Nuclear power plant pool inspection method and system

Abstract

The present invention discloses a method and system for inspecting a nuclear power plant pool. The method includes: S1, generating a vertical inspection task list and / or a horizontal inspection task list according to inspection data; S2, formulating an inspection path for each inspection task according to the three-dimensional data of the pool and each inspection task list; S3, generating position data according to the inspection path of each inspection task; S4, controlling an inspection device to execute each inspection task according to the inspection path and the position data; S5, issuing a monitoring result according to the detection data of each inspection task. By using the inspection device to replace the traditional manual visual inspection, the present invention can perform a close-range line-of-sight inspection on the inspection objects in the water-filled pool and the empty pool, reducing the radiation safety injury risk of personnel operations and effectively improving the efficiency and inspection effect of the pool inspection operation.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant equipment monitoring, and particularly to a method and system for inspecting a nuclear power plant pool. Background Art

[0002] Nuclear power plant pools include a reactor pool, a refueling transfer pool, a spent fuel pool, a canning pool, and a cleaning pool. Since the area above the pool is generally a rectangular open area, foreign objects may enter the water due to personnel operations and failures of equipment around the pool, affecting the filling and draining of the pool and the circulating cooling function, which may lead to relatively serious nuclear power failure incidents. In addition, the equipment in the pool may also have defects or failures due to operation aging and improper operation. To ensure the structural integrity of the pool and the safety and reliability of the equipment, it is necessary to conduct daily or emergency inspections on the pool to determine the possible foreign objects or potential component failures.

[0003] Since components such as fuel assembly grids and transfer trolleys are installed at the bottom of the pool, and the bottom of the pool is also prone to high environmental radiation doses due to the deposition of radioactive substances, carrying out traditional manual inspections in the pool requires personnel to wear special protective equipment, which is not only time-consuming and laborious, but also poses a high risk of personal safety injury. To ensure the safety and effectiveness of manual inspections, manual inspections require at least two personnel to conduct in a way of mutual supervision. Even when using some special automated inspection equipment, personnel are also required to visually monitor on-site to prevent the detection equipment from damaging the pool and components, and comply with strict safety regulations related to radiation protection. And when the pool is full of water, personnel cannot approach for inspection, and the inspection line of sight is easily affected by occlusion, so it is difficult to identify or locate possible foreign objects or failed components. When conducting manual inspections on the bottom of the pool without water, personnel need to reach the bottom of the pool through a vertical and narrow ladder. Due to the high radiation dose at the bottom of the pool, limited equipment space, visual occlusion, etc., this manual inspection method is not only time-consuming and laborious, but also the inspection quality is directly related to the experience and physical fitness of personnel, and there is a high risk of missed inspections and personal injuries. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for inspecting a nuclear power plant pool in view of at least one defect existing in the prior art.

[0005] The technical solution adopted by the present invention to solve its technical problems is to construct a method for inspecting a nuclear power plant pool, including the following steps:

[0006] S1. Generate a vertical inspection task list and / or a horizontal inspection task list according to the patrol inspection data; each of the inspection task lists includes at least one patrol inspection task;

[0007] S2. Determine the inspection path for each inspection task according to the three-dimensional data of the water tank and each inspection task list.

[0008] S3. Generate position data according to the inspection path for each inspection task; the position data is used to represent the preset placement position of the inspection equipment for each inspection task.

[0009] S4. Control the inspection equipment to execute each inspection task according to the inspection path and position data.

[0010] S5. Issue a monitoring result according to the detection data of each inspection task.

[0011] Preferably, in S1, the inspection data includes at least one inspection object and the position of each inspection object.

[0012] S1 includes: generating a vertical inspection task list and / or a horizontal inspection task list according to each inspection object and its position.

[0013] Preferably, S4 includes:

[0014] S41. Judge whether it is necessary to execute the vertical inspection task list. If so, execute step S42; otherwise, execute step S43.

[0015] S42. Control the inspection equipment to sequentially execute the inspection tasks in the vertical inspection task list according to the corresponding inspection path.

