Nuclear reactor pool decontamination robot and decontamination system

Abstract

The invention provides a nuclear reactor pool decontamination robot and decontamination system, the nuclear reactor pool decontamination robot comprises a mobile platform, a first mechanical arm and a second mechanical arm, the mobile platform comprises a vehicle body and wheels, and the vehicle body is provided with a first camera; the first mechanical arm and the second mechanical arm are arranged on the vehicle body; a decontamination assembly is arranged at the tail end of the first mechanical arm and used for conducting decontamination flushing on the pool wall and the pool bottom of the nuclear reactor pool, and a decontamination brush head is arranged at the tail end of the second mechanical arm. The whole-course unmanned decontamination operation in the nuclear reactor water pool is realized, the decontamination operation can be automatically carried out according to a planned path, and the radioactive radiation and radioactive aerosol inhalation risks of manual operation are avoided.

Description

Technical Field

[0001] This invention relates to the field of nuclear facility inspection and maintenance robot technology, specifically to a nuclear reactor pool decontamination robot and decontamination system. Background Technology

[0002] During reactor operation, especially during spent fuel reprocessing, radioactive contaminants are inevitably generated, causing varying degrees of radioactive contamination to equipment and personnel. Therefore, it is necessary to decontaminate nuclear facilities regularly.

[0003] During the shutdown and maintenance of nuclear power plants, the walls and bottom of the reactor pool must be decontaminated to reduce the exposure dose to operators during inspection and maintenance work.

[0004] Due to the high radioactivity of nuclear environments, manual decontamination would increase the occupational exposure of workers. In response, major nuclear power countries are actively developing nuclear environment decontamination robots to replace manual labor in these tasks.

[0005] Decontamination of the refueling pool in a pressurized water reactor nuclear power plant is a key and challenging aspect of major overhauls, as described below:

[0006] On the one hand, during loading and unloading, some activated and corrosive products fall off and accumulate at the bottom of the pool along with the fuel transfer, and the pool comes into contact with the primary circuit water, resulting in a high dose rate and surface contamination level.

[0007] On the other hand, the inspection of bolts and pressure testing in the reactor pool must ensure the radiation safety of maintenance personnel and reduce the collective dose.

[0008] Currently, nuclear power plants both domestically and internationally use manual methods to remove hot spots and contaminants from reactor pools. This work is usually done on the critical path of refueling overhauls. Workers wearing air suits go down into the pool and use high-pressure water guns to remove radioactive hot spots from the pool walls. A single decontamination area exceeds 120 square meters, takes more than 5 hours, and involves more than 14 workers. The dosage is high, the labor intensity is high, and the efficiency is low.

[0009] In view of this, the inventors of this application have designed a nuclear reactor pool decontamination robot and decontamination system in order to overcome the above-mentioned technical problems. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art in which hot spots and contaminants in reactor pools are removed manually, and to provide a nuclear reactor pool decontamination robot and decontamination system.

[0011] The present invention solves the above-mentioned technical problems through the following technical solution:

[0012] This invention provides a nuclear reactor pool decontamination robot, characterized in that the nuclear reactor pool decontamination robot includes a mobile platform, a first robotic arm, and a second robotic arm. The mobile platform includes a vehicle body and wheels, and a first camera is installed on the vehicle body. The first robotic arm and the second robotic arm are installed on the vehicle body. A decontamination component is installed at the end of the first robotic arm for decontaminating and rinsing the walls and bottom of the nuclear reactor pool. A decontamination brush head is installed at the end of the second robotic arm.

[0013] According to one embodiment of the present invention, the first robotic arm and the second robotic arm have at least five degrees of freedom.

[0014] According to one embodiment of the present invention, the decontamination assembly includes a high-pressure water spray gun and a decontamination spray gun, wherein the high-pressure water spray gun and the decontamination spray gun are disposed at the end of a first robotic arm.

[0015] According to one embodiment of the present invention, a radiation dose monitor is further provided at the end of the first robotic arm.

[0016] According to one embodiment of the present invention, the radiation dose monitor includes one or more combinations of an aerosol radiation monitor, a neutron monitor, a gamma dose rate monitor, and a surface contamination monitor.

