A control system based on pipeline vibration monitoring for nuclear power plant systems

Abstract

The present invention discloses a pipeline vibration monitoring control system for nuclear power plant systems. The system comprises a working module for monitoring pipeline flow and performing directional dredging within the pipeline; a vibration module for monitoring pipeline vibration and further detecting internal pipeline anomalies based on the pipeline's operating conditions; a data module for collecting and processing operational feedback from the working module based on the Internet of Things; and a control device for further controlling the operation of each electrical component within the control system through electrical connections. The present invention boasts high monitoring efficiency, significantly improves nuclear power plant safety, and effectively enhances pipeline fault resolution efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear safety pipeline vibration monitoring, and in particular relates to a control system based on pipeline vibration monitoring for a nuclear power plant system. Background Art

[0002] Nuclear power plants are an important component of my country's power development. In the management of pressure pipelines in the conventional island and supporting facilities of nuclear power plants, it is imperative to conduct a comprehensive survey of pressure pipelines and collect information. The number and specific distribution of pressure pipelines must be clarified, while pipeline safety management must be monitored and analyzed. Information documentation for pipeline inspection and maintenance must be established, and inspection and management systems must be improved to ensure that static and dynamic pressure parameters are monitored and pipeline problems are prevented in a timely manner, ensuring the safe and long-term operation of nuclear power plants.

[0003] Existing technologies include WO2013157989A1, JP2010133832A, CN103247358B and CN103016958B. The existing technologies specifically relate to a temperature and humidity monitoring method and monitoring system for medium leakage in high-energy pipelines of nuclear power plants. The method installs several temperature and humidity probes along the transmission channel between the high-energy pipe wall and the insulation layer. The humidity probes measure the absolute humidity change in the channel after the medium leaks, and use the relative relationship between the different times when different probes receive the humidity increase signal to identify the leakage location; after the humidity probe records the humidity increase, it converts the total medium increase in the entire channel and divides it by the cumulative time to obtain the leakage rate; through thermal calculations, the volume leakage rate at the actual leakage point is divided by the leakage rate to estimate the size of the leakage source; the temperature probe uses the temperature increase to assist in judging the pipeline leakage situation and leakage location. However, existing monitoring technologies cannot effectively resolve blockages in liquid transport pipelines at nuclear power plants. Furthermore, existing monitoring systems have low efficiency and cannot simultaneously monitor multiple areas within the pipeline, thus limiting their practicality in improving nuclear power plant safety. The present invention monitors pipelines under different conditions to effectively detect faults in corresponding areas of the pipeline. The present invention then clears and unblocks the pipelines by releasing the corresponding unit machines in the corresponding areas, and then uses images of the pipelines in the corresponding areas to monitor the corresponding pipeline faults.

[0004] The present invention was developed to address the common problems in this field, such as low monitoring efficiency and thus insignificant effect on improving the safety of nuclear power plants; defects in the control of machinery and equipment within pipelines that cannot effectively improve the efficiency of resolving pipeline faults; low intelligence of the control system and low coordination among the various working modules within the control system. Summary of the Invention

[0005] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a control system based on pipeline vibration monitoring for a nuclear power plant system, which has the characteristics of high monitoring efficiency, significant effect on improving the safety of the nuclear power plant, and can effectively improve the efficiency of pipeline fault resolution.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A control system based on pipeline vibration monitoring for a nuclear power plant system comprises a working module for monitoring pipeline flow and performing directional dredging work within the pipeline, a vibration module for monitoring pipeline vibration and further detecting abnormalities within the pipeline based on the working conditions within the pipeline, a data module for collecting and processing data on working feedback within the working module based on the Internet of Things, and a control device for further achieving working control by electrically connecting each electrical component within the control system.

[0008] The working module includes a unit device that works on a pipeline in a predetermined area, a unit compartment that is evenly spaced in the pipeline and cooperates with the unit device, and a charging unit that enables the unit compartment to perform wireless matching charging on the unit device.

[0009] The unit device includes a body, moving arms evenly arranged on the body, a moving part 1 arranged on the moving arm and opposite to the inner wall of the pipeline, a driving mechanism for driving the moving part 1 to slide relative to the inner wall of the pipeline, a flow sensor arranged on the body to monitor the flow in the pipeline, a rotating mechanism arranged on the body to stir and disperse the precipitated debris in the pipeline, a telescopic driving unit 2 arranged in each moving arm and further driving the telescopic movement of the moving arm to realize the movement of the moving part 1 in contact with the inner wall of the pipeline, and a first electromagnetic mechanism arranged in the body.

[0010] The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve arranged at the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment.

[0011] The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further charge the unit device, and a positioning device whose adaptation to the induction receiving end and the power supply mechanism further ensures effective and safe charging.

[0012] The telescopic drive unit 2 includes a pressure sensor evenly laid on each moving part 1 and arranged opposite to the inner wall of the pipe when the moving arm is in the retracted state, at least three openings distributed on the body shell, at least three extension rods that respectively pass through the openings and have one end fixed to the inside of the body, and an electric cylinder arranged in the body and driving one end of the extension rod to further move the other end of the extension rod along the opening to approach the inner wall of the pipe.

[0013] The vibration module includes a vibration sensor evenly laid on the outer wall of the pipeline to monitor the vibration signal of the corresponding area of ​​the pipeline, and a first abnormal signal corresponding to the abnormal vibration range corresponding to the pipeline operation corresponding to the pre-set storage module of the control system, and a second abnormal signal corresponding to the abnormal vibration of the pipeline when the pipeline is not transporting liquid.

[0014] The data module includes a signal transmitter with a corresponding identity number respectively arranged in each unit machine and unit warehouse, and a receiver arranged in the service end of the nuclear power plant for identifying and receiving signals from the signal transmitter.

[0015] Beneficial effects of the present invention:

[0016] 1. The present invention implements uniform distribution of pipeline areas for unit machines and provides corresponding charging compartments for each unit machine to achieve efficient and convenient management of the unit machines and improve the control efficiency of the control system.

[0017] 2. The present invention distributes unit machines at corresponding positions in the pipeline, thereby effectively improving the accuracy of monitoring different pipeline areas in the nuclear power plant.

[0018] 3. The present invention effectively reduces the complexity of the system through feedback reception of data information between modules and further achieves high coordination of the control system, providing practicality for the safety control of the nuclear power plant system.

[0019] 4. According to the adaptive extension of the moving arm of the unit machine in pipelines of different types in the nuclear power plant, the adaptive movement of the unit machine in pipelines of different structures is further realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a modular schematic diagram of the control system of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the unit device of the present invention.

[0022] Figure 3 Schematic diagram of the process of the processing module of the present invention.

[0023] Figure 4This is a modular schematic diagram of the unit warehouse of the present invention.

[0024] Figure 5 Schematic diagram of the experiment of the unit device of the present invention.

[0025] Description of the accompanying figures: 1-moving part; 2-telescopic driving unit; 3-moving track. DETAILED DESCRIPTION

[0026] The present invention will be described in further detail below with reference to the accompanying drawings.