[0016] S43. Control the inspection equipment to sequentially execute the inspection tasks in the horizontal inspection task list according to the corresponding inspection path.

[0017] Preferably, S42 includes:

[0018] S421. Obtain a detection object, inspection path, and position data of a remaining vertical inspection task, and execute step S422.

[0019] S422. Judge whether it is necessary to adjust the placement position of the monitoring component according to the current placement position of the monitoring component in the inspection equipment and the position data of the remaining vertical inspection task. If so, execute step S423; otherwise, execute step S424.

[0020] S423. Adjust the placement position of the monitoring component according to the position data of the remaining vertical inspection task.

[0021] S424. Control the monitoring component to move according to the inspection path of the remaining vertical inspection task, and collect the detection data of the detection object of the remaining vertical inspection task during the movement.

[0022] S425. After the current inspection task is completed, determine whether all vertical inspection tasks are completed. If so, execute S43; otherwise, return to S421.

[0023] Preferably, S43 includes:

[0024] S431. Obtain the inspection path and position data of a remaining horizontal inspection task, and execute step S432;

[0025] S432. Determine whether the placement position of the horizontal steering component needs to be adjusted according to the current placement position of the horizontal steering component in the inspection device and the position data of the remaining horizontal inspection task. If so, execute step S433; otherwise, execute step S434;

[0026] S433. Adjust the placement position of the horizontal steering component according to the position data of the remaining horizontal inspection task;

[0027] S434. Control the monitoring component to move along the inspection path of the remaining horizontal inspection task, and collect the detection data of the detection object of the remaining horizontal inspection task during the movement;

[0028] S435. After the current inspection task is completed, determine whether all horizontal inspection tasks are completed. If so, execute S5; otherwise, return to S431.

[0029] Preferably, the inspection device further includes a placement component for controlling the placement positions of the monitoring component and the horizontal steering component according to the position data; the monitoring component is connected to the placement component through a cable;

[0030] The horizontal steering component includes a carrier box connected to the placement component and a steering roller provided on the first side wall of the carrier box; the placement component can be connected to the monitoring component received in the carrier box through a cable via the steering roller.

[0031] Preferably, the inspection data further includes: the historical monitoring results of each detection object;

[0032] S424 further includes: performing a difference analysis on the historical monitoring results of the detection object of the remaining vertical inspection task and the detection data obtained from this inspection. When there is a difference, generate a first warning signal, and determine whether a manual mode switching instruction is received within a preset time. If so, control the inspection device to perform the detection work according to the manual control instruction; otherwise, execute S425;

[0033] The S434 further includes: performing a difference analysis on the historical monitoring results of the detection objects of the remaining horizontal inspection tasks and the detection data obtained from this inspection. When there are differences, generating a second warning signal, and determining whether a manual mode switching instruction is received within a preset time. If so, controlling the inspection device to perform the detection work according to the manual control instruction, otherwise executing the S435.

[0034] Preferably, the S5 includes: issuing a monitoring result according to the detection data of each inspection task and the historical monitoring results.

[0035] The present invention also constructs a nuclear power plant pool inspection system, including:

[0036] An inspection device for performing inspection tasks;

[0037] A task list generation unit for generating a vertical inspection task list and / or a horizontal inspection task list according to inspection data; each inspection task list includes at least one inspection task;

[0038] A path generation unit for formulating an inspection path for each inspection task according to the three-dimensional data of the pool and each inspection task list;

[0039] A position data generation unit for generating position data according to the inspection path of each inspection task; the position data is used to represent the preset placement position of the inspection device for each inspection task;

[0040] An inspection control unit for controlling the inspection device to perform each inspection task according to the inspection path and the position data;

[0041] A result analysis unit for issuing a monitoring result according to the detection data of each inspection task.

[0042] Preferably, the inspection data includes at least one detection object and the position of each detection object;

[0043] Correspondingly, the task list generation unit is used to generate a vertical inspection task list and / or a horizontal inspection task list according to each detection object and its position.

