Nuclear power plant water conveyance tunnel on-line monitoring system

Abstract

The application relates to an online monitoring system for a water tunnel of a nuclear power plant, which comprises a monitoring robot, a hoisting mechanism, a tensile cable and a take-up and pay-off device. The monitoring robot comprises a mobile body, a monitoring device and a hydraulic power mechanism which are installed on the mobile body. The mobile body comprises a crawler walking mechanism and a transmission mechanism. The hydraulic power mechanism is connected with the crawler walking mechanism through the transmission mechanism. The transmission mechanism comprises a clutch device which can be separated when power is cut off, so that the hydraulic power mechanism is separated from the crawler walking mechanism. The hoisting mechanism is used for hoisting and placing the monitoring robot to the bottom of the water tunnel. The tensile cable is connected with the monitoring robot. The take-up and pay-off device is connected with the tensile cable. The take-up and pay-off device can drag the monitoring robot through the tensile cable. The online monitoring system for the water tunnel of the nuclear power plant can drag the monitoring robot back through the tensile cable in the case of an emergency such as a serious fault under water, so that the monitoring robot is not left in the water tunnel of the nuclear power plant as a foreign matter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water conveyance tunnel defect detection equipment, in particular to a nuclear power plant water conveyance tunnel online monitoring system. BACKGROUND

[0002] The water conveyance tunnel of the nuclear power plant introduces clean seawater from a water source into the power plant, and long-term erosion of the water flow can cause damage to the internal structure of the water conveyance tunnel, such as cracks and collapse. In addition, marine organisms, sediment and other foreign matter can also appear in the water conveyance tunnel. Therefore, it is necessary to regularly detect the defects inside the water conveyance tunnel to obtain data information such as the growth of marine organisms, the sedimentation of sediment, the exploration and distribution of possible foreign matter in the water conveyance tunnel. Due to the complex internal environment of the water conveyance tunnel and the large uncertainty of the underwater environment, manual inspection needs to be carried out under the condition of water stop or diving. Water stop detection affects water supply, and manual diving has safety problems.

[0003] In related technologies, a pre-buried detection device is used to realize the collection and remote monitoring and management of monitoring data in the water conveyance tunnel. The water conveyance tunnel can be monitored at any time without changing the working state of the water conveyance tunnel, without sending personnel into the tunnel for detection, and without affecting water supply. The reliability and efficiency of the safety monitoring and management of the water conveyance tunnel are high. However, the pre-buried detection device needs to be pre-constructed and buried in the water conveyance tunnel. Moreover, due to the internal closure, high humidity and long distance of the water conveyance tunnel, it is difficult to install monitoring devices in all places, and it is difficult to guarantee the integrity and function of the water conveyance tunnel detection.

[0004] An underwater robot is used to realize close observation of the inner wall of the water conveyance tunnel by using a detection device carried by the underwater robot, to complete defect detection work such as cracks and foreign matter in the water conveyance tunnel. Personnel do not need to be sent into the tunnel for detection, the visual angle covers the main parts of the water conveyance tunnel, the detection area of the water conveyance tunnel is fully covered, local damage, sediment accumulation and other problems of the water conveyance tunnel are discovered in time, and manpower and resources are saved. However, when the underwater robot detects in the water conveyance tunnel, it needs to dive into the water conveyance tunnel. When the water conveyance tunnel is running, there is a high-speed water flow inside the water conveyance tunnel. When the water flow speed is too high, the underwater robot is difficult to hover stably, causing detection errors, and even the underwater robot cannot be detected. It is difficult to meet the needs of online monitoring of long-distance, high-flow-rate, high-water-depth large water conveyance tunnels without water stop. Moreover, when the underwater robot loses control due to a serious fault under water, the underwater robot becomes a foreign matter left in the water conveyance tunnel, affecting the use of the water conveyance tunnel. SUMMARY

[0005] Therefore, it is necessary to provide a nuclear power plant water conveyance tunnel online monitoring system to solve the problems that the current technology cannot meet the needs of online monitoring of long-distance, high-flow-rate, high-water-depth large water conveyance tunnels without water stop, and the underwater robot becomes a foreign matter left in the water conveyance tunnel when it loses control under water, affecting the use of the water conveyance tunnel.