[0017] According to one embodiment of the present invention, a second camera is further provided at the end of the second robotic arm.

[0018] According to one embodiment of the present invention, the first camera is a gimbal camera, and lighting lamps are provided on both sides of the first camera.

[0019] According to one embodiment of the present invention, the wheel is an omnidirectional wheel.

[0020] According to one embodiment of the present invention, the vehicle body is equipped with a lidar, and the mobile platform uses laser real-time positioning and mapping technology for autonomous navigation.

[0021] The present invention also provides a nuclear reactor pool decontamination system, characterized in that the decontamination system includes a nuclear reactor pool decontamination robot as described above, as well as water pipes, a booster pump, a control device, a water storage tank and a decontaminant storage tank. The water storage tank and the decontaminant storage tank are connected to the booster pump through the water pipes, and the booster pump is connected to the decontamination assembly through the water pipes. The control device is electrically connected to the nuclear reactor pool decontamination robot and the booster pump.

[0022] The positive and progressive effects of this invention are as follows:

[0023] The nuclear reactor pool decontamination robot and decontamination system of the present invention have at least the following advantages:

[0024] The nuclear reactor pool decontamination robot and system of this invention achieve fully unmanned decontamination operations within the nuclear reactor pool. It can automatically perform decontamination work according to a planned path, avoiding the risks of radioactive radiation and inhalation of radioactive aerosols associated with manual operations. A mobile platform equipped with lidar and employing SLAM technology enables the decontamination robot to move freely within the nuclear reactor pool. Combined with dual robotic arms and decontamination components, it cleans and washes the pool walls and bottom. For stubbornly contaminated areas, targeted decontamination can be achieved using decontamination brushes. A radiation dose monitor, along with an electronic map constructed based on the planned path, can display the dose rate level at the current location in real time and provide a three-dimensional view of the radiation dose in the nuclear reactor pool work area. Attached Figure Description

[0025] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always denote the same features, wherein:

[0026] Figure 1 This is a schematic diagram of the nuclear reactor pool decontamination system of the present invention.

[0027] Figure 2 This is a three-dimensional schematic diagram of the nuclear reactor pool decontamination robot of the present invention.

[0028] Figure 3 This is a side view schematic diagram of the nuclear reactor pool decontamination robot of the present invention.

[0029] Figure 4 This is a top view schematic diagram of the nuclear reactor pool decontamination robot of the present invention.

[0030] Figure 5A This is a first schematic diagram of the end effector structure of the first robotic arm in the nuclear reactor pool decontamination robot of the present invention.

[0031] Figure 5B This is a second schematic diagram of the end effector structure of the first robotic arm in the nuclear reactor pool decontamination robot of the present invention.

[0032] [Attached image labels]

[0033] Mobile Platform 100

[0034] Body 110

[0035] First camera 111

[0036] LiDAR 112

[0037] Support plate 113

[0038] Lighting 114

[0039] Wheel 120

[0040] First robotic arm 200

[0041] Stain removal component 210

[0042] High-pressure water spray gun 211

[0043] Stain remover spray gun 212

[0044] Radiation dose monitor 220

[0045] Second robotic arm 300

[0046] 310 Stain Removal Brush Head

[0047] Second camera 320

[0048] Water pipe 400

[0049] 500 booster pump

[0050] Control Center 600

[0051] Control device 610

[0052] Control box 611

[0053] Control computer 612

[0054] Water storage tank 620

[0055] Detergent storage box 630

[0056] 700 cable

[0057] Pool wall 810

[0058] 820 at the bottom of the pool

[0059] Reactor pressure vessel 830

[0060] Nuclear reactor pool decontamination robot 900 Detailed Implementation

[0061] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0062] Embodiments of the invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the invention will now be described in detail, examples of which are illustrated in the drawings. Wherever possible, the same reference numerals will be used in all the drawings to denote the same or similar parts. Furthermore, although the terminology used herein is selected from commonly known and used terminology, some terms mentioned in this specification may have been chosen by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of the description herein. Moreover, the invention should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0063] like Figures 1 to 5B As shown, the present invention provides a nuclear reactor pool decontamination robot, including a mobile platform 100, a first robotic arm 200 and a second robotic arm 300.

