Nuclear accident site physical field simulation system and method

Abstract

The present invention provides a nuclear accident site physical field simulation system and method, wherein the nuclear accident site physical field simulation system includes: a detection robot and a remote simulation processor; the detection robot includes a main frame and a plurality of mechanical limbs arranged on the main frame, the mechanical limbs are suitable for supporting the main frame to walk and adjust the angle of the main frame; the main frame is provided with a power module, a camera pan, a nuclear radiation detector, a wireless transmission module, a Slam navigation module and a master controller, and the remote simulation processor is used to generate a field simulation image according to the field image information collected by the camera pan, the radiation field information collected by the radiation detector, the coordinates of the detection robot and the posture of the main frame. The system can obtain the image and multi-physical field distribution in the reactor compartment, generate a field simulation image through the remote simulation processor, and provide data reference for daily patrols and nuclear emergency work of possible nuclear accidents.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant detection equipment, and in particular to a nuclear accident site physical field simulation system and method. Background Art

[0002] In the field of nuclear industry applications, there is strong radioactivity in the reactor compartment, and the equipment in the reactor compartment is complexly arranged. When a nuclear accident or nuclear safety hazard occurs, there is a huge safety risk for personnel to enter the compartment. With the continuous development of robot technology, the use of robots for equipment maintenance, radioactive waste treatment, emergency response and other tasks is expected to help solve the contradiction between the inconvenience of personnel entering the compartment during reactor operation and the inability to quickly determine the cause of the accident and finalize the nuclear emergency strategy under extreme accident conditions.

[0003] When a nuclear accident occurs in a nuclear power plant, there is a high probability that high-temperature and high-pressure coolant will leak in the reactor compartment. The high-temperature and high-radiation steam will cause the cameras in the reactor compartment to fail to work properly. At the same time, if personnel take nuclear emergency measures and enter for maintenance without knowing the reactor compartment environment, it will be extremely harmful to nuclear safety and the lives of crew members. It is necessary to develop a rapid response emergency monitoring tool to monitor the on-site physical field, confirm the on-site conditions and the cause of the fault as soon as possible, and provide information for the fastest nuclear emergency. At present, the measures to deal with emergencies are weak. One of the reasons is that the on-site conditions are unclear, which affects the correctness and timeliness of nuclear emergency work. Most of the known nuclear radiation detection robots are wheeled or tracked, carrying radiation probes, and have poor passability in the complex reactor compartment environment, making it difficult to meet the requirements of quickly and accurately locating the leakage point. Summary of the invention

[0004] The present invention provides a nuclear accident site physical field deduction simulation system and method, which are used to solve the problem in the prior art that nuclear radiation detection robots cannot fully obtain the site conditions and fault causes.

[0005] The invention provides a nuclear accident site physical field deduction simulation system, comprising: a detection robot and a remote simulation processor; the detection robot comprises a main frame and a plurality of mechanical limbs arranged on the main frame, the mechanical limbs are suitable for supporting the main frame to walk and for adjusting the angle of the main frame; the main frame is provided with a power module, a camera pan platform, a nuclear radiation detector, a wireless transmission module, a Slam navigation module and a general controller, the power module is used to supply power to the mechanical limbs, the camera pan platform, the nuclear radiation detector, the wireless transmission module and the general controller, the mechanical limbs, the camera pan platform and the Slam navigation module are respectively electrically connected to the general controller, the nuclear radiation detector and the general controller are respectively connected to the remote simulation processor by signal through the wireless transmission module, and the remote simulation processor is used to generate a field simulation image according to the field image information collected by the camera pan platform, the radiation field information collected by the radiation detector, the coordinates of the detection robot and the position and posture of the mechanical limbs.

[0006] According to a nuclear accident site physical field simulation system of the present invention, a temperature sensor, a humidity sensor, a temperature regulating device and a humidity regulating device are also arranged on the main frame, and the temperature sensor and the humidity sensor are connected to the remote simulation processor signal through the wireless transmission module, the temperature sensor is used to collect on-site temperature information, and the humidity sensor is used to collect on-site humidity information. The remote simulation processor has a drive output end, and the drive output end is electrically connected to the temperature regulating device and the humidity regulating device, and the drive output end is used to control the operation of the temperature regulating device and the humidity regulating device.