[0027] Example 1:

[0028] This embodiment constructs a control system having a unit device for monitoring and clearing foreign matter in nuclear power plant pipelines;

[0029] A control system based on pipeline vibration monitoring for a nuclear power plant system, the control system includes a working module for monitoring the flow of the pipeline and performing directional dredging work in the pipeline, a vibration module for monitoring the vibration of the pipeline and further monitoring abnormalities inside the pipeline based on the working conditions in the pipeline, a data module for collecting and processing data feedback from the working module based on the Internet of Things, and a control device for further realizing working control of each electrical component in the control system through electrical connection. The working module includes a unit device for working on the pipeline in a predetermined area, and a unit device evenly distributed in the pipeline and controlling the unit device. The unit device is provided with a unit compartment for coordinating and placing a unit device and a charging unit for realizing wireless matching charging of the unit compartment to the unit device, wherein the unit device comprises a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and relative to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, and a rotating mechanism arranged in each of the movable arms and further driving the telescopic movement of the movable arm to realize the telescopic movement of the movable member 1 relative to the inner wall of the pipe. The inner wall of the telescopic drive unit 2 is moved against each other and the first electromagnetic mechanism is arranged in the body. The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve arranged on the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment. The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further perform the charging work of the unit device, and a positioning device that senses the adaptation of the receiving end and the power supply mechanism to further ensure effective and safe charging work. The telescopic drive unit 2 is moved against the inner wall of the unit compartment and the first electromagnetic mechanism is arranged in the body. The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve arranged on the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment. The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further perform the charging work of the unit device, and a positioning device that senses the adaptation of the receiving end and the power supply mechanism to further ensure effective and safe charging work. The movable unit 2 includes a pressure sensor evenly arranged on each movable member 1 and disposed opposite the inner wall of the pipe when the movable arm is in the retracted state; at least three openings distributed on the housing; at least three extension rods each sequentially extending through the openings and having one end fixed to the interior of the housing; and an electric cylinder disposed within the housing and driving one end of the extension rod to further move the other end of the extension rod toward the inner wall of the pipe along the opening. The data module includes a signal transmitter with a corresponding identification number disposed within each unit machine and unit compartment, and a receiver disposed within the nuclear power plant service end for identifying and receiving signals from the signal transmitter.

[0030] The unit device includes a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and opposite to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, a telescopic driving unit 2 arranged in each movable arm and further driving the telescopic movement of the movable arm to achieve the movement of the movable member 1 in contact with the inner wall of the pipe, and a first electromagnetic mechanism arranged in the body;

[0031] The telescopic drive unit 2 includes a pressure sensor evenly laid on each of the moving parts 1 and arranged opposite to the inner wall of the pipe when the moving arm is in the retracted state, at least three openings distributed on the outer shell of the machine body, at least three extension rods that respectively pass through the openings and have one end fixed to the inside of the machine body, and an electric cylinder that is arranged in the machine body and drives one end of the extension rod to further move the other end of the extension rod along the opening toward the inner wall of the pipe. When the moving arm is retracted, the moving arm is tightly retracted to the surface of the machine body, and then the moving arm of the machine body is retracted to achieve the application in the corresponding small-diameter pipes of the nuclear power plant. Therefore, the unit device can be applicable to pipes of various diameters and shapes according to the corresponding extension and retraction of the moving arm, and is suitable for the characteristics of the liquid transportation pipes of the nuclear power plant.

[0032] Each of the moving parts 1 includes a closed mounting shell and a plurality of rollers, wherein the mounting shell is configured such that its length direction is parallel to the length direction of the pipe, and the center of the roller is fixed in the mounting shell through a rotating shaft, wherein each of the rollers is configured to partially extend out of the mounting shell and the outer circle of the roller is tangent to a straight line, and a driving mechanism for driving the rollers to rotate synchronously is provided in the mounting shell, wherein the driving mechanism includes a driving gear, a passive gear, a third gear fixed at the center of the roller through a fixed shaft coaxially, at least one driving motor for driving at least the driving gear to rotate, and a closed toothed transmission belt tensioned on all the gears of the driving mechanism, wherein the corresponding control module controls the driving motor to drive the driving gear When the wheel rotates, the toothed transmission belt drives the third gear to further drive the roller to rotate, and the driving gear and the driven gear are respectively arranged at the return ends on both sides of the transmission belt, wherein each of the moving parts 1 includes a closed moving track 3 arranged around the outer wall of the closed mounting shell and the top ends of the rollers extending out of the mounting shell of the plurality of rollers, and a matching cover body which is matched with the side of the moving track 3 and closes the internal space of the moving track 3, the moving track 3 is made of elastic material, and the end of the moving track 3 that contacts with the mounting shell and the roller is serrated, and the surface of the roller is provided with a pattern that matches the serrated transmission, and a rotatable roller is distributed on the mounting shell, and the moving track 3 is also wrapped around The roller shaft further reduces the friction resistance of the movable track 3 during rotation when the roller drives the movable track 3 to move. An extension piece is extended on the side of the movable track 3, and a groove for sliding cooperation of the extension piece is provided on the side of the matching cover body. A sealing glue layer is provided at the opening of the groove. The sealing glue layer is sealed against the extension piece and the movable track 3, thereby making the interior of the movable part 1 a sealed and waterproof structure. A metal protrusion structure is evenly provided at the opposite end of the movable track 3 to the inner wall of the pipe, thereby effectively improving the friction between the movable track 3 and the inner wall of the pipe and effectively improving the anti-slip degree of the movable track 3 in a liquid environment. A fixing frame is fixedly provided inside the body. The fixing frame A fixing seat is evenly arranged around the upper portion for installing and fixing one end of the electric cylinder, and the other end of the electric cylinder is fixedly connected to the moving arm. A rubber layer is arranged in the opening channel, and the rubber layer is cooperated with the moving arm. The moving arm is a flat connecting rod, and the flat surface of the connecting rod is arranged parallel to the direction of water flow in the pipeline, thereby reducing the movement resistance of the unit machine in the pipeline. The extension length of the moving arm relative to the machine body is adjusted by extending and retracting the electric cylinder to further close the moving part 1 to the inside of the pipeline. The moving arm and the machine body can also be rotatably connected with a plurality of hinge shafts, so that when the electric cylinder drives the moving arm, the hinge shaft improves the stability of the elongation of the moving arm during the flow of solution in the pipeline.A camera can be installed in the machine body according to actual needs, allowing operators to directly observe the internal conditions of the pipeline and visually observe the specific working conditions in the pipeline. The camera uses a glass viewing window sealed in the machine body to photograph and monitor the conditions of the pipeline in which the machine body is located. A number of LED lights are embedded on the surface of the machine body to provide light illumination for the camera. The number and installation positions of the LED lights can be selected by those skilled in the art according to actual needs and will not be described in detail here. Each of the movable arms is correspondingly connected to an electric cylinder, and at least two different cross-sectional areas of the machine body are evenly surrounded by the electric cylinder and the movable arm fixed to the other end of the electric cylinder;

[0033] The body may further include a rotating mechanism for dispersing deposited foreign matter in the pipeline. The rotating mechanism further scrapes off the blocking foreign matter in the pipeline by rotating and dispersing the deposit, thereby promptly and effectively solving the problem of excessive temperature of the nuclear reactor caused by blockage of the condenser pipe of the nuclear power plant. The rotating mechanism includes a rotating unit respectively arranged at at least one end of the moving direction of the body, wherein each of the rotating units includes a rotating motor arranged inside the body, a sealed bearing embedded in the surface of the body, a rotating shaft, a Jiaolong blade fixed to the rotating shaft by welding, and a dispersion sheet uniformly arranged near the sealed bearing. One end of the dispersion sheet in the length direction is fixed to the body by bolts and / or welding, and the edge of the dispersion sheet is a metal sheet with a pointed structure, and then the Jiaolong blade pre-stirs and disperses the deposit. The dispersion sheet further blocks the flowing deposit into small particles that are not easy to deposit, thereby preventing the deposit from being insufficiently dispersed by the Jiaolong blade to form larger particle deposits and further depositing with the flow of the solution. The specific number of the dispersion sheets is selected by those skilled in the art according to actual needs and will not be repeated here.

