Emergency treatment system and method for water taking blockage of cold source of nuclear power plant

Abstract

The invention particularly relates to a nuclear power plant cold source water taking blockage emergency treatment system, which comprises a shore-based module used for generating a control signal, sending the control signal to an underwater emergency treatment module, processing, displaying and recording a received environment signal, and providing electric power and a flushing and spraying medium for the underwater emergency treatment module; the underwater emergency processing module is used for moving according to the received control signal, spraying and crushing small cold source disaster-causing objects and grabbing and collecting large cold source disaster-causing objects, acquiring an environment signal and sending the environment signal to the shore-based module; the comprehensive connection module is used for transmitting signals, electric power and flushing and spraying media between the underwater emergency processing module and the shore-based module. The invention further relates to a nuclear power plant cold source water taking blockage emergency treatment method. According to the invention, automatic, mechanical, efficient and safe nuclear power plant cold source water taking blockage emergency treatment is realized.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power cold source water intake safety assurance, and in particular to a nuclear power plant cold source water intake blockage emergency treatment system and method. Background Art

[0002] In recent years, the impact of marine biological invasion on the safety of cold water intake systems of offshore nuclear power plants has increased, and blockages of seawater intakes of nuclear power plants have occurred frequently. Under the risk of frequent water intrusion, the issue of cold water security for coastal nuclear power plants has become increasingly prominent.

[0003] When a nuclear power plant faces a large-scale water-intake disaster, and interception facilities such as interception nets become blocked, the plant often uses divers to manually clean or directly replace the interception nets. This method has high safety risks, low operating efficiency, limited operating conditions, and is time-consuming and costly.

[0004] Therefore, nuclear power plants are in urgent need of an automated, efficient and safe emergency response method for cold source water intake blockage. Summary of the invention

[0005] The purpose of the present invention is to provide a system and method for emergency treatment of cold source water intake blockage in a nuclear power plant, so as to realize automated, mechanized, efficient and safe emergency treatment of cold source water intake blockage in a nuclear power plant.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A nuclear power plant cold source water intake blockage emergency treatment system, comprising:

[0008] The shore-based module is used to generate control signals and send them to the underwater emergency processing module; process, display and record the received environmental signals; and provide power and flushing medium for the underwater emergency processing module;

[0009] The underwater emergency processing module is used to move according to the received control signal, spray and crush small cold source disaster-causing objects, and grab and collect large cold source disaster-causing objects; obtain environmental signals and send them to the shore-based module;

[0010] The integrated connection module is used to transmit signals, power and flushing media between the underwater emergency processing module and the shore-based module.

[0011] In the present invention, the shore-based module includes a control station, a cavitation jet medium pump and a ground power station, and the underwater emergency module includes a structural module and a control module, an electric control module, an environmental perception module, a motion module, a cavitation jet module and a mechanical arm module mounted on the structural module;

[0012] The control station is used to process, display and record the received environmental signals; generate control signals according to the input operation instructions and send them to the control module;

[0013] The cavitation jet flushing medium pump is used to provide flushing medium for the cavitation jet flushing module; the ground power station is used to provide power for the cavitation jet flushing medium pump and the control station, and send power to the electronic control module;

[0014] The electric control module is used to transform the received electric power to provide electric power to the control module, the robot arm module, the motion module and the cavitation jet injection module;

[0015] The control module is used to convert the received control signal from a digital signal into a pulse signal and then send it to the environment perception module, the motion module, the cavitation jet injection module or the robotic arm module; and send the received environment signal to the control station;

[0016] The environmental perception module is used to obtain environmental signals according to the received control signals and send them to the control module; the motion module is used to support the underwater movement of the underwater emergency treatment module according to the received control signals; the cavitation jet spray module is used to spray and crush small cold source disaster-causing objects according to the received control signals; the robotic arm module is used to grab and collect large cold source disaster-causing objects according to the received control signals.