[0044] The present invention has at least the following beneficial effects: providing a method for inspecting a nuclear power plant pool, the method comprising: first generating a vertical inspection task list and / or a horizontal inspection task list according to inspection data; then formulating an inspection path for each inspection task according to the three-dimensional data of the pool and each inspection task list; then generating position data according to the inspection path of each inspection task to determine a preset placement position of an inspection device; then controlling the inspection device to execute each inspection task according to the inspection path and the position data to collect monitoring data of each detection object; and finally issuing a monitoring result according to the detection data of each inspection task. By substituting the traditional manual visual inspection with an inspection device, the present invention can achieve a close-range line-of-sight inspection of detection objects in a pool with water and a pool without water. Workers can realize remote monitoring and control through a man-machine interaction interface, without having to reach a pool with a high radiation dose to conduct inspections, and analyze and record the inspection results, reducing the risk of radiation safety harm to personnel operations and effectively improving the efficiency and inspection effect of pool inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0046] Figure 1 is a flowchart of the method for inspecting a nuclear power plant pool provided by the present invention;

[0047] Figure 2 is a schematic diagram of the inspection device when performing a vertical inspection task;

[0048] Figure 3 is a schematic diagram of the inspection device when performing a horizontal inspection task;

[0049] Figure 4 is a flowchart of step S42 in the method for inspecting a nuclear power plant pool provided by the present invention;

[0050] Figure 5 is a flowchart of step S43 in the method for inspecting a nuclear power plant pool provided by the present invention;

[0051] Figure 6 is a structural diagram of the nuclear power plant pool inspection system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the drawings.

[0053] Refer to Figure 1 , the present invention constructs a method for inspecting a nuclear power plant pool, including step S1, step S2, step S3, step S4, and step S5.

[0054] In some embodiments, step S1 includes: generating a vertical inspection task list and / or a horizontal inspection task list based on the inspection data; each of the inspection task lists includes at least one inspection task.

[0055] In some embodiments, the inspection data in S1 includes at least one detection object and the position of each detection object.

[0056] Further, in some embodiments, S1 includes: generating a vertical inspection task list and / or a horizontal inspection task list according to each detection object and its position. The detection objects include detecting whether the equipment located on the side wall and bottom of the pool is abnormal, and whether there are foreign objects on the side wall and bottom of the pool, etc.; it can be understood that the detection objects located on the side wall of the pool are set as vertical inspection tasks, while the detection objects located on the bottom of the pool are set as horizontal inspection tasks; several vertical inspection tasks form a vertical inspection task list, and several horizontal inspection tasks form a horizontal inspection task list.

[0057] In some embodiments, step S2 includes: formulating an inspection path for each inspection task according to the three-dimensional data of the pool and each inspection task list. Among them, the three-dimensional data of the pool includes the dimensions and position coordinates of the pool and all the equipment in the pool.

[0058] Further, in some embodiments, step S2 includes: dividing the side wall and bottom of the pool into several inspection areas based on the detection range of the inspection equipment, including several vertical inspection areas and horizontal inspection areas, and then determining the specific position of each inspection task (including vertical and horizontal inspection tasks) in each inspection task list (including vertical and horizontal inspection task lists) in the pool according to the three-dimensional data of the pool, and classifying the detection objects located in the same inspection area into the same inspection path.

[0059] Since the inspection equipment needs to be recovered after completing the inspection task, and in a certain nuclear power plant, the bottom and side walls of these pools are covered with mirror ultra-low carbon stainless steel, and the surface is very smooth, which makes the inspection equipment at risk of slipping out of control. For the convenience of recovering and controlling the inspection equipment, in some embodiments, as Figure 2 and Figure 3 shown, the inspection equipment can be recovered and data can be interacted through cables. It can be understood that if the angle between the cable and the outlet direction of the cable pulley is too large, the risk of the wheel coming off will be greatly increased, that is, the detection range of the inspection equipment is limited by the cable pulley. Therefore, when performing detection objects in different inspection areas, the placement position of the inspection equipment needs to be reset. Therefore, in this embodiment, step S3 includes: generating position data according to the inspection path of each inspection task; the position data is used to represent the preset placement position of the inspection equipment for each inspection task.