[0034] Example 2:

[0035] This embodiment constructs a control system that monitors the power consumption of unit devices and replenishes power in a timely manner to achieve automatic power storage;

[0036] A control system based on pipeline vibration monitoring for a nuclear power plant system, the control system includes a working module for monitoring the flow of the pipeline and performing directional dredging work in the pipeline, a vibration module for monitoring the vibration of the pipeline and further monitoring abnormalities inside the pipeline based on the working conditions in the pipeline, a data module for collecting and processing data feedback from the working module based on the Internet of Things, and a control device for further realizing working control of each electrical component in the control system through electrical connection. The working module includes a unit device for working on the pipeline in a predetermined area, and a unit device evenly distributed in the pipeline and controlling the unit device. The unit device is provided with a unit compartment for coordinating and placing a unit device and a charging unit for realizing wireless matching charging of the unit compartment to the unit device, wherein the unit device comprises a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and relative to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, and a rotating mechanism arranged in each of the movable arms and further driving the telescopic movement of the movable arm to realize the telescopic movement of the movable member 1 relative to the inner wall of the pipe. The inner wall of the telescopic drive unit 2 is moved against each other and the first electromagnetic mechanism is arranged in the body. The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve arranged on the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment. The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further perform the charging work of the unit device, and a positioning device that senses the adaptation of the receiving end and the power supply mechanism to further ensure effective and safe charging work. The telescopic drive unit 2 is moved against the inner wall of the unit compartment and the first electromagnetic mechanism is arranged in the body. The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve arranged on the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment. The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further perform the charging work of the unit device, and a positioning device that senses the adaptation of the receiving end and the power supply mechanism to further ensure effective and safe charging work. The movable unit 2 includes a pressure sensor evenly arranged on each movable member 1 and disposed opposite the inner wall of the pipe when the movable arm is in the retracted state; at least three openings distributed on the housing; at least three extension rods each sequentially extending through the openings and having one end fixed to the interior of the housing; and an electric cylinder disposed within the housing and driving one end of the extension rod to further move the other end of the extension rod toward the inner wall of the pipe along the opening. The data module includes a signal transmitter with a corresponding identification number disposed within each unit machine and unit compartment, and a receiver disposed within the nuclear power plant service end for identifying and receiving signals from the signal transmitter.

[0037] The unit device includes a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and opposite to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, a telescopic driving unit 2 arranged in each movable arm and further driving the telescopic movement of the movable arm to achieve the movement of the movable member 1 in contact with the inner wall of the pipe, and a first electromagnetic mechanism arranged in the body;

[0038] The telescopic drive unit 2 includes a pressure sensor evenly laid on each of the moving parts 1 and arranged opposite to the inner wall of the pipe when the moving arm is in the retracted state, at least three openings distributed on the outer shell of the machine body, at least three extension rods that respectively pass through the openings and have one end fixed to the inside of the machine body, and an electric cylinder that is arranged in the machine body and drives one end of the extension rod to further move the other end of the extension rod along the opening toward the inner wall of the pipe. When the moving arm is retracted, the moving arm is tightly retracted to the surface of the machine body, and then the moving arm of the machine body is retracted to achieve the application in the corresponding small-diameter pipes of the nuclear power plant. Therefore, the unit device can be applicable to pipes of various diameters and shapes according to the corresponding extension and retraction of the moving arm, and is suitable for the characteristics of the liquid transportation pipes of the nuclear power plant.

[0039] Each of the moving parts 1 includes a closed mounting shell and a plurality of rollers, wherein the mounting shell is configured such that its length direction is parallel to the length direction of the pipe, and the center of the roller is fixed in the mounting shell through a rotating shaft, wherein each of the rollers is configured to partially extend out of the mounting shell and the outer circle of the roller is tangent to a straight line, and a driving mechanism for driving the rollers to rotate synchronously is provided in the mounting shell, wherein the driving mechanism includes a driving gear, a passive gear, a third gear fixed at the center of the roller through a fixed shaft coaxially, at least one driving motor for driving at least the driving gear to rotate, and a closed toothed transmission belt tensioned on all the gears of the driving mechanism, wherein the corresponding control module controls the driving motor to drive the driving gear When the wheel rotates, the toothed transmission belt drives the third gear to further drive the roller to rotate, and the driving gear and the driven gear are respectively arranged at the return ends on both sides of the transmission belt, wherein each of the moving parts 1 includes a closed moving track 3 arranged around the outer wall of the closed mounting shell and the top ends of the rollers extending out of the mounting shell of the plurality of rollers, and a matching cover body which is matched with the side of the moving track 3 and closes the internal space of the moving track 3, the moving track 3 is made of elastic material, and the end of the moving track 3 that contacts with the mounting shell and the roller is serrated, and the surface of the roller is provided with a pattern that matches the serrated transmission, and a rotatable roller is distributed on the mounting shell, and the moving track 3 is also wrapped around The roller shaft further reduces the friction resistance of the movable track 3 during rotation when the roller drives the movable track 3 to move. An extension piece is extended on the side of the movable track 3, and a groove for sliding cooperation of the extension piece is provided on the side of the matching cover body. A sealing glue layer is provided at the opening of the groove. The sealing glue layer is sealed against the extension piece and the movable track 3, thereby making the interior of the movable part 1 a sealed and waterproof structure. A metal protrusion structure is evenly provided at the opposite end of the movable track 3 to the inner wall of the pipe, thereby effectively improving the friction between the movable track 3 and the inner wall of the pipe and effectively improving the anti-slip degree of the movable track 3 in a liquid environment. A fixing frame is fixedly provided inside the body. The fixing frame A fixing seat is evenly arranged around the upper portion for installing and fixing one end of the electric cylinder, and the other end of the electric cylinder is fixedly connected to the moving arm. A rubber layer is arranged in the opening channel, and the rubber layer is cooperated with the moving arm. The moving arm is a flat connecting rod, and the flat surface of the connecting rod is arranged parallel to the direction of water flow in the pipeline, thereby reducing the movement resistance of the unit machine in the pipeline. The extension length of the moving arm relative to the machine body is adjusted by extending and retracting the electric cylinder to further close the moving part 1 to the inside of the pipeline. The moving arm and the machine body can also be rotatably connected with a plurality of hinge shafts, so that when the electric cylinder drives the moving arm, the hinge shaft improves the stability of the elongation of the moving arm during the flow of solution in the pipeline.A camera can be installed in the machine body according to actual needs, allowing operators to directly observe the internal conditions of the pipeline and visually observe the specific working conditions in the pipeline. The camera uses a glass viewing window sealed in the machine body to photograph and monitor the conditions of the pipeline in which the machine body is located. A number of LED lights are embedded on the surface of the machine body to provide light illumination for the camera. The number and installation positions of the LED lights can be selected by those skilled in the art according to actual needs and will not be described in detail here. Each of the movable arms is correspondingly connected to an electric cylinder, and at least two different cross-sectional areas of the machine body are evenly surrounded by the electric cylinder and the movable arm fixed to the other end of the electric cylinder;