[0017] In the present invention, the control station includes a human-computer interaction interface and a data processing module; the control module is used to send the received environmental signal to the data processing module;

[0018] The data processing module is used to process the received environmental signals and send them to the human-computer interaction interface; and record the processed environmental signals;

[0019] The human-computer interaction interface is used to display the received environmental signals; generate control signals according to the input operation instructions and send them to the control module to control the underwater emergency module to perform actions;

[0020] Environmental signals include video signals, direction signals, position signals and depth signals.

[0021] In the present invention, the cavitation jet flushing medium pump draws seawater or fresh water through a water inlet pipe, mixes the seawater or fresh water with air, and then pressurizes the mixture to form a flushing medium.

[0022] In the present invention, the environment perception module includes a high-definition underwater low-light camera, an image scanning sonar, a depth meter, a compass, a hydroacoustic positioning device and an obstacle avoidance sonar.

[0023] In the present invention, the motion module includes a plurality of vector-distributed underwater thrusters, and the motion module supports the underwater emergency processing module to realize forward movement, left-right translation, left-right rotation, buoyancy and diving underwater.

[0024] In the present invention, the cavitation jet flushing module includes a nozzle array and an interface; the interface is connected to the cavitation jet flushing medium pump to receive the flushing medium from the cavitation jet flushing medium pump; the nozzle array flushes the flushing medium from the cavitation jet flushing medium pump in the form of a water jet beam on the surface of a small cold source disaster-causing object; the small cold source disaster-causing objects include various marine organisms and silt on the surface of the interception net, and the various marine organisms include jellyfish, shrimp, krill and algae.

[0025] In the present invention, the robot arm module includes a multi-degree-of-freedom underwater robot arm and various types of grabbing hooks; the large cold source disaster-causing objects include tree branches, bamboo poles, fishing nets, woven bags and plastic bags.

[0026] In the present invention, the structural module includes a plastic steel frame, buoyancy material and counterweight to maintain the basic structure and buoyancy balance of the underwater emergency treatment module.

[0027] In the present invention, the integrated connection module includes an integrated pipeline and a cable drum; the integrated pipeline is used to transmit signals, electricity and flushing medium between the underwater emergency treatment module and the shore-based module; the cable drum is used to retract and release the integrated pipeline; the integrated pipeline includes a signal line, a power line and a cavitation jet flushing medium pipe, the signal line, the power line and the cavitation jet flushing medium pipe are assembled on an integrated pipeline, which are independent of each other and share buoyancy materials and protective outer skins, and present a zero buoyancy state in water when filled with medium.

[0028] The present invention also provides an emergency treatment method for cold source water intake blockage in a nuclear power plant, comprising the following steps:

[0029] S1. Obtain abnormal status signals of cold water intake from nuclear power plants and determine the main blockage points;

[0030] S2, obtaining environmental signals of main blocking points;

[0031] S3. Select a platform for deploying shore-based modules near the main blockage point;

[0032] S4. Deploy shore-based modules on the selected platform;

[0033] S5. Start the power supply of the ground power station, start the control station, and initialize the underwater emergency processing modules of the control station and the main blockage points;

[0034] S6. The control station and the underwater emergency processing module of the main blockage point are initialized, and the control station receives the signal sent back by the underwater emergency processing module of the main blockage point in real time; and checks the function of the underwater emergency processing module of the main blockage point;

[0035] S7. Deploy emergency treatment modules at the blocking points;

[0036] S8, operate the underwater emergency processing module to move to a position (10-20) m near the blockage point, obtain and record detailed signals of the blockage point through the environment perception module;

[0037] S9, operate the underwater emergency treatment module to approach the blockage point, so that the underwater emergency treatment module and the blockage point are at the same depth and approach the blockage point by 1m;

[0038] S10, operating the mechanical arm module of the underwater emergency treatment module to grab and collect large cold source disaster-causing objects once or multiple times;

[0039] S11. After the large cold source disaster-causing objects are collected, the underwater emergency treatment module is manipulated to approach the blockage point, so that the cavitation jet flushing module is facing the blockage point, the cavitation jet flushing medium pump is started, and the cavitation jet flushing module is started to flush and crush the small cold source disaster-causing objects, and the debris is naturally settled or collected from the downstream direction;

[0040] S12. The small cold source disaster-causing objects are sprayed and crushed, the blockage points are unblocked, the underwater emergency treatment module is withdrawn, the cold source water intake blockage emergency treatment system is recovered, and the cold source water intake blockage emergency treatment is completed.

