A method for detecting the internal environment of nuclear equipment pipelines using a snake-like robot

Abstract

The invention discloses a method for detecting an internal environment of a nuclear equipment pipeline by a snake-like robot. The method comprises the following steps: (1) collecting an internal image of nuclear equipment by a detection system, detecting the nuclear radiation density, the pipeline temperature, the humidity, the pressure and a barrier in the nuclear equipment, and simultaneously monitoring the position of a snake body by a positioning system in real time; (2) transmitting data to a host computer by the detection system and the positioning system in real time; (3) generating a snake body motion gait instruction by the host computer, and transmitting the snake body motion gait instruction to a control system; (4) receiving the instruction and analyzing the corresponding motion program by the control system, controlling a corresponding joint driver to work according to the motion condition required by each joint module, driving the corresponding joint module to move and changing the real-time motion gait of the snake body; and (5) circulating the steps (1) to (4) until the snake-like robot finishes detection of the whole internal environment of the nuclear equipment. The method is reasonable in design, and convenient and fast to operate, and can be successfully applied to the field of pipeline detection of the nuclear equipment.

Description

technical field [0001] The invention relates to a technology for detecting the internal environment of a nuclear equipment pipeline, in particular to a method for detecting the internal environment of a nuclear equipment pipeline by using a snake-shaped robot. Background technique [0002] As the main equipment of nuclear power plants, the steam pipes of each circuit and the cooling water waste liquid pipes are the core components of nuclear facilities. In the process of nuclear decommissioning, whether it is possible to quickly obtain the strength and distribution of radioactive contamination in the pipes and to achieve high-precision detection is a key issue. Key to reducing radiation hazards in nuclear decommissioning. Nuclear decommissioning treatment is carried out in the early stage of decommissioning implementation. Through the analysis and monitoring of radioactive and toxic radioactive sources in decommissioning facilities and sites, relevant information is collecte...

AI Technical Summary

Problems solved by technology

However, the current research on snake-shaped robots has just started in China, and many technologies are not yet mature enough to be flexibly applied in various fields, and it is also difficult to apply them in the field of nuclear detection.

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