[0040] The body may further include a rotating mechanism for dispersing the deposited foreign matter in the pipeline, the rotating mechanism further scrapes off the blocking foreign matter in the pipeline by rotating and dispersing the sediment, and promptly and effectively solves the problem of excessive temperature of the nuclear reactor caused by the blockage of the condenser pipe of the nuclear power plant. The rotating mechanism includes a rotating unit respectively arranged at at least one end of the movement direction of the body, wherein each of the rotating units includes a rotating motor arranged inside the body, a sealed bearing embedded in the surface of the body, a rotating shaft, a Jiaolong blade fixed to the rotating shaft by welding, and a dispersion sheet uniformly arranged near the sealed bearing, one end of the dispersion sheet in the length direction is fixed to the body by bolts and / or welding, and the edge of the dispersion sheet is a metal sheet with a pointed structure, and then the Jiaolong blade pre-stirs and disperses the sediment. The dispersion sheet further blocks the flowing sediment and disperses it into small particles that are not easy to deposit, thereby preventing the sediment from being insufficiently dispersed by the Jiaolong blade to form larger particle sediments and further depositing as the solution flows. The specific number of the dispersion sheets is selected by those skilled in the art according to actual needs and will not be repeated here.

[0041] The body includes a power supply device, a positioning module and a control module, wherein the power supply device and the positioning module are respectively connected to the control module, the control module receives data information of the corresponding devices in the body and further analyzes and processes it, the power supply device on the body of the unit device can power the body, the data module enables the body to communicate with the power supply mechanism, the positioning module can locate the position of the body so that the body can further plan a route to return to the unit warehouse for storage and charging according to the current position, the driving mechanism provides power for the movement of the body inside the pipeline, and the control module can be selected by those skilled in the art from a microprocessor, a microcontroller, a sensor, an analog integrated circuit, etc. according to actual needs, without limitation here. An infrared sensor, an electromagnetic sensor, a charging mechanism and a main control module are provided in the unit compartment. The infrared sensor and the electromagnetic sensor are respectively connected to the main control module. The control input end of the drive mechanism is connected to the control module. The electromagnetic sensor is used to align the charging mechanism with the power supply device on the body. When the body completely enters the unit compartment and further blocks the infrared rays emitted by the infrared sensor, the main control module will control the first electromagnetic valve to close and then store the body accordingly in the unit compartment. The electromagnetic sensor is provided on the charging mechanism for aligning and identifying the charging mechanism with the wireless charging line receiving end on the body. The main control module is a microcontroller of the prior art, wherein the first electromagnetic valve is an electrically controlled movable closing door device of the prior art, which will not be described in detail here.

[0042] The unit device and the unit warehouse are communicated through the data module. When the control module of the unit device receives a signal that the power supply device is too low, the main control module receives the current data information of the positioning module, and then analyzes the data information with the position of the power supply mechanism to further generate a corresponding displacement drive signal to the drive mechanism so that the body moves to the vicinity of the first electromagnetic valve of the cavity warehouse and further cooperates with the first electromagnetic mechanism and the second electromagnetic mechanism to realize the adsorption of the unit device into the unit warehouse. Further, the control module drives the drive mechanism to the pipeline area opposite to the unit warehouse according to the information of the positioning module. When the drive mechanism of the unit device completes the displacement drive, the first electromagnetic valve corresponding to the unit warehouse corresponding to the charging of the body is opened, and the unit device is transferred to the unit warehouse through the mutual cooperation of the first electromagnetic mechanism on the body and the second electromagnetic mechanism of the unit warehouse. Further, the body When the unit compartment reaches a predetermined distance from the area where the power supply mechanism is located and blocks the infrared rays emitted by the infrared sensor, and when the electromagnetic sensor on the charging mechanism further detects that the wireless charging line receiving end on the body is aligned, the charging mechanism docks with the wireless charging line receiving end and the main control module controls the charging mechanism to connect with the external power circuit to realize the docking and charging of the unit device by the unit compartment. When charging is completed, the main control module controls the charging mechanism to disconnect from the external power supply, and the unit device is further transferred to the pipeline for dredging according to the signal detected by the vibration module. The main control module in the unit compartment and the control module of the unit mechanism receive the working signal sent by the control device, the first electromagnetic valve is controlled to open by the main control module, and the first electromagnetic mechanism and the second electromagnetic mechanism are correspondingly driven to generate the same electrodes at the opposite ends, thereby further realizing the transfer of the body to the pipeline for work. In this way, the charging process of the unit device is automated;

[0043] The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging line receiving end arranged on the body of the unit machine and adapted to be connected to the power supply mechanism, the electromagnetic sensor is arranged to monitor the wireless charging receiving end of the charging operation of the unit device and sense the position adaptation of the receiving end to further ensure effective and safe charging operation, the power supply device includes a power detection module and a power supply module for powering the body, wherein the power module is respectively connected to the power detection module and the wireless charging receiving end, the power detection module and the wireless charging receiving end are respectively connected to the control module, the power detection module is used to detect the power of the power module, and the wireless charging receiving end is used to charge the power module, the positioning module is a GPS positioning module of the prior art, and the GPS positioning module is used to locate the position of the body, wherein the cavity compartment also includes the power supply mechanism shell, and the charging mechanism is arranged inside the power supply mechanism shell. When the body enters the charging area, the first power detection module is used to detect the power of the power module, and the wireless charging receiving end is used to charge the power module. The coordinated arrangement of the magnetic mechanism and the second electromagnetic mechanism further realizes the corresponding alignment between the body and the charging mechanism in the unit compartment, wherein the charging mechanism is a wireless power transmitting coil, and the wireless charging receiving end is a wireless power receiving coil that performs power matching and transmission with the wireless power transmitting coil line, wherein the power supply mechanism shell is a closed and sealed structure, the wireless charging receiving end includes a receiving coil, a receiving resonance unit and a rectifier unit, and the control module controls the receiving resonance unit and the rectifier unit respectively. A sealed cavity with a capacity space is embedded in the body, and the receiving coil, the control module, the receiving resonance unit and the rectifier unit are arranged in the sealed cavity in the body, and the sealed cavity is independently and sealed from the outside of the body. One end of the receiving resonance unit is electrically connected to one end of the receiving coil, and the other end of the receiving resonance unit is electrically connected to one end of the rectifier unit. The other end of the rectifier unit is electrically connected to the power module through a waterproof wire, and the rectifier unit is used to convert the alternating current transmitted from the receiving resonance unit into direct current and transmit it to the power supply device;