[0041] In the present invention, in S1, the abnormal state signal of the cold source water intake of the nuclear power plant includes the location of the main blockage point, the scale of the disaster-causing object, the type of the disaster-causing object and the type of interception facility. The types of interception facilities include alloy trash racks, flat alloy interception nets, flat interception nets and floating interception nets.

[0042] In the present invention, in S2, the main blocking point environmental signals include weather conditions, sea conditions and water quality conditions.

[0043] In the present invention, S3, selecting a platform for deploying shore-based modules near the main blocking point, comprises the following steps:

[0044] If there is a solid and flat waterfront ground 100m away from the main blockage point, a solid and flat waterfront ground 100m away from the main blockage point shall be selected as the platform for laying the shore-based modules;

[0045] If there is no solid and flat waterfront ground 100m away from the main blockage point, find a vessel with a deck area greater than 15㎡, stable power and allowed to operate as a platform for deploying shore-based modules 100m away from the main blockage point.

[0046] In the present invention, S4, deploying the shore-based module on the selected platform, includes the following steps: connecting the ground power station with the control station and the cavitation jet medium pump respectively, connecting the shore-based module with the integrated connection module, connecting the integrated connection module with the underwater emergency treatment module of the main blockage point, connecting the ground power station with the external power supply, and connecting the cavitation jet medium pump to the external medium.

[0047] In the present invention, in S6, the functions of the underwater emergency treatment modules of the main blockage points are inspected, including inspecting the environmental perception function of the environmental perception module, the motion function of the motion module, the cavitation jet spraying function of the cavitation jet spraying module and the robotic arm operation function of the robotic arm module, as well as inspecting the integrity and firmness of the structural module.

[0048] In the present invention, S7, deploying an emergency treatment module at the blocking point, includes the following steps:

[0049] Determine whether the blocking point signal is clear, the blocking point signal includes the blocking point location, the number of blocking points and the blocking area;

[0050] For those blockage points with clear signals, deploy underwater emergency processing modules, number each blockage point, determine the direction and distance of each blockage point relative to the underwater emergency processing module; determine the underwater movement path from the underwater emergency processing module to each blockage point;

[0051] If the number and location of blockage points are uncertain, the environmental perception module is used to obtain the environmental signal of the underwater emergency processing module. According to the general direction of the blockage point and the environmental signal, the underwater emergency processing module is manipulated to approach the potential blockage point, and the number and location of the blockage points are determined and recorded through the environmental perception module.

[0052] In the present invention, in S8, the detailed signal of the blocking point includes the type of disaster-causing object, the number of disaster-causing objects, the type of interception facilities, the status of the interception facilities, the water depth of the blocking location, the underwater visibility of the blocking location and the blocking area.

[0053] Beneficial technical effects of the present invention:

[0054] The nuclear power plant cold source water intake blockage emergency treatment system and method of the present invention realize automated, mechanized, efficient and safe nuclear power plant cold source water intake blockage emergency treatment; specifically, through the cavitation jet flushing module and the mechanical arm module, effective cleaning of the nuclear power plant cold source water intake system blockage is realized; through the environmental perception module, when the nuclear power plant cold source water intake system is blocked and the specific situation is unclear, environmental perception work is carried out to support emergency treatment work; through the cavitation jet flushing medium pump to provide flushing medium, through the integrated connection module to transmit the flushing medium, the air jet flushing module can effectively crush and clean various small cold source disaster-causing objects attached to the nuclear power plant cold source water intake system, this cleaning method has good cleaning effect and high cleaning efficiency, and at the same time causes little damage to the nuclear power plant cold source water intake system. Under normal attachment conditions, the cleaning efficiency of the flat interception net is about 200 square meters / h; the staff controls the underwater emergency treatment module through the shore-based module, which replaces the traditional manual underwater operation of divers, effectively eliminates the safety production risk factors of divers' operations, and reduces the workload of underwater emergency treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of an embodiment of a nuclear power plant cold source water intake blockage emergency treatment system of the present invention;