[0007] According to a nuclear accident site physical field deduction and simulation system of the present invention, the nuclear accident site physical field deduction and simulation system also includes: a detection module and a robotic arm; the detection module is placed in the main frame, and the detection module is signal-connected to the remote simulation processor; the robotic arm is used to deploy the detection module to the site.

[0008] According to a nuclear accident site physical field deduction and simulation system of the present invention, the nuclear accident site physical field deduction and simulation system also includes: a module storage and transportation device, the module storage and transportation device includes a storage box, a compression spring and a lifting device, the module storage and transportation device is used to store and transport the detection module, the storage box is provided with a module outlet, the compression spring is used to push the detection module toward the module outlet, and the lifting device is used to push the detection module out of the module outlet for the robot arm to grab.

[0009] According to a nuclear accident scene physical field deduction and simulation system of the present invention, the detection module is provided with an environmental feature collection device and a communication device.

[0010] According to a nuclear accident site physical field deduction and simulation system of the present invention, the nuclear accident site physical field deduction and simulation system also includes: a routing drop device, a routing drop controller and at least one routing module; the routing drop controller is electrically connected to the routing drop device, and the routing drop controller is used to control the operation of the routing drop device; the routing drop device is used to hang the routing module on the detection robot and to arrange the routing module on the walking path of the detection robot; the routing module is used to provide a wireless communication link for the site after being arranged on the walking path.

[0011] According to a nuclear accident scene physical field deduction and simulation system of the present invention, the routing drop device is a routing electromagnetic suction piece.

[0012] According to a nuclear accident scene physical field simulation system of the present invention, a vertically extending placement hole is provided on the main frame, a plurality of routing electromagnetic suction members are provided along the extension direction of the placement hole, a plurality of routing modules are vertically arranged in the placement hole, and each routing module is adsorbed one-to-one with each routing electromagnetic suction member.

[0013] The present invention also provides a deduction and simulation method based on the nuclear accident site physical field deduction and simulation system described in any one of the above items, comprising the following steps:

[0014] Before an accident occurs, the detection robot is placed in the reactor compartment to obtain the stop position, posture and on-site image, perform three-dimensional modeling and store it as navigation information;

[0015] After the accident occurs, a plurality of cruising points are generated by using the navigation information;

[0016] Placing the detection robot in the reactor compartment, combining the navigation information and Slam navigation to enable the detection robot to reach different cruise points, and obtaining post-accident image information and post-accident radiation field information of different postures at each cruise point;

[0017] The remote simulation processor generates a scene simulation image based on the post-accident image information, the post-accident radiation field information, the cruise point position information and the posture information when the image is acquired.

[0018] According to a deduction and simulation method of the present invention, the deduction and simulation method also includes: arranging detection modules near each stop position by a robotic arm to obtain on-site temperature information, on-site humidity information, on-site electromagnetic field information and radiation field information in real time.

[0019] The nuclear accident site physical field simulation system and method provided by the present invention can obtain images and radiation field conditions in the reactor cabin in advance by placing a detection robot in the reactor cabin, and generate a scene simulation image through a remote simulation processor, which can provide data reference for subsequent daily patrols and possible nuclear accident rescue work. After a nuclear accident occurs, based on the pre-acquired site information, the detection robot is used again to collect site data, and combined with the Slam navigation module for navigation, to obtain real-time data such as images and radiation fields of the nuclear accident site, and a simulation image of the accident site is generated through a remote simulation processor, and the dynamics of the accident site are obtained in real time, providing favorable data support for rescue work.

[0020] The detection robot uses mechanical limbs and cooperates with the Slam navigation module for navigation. It has good traveling ability even in complex terrain, allowing the detection robot to obtain more sufficient on-site data. The mechanical limbs also have the ability to adjust the detection robot's posture, allowing the detection robot to obtain on-site images from multiple directions and angles when performing image acquisition.

[0021] The nuclear accident scene physical field simulation system provided by the present invention can be used to assist reactor operators in quickly determining the accident situation and taking correct operations in the event of an accident. It can also be used to assist in determining the severity of the accident, provide a basis for nuclear emergency decision-making, and avoid serious casualties and economic losses caused by nuclear accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of a nuclear accident scene physical field simulation system provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the circuit connection relationship of a nuclear accident scene physical field simulation system provided by an embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of the overall structure of a nuclear accident scene physical field simulation system provided by another embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of a module storage and transportation device in a nuclear accident site physical field simulation system provided by an embodiment of the present invention;

[0027] Figure 5 This is a bottom view of a nuclear accident scene physical field simulation system provided by an embodiment of the present invention;

[0028] Figure 6 It is a flow chart of a deduction and simulation method of a nuclear accident scene physical field deduction and simulation system provided by an embodiment of the present invention.