[0044] The charging mechanism includes a shell fixed to the unit compartment and sealed and isolated from the outside of the unit compartment, a transmitting coil, a rectifier filter circuit, an inverter circuit, a transmitting resonance unit, a compensation network and a power supply, wherein the function of the compensation network is to tune the resonance formed between the coupling capacitor and the inductor corresponding to the circuit of the transmitting resonance unit to improve the power and efficiency of current transmission, and the compensation network adopts at least one of a voltage series resonance compensation structure or a current parallel resonance compensation structure. The rectifier filter circuit receives the current of the power supply and converts the AC power into DC power, and the inverter circuit further inverts the DC power into high-frequency AC power, and then performs a boost operation through the transmitting resonance unit to convert it into high-frequency and high-voltage power. The alternating current is then applied to the transmitting coil after passing through the compensation network, wherein the main control module is electrically connected to further control the operation of the rectifier and filter circuit, the inverter circuit, the transmitting resonance unit, and the compensation network, wherein at least the rectifier and filter circuit, the inverter circuit, the transmitting resonance unit, and the compensation network are disposed within the housing, and the main control module and the control module are capable of communicating with each other. The transmitting coil and the second electromagnetic mechanism are disposed on one side of the housing, and the housing is a non-metallic housing with a surface sealed and insulated and waterproof. The main control module and the control module communicate with each other via wireless signals through the data module, and the power supply is an external power supply to the pipeline.

[0045] When the control module monitors that the power supply device is low on power, it further drives the unit device to move to the first electromagnetic valve of the unit compartment. After receiving the wireless charging request signal, the main control module controls the power supply of the second electromagnetic mechanism to be connected, and at the same time starts the electromagnetic sensor to send an electromagnetic signal to determine that the specific position of the receiving coil of the body matches the corresponding transmitting coil. The main control module further controls the rectifier filter circuit, the inverter circuit, the transmitting resonance unit, the compensation network and the power supply to perform wireless charging operations. When the control module detects that the power supply device is fully charged, it further sends a wireless charging completion signal to the main control module. The main control module and the control module further control the connection of the corresponding current directions of the first electromagnetic mechanism and the second electromagnetic mechanism respectively, further making the opposite ends of the first electromagnetic mechanism and the second electromagnetic mechanism the same electrodes. The present invention adopts the The coordinated attraction or repulsion of the first electromagnetic mechanism and the second electromagnetic mechanism and the repositioning mode of the electromagnetic sensor greatly enhance the operability of wireless charging under the condition of solution in the pipeline and improve the efficiency of wireless charging of the unit device in the water pipe, wherein the first electromagnetic coil is a plurality of electromagnets embedded in the body and close to the opposite end of the unit compartment, and the second electromagnetic coil is a plurality of electromagnets embedded in the unit compartment and arranged opposite to the electromagnetic valve and correspondingly coordinated with the first electromagnetic coil. The first electromagnetic mechanism is electrically connected to the power module, and the second electromagnetic mechanism is connected to the main control module and the power supply, wherein the main control module controls the direction of the current entering the second electromagnetic coil and further controls the interaction force between the first electromagnetic mechanism and the second electromagnetic mechanism to realize the body entering and / or transferring out of the unit compartment.

[0046] Example 3:

[0047] This embodiment constructs a control system for collecting and processing working signals from each unit device monitored in a pipeline;

[0048] A control system based on pipeline vibration monitoring for a nuclear power plant system, the control system includes a working module for monitoring the flow of the pipeline and performing directional dredging work in the pipeline, a vibration module for monitoring the vibration of the pipeline and further monitoring abnormalities inside the pipeline based on the working conditions in the pipeline, a data module for collecting and processing data feedback from the working module based on the Internet of Things, and a control device for further realizing working control of each electrical component in the control system through electrical connection. The working module includes a unit device for working on the pipeline in a predetermined area, a unit compartment evenly distributed in the pipeline and coordinating the placement of the unit device, and a A charging unit for realizing wireless matching charging of the unit device by the unit compartment, wherein the unit device comprises a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and relative to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, a telescopic driving unit 2 arranged in each of the movable arms and further driving the telescopic movement of the movable arm to realize the movement of the movable member 1 in contact with the inner wall of the pipe, and a first rotating mechanism arranged in the body. Electromagnetic mechanism, the unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve provided on the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment; the charging unit includes a power supply mechanism provided on the unit compartment and connected to the outside world, a wireless charging receiving end provided on the body of the unit machine and adapted to the power supply mechanism to further perform the charging operation of the unit device, and a positioning device that senses the adaptation of the receiving end and the power supply mechanism to further ensure effective and safe charging operation; the telescopic drive unit 2 includes a positioning device evenly laid on each of the moving parts 1 and adapted to the inner wall of the pipeline when the moving arm is in the retracted state. The pressure sensor is provided, at least three openings distributed on the housing, at least three extension rods respectively extending through the openings and having one end fixed to the interior of the housing, and an electric cylinder provided in the housing and driving one end of the extension rod to further move the other end of the extension rod toward the inner wall of the pipe along the opening. The vibration module includes vibration sensors uniformly laid on the outer wall of the pipe to monitor vibration signals in corresponding areas of the pipe, and a first abnormality signal corresponding to an abnormal vibration range corresponding to the operation of the pipe and a second abnormality signal corresponding to abnormal vibration of the pipe when the pipe is not transporting liquid, which are pre-set in the storage module of the control system.The data module includes a signal transmitter with a corresponding identity number respectively arranged in each of the unit machines and unit compartments, and a receiver arranged in the nuclear power plant service end for identifying and receiving signals from the signal transmitter;

[0049] The unit device includes a body, movable arms uniformly arranged on the body, a movable member 1 arranged on the movable arm and opposite to the inner wall of the pipe, a driving mechanism for driving the movable member 1 to slide relative to the inner wall of the pipe, a flow sensor arranged on the body for monitoring the flow in the pipe, a rotating mechanism arranged on the body for stirring and dispersing precipitated debris in the pipe, a telescopic driving unit 2 arranged in each movable arm and further driving the telescopic movement of the movable arm to achieve the movement of the movable member 1 in contact with the inner wall of the pipe, and a first electromagnetic mechanism arranged in the body;

[0050] The telescopic drive unit 2 includes a pressure sensor evenly laid on each of the moving parts 1 and arranged opposite to the inner wall of the pipe when the moving arm is in the retracted state, at least three openings distributed on the outer shell of the machine body, at least three extension rods that respectively pass through the openings and have one end fixed to the inside of the machine body, and an electric cylinder that is arranged in the machine body and drives one end of the extension rod to further move the other end of the extension rod along the opening toward the inner wall of the pipe. When the moving arm is retracted, the moving arm is tightly retracted to the surface of the machine body, and then the moving arm of the machine body is retracted to achieve the application in the corresponding small-diameter pipes of the nuclear power plant. Therefore, the unit device can be applicable to pipes of various diameters and shapes according to the corresponding extension and retraction of the moving arm, and is suitable for the characteristics of the liquid transportation pipes of the nuclear power plant.

