CN-122000102-A - Loading and unloading method and system for full-automatic offset method of loading and unloading machine

CN122000102ACN 122000102 ACN122000102 ACN 122000102ACN-122000102-A

Abstract

The invention provides a loading and unloading method and system of a full-automatic offset method of a loading and unloading machine, wherein the loading and unloading method comprises the following steps of S1, establishing a space coordinate system of a reactor pool, S2, receiving a loading instruction aiming at a target grid IDn, acquiring current state information of the loading and unloading machine, S3, judging whether an offset method loading flow is executed or not based on the current state information, S4, checking whether the target grid IDn is occupied or not, S5, judging whether an offset area meeting the condition exists or not, S6, determining final target coordinates according to a judging result, S7, planning and executing an automatic running path in the horizontal direction to enable the loading and unloading machine to reach the position above the target coordinates, S8, controlling a lifting mechanism of the loading and unloading machine to vertically descend, executing loading operation, and updating grid occupation state information after the loading operation is completed. According to the invention, the original manual positioning working mode is optimized by an innovative calculation method, and the efficiency and the precision are improved.

Inventors

REN PENGDA
Yu Fubai
Duan Jiashuai
ZHENG BIN
XU JIAYAO
WU DI
WANG CHAO

Assignees

大连华锐重工集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (9)

1. A loading and unloading method of a full-automatic offset method of a loading and unloading machine is characterized by comprising the following steps: S1, establishing a space coordinate system of a reactor pool, determining position coordinates of all fuel grids in a reactor core area and storing the position coordinates; S2, receiving a loading instruction aiming at a target grid IDn, and acquiring current state information of a loading and unloading machine; s3, judging whether to execute the offset method charging flow or not based on the current state information, and executing S4 if the judgment is yes; s4, checking whether the target grid IDn is occupied or not, and if not, checking the occupied states of other grids in a nine grid area taking the IDn as the center; S5, judging whether an offsetable area meeting the condition exists according to the occupation state of the nine-grid area and a preset priority order, wherein the offsetable area is one of four corner areas in the nine-grid area, and three grids contained in the area are all empty; S6, determining final target coordinates according to a judging result, namely if an offset area exists, offsetting the coordinates of the target grid IDn to the direction of the area by a preset distance to generate the target coordinates, and if the offset area does not exist, taking the coordinates of the target grid IDn as the target coordinates; S7, planning and executing an automatic running path in the horizontal direction according to the current position area of the loading and unloading machine and the area where the target coordinates are located, so that the loading and unloading machine reaches the position above the target coordinates; s8, controlling a lifting mechanism of the loading and unloading machine to vertically descend, executing loading operation, and updating grid occupation state information after finishing.
2. The loading and unloading method of the full-automatic offset loading and unloading machine of claim 1, wherein in S1, a space coordinate system is established, specifically, by a three-point positioning method, according to the input three reference grid coordinates, the average value of the X-axis and Y-axis coordinates of all grids IDn of the reactor core area is calculated, and the coordinate value of each grid is circularly calculated and stored in a DB memory of the PLC.
3. The full-automatic offset loading and unloading method of the loading and unloading machine according to claim 1, wherein in the step S3, the condition for executing the offset loading process is judged that the lifting height is less than or equal to 0mm, the gripping device is in a gripping state, and the belt load capacity is greater than or equal to 760kg.
4. The full-automatic offset loading and unloading method of a loading and unloading machine according to claim 1, wherein in S5, the preset priority order is an upper left area, a lower right area and an upper right area.
5. The full-automatic offset loading and unloading method of loading and unloading machine according to claim 1, wherein in S6, the preset distance is 90mm or 95mm offset in each of X-axis and Y-axis directions.
6. The full-automatic offset loading and unloading method of loading and unloading machine according to claim 1, wherein in S7, the planning of the automatic running path is based on the following rules: When the fuel basket area or the fuel temporary storage rack area goes to the reactor core area, the trolley is controlled to run to the central line of the channel, then the trolley is controlled to run to the outlet position of the channel, and finally the trolley is controlled to run to the target coordinate simultaneously; When the reactor core area is moved to the fuel basket area or the fuel temporary storage area, the large and small vehicles are controlled to simultaneously move to the central inlet of the channel, then the large vehicles are controlled to move to the target X coordinate, and finally the small vehicles are controlled to move to the target coordinate.
7. The loading and unloading method of the full-automatic offset loading and unloading machine of claim 1, wherein in S8, the loading operation performed by vertically lowering specifically includes: For positive loading, the lifting mechanism is controlled to linearly descend from the 0mm position to the position 50mm above the fuel base; For offset position charging, the lifting mechanism is controlled to descend from the 0mm position to the position which is right above the base offset position by 50mm, and the large and small vehicles are controlled to run simultaneously for centering and then descend vertically to the base height.
8. The loading and unloading method of the full-automatic offset loading and unloading machine according to claim 1, wherein the unloading method comprises the steps of: t1, when the lifting height is greater than or equal to 8840mm, the gripping device grips and the belt carrying capacity is greater than or equal to 600kg, judging to execute the offset method for unloading, and updating the occupied state of the current grid to be empty; t2, controlling a lifting mechanism to lift the fuel assembly to a height of 50mm right above the base; t3, checking the occupation state of a nine-grid area with the current grid as the center, and judging whether an offsetable area meeting the condition exists; And T4, if the movable area exists, controlling the large and small vehicles to simultaneously run to the movable coordinates, and then controlling the lifting mechanism to lift to the 0mm position, and if the movable area does not exist, controlling the lifting mechanism to directly lift to the 0mm position.
9. A loading and unloading system of a full-automatic offset method of a loading and unloading machine, for realizing the loading and unloading method of the full-automatic offset method of the loading and unloading machine according to any one of claims 1 to 8, comprising: The PLC control unit is used for executing control logic and data calculation and storage; the signal acquisition assembly comprises a DI module and a DO module, and is connected with the PLC control unit; the redundant positioning detection assembly comprises two sets of absolute value encoders for travelling mechanisms on the left side and the right side of the cart, two sets of absolute value encoders for travelling mechanisms of the cart and two sets of pull rope absolute value encoders for lifting mechanisms; The weighing device and the redundant two sets are used for detecting the carrying capacity of the gripper; The HMI touch screen is communicated with the PLC control unit and is used for parameter input, instruction issuing and state display; the communication component is provided with a DP communication control and Ethernet communication data transmission function; The data of encoders on the left side and the right side of the cart are compared in real time, and when the deviation exceeds 2mm, deviation correction or parking is triggered; all grid coordinates and grid occupation state information of the reactor core area obtained through calculation by a three-point positioning method are stored in the PLC control unit.