[0029] Reference numerals:

[0030] 1. Main frame; 11. Temperature sensor; 12. Humidity sensor; 13. Temperature regulating device; 14. Humidity regulating device; 15. Working surface; 16. Placement hole; 2. Mechanical limbs; 21. Frame; 22. First walking bracket; 23. First joint servo motor; 24. Second walking bracket; 25. Second joint servo motor; 26. Third walking bracket; 27. Third joint servo motor; 28. Walking drive interface; 3. Camera pan; 31. Image output interface; 32. Shooting control terminal; 4. Nuclear radiation detector; 5. Master controller; 51. First input interface; 52. Second input interface; 53. Third input interface; 54. First output interface; 55. Second output interface; 56. Third output interface; 57. Fourth output interface; 58 , the fifth output interface; 6, routing drop controller; 7, Slam navigation module; 8, remote simulation processor; 9, satellite positioning system; 101, detection module; 1011, on-site temperature sensor; 1012, on-site humidity sensor; 1013, on-site gas sensor; 1014, radiation detection device; 1015, wireless communication device; 102, robotic arm; 1021, base; 1022, first connecting rod; 1023, second connecting rod; 1024, third connecting rod; 1025, end effector; 1026, servo motor; 1027, robotic arm drive interface; 103, module storage and transfer device; 1031, storage box; 1032, compression spring; 1033, lifting device; 104, routing module; 105, routing electromagnetic suction piece. DETAILED DESCRIPTION

[0031] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0034] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0036] Combine the following Figure 1 and Figure 2The nuclear accident site physical field simulation system of the embodiment of the present invention is described, including a detection robot and a remote simulation processor 8, wherein the detection robot includes a main frame 1 and a plurality of mechanical limbs 2 arranged on the main frame 1. The main frame 1 is a box structure, the upper side of which forms a working surface 15, and the upper side of the bottom plate of the main frame 1 forms a storage surface. The mechanical limbs 2 are evenly distributed around the main frame 1, and the coordinated operation of the mechanical limbs 2 can support the movement of the main frame 1 and adjust the angle of the main frame 1.

[0037] The number of mechanical limbs 2 is preferably six, and the main frame 1 and the mechanical limbs 2 constitute a hexapod robot. The mechanical limbs 2 include a frame 21, a first walking support 22, a first joint servo motor 23, a second walking support 24, a second joint servo motor 25, a third walking support 26, and a third joint servo motor 27. The frame 21 is fixedly arranged at the edge of the main frame 1, and the frame 21, the first walking support 22, the second walking support 24 and the third walking support 26 are hinged in sequence. The hinge axis of the frame 21 and the first walking support 22 is perpendicular to the working surface 15, and the hinge axis of the first walking support 22 and the second walking support 24 and the hinge axis of the second walking support 24 and the third walking support 26 are parallel to the working surface 15. The first joint servo motor 23 is arranged at the connection position between the frame 21 and the first walking bracket 22, and can be used to drive the first walking bracket 22 to rotate relative to the frame 21; the second joint servo motor 25 is arranged at the connection position between the first walking bracket 22 and the second walking bracket 24, and can be used to drive the second walking bracket 24 to rotate relative to the first walking bracket 22; the third joint servo motor 27 is arranged at the connection position between the second walking bracket 24 and the third walking bracket 26, and can be used to drive the third walking bracket 26 to rotate relative to the second walking bracket 24.

[0038] The main frame 1 is provided with a power module, a camera platform 3, a nuclear radiation detector 4, a wireless transmission module, a Slam navigation module 7 and a general controller 5.

[0039] The power module is used to supply power to the camera platform 3, the nuclear radiation detector 4, the wireless transmission module, the Slam navigation module 7, the main controller 5, the first joint servo motor 23, the second joint servo motor 25 and the third joint servo motor 27.

