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A nuclear power plant bonna pipeline detection system and method

A pipeline inspection system and pipeline inspection technology, applied in the direction of measuring devices, optical testing flaws/defects, instruments, etc., can solve the problems of impossible BONNA pipeline inspection, missing pipeline parts, and water seepage problems that cannot be found in time, etc. Achieve the effect of avoiding detection blind spots, saving manpower and reducing labor costs

Active Publication Date: 2020-07-21
深圳市智能机器人研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current method of detecting BONNA pipelines is still a method of manual visual inspection, and the inspection cycle is a follow-up inspection once a week
These inspection methods mainly have the following two deficiencies: (1) The inspectors inspect once a week, and the water seepage problem in BONNA cannot be discovered in time, and the water seepage may not be discovered until a week later; (2), there is a manual inspection It is impossible for the inspectors to inspect any part of the BONNA pipeline, especially the seams, so there will be situations where the pipeline parts are missed and not detected
Because if the water seepage problem occurs and is not found and repaired in time, it will pose a serious threat to nuclear safety, so the timely discovery and treatment of the water seepage problem is very important to ensure nuclear safety. solve the above problems

Method used

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  • A nuclear power plant bonna pipeline detection system and method
  • A nuclear power plant bonna pipeline detection system and method
  • A nuclear power plant bonna pipeline detection system and method

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0039] Such as figure 1 As shown, a nuclear power plant BONNA pipeline inspection system includes a dual-arm robot 2 and an upper computer, the dual-arm robot 2 is connected to the upper computer, and the dual-arm robot 2 is movably suspended on a beam installed above the BONNA pipeline 1 On the frame 4, the dual-arm robot 2 includes two single-axis mechanical arms and the two single-axis mechanical arms are symmetrically distributed on the side of the BONNA pipeline 1, and an image acquisition module is provided at the end of each single-axis mechanical arm;

[0040] The image acquisition module is used to follow the movement of the dual-arm robot 2 to take an all-round photograph of the BONNA pipeline 1;

[0041] The dual-arm robot 2 is used to move according to a preset movement path, and send the picture information captured by the image acquisition module to the upper computer;

[0042] The host computer is used to determine whether the BONNA pipeline 1 is defective according to...

no. 2 example

[0049] Such as Image 6 As shown, a nuclear power plant BONNA pipeline inspection system includes a dual-arm robot and an upper computer, the dual-arm robot is connected to the upper computer, and the dual-arm robot is movably suspended and mounted on a beam above the BONNA pipeline, so The dual-arm robot includes two single-axis mechanical arms, and the two single-axis mechanical arms are symmetrically distributed on the side of the BONNA pipeline, and the end of each single-axis mechanical arm is provided with an image acquisition module;

[0050] The image acquisition module is used to follow the movement of the dual-arm robot to take an all-round photograph of the BONNA pipeline;

[0051] The dual-arm robot is used to move according to a preset movement path, and send the picture information captured by the image acquisition module to the upper computer;

[0052] The host computer is used to determine whether the BONNA pipeline is defective according to the picture information af...

no. 3 example

[0060] Such as Figure 4 As shown, a nuclear power plant BONNA pipeline inspection method includes the following steps:

[0061] The upper computer uses inverse kinematics to calculate the rotation angle parameters of each mechanical joint of the robot when the robot moves along the preset movement path, and sends the movement path information and the rotation angle parameter information to the lower computer;

[0062] The lower computer controls the motion motor and the working status of the motor in the detection area according to the movement path information and the corner parameter information, and at the same time controls the image acquisition module to take pictures of the BONNA pipeline, and transmits the taken picture information to the upper computer;

[0063] The host computer uses the picture detection model to detect the photographed picture information to determine whether the BONNA pipeline has defects, and when the pipeline is detected to be defective, it will alarm a...

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Abstract

The invention discloses a nuclear power plant BONNA pipeline detection system and method. The system comprises a double-arm robot and a host computer, wherein the double-arm robot is connected with the host computer; the double-arm robot is mounted on a beam rack above a pipeline in a suspended manner; the double-arm robot comprises two single-axis mechanical arms; the two single-axis mechanical arms are symmetrically distributed on side surfaces of the pipeline; an image acquisition module is arranged at the tail end of a single single-axis mechanical arm; the image acquisition module is usedfor taking images of the pipeline in all directions; the double-arm robot is moved according to a movement route and is used for transmitting image information to the host computer; the host computeris used for determining whether a BONNA pipeline has defects or not according to the image information after receiving the image information, and used for transmitting alarm information when determining that the BONNA pipeline has defects. The BONNA pipeline is automatically detected through the double-arm robot, the labor, the materials and the time cost are reduced, and the system can be widelyapplied to the technical field of detection.

Description

Technical field [0001] The invention relates to the technical field of pipeline detection, and in particular to a nuclear power plant BONNA pipeline detection system and method. Background technique [0002] Nuclear Island Important Water System (SEC) is an important safety system. Its function is to transfer the heat transmitted by the equipment cooling water system (RRI) to seawater under normal operating conditions or accident conditions. This system is also called The ultimate heat sink for the nuclear island. The SEC system pipeline is mainly composed of SEC lined hose and BONNA pipeline. [0003] With the passage of time, the corrosion of the BONNA pipeline will corrode and perforate the sealing steel plate in the middle of the pipe wall, resulting in cracks and holes on the outer wall of the pipe, which will cause water seepage in the pipe. It is necessary to check and deal with the water seepage problem of the BONNA pipes daily. However, the current method of testing BON...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01N21/88
CPCG01N21/8851G01N2021/8887
Inventor 方思雯马金荣陈和平
Owner 深圳市智能机器人研究院