[0006] An online monitoring system for a water conveyance tunnel of a nuclear power plant, comprising:

[0007] a monitoring robot, comprising a mobile body, a monitoring device and a hydraulic power mechanism mounted on the mobile body, the mobile body comprising a track walking mechanism and a transmission mechanism connected with the track walking mechanism, the monitoring device being configured to acquire environmental information in the water conveyance tunnel of the nuclear power plant, the hydraulic power mechanism being connected with the transmission mechanism, the hydraulic power mechanism providing driving force for the track walking mechanism, and the transmission mechanism comprising a clutch device configured to be separated when power is cut off so as to disconnect the hydraulic power mechanism from the track walking mechanism;

[0008] a hoisting mechanism configured to lower the monitoring robot to the bottom of the water conveyance tunnel of the nuclear power plant;

[0009] a tensile cable connected with the monitoring robot, the tensile cable being configured to supply power and transmit data for the monitoring robot; and

[0010] a winding and unwinding device connected with the tensile cable, the winding and unwinding device being configured to wind and unwind the tensile cable and capable of dragging the monitoring robot through the tensile cable.

[0011] In one of the embodiments, the tensile force of the tensile cable is greater than or equal to a preset tensile force, the preset tensile force being equal to the product of the maximum static friction of the monitoring robot on a horizontal ground and a safety factor, the safety factor being greater than 3.

[0012] In one of the embodiments, the hoisting mechanism comprises a hoisting device and a hoisting platform, the hoisting device being configured to be arranged at the wellhead of a vertical shaft, the bottom of the vertical shaft being in communication with the water conveyance tunnel of the nuclear power plant; the hoisting platform being suspendedly connected with the hoisting device and capable of being loaded into the vertical shaft from the wellhead, the hoisting platform being configured to carry the monitoring robot; the hoisting device being capable of driving the hoisting platform to move up and down in the vertical shaft so as to lower the monitoring robot to the bottom of the water conveyance tunnel of the nuclear power plant.

[0013] In one of the embodiments, the hoisting platform comprises a frame, the top of the frame being connected with the hoisting device, the inside of the frame being provided with a robot cabin configured to park the monitoring robot, a first side of the frame being provided with an opening in communication with the robot cabin, the first side being configured to face the entrance of the water conveyance tunnel of the nuclear power plant.

[0014] In one of the embodiments, the hoisting platform further comprises at least one of a first guide device, a second guide device and an adjustable supporting leg; a plurality of the first guide devices are arranged on opposite sides of the frame body adjacent to the top and the first side, and are used to abut against and move along the inner walls of the shaft; a plurality of the second guide devices are arranged on the first side of the frame body and located on opposite sides of the opening, and are used to abut against and move along the inner walls of the shaft at the entrance of the water tunnel of the nuclear power plant; and a plurality of the adjustable supporting legs are arranged at the four corners of the bottom of the frame body, and are used to support the hoisting platform, and the length of each adjustable supporting leg extending out of the bottom of the frame body is adjustable.

[0015] In one of the embodiments, the hoisting platform further comprises a cable guide device arranged in the robot cabin, and used to support and guide the tensile cable.

[0016] In one of the embodiments, the mobile body further comprises a frame and a shell, the shell is arranged on the frame and encloses a mounting space with the frame, the track walking mechanism, the transmission mechanism, the hydraulic power mechanism and the monitoring device are mounted on the frame, and the front end and the rear end of the shell are provided with flow guiding surfaces.

[0017] In one of the embodiments, the hydraulic power mechanism comprises an electric hydraulic power source, a hydraulic actuator, a hydraulic oil cabin and a control valve, the electric hydraulic power source is connected with the hydraulic actuator and the hydraulic oil cabin through a hydraulic pipeline, the control valve is arranged on the hydraulic pipeline, the hydraulic actuator comprises a hydraulic motor, the hydraulic motor is drivingly connected with the track walking mechanism through the transmission mechanism, and / or the monitoring device comprises an underwater camera and an underwater three-dimensional scanning device.

[0018] In one of the embodiments, the monitoring robot further comprises an electrical control device, the electrical control device comprises control components, a strong current controller, a transformer and a plurality of sealed cabins, the plurality of sealed cabins are mounted on the mobile body, and the control components, the strong current controller and the transformer are respectively mounted in different sealed cabins.

[0019] In one of the embodiments, the monitoring robot further comprises a state detection module, a communication module and a control module; the state detection module comprises at least one of a depth detection device, a speed detection device, a water flow speed detection device and a posture detection device; and the control module is communicatively connected with the hydraulic power mechanism, the monitoring device, the state detection module and a remote control console through the communication module.