[0056] Figure 2 A schematic structural view of an embodiment of an emergency processing module;

[0057] Figure 3 The present invention is a flow chart of an embodiment of a method for emergency treatment of cold source water intake blockage in a nuclear power plant according to the present invention. DETAILED DESCRIPTION

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0059] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] The technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

[0061] See also Figure 1 This embodiment provides a nuclear power plant cold source water intake blockage emergency treatment system, including:

[0062] The shore-based module is used to generate control signals and send them to the underwater emergency processing module; process, display and record the received environmental signals; and provide power and flushing medium for the underwater emergency processing module;

[0063] The underwater emergency processing module is used to move according to the received control signal, spray and crush small cold source disaster-causing objects, and grab and collect large cold source disaster-causing objects; obtain environmental signals and send them to the shore-based module;

[0064] The integrated connection module is used to transmit signals, power and flushing media between the underwater emergency processing module and the shore-based module.

[0065] See also Figure 1-2In this embodiment, the shore-based module includes a control station, a cavitation jet medium pump and a ground power station, and the underwater emergency module includes a structural module and a control module, an electric control module, an environmental perception module, a motion module, a cavitation jet module and a mechanical arm module mounted on the structural module, and the control station communicates with the control module;

[0066] The control station is used to process, display and record the received environmental signals; generate control signals according to the input operation instructions and send them to the control module;

[0067] The cavitation jet flushing medium pump is used to provide flushing medium for the cavitation jet flushing module; the ground power station is used to provide power for the cavitation jet flushing medium pump and the control station, and send power to the electronic control module;

[0068] The electric control module is used to transform the received electric power to provide electric power to the control module, the robot arm module, the motion module and the cavitation jet injection module;

[0069] The control module is used to convert the received control signal from a digital signal into a pulse signal and then send it to the environment perception module, the motion module, the cavitation jet injection module or the robotic arm module; and send the received environment signal to the control station;

[0070] The environmental perception module is used to obtain environmental signals according to the received control signals and send them to the control module; the motion module is used to support the underwater movement of the underwater emergency treatment module according to the received control signals; the cavitation jet spray module is used to spray and crush small cold source disaster-causing objects according to the received control signals; the robotic arm module is used to grab and collect large cold source disaster-causing objects according to the received control signals.

[0071] In this embodiment, the control station includes a human-computer interaction interface and a data processing module; the control module is used to send the received environmental signal to the data processing module;

[0072] The data processing module is used to process the received environmental signals and send them to the human-computer interaction interface; and record the processed environmental signals;

[0073] The human-computer interaction interface is used to display the received environmental signals; generate control signals according to the input operation instructions and send them to the control module to control the underwater emergency module to perform actions;

[0074] Environmental signals include video signals, direction signals, position signals and depth signals.

[0075] In this embodiment, the cavitation jet flushing medium pump draws seawater or fresh water through the water inlet pipe, mixes the seawater or fresh water with air, and then pressurizes the mixture to form the flushing medium.

[0076] In this embodiment, the environment perception module includes a high-definition underwater low-light camera, an image scanning sonar, a depth meter, a compass, a hydroacoustic positioning device and an obstacle avoidance sonar.

[0077] In this embodiment, the motion module includes a number of vector-distributed underwater thrusters. The motion module supports the underwater emergency processing module to move forward, translate left and right, rotate left and right, float up and dive underwater. The underwater emergency processing module can withstand a fixed flow rate of up to 3 knots underwater.