[0051] Each of the moving parts 1 includes a closed mounting shell and a plurality of rollers, wherein the mounting shell is configured such that its length direction is parallel to the length direction of the pipe, and the center of the roller is fixed in the mounting shell through a rotating shaft, wherein each of the rollers is configured to partially extend out of the mounting shell and the outer circle of the roller is tangent to a straight line, and a driving mechanism for driving the rollers to rotate synchronously is provided in the mounting shell, wherein the driving mechanism includes a driving gear, a passive gear, a third gear fixed at the center of the roller through a fixed shaft coaxially, at least one driving motor for driving at least the driving gear to rotate, and a closed toothed transmission belt tensioned on all the gears of the driving mechanism, wherein the corresponding control module controls the driving motor to drive the driving gear When the wheel rotates, the toothed transmission belt drives the third gear to further drive the roller to rotate, and the driving gear and the driven gear are respectively arranged at the return ends on both sides of the transmission belt, wherein each of the moving parts 1 includes a closed moving track 3 arranged around the outer wall of the closed mounting shell and the top ends of the rollers extending out of the mounting shell of the plurality of rollers, and a matching cover body which is matched with the side of the moving track 3 and closes the internal space of the moving track 3, the moving track 3 is made of elastic material, and the end of the moving track 3 that contacts with the mounting shell and the roller is serrated, and the surface of the roller is provided with a pattern that matches the serrated transmission, and a rotatable roller is distributed on the mounting shell, and the moving track 3 is also wrapped around The roller shaft further reduces the friction resistance of the movable track 3 during rotation when the roller drives the movable track 3 to move. An extension piece is extended on the side of the movable track 3, and a groove for sliding cooperation of the extension piece is provided on the side of the matching cover body. A sealing glue layer is provided at the opening of the groove. The sealing glue layer is sealed against the extension piece and the movable track 3, thereby making the interior of the movable part 1 a sealed and waterproof structure. A metal protrusion structure is evenly provided at the opposite end of the movable track 3 to the inner wall of the pipe, thereby effectively improving the friction between the movable track 3 and the inner wall of the pipe and effectively improving the anti-slip degree of the movable track 3 in a liquid environment. A fixing frame is fixedly provided inside the body. The fixing frame A fixing seat is evenly arranged around the upper portion for installing and fixing one end of the electric cylinder, and the other end of the electric cylinder is fixedly connected to the moving arm. A rubber layer is arranged in the opening channel, and the rubber layer is cooperated with the moving arm. The moving arm is a flat connecting rod, and the flat surface of the connecting rod is arranged parallel to the direction of water flow in the pipeline, thereby reducing the movement resistance of the unit machine in the pipeline. The extension length of the moving arm relative to the machine body is adjusted by extending and retracting the electric cylinder to further close the moving part 1 to the inside of the pipeline. The moving arm and the machine body can also be rotatably connected with a plurality of hinge shafts, so that when the electric cylinder drives the moving arm, the hinge shaft improves the stability of the elongation of the moving arm during the flow of solution in the pipeline.A camera can be installed in the machine body according to actual needs, allowing operators to directly observe the internal conditions of the pipeline and visually observe the specific working conditions in the pipeline. The camera uses a glass viewing window sealed in the machine body to photograph and monitor the conditions of the pipeline in which the machine body is located. A number of LED lights are embedded on the surface of the machine body to provide light illumination for the camera. The number and installation positions of the LED lights can be selected by those skilled in the art according to actual needs and will not be described in detail here. Each of the movable arms is correspondingly connected to an electric cylinder, and at least two different cross-sectional areas of the machine body are evenly surrounded by the electric cylinder and the movable arm fixed to the other end of the electric cylinder;

[0052] The body may further include a rotating mechanism for dispersing the deposited foreign matter in the pipeline, the rotating mechanism further scrapes off the blocking foreign matter in the pipeline by rotating and dispersing the sediment, and promptly and effectively solves the problem of excessive temperature of the nuclear reactor caused by the blockage of the condenser pipe of the nuclear power plant. The rotating mechanism includes a rotating unit respectively arranged at at least one end of the movement direction of the body, wherein each of the rotating units includes a rotating motor arranged inside the body, a sealed bearing embedded in the surface of the body, a rotating shaft, a Jiaolong blade fixed to the rotating shaft by welding, and a dispersion sheet uniformly arranged near the sealed bearing, one end of the dispersion sheet in the length direction is fixed to the body by bolts and / or welding, and the edge of the dispersion sheet is a metal sheet with a pointed structure, and then the Jiaolong blade pre-stirs and disperses the sediment. The dispersion sheet further blocks the flowing sediment and disperses it into small particles that are not easy to deposit, thereby preventing the sediment from being insufficiently dispersed by the Jiaolong blade to form larger particle sediments and further depositing as the solution flows. The specific number of the dispersion sheets is selected by those skilled in the art according to actual needs and will not be repeated here.

[0053] The body includes a power supply device, a positioning module and a control module, wherein the power supply device and the positioning module are respectively connected to the control module, the control module receives data information of the corresponding devices in the body and further analyzes and processes it, the power supply device on the body of the unit device can power the body, the data module enables the body to communicate with the power supply mechanism, the positioning module can locate the position of the body so that the body can further plan a route to return to the unit warehouse for storage and charging according to the current position, the driving mechanism provides power for the movement of the body inside the pipeline, and the control module can be selected by those skilled in the art from a microprocessor, a microcontroller, a sensor, an analog integrated circuit, etc. according to actual needs, without limitation here. An infrared sensor, an electromagnetic sensor, a charging mechanism and a main control module are provided in the unit compartment. The infrared sensor and the electromagnetic sensor are respectively connected to the main control module. The control input end of the drive mechanism is connected to the control module. The electromagnetic sensor is used to align the charging mechanism with the power supply device on the body. When the body completely enters the unit compartment and further blocks the infrared rays emitted by the infrared sensor, the main control module will control the first electromagnetic valve to close and then store the body accordingly in the unit compartment. The electromagnetic sensor is provided on the charging mechanism for aligning and identifying the charging mechanism with the wireless charging line receiving end on the body. The main control module is a microcontroller of the prior art, wherein the first electromagnetic valve is an electrically controlled movable closing door device of the prior art, which will not be described in detail here.