[0060] Further, in some embodiments, such as Figure 2 and Figure 3 shown, the inspection device includes a monitoring component 1 and a horizontal steering component 2. The monitoring component 1 is used to perform the inspection task to collect detection data. The horizontal steering component 2 is used to accommodate the monitoring component 1 to place it at the bottom of the pool and horizontally steer the cable connected to the monitoring component 1 to control the monitoring component 1. It can be understood that the inspection device is a waterproof device, so that the water pool can be monitored.

[0061] In some embodiments, such as Figure 2 and Figure 3 shown, the monitoring component 1 includes a housing 11, a first lifting ring 12 provided at the tail of the housing 11, an operating rod 13 provided on the housing 11, and a plurality of rollers 14 provided at the bottom of the housing 11. Among them, the first lifting ring 12 is used to connect the housing 11 to the placement component 3 through a cable; the operating rod 13 can swing freely and is used to adjust the orientation of the camera provided on the operating rod 13; the rollers 14 are used to realize the forward and backward movement functions of the monitoring component 1.

[0062] In some embodiments, such as Figure 3 shown, the inspection device further includes a placement component 3 for controlling the placement positions of the monitoring component 1 and the horizontal steering component 2 according to the position data; when performing a vertical inspection task, the monitoring component 1 is connected to the placement component 3 through a cable. The placement component 3 has the function of taking in and releasing the cable and can move around the pool according to the position data, specifically it can be a running device or a robotic arm, etc. Further, as Figure 3 shown, the placement component 3 includes a cable transceiver component 31, a hoisting wheel 32, a cable wheel 33, and a plurality of rollers 34.

[0063] In some embodiments, such as Figure 3 shown, the horizontal steering component 2 includes a carrier box 21 connected to the placement component 3, a steering roller 22 provided on the first inner wall 25 of the carrier box 21, a second lifting ring 23 provided on the top of the carrier box 21, and two stoppers 24 provided at the bottom of the carrier box 21. The side opposite to the first inner wall 25 in the carrier box 21 is the outlet of the monitoring component 1. Among them, the second lifting ring 23 is used to connect the carrier box 21 to the placement component 3 through a cable; when performing a horizontal inspection task, the placement component 3 can be connected to the monitoring component 1 accommodated in the carrier box 21 through a cable via the steering roller 22.

[0064] In some embodiments, such as Figure 3 shown, the inspection device further includes a power supply component 4.

[0065] Accordingly, in some embodiments, the position data of the vertical inspection task includes the preset placement position of the monitoring component, and the position data of the horizontal inspection task includes the preset placement position of the horizontal steering component.

[0066] In some embodiments, step S4 includes: controlling the inspection device to execute each of the inspection tasks according to the inspection path and the position data.

[0067] Further, in some embodiments, S4 includes step S41, step S42, and step S43.

[0068] For certain pools in a nuclear power plant, there are no devices or no devices to be detected on their side walls, that is, there is a situation where only a horizontal inspection task list is included. Therefore, in some embodiments, step S41 includes: determining whether it is necessary to execute the vertical inspection task list. If so, execute step S42; otherwise, execute step S43.

[0069] In some embodiments, step S42 includes: controlling the inspection device to sequentially execute the inspection tasks in the vertical inspection task list according to the corresponding inspection path.

[0070] Further, as Figure 4 shown, in some embodiments, step S42 includes: step S421, step S422, step S423, step S424, and step S425.

[0071] In some embodiments, step S421 includes: obtaining the inspection object, inspection path, and position data of a remaining vertical inspection task, and executing step S422. Here, the remaining vertical inspection task refers to the vertical inspection tasks in the vertical inspection task list that have not been executed.

[0072] Further, in some embodiments, step S421 includes: preferentially obtaining the inspection path and position data of the remaining vertical inspection tasks on the same inspection path as the previously executed vertical inspection task, and executing step S422. Implementing this step can reduce the number of adjustments to the placement position of the inspection device and improve the inspection efficiency.