[0078] In this embodiment, the cavitation jet spraying module includes a nozzle array and an interface; the interface is connected to the cavitation jet spraying medium pump to receive the spraying medium from the cavitation jet spraying medium pump; the nozzle array sprays the spraying medium from the cavitation jet spraying medium pump in the form of a water jet beam on the surface of the small cold source disaster-causing object. There are high-density cavitation bubbles in the water jet beam. A large number of high-density cavitation bubbles collapse in local tiny areas on the surface of the small cold source disaster-causing object, generating a strong micro-jet impact force, thereby achieving the spraying and crushing of the small cold source disaster-causing object; the small cold source disaster-causing objects include various marine organisms and silt on the surface of the interception net. The various marine organisms include jellyfish, shrimps, krill and algae.

[0079] In this embodiment, the robotic arm module includes a multi-degree-of-freedom underwater robotic arm and various types of grabbing hooks, which are used to grab and collect large cold source disaster-causing objects underwater; large cold source disaster-causing objects include tree branches, bamboo poles, fishing nets, woven bags and plastic bags.

[0080] In this embodiment, the structural module includes a plastic steel frame, buoyancy material and counterweight, which is used to carry the control module, electronic control module, environmental perception module, motion module, cavitation jet injection module and robotic arm module to maintain the basic structure and buoyancy balance of the underwater emergency handling module.

[0081] In this embodiment, when the cold source water intake system of a nuclear power plant is blocked but the specific situation is unclear, the control station sends a control signal to the control module, the control module converts the control signal from a digital signal to a pulse signal and sends it to the environment perception module, the environment perception module obtains the environment signal based on the received control signal and sends it to the control module, the control module sends the received environment signal to the control station, the control station processes the received environment signal and displays it, so that the staff can understand and grasp the specific situation of the blockage in the cold source water intake system of the nuclear power plant.

[0082] In this embodiment, the integrated connection module includes an integrated pipeline and a cable drum; the integrated pipeline is used to transmit signals, electricity and flushing media between the underwater emergency treatment module and the shore-based module, and its length is up to 100m; the cable drum is used to retract and release the integrated pipeline; the integrated pipeline includes signal lines, power lines and cavitation jet flushing media pipes. The signal lines, power lines and cavitation jet flushing media pipes are assembled on an integrated pipeline, which are independent of each other and share buoyancy materials and protective outer skins. When filled with medium, it presents a zero buoyancy state in the water, and does not affect the free movement of the underwater emergency treatment module underwater.

[0083] refer to Figure 3 This embodiment provides an emergency treatment method for cold source water intake blockage in a nuclear power plant, comprising the following steps:

[0084] S1. Obtain abnormal status signals of cold source water intake of nuclear power plants through the cold source water intake disaster monitoring and early warning system of nuclear power plants, and determine the main blockage points;

[0085] S2, obtaining environmental signals of main blocking points;

[0086] S3. Select a platform for deploying shore-based modules near the main blockage point;

[0087] S4. Deploy shore-based modules on the selected platform;

[0088] S5. Start the power supply of the ground power station, start the control station, and initialize the underwater emergency processing modules of the control station and the main blockage points;

[0089] S6. The control station and the underwater emergency processing module of the main blockage point are initialized, and the control station receives the signal sent back by the underwater emergency processing module of the main blockage point in real time; and checks the function of the underwater emergency processing module of the main blockage point;

[0090] S7. Deploy emergency treatment modules at the blocking points;

[0091] S8, operate the underwater emergency processing module to move to a position (10-20) m near the blockage point, obtain and record detailed signals of the blockage point through the environment perception module;

[0092] S9, operate the underwater emergency treatment module to approach the blockage point, so that the underwater emergency treatment module and the blockage point are at the same depth and approach the blockage point by 1m;

[0093] S10, operating the mechanical arm module of the underwater emergency treatment module to grab and collect large cold source disaster-causing objects once or multiple times;