[0064] The mobile platform 100 includes a body 110 and wheels 120, with a gimbal camera mounted on the body 110.

[0065] The first robotic arm 200 and the second robotic arm 300 are mounted on the vehicle body 110.

[0066] The first robotic arm 200 is equipped with a decontamination component 210 at its end for decontaminating and rinsing the walls 810 and bottom 820 of the nuclear reactor pool. The second robotic arm 300 is equipped with a decontamination brush head 310 at its end.

[0067] Preferably, the mobile platform 100 is provided with a support plate 113 on top, and the gimbal camera, the first robotic arm 200 and the second robotic arm 300 are provided on the support plate 113.

[0068] Preferably, the cables 700 of the first robotic arm 200, the second robotic arm 300, and the gimbal camera pass through the support plate 113 and are combined with the cable 700 used to control the mobile platform 100 into a main cable, which is connected to the control equipment 610 outside the nuclear reactor pool through the main cable interface at the tail of the mobile platform 100.

[0069] Preferably, the key areas for decontamination of the nuclear reactor pool are the pool wall 810 and the pool bottom 820 area, which are 2m below the bottom of the pool. The extension length of the first robotic arm 200 and the second robotic arm 300 can cover these areas.

[0070] The nuclear reactor pool decontamination robot of the present invention can decontaminate and rinse the pool wall 810 and pool bottom 820 of the nuclear reactor pool through the cooperation of the first robotic arm 200 and the decontamination component 210; and for stubborn contaminated areas, targeted decontamination can be carried out through the cooperation of the second robotic arm 300 and the decontamination brush head 310.

[0071] The cleaning component 210 of the first robotic arm 200 can clean the cleaning brush head 310 of the second robotic arm 300 after cleaning the brush head at high radiation points or visible stubborn stains; and the cleaning component 210 of the first robotic arm 200 can also clean the cleaning robot body, reducing the degree of contamination of the cleaning robot itself with radioactive materials, thereby reducing the time required for manual cleaning of the cleaning robot body.

[0072] In a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the first robotic arm 200 and the second robotic arm 300 have at least five degrees of freedom.

[0073] like Figures 1 to 5B As shown, in a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the decontamination component 210 includes a high-pressure water spray gun 211 and a decontaminant spray gun 212, which are disposed at the end of the first robotic arm 200.

[0074] Preferably, the high-pressure water spray gun 211 and the detergent spray gun 212 are connected to the water storage tank 620 and the detergent storage tank 630 at the control center 600 via water pipes 400.

[0075] Preferably, the high-pressure water spray gun 211 and the detergent spray gun 212 are controlled by two different pipelines:

[0076] The first pipeline includes a high-pressure water spray gun 211, a booster pump 500, and a deionized water storage tank. The high-pressure water spray gun 211, the booster pump 500, and the deionized water storage tank are connected in series by a water pipe 400. The first pipeline is used to control the high-pressure water spray gun 211.

[0077] The second pipeline includes: a detergent spray gun 212, a booster pump 500, and a detergent storage tank 630, which are connected in series by a water pipe 400; the second pipeline is used to control the detergent spray gun 212.

[0078] Preferably, the switching and pressure regulation of the booster pump 500 on the two pipelines are controlled by the control computer 612 of the control center 600.

[0079] Preferably, the water pipe 400 extends along the outside of the robotic arm until it merges with the main cable; the main cable and air pipe at the tail end of the mobile platform 100 are protected by a tank chain.

[0080] As a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, a radiation dose monitor 220 is also provided at the end of the first robotic arm 200.

[0081] As a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the radiation dose monitor 220 includes one or more combinations of an aerosol radiation monitor, a neutron monitor, a gamma dose rate monitor, and a surface contamination monitor.

[0082] The radiation intensity of the cleaned areas of the pool wall 810 and pool bottom 820 is monitored by the radiation dose monitor 220 on the first robotic arm 200 to verify whether the cleanliness is achieved.