[0073] In some embodiments, step S422 includes: determining whether it is necessary to adjust the placement position of the monitoring component according to the current placement position of the monitoring component in the inspection device and the position data of the remaining vertical inspection task. If so, execute step S423; otherwise, execute step S424. Specifically, the determination process of step S422 is as follows: when the current placement position of the monitoring component is different from the preset placement position represented by the position data of the remaining vertical inspection task, it is determined that the placement position of the inspection device needs to be adjusted; otherwise, it is determined that no adjustment is required.

[0074] In some embodiments, step S423 includes: adjusting the dropping position of the monitoring component according to the position data of the remaining vertical inspection tasks, so as to set the dropping position of the inspection device to the preset dropping position characterized by the position data of the remaining vertical inspection tasks. Specifically, the adjustment process of the dropping position of the monitoring component is as follows: controlling the dropping component to move to the coordinates characterized by the preset dropping position of the remaining vertical inspection tasks based on the position coordinates in the three-dimensional data of the pool, and then dropping the monitoring component.

[0075] In some embodiments, step S424 includes: controlling the monitoring component to move along the inspection path of the remaining vertical inspection tasks, and during the movement, collecting the detection data of the detection objects of the remaining vertical inspection tasks. Among them, the detection data can be image information.

[0076] In some embodiments, the inspection data further includes: the historical monitoring results of each of the detection objects.

[0077] Correspondingly, in some embodiments, S424 further includes: performing a difference analysis on the historical monitoring results of the detection objects of the remaining vertical inspection tasks and the detection data obtained from this inspection. When there is a difference (when there is no difference, step S425 is executed), generating a first warning signal, and determining whether a manual mode switching instruction is received within a preset time. If so, controlling the inspection device to perform the detection work according to the manual control instruction, otherwise executing step S425. Further, in this step, the difference analysis includes: performing image analysis on the image information collected in this inspection task and the historical image information in the historical monitoring results to analyze whether there are differences in the images of the two, so as to determine whether there are abnormal conditions such as surface corrosion, looseness, and faults in the detection device, or whether there are abnormal foreign object conditions on the side wall of the inspection area. If there is at least one abnormal condition, a first warning signal is generated to prompt the staff whether to choose to enter the manual control mode to further determine the abnormal condition of the detection object; after entering the manual control mode, the staff can freely operate the monitoring component to freely perform the detection work in the corresponding inspection area.

[0078] In some embodiments, step S425 includes: after this inspection task is completed, determining whether all vertical inspection tasks are completed. If so, executing S43, otherwise returning to S421.

[0079] In some embodiments, step S43 includes: controlling the inspection device to sequentially execute the inspection tasks in the horizontal inspection task list according to the corresponding inspection path.

[0080] Further, as Figure 5As shown, in some embodiments, step S43 includes: step S431, step S432, step S433, step S434, and step S435.

[0081] In some embodiments, step S431 includes: obtaining the inspection path and position data of a remaining horizontal inspection task, and performing step S432. Herein, the remaining horizontal inspection task refers to the unexecuted horizontal inspection tasks in the horizontal inspection task list.

[0082] Further, in some embodiments, step S431 includes: preferentially obtaining the inspection path and position data of the remaining horizontal inspection tasks on the same inspection path as the previously executed horizontal inspection task, and performing step S432.

[0083] In some embodiments, step S432 includes: determining whether it is necessary to adjust the placement position of the horizontal steering component according to the current placement position of the horizontal steering component in the inspection device and the position data of the remaining horizontal inspection task. If so, perform step S433; otherwise, perform step S434. Specifically, the determination process of step S432 is as follows: when the current placement position of the inspection device is different from the placement position represented by the position data of the remaining horizontal inspection task, it is determined that the placement position of the inspection device needs to be adjusted; otherwise, it is determined that no adjustment is required. Further, the current placement position of the inspection device in step S432 includes the current placement positions of the monitoring component and the horizontal steering component.