[0040] The camera platform 3 and the nuclear radiation detector 4 are respectively arranged on the working surface 15, and the camera platform 3 has a gamma camera, a shooting control terminal 32 and an image output interface 31. The shooting control terminal 32 can control the gamma camera to collect images within the range of the gamma camera and generate a collected image file, which can be transmitted to the image output interface 31. The nuclear radiation detector 4 is connected to the remote simulation processor 8 through a wireless transmission module.

[0041] The master controller 5 has a plurality of input interfaces and a plurality of output structures. For the convenience of description, some input interfaces of the master controller 5 are respectively named as the first input interface 51, the second input interface 52 and the third input interface 53, and some output interfaces of the master controller 5 are respectively named as the first output interface 54, the second output interface 55, the third output interface 56, the fourth output interface 57 and the fifth output interface 58. The first input interface 51 of the master controller 5 is connected to the image output interface 31 of the camera pan / tilt 3, the second input interface 52 is connected to the Slam navigation module 7, and the third input interface 53 is connected to the satellite positioning system 9; the first output interface 54 of the master controller 5 is connected to the travel drive interface 28 of the first joint servo motor 23, the second joint servo motor 25 and the third joint servo motor 27, the third output interface 56 is connected to the shooting control terminal 32, and the fifth output interface 58 is connected to the remote simulation processor 8.

[0042] After the main controller 5 determines the moving position through the navigation of the satellite positioning system 9 and the Slam navigation module 7, it controls the operation of the first joint servo motor 23, the second joint servo motor 25 and the third joint servo motor 27 through the walking drive interface 28, so that the detection robot moves to the stop position. At this time, the main controller 5 controls the operation of the first joint servo motor 23, the second joint servo motor 25 and the third joint servo motor 27 to adjust the posture of the main frame 1, and at the same time controls the gamma camera to collect images at different angles and generate image files to pass to the main controller 5. The main controller 5 passes the image file, position information and posture information to the remote simulation processor 8, and the nuclear radiation detector 4 synchronously passes the radiation field information of the stop position to the remote simulation processor 8. After receiving the image files, position information, posture information and radiation field information of different stop positions, the remote simulation processor 8 generates a field simulation image, and further generates a VR recognizable file.

[0043] When no nuclear accident occurs, the on-site simulation images generated by the remote simulation processor 8 can provide data reference for subsequent daily inspections and information collection after the accident; after the accident occurs, the on-site simulation images generated by the remote simulation processor 8 can facilitate real-time grasp of the accident site dynamics and provide data support for on-site rescue.

[0044] In one embodiment of the present invention, a temperature sensor 11, a humidity sensor 12, a temperature regulating device 13 and a humidity regulating device 14 are also provided on the main frame 1. The temperature sensor 11 is used to collect on-site temperature information, and the humidity sensor 12 is used to collect on-site humidity information. The temperature sensor 11 and the humidity sensor 12 are connected to the remote simulation processor 8 through a wireless transmission module to transmit the on-site temperature information and the on-site humidity information to the remote simulation processor 8. The remote simulation processor 8 has a drive output end, which is electrically connected to the temperature regulating device 13 and the humidity regulating device 14. The drive output end is used to control the operation of the temperature regulating device 13 and the humidity regulating device 14, so as to facilitate real-time regulation according to actual conditions and protect the internal modules and control system of the detection robot.

[0045] Combination Figure 3 In one embodiment of the present invention, the nuclear accident scene physical field simulation system further includes: a detection module 101 and a robotic arm 102.

[0046] The detection module 101 is placed in the main frame 1 and can be taken out from the main frame 1. The detection module 101 is connected to the remote simulation processor 8 by signal, and can transmit detection information to the remote simulation processor 8.

[0047] The mechanical arm 102 is used to arrange the detection module 101 at the site. The mechanical arm 102 specifically includes a base 1021, a first connecting rod 1022, a second connecting rod 1023, a third connecting rod 1024 and an end effector 1025. The base 1021 is fixedly connected to the working surface 15, the first connecting rod is rotatably connected to the base 1021 and can rotate around the axis of the base 1021, and a servo motor 1026 for driving the first connecting rod 1022 to rotate is provided at the connection position between the first connecting rod 1022 and the base 1021. The first connecting rod 1022, the second connecting rod 1023 and the third connecting rod 1024 are respectively hinged, and a mechanical arm driving interface 1027 is respectively provided at the connection position, and the end effector 1025 is provided at the free end of the third connecting rod. The servo motor 1026 and the mechanical arm drive interface 1027 are respectively connected to the second output interface 55 of the master controller 5. The master controller 5 can generate and send the mechanical arm 102 drive information, control the mechanical arm 102 to operate, and send the end effector 1025 to the specified position. In the embodiment of the present invention, the end effector 1025 has a grasping or adsorption function, and can place the detection module 101 at the specified position on site.