[0083] When a high radiation point or a visible stubborn stain is detected, the second robotic arm 300 will be activated, extending the cleaning brush head 310 to the high radiation point or the visible stubborn stain. The brush head will then be activated at high speed. At the same time, the first robotic arm 200 can spray a cleaning agent for assistance and spray high-pressure water for rinsing.

[0084] Preferably, after the decontamination is completed, a second re-inspection is performed by the radiation dose monitor 220 on the first robotic arm 200, and the monitoring data is fed back to the control equipment 610. If the acceptance standard is not met, the decontamination operation will be carried out again until the decontamination is clean.

[0085] like Figures 2-4 As shown, in a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, a second camera 320 is also provided at the end of the second robotic arm 300.

[0086] The second camera 320 on the second robotic arm 300 can provide close-up observation from different positions and assist in observing the working status of the first robotic arm 200 during its operation.

[0087] like Figures 2-4 As shown, in a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the first camera 111 is a gimbal camera, and lighting lamps 114 are provided on both sides of the first camera 111.

[0088] The pan-tilt camera can rotate horizontally and vertically via its pan-tilt mechanism, capturing images from multiple angles to ensure comprehensive monitoring without blind spots. The side lights 114 provide additional light, enabling the camera to capture clear and bright images even at night or in low-light environments.

[0089] like Figures 2-4 As shown, in a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the wheel 120 is an omnidirectional wheel.

[0090] Preferably, the wheel 120 uses four sets of omnidirectional wheels as the driving mechanism for the mobile platform 100 on the ground, which can perform forward, backward, left / right translation, left / right diagonal forward, left / right diagonal backward, left / right stationary rotation and other movements, with stepless speed adjustment. The omnidirectional wheels are preferably Mecanum wheels.

[0091] like Figures 2-4 As shown, in a preferred embodiment of the nuclear reactor pool decontamination robot of the present invention, the vehicle body 110 is equipped with a lidar 112, and the mobile platform 100 uses Simultaneous Localization and Mapping (SLAM) technology for autonomous navigation.

[0092] Preferably, the lidar 112 is located at the four corners of the mobile platform 100 and embedded between the support plate 113 and the mobile platform 100.

[0093] Preferably, the mobile platform 100 uses SLAM technology for autonomous navigation and performs visual fusion with the images captured by the gimbal camera.

[0094] like Figure 1 As shown, the present invention also provides a nuclear reactor pool decontamination system, which includes the nuclear reactor pool decontamination robot 900 as described above, as well as a water pipe 400, a booster pump 500, a control device 610, a water storage tank 620, and a decontaminant storage tank 630.

[0095] The water storage tank 620 and the detergent storage tank 630 are connected to the booster pump 500 via water pipe 400, and the booster pump 500 is connected to the decontamination assembly 210 via water pipe 400; the control device 610 is electrically connected to the nuclear reactor pool decontamination robot 900 and the booster pump 500.

[0096] Preferably, the control device 610 includes a control box 611 and a control computer 612, the control box 611 and the control computer 612 are electrically connected, and the control box 611 is electrically connected to the booster pump 500. Figure 1 In the illustrated embodiment, the control center 600 of the decontamination system includes a control device 610, a water storage tank 620, and a decontaminant storage tank 630.

[0097] Preferably, a booster pump 500 is connected to both the water storage tank 620 and the detergent storage tank 630, and each booster pump 500 is electrically connected to the control box 611; the booster pump 500 connected to the water storage tank 620 is connected to the high-pressure water spray gun 211 via a water pipe 400; the booster pump 500 connected to the detergent storage tank 630 is connected to the detergent spray gun 212 via a water pipe 400, that is, the high-pressure water spray gun 211 and the detergent spray gun 212 are controlled by two different pipelines.

[0098] The first pipeline includes a high-pressure water spray gun 211, a booster pump 500, and a deionized water storage tank. The high-pressure water spray gun 211, the booster pump 500, and the deionized water storage tank are connected in series by a water pipe 400. The first pipeline is used to control the high-pressure water spray gun 211.

[0099] The second pipeline includes: a detergent spray gun 212, a booster pump 500, and a detergent storage tank 630, which are connected in series by a water pipe 400; the second pipeline is used to control the detergent spray gun 212.

