that the operating system does not handle.

Like.. emergency shutdown in response to rising temperatures

Battery charger & battery

STM32F103 type of Embedded controller used.

STM32F103 devices use the Cortex-M3 core, with a maximum CPU speed of 72 M Hz.

Software

ADAMS

μc/os-ii

PORTABLE OPERATING SYSTEM OF RTOS FAMILY

VERSIONS II AND III.

MANAGES UP TO 255 APPLICATION TASKS

“

”μc/os-ii operating systems into the embedded controller...

MINI REAL TIME OPERATING SYSTEM

Control system - software is divided into SIX Tasks.

6 Tasks

1. NRF wireless communication 2. PWM output 3. Adsorption system control 4. Analog sensor detection 5. Digital sensor detection 6. Embedded autonomous control

Design of Control

1) Ultrasonic Distance Sensor

2) Inclinometer Sensor

3) Pressure Sensor

Simulation - Motion in straight line

Simulation – Turning Movement

Simulation results

Motion simulation of walking form ground to wall and moving on wall

climb

Experiment of walking in Straight Line on ground

Prototype

Experiment of walking

from ground to wall

and moving on wall prototype

Principle of Pneumatic system

The vacuum suction cup will connect to the atmosphere .

Remove the negative pressure.

Specifications

Dimension 245mm*100mm*150mm

mass 1125g power 16W speed 3m/min Mode of movements in straight line, turning and walking

form one face to another Adaptation All kinds of material surface remote control distance <20mimage transmission distance <200m

Conclusion

A wall-climbing robotic system for intelligent monitoring in nuclear power plants developed.

Robot can be controlled by operator using wireless link & can also supply information about the robot’s state and the environment surrounding to the host computer for early warning.

Therefore this prototype is verified with good results and in future vision of designing anti-radiation electronics, and so on.