[0084] In some embodiments, step S433 includes: adjusting the placement position of the horizontal steering component according to the position data of the remaining horizontal inspection task to set the placement position of the inspection device as the placement position represented by the position data of the remaining horizontal inspection task. Specifically, the adjustment process of the placement positions of the monitoring component and the horizontal steering component is as follows: controlling the placement component to move to the preset placement position of the remaining horizontal inspection task based on the position coordinates in the three-dimensional data of the water tank, and then placing the monitoring component and the horizontal steering component.

[0085] In some embodiments, step S434 includes: controlling the monitoring component to move along the inspection path of the remaining horizontal inspection task, and collecting the detection data of the detection object of the remaining horizontal inspection task during the movement.

[0086] In some embodiments, S434 further includes: performing a difference analysis on the historical monitoring results of the detection objects of the remaining horizontal inspection tasks and the detection data obtained from this inspection. When there are differences, generating a second warning signal, and determining whether a manual mode switching instruction is received within a preset time. If so, controlling the inspection device to perform the detection work according to the manual control instruction, otherwise performing step S435. Among them, the steps of the difference analysis in step S434 are the same as those in step S424.

[0087] In some embodiments, step S435 includes: after this inspection task is completed, determining whether all horizontal inspection tasks are completed. If so, performing S5, otherwise returning to S431.

[0088] In some embodiments, step S5 includes: issuing a monitoring result based on the detection data of each inspection task.

[0089] Further, in some embodiments, S5 includes: issuing a monitoring result based on the detection data of each inspection task and the historical monitoring results. Specifically, after all inspection tasks are completed, the detection data is subjected to image analysis with the corresponding historical monitoring results, and all image analysis results are used as the monitoring results for display and recording.

[0090] In some embodiments, the nuclear power plant pool inspection method further includes step S6: after all inspection tasks are completed, controlling the placement component to recover the inspection device.

[0091] Reference Figure 6 , the present invention further provides a nuclear power plant pool inspection system, which includes an inspection device, a task list generation unit, a path generation unit, a position data generation unit, an inspection control unit, and a result analysis unit.

[0092] The inspection device is used to perform inspection tasks.

[0093] In some embodiments, the inspection device includes a monitoring component for performing inspection tasks, a horizontal steering component for accommodating the monitoring component and placing it at the bottom of the pool, and a placement component for controlling the placement positions of the monitoring component and the horizontal steering component according to the position data. The placement component controls the placement position of the monitoring component according to the task type. When performing a vertical inspection task, it can be connected to the monitoring component through a cable; when performing a horizontal inspection task, it can be connected to the monitoring component stored in the load box through a cable via the steering roller.

[0094] The task list generation unit is used to generate a vertical inspection task list and / or a horizontal inspection task list according to the inspection data; each inspection task list includes at least one inspection task.

[0095] The path generation unit is used to formulate the inspection path for each inspection task according to the three-dimensional data of the pool and each of the inspection task lists.

[0096] The position data generation unit is used to generate position data according to the inspection path of each inspection task; the position data is used to characterize the preset placement positions of the inspection devices for each inspection task.

[0097] The inspection control unit is used to control the inspection devices to execute each inspection task according to the inspection path and the position data.

[0098] The result analysis unit is used to issue a monitoring result according to the detection data of each inspection task.

[0099] In some embodiments, the nuclear power plant pool inspection system further includes a man-machine interface for acquiring inspection data. The man-machine interface is further used to display the monitoring result, and input manual mode switching instructions and manual control instructions.

[0100] Further, in some embodiments, the inspection data includes at least one detection object, and the position and historical monitoring result of each object.

[0101] Correspondingly, the task list generation unit is used to generate a vertical inspection task list and / or a horizontal inspection task list according to each detection object and its position.

[0102] The result analysis unit is used to issue a monitoring result according to the detection data of each inspection task and the historical monitoring result.