[0094] S11. After the large cold source disaster-causing objects are collected, the underwater emergency treatment module is manipulated to approach the blockage point, so that the cavitation jet flushing module is facing the blockage point, the cavitation jet flushing medium pump is started, and the cavitation jet flushing module is started to flush and crush the small cold source disaster-causing objects, and the debris is naturally settled or collected from the downstream direction;

[0095] S12. The small cold source disaster-causing objects are sprayed and crushed, the blockage points are unblocked, the underwater emergency treatment module is withdrawn, the cold source water intake blockage emergency treatment system is recovered, and the cold source water intake blockage emergency treatment is completed.

[0096] In this embodiment, in S1, the abnormal state signal of the nuclear power plant's cold source water intake includes the location of the main blockage point, the scale of the disaster-causing object, the type of disaster-causing object and the type of interception facility. The types of interception facilities include alloy trash racks, flat alloy interception nets, flat interception nets and floating interception nets; in S2, the main blockage point environmental signals include weather conditions, sea conditions and water quality conditions.

[0097] In this embodiment, S3, selecting a platform for deploying shore-based modules near the main blocking point, includes the following steps:

[0098] If there is a solid and flat waterfront ground 100m away from the main blockage point, a solid and flat waterfront ground 100m away from the main blockage point shall be selected as the platform for laying the shore-based modules;

[0099] If there is no solid and flat waterfront ground 100m away from the main blockage point, find a vessel with a deck area of ​​more than 15㎡, stable power and permitted operation as a platform for deploying shore-based modules 100m away from the main blockage point;

[0100] In the marine environment, vessels are not allowed to operate within 100m of the blockage point when the wind speed is above level 6 or the sea condition is above level 4.

[0101] In this embodiment, S4, deploying the shore-based module on the selected platform, includes the following steps: connecting the ground power station to the control station and the cavitation jet medium pump through fixed interfaces respectively, connecting the shore-based module to the integrated connection module, connecting the integrated connection module to the underwater emergency treatment module of the main blockage point, connecting the ground power station to the external power supply, and connecting the cavitation jet medium pump to the external medium.

[0102] In this embodiment, in S6, the functions of the underwater emergency treatment modules of the main blockage points are inspected, including inspecting the environmental perception function of the environmental perception module, the motion function of the motion module, the cavitation jet spraying function of the cavitation jet spraying module and the robotic arm operation function of the robotic arm module, as well as inspecting the integrity and firmness of the structural module.

[0103] In this embodiment, S7, deploying an emergency processing module at the blocking point, includes the following steps:

[0104] Determine whether the blocking point signal is clear, the blocking point signal includes the blocking point location, the number of blocking points and the blocking area;

[0105] For those blockage points with clear signals, deploy underwater emergency processing modules, number each blockage point, determine the direction and distance of each blockage point relative to the underwater emergency processing module; determine the underwater movement path from the underwater emergency processing module to each blockage point;

[0106] If the number and location of blockage points are uncertain, the environmental perception module is used to obtain the environmental signal of the underwater emergency processing module. According to the general direction of the blockage point and the environmental signal, the underwater emergency processing module is manipulated to approach the potential blockage point, and the number and location of the blockage points are determined and recorded through the environmental perception module.

[0107] In this embodiment, in S8, the detailed signal of the blocking point includes the type of disaster-causing object, the number of disaster-causing objects, the type of interception facility, the status of the interception facility, the water depth of the blocking location, the underwater visibility of the blocking location and the blocking area.

[0108] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A nuclear power plant cold source water intake blockage emergency treatment system, characterized in that: include: The shore-based module is used to generate control signals and send them to the underwater emergency processing module; process, display and record the received environmental signals; and provide power and flushing medium for the underwater emergency processing module; The underwater emergency processing module is used to move according to the received control signal, spray and crush small cold source disaster-causing objects, and grab and collect large cold source disaster-causing objects; obtain environmental signals and send them to the shore-based module; The integrated connection module is used to transmit signals, power and flushing media between the underwater emergency processing module and the shore-based module.