[0054] The unit device and the unit warehouse are communicated through the data module. When the control module of the unit device receives a signal that the power supply device is too low, the main control module receives the current data information of the positioning module, and then analyzes the data information with the position of the power supply mechanism to further generate a corresponding displacement drive signal to the drive mechanism so that the body moves to the vicinity of the first electromagnetic valve of the cavity warehouse and further cooperates with the first electromagnetic mechanism and the second electromagnetic mechanism to realize the adsorption of the unit device into the unit warehouse. Further, the control module drives the drive mechanism to the pipeline area opposite to the unit warehouse according to the information of the positioning module. When the drive mechanism of the unit device completes the displacement drive, the first electromagnetic valve corresponding to the unit warehouse corresponding to the charging of the body is opened, and the unit device is transferred to the unit warehouse through the mutual cooperation of the first electromagnetic mechanism on the body and the second electromagnetic mechanism of the unit warehouse. Further, the body When the unit compartment reaches a predetermined distance from the area where the power supply mechanism is located and blocks the infrared rays emitted by the infrared sensor, and when the electromagnetic sensor on the charging mechanism further detects that the wireless charging line receiving end on the body is aligned, the charging mechanism docks with the wireless charging line receiving end and the main control module controls the charging mechanism to connect with the external power circuit to realize the docking and charging of the unit device by the unit compartment. When charging is completed, the main control module controls the charging mechanism to disconnect from the external power supply, and the unit device is further transferred to the pipeline for dredging according to the signal detected by the vibration module. The main control module in the unit compartment and the control module of the unit mechanism receive the working signal sent by the control device, the first electromagnetic valve is controlled to open by the main control module, and the first electromagnetic mechanism and the second electromagnetic mechanism are correspondingly driven to generate the same electrodes at the opposite ends, thereby further realizing the transfer of the body to the pipeline for work. In this way, the charging process of the unit device is automated;

[0055] The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging line receiving end arranged on the body of the unit machine and adapted to be connected to the power supply mechanism, the electromagnetic sensor is arranged to monitor the wireless charging receiving end of the charging operation of the unit device and sense the position adaptation of the receiving end to further ensure effective and safe charging operation, the power supply device includes a power detection module and a power supply module for powering the body, wherein the power module is respectively connected to the power detection module and the wireless charging receiving end, the power detection module and the wireless charging receiving end are respectively connected to the control module, the power detection module is used to detect the power of the power module, and the wireless charging receiving end is used to charge the power module, the positioning module is a GPS positioning module of the prior art, and the GPS positioning module is used to locate the position of the body, wherein the cavity compartment also includes the power supply mechanism shell, and the charging mechanism is arranged inside the power supply mechanism shell. When the body enters the charging area, the first power detection module is used to detect the power of the power module, and the wireless charging receiving end is used to charge the power module. The coordinated arrangement of the magnetic mechanism and the second electromagnetic mechanism further realizes the corresponding alignment between the body and the charging mechanism in the unit compartment, wherein the charging mechanism is a wireless power transmitting coil, and the wireless charging receiving end is a wireless power receiving coil that performs power matching and transmission with the wireless power transmitting coil line, wherein the power supply mechanism shell is a closed and sealed structure, the wireless charging receiving end includes a receiving coil, a receiving resonance unit and a rectifier unit, and the control module controls the receiving resonance unit and the rectifier unit respectively. A sealed cavity with a capacity space is embedded in the body, and the receiving coil, the control module, the receiving resonance unit and the rectifier unit are arranged in the sealed cavity in the body, and the sealed cavity is independently and sealed from the outside of the body. One end of the receiving resonance unit is electrically connected to one end of the receiving coil, and the other end of the receiving resonance unit is electrically connected to one end of the rectifier unit. The other end of the rectifier unit is electrically connected to the power module through a waterproof wire, and the rectifier unit is used to convert the alternating current transmitted from the receiving resonance unit into direct current and transmit it to the power supply device;

[0056] The charging mechanism includes a shell fixed to the unit compartment and sealed and isolated from the outside of the unit compartment, a transmitting coil, a rectifier filter circuit, an inverter circuit, a transmitting resonance unit, a compensation network and a power supply, wherein the function of the compensation network is to tune the resonance formed between the coupling capacitor and the inductor corresponding to the circuit of the transmitting resonance unit to improve the power and efficiency of current transmission, and the compensation network adopts at least one of a voltage series resonance compensation structure or a current parallel resonance compensation structure. The rectifier filter circuit receives the current of the power supply and converts the AC power into DC power, and the inverter circuit further inverts the DC power into high-frequency AC power, and then performs a boost operation through the transmitting resonance unit to convert it into high-frequency and high-voltage power. The alternating current is then applied to the transmitting coil after passing through the compensation network, wherein the main control module is electrically connected to further control the operation of the rectifier and filter circuit, the inverter circuit, the transmitting resonance unit, and the compensation network, wherein at least the rectifier and filter circuit, the inverter circuit, the transmitting resonance unit, and the compensation network are disposed within the housing, and the main control module and the control module are capable of communicating with each other. The transmitting coil and the second electromagnetic mechanism are disposed on one side of the housing, and the housing is a non-metallic housing with a surface sealed and insulated and waterproof. The main control module and the control module communicate with each other via wireless signals through the data module, and the power supply is an external power supply to the pipeline.

[0057] When the control module monitors that the power supply device is low on power, it further drives the unit device to move to the first electromagnetic valve of the unit compartment. After receiving the wireless charging request signal, the main control module controls the power supply of the second electromagnetic mechanism to be connected, and at the same time starts the electromagnetic sensor to send an electromagnetic signal to determine that the specific position of the receiving coil of the body matches the corresponding transmitting coil. The main control module further controls the rectifier filter circuit, the inverter circuit, the transmitting resonance unit, the compensation network and the power supply to perform wireless charging operations. When the control module detects that the power supply device is fully charged, it further sends a wireless charging completion signal to the main control module. The main control module and the control module further control the connection of the corresponding current directions of the first electromagnetic mechanism and the second electromagnetic mechanism respectively, further making the opposite ends of the first electromagnetic mechanism and the second electromagnetic mechanism the same electrodes. The present invention adopts the The coordinated attraction or repulsion of the first electromagnetic mechanism and the second electromagnetic mechanism and the repositioning mode of the electromagnetic sensor greatly enhance the operability of wireless charging under the condition of solution in the pipeline and improve the efficiency of wireless charging of the unit device in the water pipe, wherein the first electromagnetic coil is a plurality of electromagnets embedded in the body and close to the end opposite to the unit compartment, and the second electromagnetic coil is a plurality of electromagnets embedded in the unit compartment and arranged opposite to the electromagnetic valve and correspondingly matched with the first electromagnetic coil. The first electromagnetic mechanism is electrically connected to the power module, and the second electromagnetic mechanism is connected to the main control module and the power supply, wherein the main control module controls the direction of the current entering the second electromagnetic coil and further controls the interaction force between the first electromagnetic mechanism and the second electromagnetic mechanism to realize the body entering and / or transferring out of the unit compartment;

[0058] The vibration module includes a vibration sensor uniformly laid on the outer wall of the pipeline to monitor the vibration signal of the corresponding area of ​​the pipeline, a first abnormal signal corresponding to the abnormal vibration range corresponding to the operation of the pipeline, a second abnormal signal corresponding to the abnormal vibration of the pipeline when the pipeline is not transporting liquid, which is pre-set in the storage module of the control system, and a processing module for analyzing and processing the information data detected by the vibration sensor. The data module includes a signal transmitter with a corresponding identity number respectively set in each of the unit machines and unit warehouses, and a receiver set in the service end of the nuclear power plant to identify and receive signals from the signal transmitter;

[0059] Vibration sensors for monitoring vibration information of the pipeline are arranged at predetermined intervals on the outer surface of the pipeline, and the sensing ends of the vibration sensors are in contact with the surface of the pipeline. The vibration sensors are used to sense vibration signals corresponding to various working states of the pipeline. The vibration sensors are communicatively connected to the control device via the data module. The data module also includes a wireless communicator provided in the control device. The control device sends information to the mobile communication device of the monitoring staff of the nuclear power plant via the wireless communicator. The control device receives monitoring data of the vibration sensors at various pipeline positions in real time. Each vibration sensor is pre-set with a number bound to its location information by a person skilled in the art, and the vibration sensor senses the magnitude of the vibration intensity of the pipeline.