[0100] Preferably, the switching and pressure regulation of the booster pump 500 on the two pipelines are controlled by the control computer 612 of the control center 600.

[0101] The operational process of the nuclear reactor pool decontamination robot of this invention, in conjunction with the nuclear reactor pool decontamination system of this invention, is as follows:

[0102] First, according to Figure 1 The cable 700 and water pipe 400 of the nuclear reactor pool decontamination robot 900 are connected in a manner that allows the decontamination robot to be lowered into the nuclear reactor pool.

[0103] The decontamination robot 900 is controlled to one corner of the nuclear reactor pool, maintaining contact between the robot and the pool wall 810. This allows for precise positioning of the robot within the pool. Combined with a lidar 112 and an electronic map (since the structure of various types of nuclear reactor pools is fixed and predictable, the robot's movement range within the pool is known; the electronic map of the operation area can be acquired and loaded into the control software before the robot begins operation), the robot can autonomously perform decontamination operations along a planned path.

[0104] Based on the environmental electronic map and lidar 112, and after position calibration, the control device 610 can know the planar coordinate position of the decontamination robot in the nuclear reactor pool. Based on the position of the robotic arm, the spatial coordinate position of the radiation dose monitor 220 in the nuclear reactor pool can be obtained. Then, the decontamination robot is controlled to move to the initial position of the path planning.

[0105] After the operation is initiated, the nuclear reactor pool decontamination robot 900 will spray decontaminant according to the planned path. Since the decontaminant will cover all areas of the pool to be decontaminated, the radiation dose monitor 220 on the first robotic arm 200 will monitor the current radiation value in real time as the decontaminant spray gun 212 moves and feed it back to the control device 610. Because the distance between the decontaminant spray gun 212 and the pool wall 810 and pool bottom 820 is fixed when the decontaminant spray gun 212 is spraying, the data monitored by the radiation dose monitor 220 can clearly reflect the radiation intensity at the current location. After the decontamination robot has sprayed and covered all areas to be decontaminated, a three-dimensional radiation dose field of the pool to be decontaminated area can be generated in the control device 610, allowing the operator to clearly understand which areas need to be focused on for decontamination.

[0106] After the detergent reacts and blends with the areas to be cleaned on the pool wall 810 and pool bottom 820 for a certain period of time, the initial position of the cleaning robot's path planning is controlled, and the cleaning operation is carried out by the high-pressure water spray gun 211.

[0107] After rinsing with detergent, the cleaning robot is controlled to monitor the radiation intensity of the cleaned areas on the pool wall 810 and pool bottom 820 using the radiation dose monitor 220 on the first robotic arm 200, in order to verify whether the cleaning is complete.

[0108] When a high radiation point or a visible stubborn stain is detected, the second robotic arm 300 will be activated, extending the cleaning brush head 310 to the high radiation point or the visible stubborn stain. The brush head will then be activated at high speed. At the same time, the first robotic arm 200 can spray a cleaning agent for assistance and spray high-pressure water for rinsing.

[0109] After the decontamination is completed, a second check and monitoring is performed by the radiation dose monitor 220 on the first robotic arm 200, and the monitoring data is fed back to the control equipment 610. If the acceptance standard is not met, the decontamination operation will be carried out again until the decontamination is clean.

[0110] During the decontamination operation, the gimbal cameras on both sides of the mobile platform 100 can observe the surrounding environment and the working status of the decontamination robot in real time, preventing the decontamination robot from colliding with the inner wall of the pool and falling into the reactor pressure vessel 830 (if new equipment or devices outside the nuclear reactor pool structure are added during the operation, there is a risk of collision if there are no cameras to observe them). The second camera 320 on the second robotic arm 300 can provide close-up observation from different positions and assist in observing the working status of the first robotic arm 200 during its operation.

[0111] The key areas for decontamination of the nuclear reactor pool are the pool wall 810 and the pool bottom 820 area, which are 2m below the bottom of the pool. The extension length of the first robotic arm 200 and the second robotic arm 300 can cover these areas.