[0048] Optionally, the end effector 1025 is detachably connected to the free end of the third connecting rod, and can be replaced with a detector, an image acquisition device, etc. according to usage requirements.

[0049] When an emergency safety accident occurs in the reactor, it is necessary to monitor the dose in the reactor in real time and determine the cause of the accident. The detection module 101 needs to be deployed. At this time, the detection robot deploys the detection module 101 to the designated position through the mechanical arm 102 to obtain real-time information of the accident scene. The deployment position of the detection module 101 can be determined based on the terrain information collected before the accident and the image information and radiation field information collected after the accident. The detection robot can deploy the detection module 101 near the highest dose according to the radiation field gradient, and distribute it as evenly as possible.

[0050] In one embodiment of the present invention, an environmental feature acquisition device and a communication device are provided in the detection module 101, wherein the environmental feature acquisition device includes an on-site temperature sensor 1011, an on-site humidity sensor 1012, an on-site gas sensor 1013 and a radiation detection device 1014, and the communication device is a wireless communication device 1015. The output ends of the on-site temperature sensor 1011, the on-site humidity sensor 1012, the on-site gas sensor 1013 and the radiation detection device 1014 are respectively connected to the wireless communication device 1015, and are connected to the remote simulation processor 8 by signal through the wireless communication device 1015. Of course, it is conceivable that at least a power supply is built into the detection module 101 to power the devices in the detection module 101.

[0051] Combination Figure 4In order to facilitate the mechanical arm 102 to obtain the detection module 101 from the main frame 1, the nuclear accident site physical field simulation system also includes a module storage and transportation device 103. The module storage and transportation device 103 includes a storage box 1031, a compression spring 1032 and a lifting device 1033. The storage box 1031 is arranged in the main frame 1. The upper side of the storage box 1031 forms a module outlet. The detection module 101 can enter and exit the storage box 1031 through the module outlet. Multiple detection modules 101 are arranged one by one along the length direction of the storage box 1031. The compression spring 1032 is arranged in the storage box 1031 on the side away from the module outlet, and one end of the compression spring 1032 abuts against the inner wall of the storage box 1031 at one end away from the module outlet, and the other end abuts against the detection module 101 away from the module outlet. When the detection module 101 close to the module outlet is taken out from the module outlet position, the compression spring 1032 can push other detection modules 101 to supplement to the module outlet position. The lifting device 1033 is arranged at the lower side of the storage box 1031, and the lifting movable end of the lifting device 1033 is located in the storage box 1031. The lifting device 1033 includes a linear servo and a lifting platform, and the linear servo is connected to the output end of the master controller 5. The lifting platform is fixed to the movable end of the linear servo, and the lifting platform is supported under the detection module 101 at the module exit position. When the linear servo is running, it drives the lifting platform to rise and pushes out the detection module 101 at the module exit position. After the mechanical arm 102 takes away the detection module 101, the linear servo drives the lifting platform to descend, and the compression spring 1032 pushes the next detection module 101 onto the lifting platform.

[0052] In one embodiment of the present invention, the nuclear accident site physical field simulation system further includes: a route drop device, a route drop controller 6 and at least one routing module 104. The input end of the route drop controller 6 is connected to the fourth output interface 57 of the master controller 5, and the output end of the route drop controller 6 is connected to the route drop device.

[0053] The routing drop device is arranged at the lower side of the main frame 1, and can be used to hang the routing module 104 on the detection robot and to arrange the routing module 104 on the walking path of the detection robot. The routing drop device can use a routing electromagnetic suction piece 105. When the routing electromagnetic suction piece 105 is powered on, it generates magnetism to adsorb and fix the routing module 104 on the main frame 1. After the power is off, the routing module 104 automatically drops.