[0020] The nuclear power plant water conveying tunnel online monitoring system has the advantages that the monitoring robot is hoisted to the bottom of the nuclear power plant water conveying tunnel through the hoisting mechanism, and the monitoring robot realizes wall-climbing crawling in the nuclear power plant water conveying tunnel by relying on the track walking mechanism, which is stable in movement and has strong adaptability, the ability to resist water flow, the ability to maintain posture under high flow rate, and certain positioning ability. The monitoring robot obtains environmental information in the nuclear power plant water conveying tunnel through the monitoring equipment carried in the walking process, and realizes stable power supply and information transmission of the monitoring robot through the anti-tension cable and the take-up device, realizes real-time acquisition of environmental information in the nuclear power plant water conveying tunnel, and can perform monitoring operation at any time without changing the working state of the nuclear power plant water conveying tunnel, has no influence on the function of the nuclear power plant water conveying tunnel, does not affect water supply, is convenient and flexible to use, and is suitable for online monitoring of the inside of the nuclear power plant water conveying tunnel under normal water conveying, and meets the online monitoring requirements of marine organisms, sand setting and other foreign matters in the nuclear power plant water conveying tunnel with high flow rate, large water depth and long distance.

[0021] In addition, by arranging the anti-tension cable and the take-up device, the nuclear power plant water conveying tunnel online monitoring system also has a fault handling mechanism. When the monitoring robot has a serious fault or other emergency situation under water, the monitoring robot can be dragged back by the anti-tension cable, so as to avoid that the monitoring robot becomes a foreign matter in the nuclear power plant water conveying tunnel, and the water supply is not affected, and there is no safety problem. At the same time, by arranging the clutch device to be separated when power is off, the monitoring robot has an automatic unlocking driving function. When the monitoring robot needs to be dragged back in an emergency, the track walking mechanism can be freely rotated, the resistance of dragging the monitoring robot is greatly reduced, and the anti-tension cable can effectively drag the monitoring robot back. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 FIG. 1 is a structural schematic diagram of a nuclear power plant water conveying tunnel online monitoring system in an embodiment of the present application.

[0023] Figure 2 FIG. 2 is a partial schematic diagram of the nuclear power plant water conveying tunnel online monitoring system in the embodiment of the present application.

[0024] Figure 3 FIG. 3 is a structural schematic diagram of a monitoring robot in the embodiment of the present application.

[0025] Figure 4 FIG. 4 is a three-dimensional structural schematic diagram of the monitoring robot in the embodiment of the present application after removing the shell.

[0026] Figure 5 FIG. 5 is a top view of the monitoring robot in the embodiment of the present application after removing the shell.

[0027] Figure 6Structure schematic diagram of a mobile body without a shell in an embodiment of the present application.

[0028] Figure 7 Structure schematic diagram of a hoisting platform in an embodiment of the present application.

[0029] Figure 8 Structure schematic diagram of a vehicle frame in an embodiment of the present application.

[0030] Figure 9 Structure schematic diagram of a crawler traveling mechanism in an embodiment of the present application.

[0031] Figure 10 Working principle diagram of a hydraulic power mechanism in an embodiment of the present application.

[0032] Figure 11 Structure schematic diagram of a crawler traveling mechanism cooperating with a transmission mechanism in an embodiment of the present application.

[0033] Figure 12 Sectional structure schematic diagram of a tensile-resistant cable in an embodiment of the present application.

[0034] Figure 13 Three-dimensional structure schematic diagram of a hoisting device in an embodiment of the present application.

[0035] Figure 14 Front view of a hoisting device in an embodiment of the present application.

[0036] Figure 15 Structure schematic diagram of a retracting device in an embodiment of the present application.

[0037] Reference signs:

[0038] 100, monitoring robot; 1, mobile body; 2, monitoring device; 3, hydraulic power mechanism; 4, mechanical arm device; 5, electrical control device;

[0039] 11, crawler traveling mechanism; 111, drive wheel; 112, guide wheel; 113, carrier wheel; 114, track roller; 115, track; 116, track tensioning device; 117, buffer mechanism; 12, transmission mechanism; 121, clutch device; 1211, driving half shaft; 1212, driven half shaft; 1213, driven gear; 1214, hydraulic oil cylinder; 13, vehicle frame; 131, longitudinal beam; 132, cross beam; 14, shell; 141, flow guide surface;

[0040] 21, underwater camera; 22, underwater three-dimensional scanning device;