[0112] The cleaning component 210 of the first robotic arm 200 can clean the cleaning brush head 310 of the second robotic arm 300 after cleaning the brush head at high radiation points or visible stubborn stains; the cleaning component 210 of the first robotic arm 200 can also clean the cleaning robot body, reducing the degree of contamination of the cleaning robot itself with radioactive materials, thereby reducing the time required for manual cleaning of the cleaning robot body.

[0113] The nuclear reactor pool decontamination robot and decontamination system of the present invention use robots to replace manual labor for decontamination operations, enabling unmanned operation in the pool area, improving decontamination efficiency and quality, and ensuring personnel safety.

[0114] In summary, the nuclear reactor pool decontamination robot and decontamination system of the present invention achieve fully unmanned decontamination operations in nuclear reactor pools, and can automatically carry out decontamination operations according to a planned path, avoiding the risks of radioactive radiation and inhalation of radioactive aerosols associated with manual operations.

[0115] The nuclear reactor pool decontamination robot and decontamination system of the present invention uses a mobile platform 100 equipped with a lidar 112 and employs SLAM technology to enable the decontamination robot to move freely in the nuclear reactor pool. It works in conjunction with dual robotic arms and a decontamination assembly 210 to decontaminate and rinse the pool walls 810 and bottom 820 of the nuclear reactor pool. For stubborn contaminated areas, the decontamination brush head 310 can be used for targeted decontamination.

[0116] The nuclear reactor pool decontamination robot and decontamination system of the present invention, through radiation dose monitoring instrument 220 and electronic map construction after path planning, can present the dose rate level of the current location in real time and can present the radiation dose of the nuclear reactor pool operation area in three dimensions.

[0117] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A nuclear reactor pool decontamination robot, characterized in that, The nuclear reactor pool decontamination robot includes a mobile platform, a first robotic arm, and a second robotic arm. The mobile platform includes a vehicle body and wheels, and a first camera is installed on the vehicle body; The first robotic arm and the second robotic arm are mounted on the vehicle body; The first robotic arm is equipped with a decontamination assembly at its end for cleaning and rinsing the walls and bottom of the nuclear reactor pool, while the second robotic arm is equipped with a decontamination brush head at its end.

2. The nuclear reactor pool decontamination robot as described in claim 1, characterized in that, The first robotic arm and the second robotic arm have at least five degrees of freedom.

3. The nuclear reactor pool decontamination robot as described in claim 1 or 2, characterized in that, The decontamination assembly includes a high-pressure water spray gun and a decontamination agent spray gun, which are disposed at the end of the first robotic arm.

4. The nuclear reactor pool decontamination robot as described in claim 1 or 2, characterized in that, The first robotic arm is also equipped with a radiation dose monitor at its end.

5. The nuclear reactor pool decontamination robot as described in claim 4, characterized in that, The radiation dose monitoring instrument includes one or more combinations of aerosol radiation monitoring instrument, neutron monitoring instrument, gamma dose rate monitoring instrument and surface contamination monitoring instrument.

6. The nuclear reactor pool decontamination robot as described in claim 1 or 2, characterized in that, The second robotic arm is also equipped with a second camera at its end.

7. The nuclear reactor pool decontamination robot as described in claim 1, characterized in that, The first camera is a pan-tilt camera, and lighting lights are installed on both sides of the first camera.

8. The nuclear reactor pool decontamination robot as described in claim 1, characterized in that, The wheels are omnidirectional wheels.

9. The nuclear reactor pool decontamination robot as described in claim 1, characterized in that, The vehicle is equipped with a lidar, and the mobile platform uses laser real-time positioning and mapping technology for autonomous navigation.

10. A nuclear reactor pool decontamination system, characterized in that, The decontamination system includes a nuclear reactor pool decontamination robot as described in any one of claims 1-9, as well as water pipes, a booster pump, control equipment, a water storage tank, and a decontaminant storage tank. The water storage tank and the detergent storage tank are connected to the booster pump via the water pipe, and the booster pump is connected to the decontamination assembly via the water pipe; the control device is electrically connected to the nuclear reactor pool decontamination robot and the booster pump.

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