[0103] The present invention has at least the following beneficial effects: A nuclear power plant pool inspection method is provided, which includes: first generating a vertical inspection task list and / or a horizontal inspection task list according to inspection data; then formulating the inspection path for each inspection task according to the three-dimensional data of the pool and each inspection task list; then generating position data according to the inspection path of each inspection task to determine the preset placement positions of the inspection devices; then controlling the inspection devices to execute each inspection task according to the inspection path and the position data to collect the monitoring data of each detection object; and finally issuing a monitoring result according to the detection data of each inspection task. By using inspection devices to replace traditional manual visual inspections, the present invention can perform close-range line-of-sight inspections on detection objects in both water-filled and waterless pools. Staff can achieve remote monitoring and control through the man-machine interface, without having to reach pools with high radiation doses for inspections, and analyze and record the inspection results, reducing the risk of radiation safety hazards to personnel operations and effectively improving the efficiency and inspection effect of pool inspection operations.

[0104] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several modifications and improvements can also be made, which all fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made in accordance with the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A method for inspecting a pool in a nuclear power plant, characterized in that, It includes the following steps: S1. Generate a vertical inspection task list and / or a horizontal inspection task list according to the inspection data; Each of the inspection task lists includes at least one inspection task; S2. Develop the inspection path for each inspection task based on the three-dimensional data of the water tank and each inspection task list; wherein, the step of developing the inspection path for each inspection task based on the three-dimensional data of the water tank and each inspection task list includes: dividing the side wall and bottom of the water tank into several vertical inspection areas and several horizontal inspection areas respectively based on the detection range of the inspection equipment, determining the specific positions of each inspection task in the vertical inspection task list and the horizontal inspection task list in the water tank according to the three-dimensional data of the water tank, and classifying the detection objects located in the same inspection area into the same inspection path; S3. Generate position data according to the inspection path of each inspection task; the position data is used to represent the preset placement position of the inspection equipment for each inspection task; S4. Control the inspection equipment to execute each inspection task according to the inspection path and the position data. During the execution of each inspection task, reset the placement position of the inspection equipment according to the position data when executing the detection objects located in different inspection areas; S5. Issue a monitoring result according to the detection data of each inspection task; The inspection equipment includes a monitoring component for executing inspection tasks to collect detection data, a horizontal steering component for storing the monitoring component and placing it at the bottom of the water tank, and a placement component for controlling the placement positions of the monitoring component and the horizontal steering component according to the position data; when executing the vertical inspection task list, the monitoring component is connected to the placement component through a cable; The horizontal steering component includes a carrier box connected to the placement component and a steering roller provided on the first side wall of the carrier box; when executing the horizontal inspection task list, the placement component is connected to the monitoring component stored in the carrier box through a cable via the steering roller.

2. The method for inspecting a nuclear power plant pool according to claim 1, wherein In the S1, the inspection data includes at least one detection object and the position of each detection object; The S1 includes: generating a vertical inspection task list and / or a horizontal inspection task list according to each detection object and its position.

3. The method for inspecting a nuclear power plant pool according to claim 2, wherein The S4 includes: S41. Judge whether it is necessary to execute the vertical inspection task list. If so, execute step S42; otherwise, execute step S43; S42. Control the inspection equipment to sequentially execute the inspection tasks in the vertical inspection task list according to the corresponding inspection path; S43. Control the inspection equipment to sequentially execute the inspection tasks in the horizontal inspection task list according to the corresponding inspection path.

4. The method for inspecting a nuclear power plant pool according to claim 3, characterized in that, The S42 includes: S421. Obtain the detection object, inspection path and position data of a remaining vertical inspection task, and execute step S422; S422. Determine whether it is necessary to adjust the placement position of the monitoring component according to the current placement position of the monitoring component in the inspection device and the position data of the remaining vertical inspection tasks. If so, execute step S423; otherwise, execute step S424; S423. Adjust the placement position of the monitoring component according to the position data of the remaining vertical inspection tasks; S424. Control the monitoring component to move along the inspection path of the remaining vertical inspection tasks. During the movement, collect the detection data of the detection objects of the remaining vertical inspection tasks; S425. After this inspection task is completed, determine whether all vertical inspection tasks are completed. If so, execute S43; otherwise, return to S421.