Description

Loading and unloading method and system for full-automatic offset method of loading and unloading machine Technical Field The invention relates to the technical field of nuclear island reactors, in particular to a loading and unloading method and system of a loading and unloading machine by a full-automatic offset method. Background The loader in the nuclear power station reactor factory building is key equipment in nuclear island reloading operation, and is mainly used for grabbing and transferring the fuel assembly with high radioactivity in an underwater environment during reactor shutdown reloading, so that safe conveying and accurate positioning of the fuel assembly among a reactor core, a fuel conveying system and a temporary storage frame are realized. The operation environment has high radiation intensity, a large number of fuel assemblies and dense arrangement, and has extremely high requirements on positioning precision, operation efficiency and operation safety. Especially during the overhaul of the unit, the time window of the refueling operation is strictly limited, the loading, unloading and switching of a large number of fuel assemblies are required to be completed in a short time, and the traditional manual or semi-automatic operation mode is difficult to meet the requirements of efficient and reliable operation of the current nuclear power station. Currently, there have been related researches and applications on automatic operation technologies related to cranes or handling equipment, for example, in general bridge cranes or warehouse cranes, unmanned operations based on encoder positioning, path planning and automatic control have been realized. The prior art focuses on fixed point lifting and path optimization in an unobstructed space, and automatic operation is realized through a preset track or real-time obstacle avoidance. However, such systems are generally suitable for industrial scenes with regular structures and relatively simple working conditions, and the positioning method, the anti-collision logic and the task decision mechanism of the systems are not specially designed for the special high-precision and high-interference risk environments of the nuclear island loading and unloading materials, and particularly cannot consider the practical operation problems caused by factors such as irradiation deformation, extremely small grid spacing and the like of fuel assemblies. The method has the advantages that the method is not suitable for the high-precision automatic positioning and coordinate construction method of complex grid layout in a nuclear island pool, is difficult to adapt to the actual situation of dynamic change of the installation position of a fuel assembly, is not considered to be capable of bending deformation of the fuel assembly after use, is easy to collide or rub with an adjacent assembly in the loading and unloading process, has safety risks, and is not generally provided with intelligent offset decision capability when a target station is occupied or interfered, cannot realize full-flow self-adaptive loading and unloading operation, and still depends on manual intervention and judgment to influence the operation efficiency and the overall safety. Therefore, a need exists for a fully automatic control system and method that can accommodate the specific environment of a nuclear island, with redundant positioning, real-time crash-proof and auto-offset handling capabilities. Disclosure of Invention According to the technical problems that the fuel components are tightly arranged and possibly bent and deformed in the automatic loading process of the existing loading and unloading machine, collision and friction are easy to occur, and the intelligent decision making capability when the target station is occupied or interference exists is lacking, the full-automatic offset loading and unloading method and system of the loading and unloading machine are provided. The invention mainly utilizes the automatic inspection of the occupation state of the nine-grid area around the target grid, intelligently judges and selects the safe offset charging position according to the preset priority, and combines the automatic path planning and execution, thereby playing the role of effectively avoiding the collision risk in the loading and unloading process of the fuel assembly without manual intervention and obviously improving the operation safety and the loading and unloading operation efficiency. The invention adopts the following technical means: a loading and unloading method of a full-automatic offset method of a loading and unloading machine comprises the following steps: S1, establishing a space coordinate system of a reactor pool, determining position coordinates of all fuel grids in a reactor core area and storing the position coordinates; S2, receiving a loading instruction aiming at a target grid IDn, and acquiring current state information of a loading and unloading ma