[0054] Specifically, a vertically extending placement hole 16 is provided on the main frame 1, and the placement hole 16 forms an opening on the lower surface of the main frame 1, and a plurality of routing modules 104 are arranged in the placement hole 16 along the extension direction of the placement hole 16. A plurality of routing electromagnetic suction members 105 are provided along the extension direction of the placement hole 16 corresponding to the routing module 104, and each routing electromagnetic suction member 105 adsorbs a routing module 104, and the routing electromagnetic suction members 105 do not interfere with each other. In order to meet the actual use requirements, a plurality of placement holes 16 can be provided in parallel and spaced apart, and a plurality of groups of routing modules 104 and routing electromagnetic suction members 105 can be provided in each placement hole 16 accordingly.

[0055] Combination Figure 5 In order to ensure that the signal at the accident scene can be transmitted to the outside, on the walking path of the detection robot, the routing drop controller 6 controls the routing drop device to drop a routing module 104 at a certain distance. After falling, the routing modules 104 together constitute a wireless communication link, providing conditions for signal transmission.

[0056] Combination Figure 6 In one embodiment of the present invention, the interior of the main frame 1 is covered with a shielding layer, and the shielding layer is made of radiation-proof material, which can be used to protect the internal modules and control system of the detection robot.

[0057] In one embodiment of the present invention, a simulation method for a nuclear accident site physical field simulation system based on any one of the above embodiments is provided, comprising the following steps:

[0058] S100, before an accident occurs, obtain the detection robot's stop position, posture and on-site image, perform three-dimensional modeling and store them as navigation information.

[0059] Step S100 specifically includes: placing the detection robot in the reactor compartment before an accident occurs, and moving the detection robot in the reactor compartment. When reaching one of the stop positions, adjust the mechanical limbs 2, and then adjust the posture of the detection robot, and obtain on-site images of different angles through the camera pan 3 at different postures. The on-site image information of different stop positions, the stop positions corresponding to the on-site image information, and the posture of the detection robot are sent to the remote simulation processor 8 through the wireless transmission module. The remote simulation processor 8 performs 3D modeling of the warehouse environment according to the on-site image information, the stop positions corresponding to the on-site image information, and the posture of the detection robot, generates a on-site simulation image, and stores it as navigation information.

[0060] S200, after the accident occurs, the on-site simulation image is used as a navigation map, multiple cruise points are generated through navigation information, and the cruise points are stored in the main controller 5 as a basis for determining the stop position of the detection robot after the accident occurs.

[0061] S300, combining navigation information and Slam navigation to enable the detection robot to reach different cruise points respectively, and obtain post-accident image information and post-accident radiation field information of different positions at each cruise point respectively.

[0062] Step S300 specifically includes:

[0063] S310, the main controller 5 obtains different stop position information according to the cruise point; combines the first stop position information and the terrain information detected by the Slam navigation module 7 to generate the current walking motor driving information, and the walking motor driving information includes multiple continuous driving information of the first joint servo motor 23, the second joint servo motor 25 and the third joint servo motor 27, and multiple inverse solution information of each joint obtained by making the working surface 15 in different postures.

[0064] S320, the main controller 5 sends the travel motor driving information to the travel driving interface 28, and controls the detection robot to move to the first stop position;

[0065] S330, the main controller 5 determines whether the current position is the first stop position; if so, the detection robot is controlled to adjust to different postures, and the camera pan-tilt 3 is controlled to obtain on-site image information when the detection robot is in different postures, and the radiation field information is obtained through the nuclear radiation detector 4; if not, the detection robot is controlled to continue moving until it reaches the first stop position, and after reaching the first stop position, the detection robot is controlled to adjust to different postures, and the camera pan-tilt 3 is controlled to obtain on-site image information when the detection robot is in different postures, and the radiation field information is obtained through the nuclear radiation detector 4; the main controller 5 sends the on-site image information and the radiation field information to the remote prevention processor;

[0066] S340, the main controller 5 sends the walking motor driving information to the walking driving interface 28, and controls the detection robot to move to the next stop position;

[0067] S350, the main controller 5 determines whether the current position is the required stop position; if so, the detection robot is controlled to adjust to different postures, and the camera pan-tilt 3 is controlled to obtain the on-site image information when the detection robot is in different postures, and the radiation field information is obtained through the nuclear radiation detector 4; if not, the detection robot is controlled to continue moving until it reaches the first stop position, and after reaching the required stop position, the detection robot is controlled to adjust to different postures, and the camera pan-tilt 3 is controlled to obtain the on-site image information when the detection robot is in different postures, and the radiation field information is obtained through the nuclear radiation detector 4; the main controller 5 sends the on-site image information and the radiation field information to the remote prevention processor;

[0068] S360, repeating steps S340-S350 until the collection of on-site image information and radiation field information of all stop positions is completed;

[0069] S400, the remote simulation processor 8 generates a VR recognizable file according to the post-accident image information, the post-accident radiation field information, the cruise point position information and the posture information when the image is acquired, and further forms a scene simulation image through the VR recognizable file.