[0060] The processing module includes a processing method: step 1: based on a predetermined detection period as a detection period, the data information corresponding to each period of the vibration sensor is collected and processed separately; step 2: the transient signal of the pipeline collected in one period is analyzed separately; step 3: a series of harmonic components are decomposed by discrete Fourier transform, and the amplitude of each harmonic component is calculated; step 4: the amplitude of each harmonic component of the transient signal of the pipeline under the same working state in all periods is calculated; step 5: the attenuation rate of all harmonic components is calculated; step 6: the fault of the pipeline is detected and located by analyzing the difference in attenuation rate between different harmonic components;

[0061] The vibration sensor is installed on the inner wall of the pipeline, measures the operation status of the pipeline and transmits it to the nuclear power plant service end through the data module. The service end performs pipeline degree assessment in combination with the fault status assessment module stored in the database. The database pre-stores the attenuation rate between harmonic components corresponding to abnormal vibrations in the pipeline area corresponding to the vibration sensor during transmission work, obtained through a large number of repeated experiments by technicians in the neighborhood, that is, the first abnormal signal, and the attenuation rate between harmonic components corresponding to abnormal vibrations in the pipeline area corresponding to the vibration sensor during transmission work, obtained through a large number of repeated experiments by technicians in the neighborhood, that is, the second abnormal signal.

[0062] The present invention divides the pipeline system in the nuclear power plant into unit detection areas through a control system and performs separate detection on corresponding unit devices, thereby improving the system monitoring and management of the pipeline system of the nuclear power plant. At the same time, the unit device can move in pipelines of different diameters through the extension and retraction of the mobile arm, effectively improving the accuracy and efficiency of nuclear power plant pipeline vibration monitoring.

Claims

1. A control system based on pipeline vibration monitoring for a nuclear power plant system, characterized in that: It includes a working module for monitoring pipeline flow and performing directional dredging work in the pipeline, a vibration module for monitoring pipeline vibration and further detecting abnormalities inside the pipeline based on the working conditions in the pipeline, a data module for collecting and processing data feedback from the working modules based on the Internet of Things, and a control device for further realizing working control by electrically connecting each electrical component in the control system; The working module includes a unit device that works on a pipeline in a predetermined area, a unit compartment that is evenly spaced in the pipeline and cooperates with the unit device, and a charging unit that enables the unit compartment to wirelessly match and charge the unit device. The unit device comprises a machine body, movable arms uniformly arranged on the machine body, a movable member (1) arranged on the movable arm and arranged relative to the inner wall of the pipeline, a driving mechanism for driving the movable member (1) to slide relative to the inner wall of the pipeline, a flow sensor arranged on the machine body for monitoring the flow in the pipeline, a rotating mechanism arranged on the machine body for stirring and dispersing precipitated debris in the pipeline, a telescopic driving unit (2) arranged in each movable arm and further driving the telescopic movement of the movable arm to achieve the movement of the movable member (1) in contact with the inner wall of the pipeline, and a first electromagnetic mechanism arranged in the machine body; The unit compartment includes a cavity compartment evenly distributed on the pipeline, a first electromagnetic valve provided at the end of the cavity compartment and connected to the pipeline, and a second electromagnetic mechanism evenly distributed on the inner wall of the cavity compartment; an infrared sensor, an electromagnetic sensor, a charging mechanism and a main control module are provided in the unit compartment; The body includes a power supply device, a positioning module and a control module, wherein the power supply device and the positioning module are respectively connected to the control module, and the control module receives data information of corresponding devices in the body and further analyzes and processes it; The unit device and the unit warehouse are communicated through the data module. When the control module of the unit device receives a signal that the power supply device is too low, the main control module receives the current data information of the positioning module, and then analyzes the data information with the position of the power supply mechanism to further generate a corresponding displacement drive signal to the drive mechanism so that the body moves to the vicinity of the first electromagnetic valve of the cavity warehouse and further cooperates with the first electromagnetic mechanism and the second electromagnetic mechanism to realize the adsorption of the unit device into the unit warehouse. The control module drives the drive mechanism to the pipeline area opposite to the unit warehouse according to the information of the positioning module. When the drive mechanism of the unit device completes the displacement drive, the first electromagnetic valve corresponding to the unit warehouse corresponding to the charging of the body is opened, and the unit device is transferred to the unit warehouse through the mutual cooperation of the first electromagnetic mechanism on the body and the second electromagnetic mechanism of the unit warehouse, and further the body reaches the supply The electromagnetic sensor on the charging mechanism further detects that the wireless charging line receiving end on the body is aligned with the charging mechanism, and the charging mechanism docks with the wireless charging line receiving end and the main control module controls the charging mechanism to connect with the external power supply circuit to realize the docking and charging of the unit device by the unit compartment. When charging is completed, the main control module controls the charging mechanism to disconnect from the external power supply, and the unit device is further transferred to the pipeline for dredging according to the signal detected by the vibration module. The main control module in the unit compartment and the control module of the unit device receive the working signal sent by the control device, the first electromagnetic valve is controlled to open by the main control module, and the first electromagnetic mechanism and the second electromagnetic mechanism are correspondingly driven to generate the same electrodes at the opposite ends, further realizing the transfer of the body to the pipeline for work, and in this way, the automation of the charging process of the unit device is realized.

2. A control system based on pipeline vibration monitoring for a nuclear power plant system according to claim 1, characterized in that: The telescopic drive unit (2) comprises a pressure sensor evenly arranged on each moving part (1) and arranged opposite to the inner wall of the pipe when the moving arm is in the retracted state, at least three openings distributed on the outer shell of the machine body, at least three extension rods respectively and sequentially passing through the openings and having one end fixed to the inside of the machine body, and an electric cylinder arranged in the machine body and driving one end of the extension rod to further move the other end of the extension rod closer to the inner wall of the pipe along the opening.

3. A control system based on pipeline vibration monitoring for a nuclear power plant system according to claim 2, characterized in that: The charging unit includes a power supply mechanism arranged on the unit compartment and connected to the outside world, a wireless charging receiving end arranged on the body of the unit machine and adapted to the power supply mechanism to further charge the unit device, and a positioning device whose adaptation to the induction receiving end and the power supply mechanism further ensures effective and safe charging.

4. A control system based on pipeline vibration monitoring for a nuclear power plant system according to claim 3, characterized in that: The vibration module includes a vibration sensor evenly laid on the outer wall of the pipeline to monitor the vibration signal of the corresponding area of ​​the pipeline, and a first abnormal signal corresponding to the abnormal vibration range corresponding to the pipeline operation corresponding to the pre-set storage module of the control system, and a second abnormal signal corresponding to the abnormal vibration of the pipeline when the pipeline is not transporting liquid.

5. A control system based on pipeline vibration monitoring for a nuclear power plant system according to claim 4, characterized in that: The data module includes a signal transmitter with a corresponding identity number respectively arranged in each unit machine and unit warehouse, and a receiver arranged in the service end of the nuclear power plant for identifying and receiving signals from the signal transmitter.

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