[0041] 31, electric hydraulic power source; 311, first hydraulic pump; 312, second hydraulic pump; 313, third hydraulic pump; 32, hydraulic actuator; 321, hydraulic motor; 3211, left traveling motor; 3212, right traveling motor; 322, mechanical arm lifting motor; 33, hydraulic oil tank; 34, control valve; 341, directional valve; 341a, first directional valve; 341b, second directional valve; 342, shuttle valve; 342a, left shuttle valve; 343, overflow valve; 35, brake; 35a, left brake; 36, underwater hydraulic control tank; 51, sealed cabin; 511, transformer cabin; 512, high-voltage electrical cabin; 513, low-voltage electrical cabin; 52, distribution box;

[0042] 200, hoisting mechanism; 201, hoisting equipment; 202, hoisting platform; 210, frame body; 211, robot cabin; 212, opening; 220, first guide device; 230, second guide device; 240, adjusting leg; 250, cable guide device;

[0043] 300, tensile cable; 301, power cable; 302, signal cable; 303, filler; 304, tensile braid layer; 305, isolation layer; 306, tensile layer; 307, sheath layer;

[0044] 400, launching and recovery equipment; 401, frame; 402, winding drum; 403, wire arranging device; 404, wire pressing device; 405, hydraulic speed reducer; 500, water conveying tunnel of nuclear power plant; 501, entrance; 600, shaft; 601, shaft mouth. DETAILED DESCRIPTION

[0045] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0046] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0047] In addition, the terms "first", "second", etc. are used only to describe purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be indirectly contacted through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be the first feature directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature can be the first feature directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0050] It should be noted that an element referred to as "fixed to" or "provided on" another element can be directly on another element or can exist with a central element. An element is considered to be "connected" to another element, which can be directly connected to another element or can exist simultaneously with a central element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for the purpose of description, and do not represent the only implementation.

[0051] Referring to Figures 1 to 5 As shown in the drawings, the online monitoring system for water conveying tunnel of nuclear power plant provided by an embodiment of the present application comprises a monitoring robot 100, a hoisting mechanism 200, a tensile cable 300 and a winding and unwinding device 400; wherein, as shown in the drawings, Figure 1 and Figure 2As shown, the hoisting mechanism 200 is used to lower the monitoring robot 100 to the bottom of the nuclear power plant water conveying tunnel 500; the tensile cable 300 is connected with the monitoring robot 100, and the tensile cable 300 is used for power supply and data transmission of the monitoring robot 100; the take-up device 400 is connected with the tensile cable 300, and the take-up device 400 is used for winding and unwinding the tensile cable 300, and can drag the monitoring robot 100 through the tensile cable 300. As shown in the figure, Figures 3 to 6 As shown, the monitoring robot 100 comprises a mobile body 1, a monitoring device 2 and a hydraulic power mechanism 3 installed on the mobile body 1, the mobile body 1 comprises a crawler walking mechanism 11 and a transmission mechanism 12 connected with the crawler walking mechanism 11; the monitoring device 2 is used to acquire environmental information in the nuclear power plant water conveying tunnel 500, the hydraulic power mechanism 3 is connected with the transmission mechanism 12, and the hydraulic power mechanism 3 provides driving force for the crawler walking mechanism 11; and the transmission mechanism 12 comprises a clutch device 121 configured to be separated when power is off, so that the hydraulic power mechanism 3 is disconnected with the crawler walking mechanism 11.

[0052] In this embodiment, the nuclear power plant water conveying tunnel online monitoring system is used for online monitoring of marine organisms, sand, silt and other foreign matters in the nuclear power plant water conveying tunnel 500, and the monitoring robot 100 is a key execution part of the nuclear power plant water conveying tunnel online monitoring system. When performing monitoring operation, the monitoring robot 100 is lowered to the bottom of the nuclear power plant water conveying tunnel 500, for example, the bottom of the nuclear power plant water conveying tunnel 500 can be a plane, through the hoisting mechanism 200; then the monitoring robot 100 performs online monitoring operation in the nuclear power plant water conveying tunnel 500, without the need for pre-construction burying in the nuclear power plant water conveying tunnel 500, which guarantees the integrity and function of the nuclear power plant water conveying tunnel 500, and the operation is simple and convenient. Moreover, the monitoring robot 100 has safety and stability, can work for a long time and a long distance, saves a lot of manpower, material resources and financial resources, and greatly reduces the monitoring cost.