2. The nuclear power plant cold source water intake blockage emergency treatment system according to claim 1, characterized in that: The shore-based module includes a control station, a cavitation jet medium pump and a ground power station. The underwater emergency module includes a structural module and a control module, an electric control module, an environmental perception module, a motion module, a cavitation jet module and a robotic arm module mounted on the structural module. The control station is used to process, display and record the received environmental signals; generate control signals according to the input operation instructions and send them to the control module; A cavitation jet flushing medium pump is used to provide flushing medium for the cavitation jet flushing module; The ground power station is used to provide power to the cavitation jet medium pump and control station, and send power to the electronic control module; The electric control module is used to transform the received electric power to provide electric power to the control module, the robot arm module, the motion module and the cavitation jet injection module; The control module is used to convert the received control signal from a digital signal into a pulse signal and then send it to the environment perception module, the motion module, the cavitation jet injection module or the robotic arm module; and send the received environment signal to the control station; The environmental perception module is used to obtain environmental signals according to the received control signals and send them to the control module; the motion module is used to support the underwater movement of the underwater emergency treatment module according to the received control signals; the cavitation jet spray module is used to spray and crush small cold source disaster-causing objects according to the received control signals; the robotic arm module is used to grab and collect large cold source disaster-causing objects according to the received control signals.

3. The nuclear power plant cold source water intake blockage emergency treatment system according to claim 2, characterized in that: The control station includes a human-computer interaction interface and a data processing module; the control module is used to send the received environmental signal to the data processing module; The data processing module is used to process the received environmental signals and send them to the human-computer interaction interface; and record the processed environmental signals; The human-computer interaction interface is used to display the received environmental signals; generate control signals according to the input operation instructions and send them to the control module to control the underwater emergency module to perform actions; The cavitation jet medium pump draws seawater or fresh water through the water inlet pipe, mixes the seawater or fresh water with air and pressurizes it to form the jet medium.

4. The nuclear power plant cold source water intake blockage emergency treatment system according to claim 2, characterized in that: The environmental perception module includes a high-definition underwater low-light camera, image scanning sonar, depth meter, compass, hydroacoustic positioning device and obstacle avoidance sonar; the motion module includes a number of vector-distributed underwater thrusters, which support the underwater emergency handling module to move forward, translate left and right, rotate left and right, float up and dive underwater; The cavitation jet flushing module includes a nozzle array and an interface; the interface is connected to the cavitation jet flushing medium pump to receive the flushing medium from the cavitation jet flushing medium pump; the nozzle array flushes the flushing medium from the cavitation jet flushing medium pump in the form of a water jet beam on the surface of the small cold source disaster-causing object; The robotic arm module includes a multi-degree-of-freedom underwater robotic arm and various types of grabbing hooks; the structural module includes a plastic steel frame, buoyancy materials and counterweights to maintain the basic structure and buoyancy balance of the underwater emergency handling module.

5. The nuclear power plant cold source water intake blockage emergency treatment system according to claim 1, characterized in that: The integrated connection module includes an integrated pipeline and a cable drum; the integrated pipeline is used to transmit signals, electricity and flushing media between the underwater emergency processing module and the shore-based module; the cable drum is used to retract and release the integrated pipeline; the integrated pipeline includes signal lines, power lines and cavitation jet flushing media pipes, and the signal lines, power lines and cavitation jet flushing media pipes are assembled on an integrated pipeline, which are independent of each other and share buoyancy materials and protective outer skins, and present zero buoyancy in the water when filled with media.