[0070] In one embodiment of the present invention, step S300 in the deduction simulation method further includes:

[0071] S370, using the robot arm 102 to arrange detection modules 101 near each stop position to obtain on-site temperature information, on-site humidity information, on-site electromagnetic field information and radiation field information in real time.

[0072] Specifically, the main controller 5 controls the module storage transfer device 103 and the robotic arm 102 to operate simultaneously, the robotic arm 102 arranges the detection module 101 to different positions, and obtains the on-site temperature information, on-site humidity information, on-site electromagnetic field information and radiation field information through the detection module 101. The information obtained by the detection module 101 is wirelessly transmitted to the remote simulation processor 8.

[0073] Furthermore, step S400 further includes:

[0074] S410, the remote simulation processor 8 obtains a scene map of the disaster site corresponding to the nuclear accident based on the on-site temperature information, on-site humidity information, on-site electromagnetic field information, radiation field information and the placement position information of the detection module 101 collected by the detection module 101.

[0075] In one embodiment of the present invention, the scene map of the disaster site is composed of a plurality of point cloud data. In an optional manner, the point cloud is realized by the following steps:

[0076] Define variables based on the initial radiation field;

[0077] Set the color and transparency of the point cloud according to different radiation ranges;

[0078] Generate point cloud data on the simulation interface according to the boundaries of the navigation map and set the initial position of the point cloud;

[0079] Initialize the point cloud system;

[0080] The point cloud call is updated according to the real-time information obtained by the gamma camera and the detection module 101, and the color of the point cloud is set according to the size of the physical field detected by the camera pan 3 and the detection module 101 to complete the visualization of the point cloud system.

[0081] In another alternative, the point cloud is implemented by an algorithm, specifically:

[0082] Read the physical field values ​​at different points through the gamma camera and the detection module 101;

[0083] Based on the read point cloud data, a spatial model is established, and point cloud splicing is performed using this space, using the extended Kalman filter (EKF) algorithm;

[0084] Divide by the collected point cloud data, obtain the measured real data evenly in the space, and assign values ​​to the physical field of all points in the space;

[0085] The radiation field strength of all points in the space is calculated using the extended Kalman filter from the x, y, and z axes respectively, and the radiation field strength of each point in the space is updated (points that have been assigned values ​​are no longer updated);

[0086] The approximate distribution of the radiation field in the entire original environment is restored based on the actual radiation field intensity of the point cloud data measured by the gamma camera and the detection module 101, and visualization is achieved through point cloud system restoration.

[0087] The nuclear accident scene physical field simulation system and method in the embodiment of the present invention can obtain information inside the reactor compartment in real time, and can generate on-site simulation images through the remote simulation processor 8, which helps to grasp the dynamics inside the compartment in real time and provides favorable conditions for nuclear accident rescue work.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A nuclear accident site physical field simulation system, characterized in that: include: Probe robots and tele-simulation processors; The detection robot includes a main frame and a plurality of mechanical limbs arranged on the main frame, wherein the mechanical limbs are suitable for supporting the main frame to walk and for adjusting the angle of the main frame; a power module, a camera pan-tilt, a nuclear radiation detector, a wireless transmission module, a Slam navigation module and a general controller are arranged on the main frame, wherein the power module is used to supply power to the mechanical limbs, the camera pan-tilt, the nuclear radiation detector, the wireless transmission module and the general controller, wherein the mechanical limbs, the camera pan-tilt and the Slam navigation module are respectively electrically connected to the general controller, wherein the nuclear radiation detector and the general controller are respectively connected to the remote simulation processor signal through the wireless transmission module, and wherein the remote simulation processor is used to generate a field simulation image according to the field image information collected by the camera pan-tilt, the radiation field information collected by the radiation detector, the coordinates of the detection robot and the posture of the main frame; The number of the mechanical limbs is six, and the main frame and the mechanical limbs constitute a hexapod robot; the mechanical limbs include a frame, a first walking bracket, a first joint servo motor, a second walking bracket, a second joint servo motor, a third walking bracket, and a third joint servo motor; The frame is fixedly arranged at the edge of the main frame, the frame, the first walking bracket, the second walking bracket and the third walking bracket are hinged in sequence, the hinge axis of the frame and the first walking bracket is perpendicular to the working surface, the hinge axis of the first walking bracket and the second walking bracket and the hinge axis of the second walking bracket and the third walking bracket are parallel to the working surface; the first joint servo motor is arranged at the connection position of the frame and the first walking bracket, and can be used to drive the first walking bracket to rotate relative to the frame; the second joint servo motor is arranged at the connection position of the first walking bracket and the second walking bracket, and can be used to drive the second walking bracket to rotate relative to the first walking bracket; The third joint servo motor is disposed at a connection position between the second walking bracket and the third walking bracket, and can be used to drive the third walking bracket to rotate relative to the second walking bracket.