5. The method for inspecting a nuclear power plant pool according to claim 4, wherein The S43 includes: S431. Obtain the inspection path and position data of a remaining horizontal inspection task, and execute step S432; S432. Determine whether it is necessary to adjust the placement position of the horizontal steering component according to the current placement position of the horizontal steering component in the inspection device and the position data of the remaining horizontal inspection tasks. If so, execute step S433; otherwise, execute step S434; S433. Adjust the placement position of the horizontal steering component according to the position data of the remaining horizontal inspection tasks; S434. Control the monitoring component to move along the inspection path of the remaining horizontal inspection tasks. During the movement, collect the detection data of the detection objects of the remaining horizontal inspection tasks; S435. After this inspection task is completed, determine whether all horizontal inspection tasks are completed. If so, execute S5; otherwise, return to S431.

6. The method for inspecting a nuclear power plant pool according to claim 4 or 5, characterized in that, The inspection data further includes: the historical monitoring results of each detection object; The S424 further includes: performing a difference analysis on the historical monitoring results of the detection objects of the remaining vertical inspection tasks and the detection data obtained from this inspection. When there is a difference, generate a first warning signal, and determine whether a manual mode switching instruction is received within a preset time. If so, control the inspection device to perform the detection work according to the manual control instruction; otherwise, execute S425; The S434 further includes: performing a difference analysis on the historical monitoring results of the detection objects of the remaining horizontal inspection tasks and the detection data obtained from this inspection. When there is a difference, generate a second warning signal, and determine whether a manual mode switching instruction is received within a preset time. If so, control the inspection device to perform the detection work according to the manual control instruction; otherwise, execute S435.

7. The method for inspecting a nuclear power plant pool according to claim 6, characterized in that The S5 includes: issuing a monitoring result according to the detection data and the historical monitoring results of each inspection task.

8. A pool inspection system for a nuclear power plant, characterized in that, It includes: An inspection device for performing inspection tasks; A task list generation unit for generating a vertical inspection task list and / or a horizontal inspection task list according to inspection data; Each inspection task list includes at least one inspection task; A path generation unit for formulating the inspection path of each inspection task according to the three-dimensional data of the water tank and each inspection task list; The steps of formulating the inspection path for each inspection task according to the three-dimensional data of the water tank and each inspection task list include: dividing the side wall and bottom of the water tank into a number of vertical inspection areas and a number of horizontal inspection areas respectively based on the detection range of the inspection device, determining the specific positions of each inspection task in the vertical inspection task list and the horizontal inspection task list in the water tank according to the three-dimensional data of the water tank, and classifying the detection objects located in the same inspection area into the same inspection path; A position data generation unit, configured to generate position data according to the inspection path of each inspection task; the position data is used to represent the preset placement position of the inspection device for each inspection task; An inspection control unit, configured to control the inspection device to execute each inspection task according to the inspection path and the position data, and during the execution of each inspection task, reset the placement position of the inspection device according to the position data when executing the detection objects located in different inspection areas; A result analysis unit, configured to issue a monitoring result according to the detection data of each inspection task; Wherein, the inspection device includes a monitoring component for executing an inspection task to collect detection data, a horizontal steering component for accommodating the monitoring component and placing it at the bottom of the water tank, and a placement component for controlling the placement positions of the monitoring component and the horizontal steering component according to the position data; when executing the vertical inspection task list, the monitoring component is connected to the placement component through a cable; The horizontal steering component includes a load box connected to the placement component and a steering roller provided on the first side wall of the load box; when executing the horizontal inspection task list, the placement component is connected to the monitoring component accommodated in the load box through a cable via the steering roller.

9. The nuclear power plant pool inspection system according to claim 8, characterized in that, The inspection data includes at least one detection object and the position of each detection object; Correspondingly, the task list generation unit is configured to generate a vertical inspection task list and / or a horizontal inspection task list according to each detection object and its position.

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