6. A method for emergency treatment of cold water intake blockage in a nuclear power plant, characterized in that: The following steps are involved: S1. Obtain abnormal status signals of cold water intake from nuclear power plants and determine the main blockage points; S2, obtaining environmental signals of main blocking points; S3. Select a platform for deploying shore-based modules near the main blockage point; S4. Deploy shore-based modules on the selected platform; S5. Start the power supply of the ground power station, start the control station, and initialize the underwater emergency processing modules of the control station and the main blockage points; S6. The control station and the underwater emergency processing module of the main blockage point are initialized, and the control station receives the signal sent back by the underwater emergency processing module of the main blockage point in real time; and checks the function of the underwater emergency processing module of the main blockage point; S7. Deploy emergency treatment modules at the blocking points; S8, operate the underwater emergency processing module to move to a position (10-20) m near the blockage point, obtain and record detailed signals of the blockage point through the environment perception module; S9, operate the underwater emergency treatment module to approach the blockage point, so that the underwater emergency treatment module and the blockage point are at the same depth and approach the blockage point by 1m; S10, operating the mechanical arm module of the underwater emergency treatment module to grab and collect large cold source disaster-causing objects once or multiple times; S11. After the large cold source disaster-causing objects are collected, the underwater emergency treatment module is manipulated to approach the blockage point, so that the cavitation jet flushing module is facing the blockage point, the cavitation jet flushing medium pump is started, and the cavitation jet flushing module is started to flush and crush the small cold source disaster-causing objects, and the debris is naturally settled or collected from the downstream direction; S12. The small cold source disaster-causing objects are sprayed and crushed, the blockage points are unblocked, the underwater emergency treatment module is withdrawn, the cold source water intake blockage emergency treatment system is recovered, and the cold source water intake blockage emergency treatment is completed.

7. The method for emergency treatment of cold source water intake blockage in a nuclear power plant according to claim 6, characterized in that: In S1, the abnormal status signals of the nuclear power plant's cold source water intake include the location of the main blockage point, the scale of the disaster-causing objects, the type of disaster-causing objects and the type of interception facilities; in S2, the environmental signals of the main blockage points include weather conditions, sea conditions and water quality conditions; in S8, the detailed signals of the blockage points include the type of disaster-causing objects, the number of disaster-causing objects, the type of interception facilities, the status of the interception facilities, the water depth at the blockage location, the underwater visibility at the blockage location and the blockage area.

8. The method for emergency treatment of cold water intake blockage in a nuclear power plant according to claim 6, characterized in that: S3, selecting a platform for deploying shore-based modules near the main blocking point, including the following steps: If there is a solid and flat waterfront ground 100m away from the main blockage point, a solid and flat waterfront ground 100m away from the main blockage point shall be selected as the platform for laying the shore-based modules; If there is no solid and flat waterfront ground 100m away from the main blockage point, find a vessel with a deck area greater than 15㎡, stable power and allowed to operate as a platform for deploying shore-based modules 100m away from the main blockage point.

9. The method for emergency treatment of cold water intake blockage in a nuclear power plant according to claim 6, characterized in that: S4, deploying the shore-based module on the selected platform, including the following steps: connecting the ground power station to the control station and the cavitation jet medium pump respectively, connecting the shore-based module to the integrated connection module, connecting the integrated connection module to the underwater emergency treatment module of the main blockage point, connecting the ground power station to the external power supply, and connecting the cavitation jet medium pump to the external medium.

10. The method for emergency treatment of cold source water intake blockage in a nuclear power plant according to claim 6, characterized in that: S7, deploying emergency processing modules at the blocking point, including the following steps: Determine whether the blocking point signal is clear, the blocking point signal includes the blocking point location, the number of blocking points and the blocking area; For those blockage points with clear signals, deploy underwater emergency processing modules, number each blockage point, determine the direction and distance of each blockage point relative to the underwater emergency processing module, and determine the underwater movement path from the underwater emergency processing module to each blockage point; If the number and location of blockage points are uncertain, the environmental perception module is used to obtain the environmental signal of the underwater emergency processing module. According to the general direction of the blockage point and the environmental signal, the underwater emergency processing module is manipulated to approach the potential blockage point, and the number and location of the blockage points are determined and recorded through the environmental perception module.

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