2. The nuclear accident site physical field simulation system according to claim 1, characterized in that: The main frame is also provided with a temperature sensor, a humidity sensor, a temperature regulating device and a humidity regulating device. The temperature sensor and the humidity sensor are connected to the remote simulation processor signal through the wireless transmission module. The temperature sensor is used to collect on-site temperature information, and the humidity sensor is used to collect on-site humidity information. The remote simulation processor has a drive output end, and the drive output end is electrically connected to the temperature regulating device and the humidity regulating device.

3. The nuclear accident site physical field simulation system according to claim 1, characterized in that: The nuclear accident site physical field simulation system also includes: a detection module and a robotic arm; the detection module is placed in the main frame, and the detection module is connected to the remote simulation processor by signal; the robotic arm is used to deploy the detection module to the site.

4. The nuclear accident site physical field simulation system according to claim 3, characterized in that: The nuclear accident scene physical field simulation system also includes: a module storage and transfer device, which includes a storage box, a compression spring and a lifting device. The module storage and transfer device is used to store and transfer the detection module. The storage box is provided with a module outlet. The compression spring is used to push the detection module toward the module outlet. The lifting device is used to push the detection module out of the module outlet for the robot arm to grab.

5. The nuclear accident site physical field simulation system according to claim 3, characterized in that: The detection module is provided with an environmental feature collection device and a communication device.

6. The nuclear accident site physical field simulation system according to claim 5, characterized in that: The nuclear accident site physical field simulation system also includes: a routing drop device, a routing drop controller and at least one routing module; the routing drop controller is electrically connected to the routing drop device, and the routing drop controller is used to control the operation of the routing drop device; the routing drop device is used to hang the routing module on the detection robot and to arrange the routing module on the walking path of the detection robot; the routing module is used to provide a wireless communication link for the site after being arranged on the walking path.

7. The nuclear accident site physical field simulation system according to claim 6, characterized in that: The routing drop device is a routing electromagnetic suction piece.

8. The nuclear accident site physical field simulation system according to claim 7, characterized in that: The main frame is provided with a vertically extending placement hole, a plurality of routing electromagnetic suction members are provided along the extension direction of the placement hole, a plurality of routing modules are vertically arranged in the placement hole, and each routing module is adsorbed one-to-one with each routing electromagnetic suction member.

9. A simulation method based on the nuclear accident site physical field simulation system according to any one of claims 1 to 8, characterized in that: The following steps are involved: Before an accident occurs, the detection robot's position, posture and on-site images are obtained, three-dimensional modeling is performed and stored as navigation information; After the accident occurs, a plurality of cruising points are generated by using the navigation information; Combining the navigation information with Slam navigation, the detection robot is enabled to reach different cruise points, and obtaining post-accident image information and post-accident radiation field information of different positions at each cruise point; The remote simulation processor generates a scene simulation image based on the post-accident image information, the post-accident radiation field information, the cruise point position information and the posture information when the image is acquired.

10. The deduction simulation method according to claim 9, characterized in that: The deduction and simulation method also includes: arranging detection modules near each stop position by a mechanical arm to obtain on-site temperature information, on-site humidity information, on-site electromagnetic field information and radiation field information in real time.

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