Intelligent detection method implemented by nondestructive detection robot

Abstract

The invention discloses an intelligent detection method implemented by a nondestructive detection robot. The intelligent detection method includes steps of (1), mounting the nondestructive detection robot for carrying out nondestructive detection at a preset position in a to-be-detected reactor pressure vessel; (2), determining source coordinates of various degree-of-freedom movement axes in a coordinate system when probes on the various degree-of-freedom movement axes of the nondestructive detection robot carry out nondestructive detection; (3), determining target coordinates of the various degree-of-freedom movement axes in the coordinate system when the probes on the various degree-of-freedom movement axes of the nondestructive detection robot carry out nondestructive detection; (4), determining a running track by the aid of movement quantities and movement modes of the various degree-of-freedom movement axes when the nondestructive detection robot carries out nondestructive detection; (5), enabling the nondestructive detection robot to carry out nondestructive detection along the running track according to detection instructions. The intelligent detection method has the advantages that detection processes can be effectively simplified, the detection precision can be improved, the detection speed can be increased, and irradiation dose levels of detection personnel in service can be lowered.

Description

technical field [0001] The invention belongs to the technical field of surface detection, and in particular relates to an intelligent detection method for a non-destructive detection robot in a reactor pressure vessel of a nuclear power plant. Background technique [0002] At present, in the field of nuclear power inspection, in order to reduce the impact on inspectors and objects to be inspected, non-destructive testing is generally used. Non-destructive testing is to use the sound, light, magnetic and electrical characteristics of the material to detect whether there is a defect or inhomogeneity in the object to be inspected without damaging or affecting the performance of the object to be inspected, and to give the size and location of the defect. , nature and quantity information. There are mainly four types of non-destructive testing: radiographic testing (RT), ultrasonic testing (UT), magnetic particle testing (MT) and liquid penetrant testing (PT). Other nondestruct...

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Problems solved by technology

[0005] The purpose of the present invention is to propose a method for intelligent detection by a non-destructive testing robot, which solves the problem that in the prior art, the non-destructive testing robot performs non-destructive testing through manual mode control, which cannot be performed according to the target position, current position, objective constraints and specific positions. Completion of motion control to meet requirements, low efficiency of non-destructive testing, frequent adjustment of testing based on experience and other technical problems

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