[0053] Specifically, the monitoring robot 100 comprises a mobile body 1 and a monitoring device 2 and a hydraulic power mechanism 3 mounted on the mobile body 1. The mobile body 1 serves as a walking part and a main support of the monitoring robot 100, and provides a bearing function for the rest of the functional modules of the monitoring robot 100. The mobile body 1 realizes the walking part function by using a tracked walking mechanism 11, and the hydraulic power mechanism 3 is drivingly connected with the tracked walking mechanism 11 through a transmission mechanism 12 to provide driving force for the tracked walking mechanism 11. When performing the internal monitoring operation of the water conveyance tunnel 500 of the nuclear power plant, the monitoring robot 100 relies on the tracked walking mechanism 11 to realize wall-climbing in the water conveyance tunnel 500 of the nuclear power plant, and has stable movement, strong adaptability, water flow resistance, posture stability under high flow rate, and certain positioning ability, can adapt to high flow rate and high water depth environment, so that the monitoring robot 100 does not need to perform monitoring operation in the static water state, does not need to empty the water in the water conveyance tunnel 500 of the nuclear power plant, can perform monitoring operation at any time without changing the working state of the water conveyance tunnel 500 of the nuclear power plant, does not affect water supply, and is convenient and flexible to use.

[0054] When the monitoring robot 100 walks in the water conveyance tunnel 500 of the nuclear power plant, the monitoring robot 100 follows to obtain the environmental information in the water conveyance tunnel 500 of the nuclear power plant through the monitoring device 2 such as a camera and a laser scanning device carried on the mobile body 1, for example, obtains video image information and three-dimensional cloud images in the water conveyance tunnel 500 of the nuclear power plant.

[0055] The tensile cable 300 is connected with the monitoring robot 100, and is used for power supply and data transmission of the monitoring robot 100. The tensile cable 300 has certain tensile capacity and is not easy to be pulled off, and is wound or unwound synchronously with the walking of the monitoring robot 100 through the winding and unwinding device 400, to ensure the safety of the tensile cable 300, realize stable power supply and information transmission of the monitoring robot 100, and realize real-time information transmission between the monitoring robot 100 and the remote control console for the operator to view and operate, so that online video monitoring and contour scanning in the water conveyance tunnel 500 of the nuclear power plant can be realized under the assistance of the tensile cable 300 and the remote control console, accurate and real-time acquisition of data information such as growth of marine organisms in the water conveyance tunnel 500 of the nuclear power plant, sand deposition, possible foreign matter exploration and distribution in the water conveyance tunnel 500 of the nuclear power plant can be realized, and foreign matter distribution evaluation in the water conveyance tunnel 500 of the nuclear power plant can be completed.

[0056] Meanwhile, the tensile cable 300 can withstand the tensile force required for towing the monitoring robot 100, and the winding and unwinding device 400 can tow the monitoring robot 100 to move by winding the tensile cable 300, so that in an emergency, for example, when the monitoring robot 100 loses control due to a serious failure under water, the monitoring device 2 fails to work or transmit data, or even causes damage, etc., the monitoring robot 100 can be towed back to be collected through the tensile cable 300, so as to avoid leaving the monitoring robot 100 in the nuclear power plant water conveying tunnel 500 as a foreign matter, without stopping water supply for manual collection, without affecting water supply, and without safety problems.

[0057] Further, the transmission mechanism 12 comprises a clutch device 121, which can be automatically separated after power failure, so as to disconnect the hydraulic power mechanism 3 from the crawler traveling mechanism 11. For example, the clutch device 121 can be a power-off self-resetting clutch, which can be automatically disconnected after power failure, so as to disconnect the transmission of the hydraulic power mechanism 3 from the crawler traveling mechanism 11. Thus, when the monitoring robot 100 needs to be towed back to be collected in an emergency, the clutch device 121 is controlled to be powered off and separated, so that the transmission of the hydraulic power mechanism 3 from the crawler traveling mechanism 11 is disconnected, and the crawler traveling mechanism 11 can move freely, so as to greatly reduce the resistance of towing the monitoring robot 100 to move, effectively ensure that the tensile cable 300 can smoothly tow the monitoring robot 100 back to be collected, and meet the requirement of towing the monitoring robot 100 back to be collected after a serious failure under water.

[0058] The nuclear power plant water conveying tunnel online monitoring system of the embodiment can hoist the monitoring robot 100 to the bottom of the nuclear power plant water conveying tunnel 500 through the hoisting mechanism 200, and the monitoring robot 100 can realize wall-climbing in the nuclear power plant water conveying tunnel 500 by relying on the crawler traveling mechanism 11, so as to move stably, have strong adaptability, have water flow resistance, have posture stability under high flow rate, and have certain positioning capability. The monitoring robot 100 can obtain environmental information in the nuclear power plant water conveying tunnel 500 through the monitoring device 2 carried in the walking process, and realize stable power supply and information transmission of the monitoring robot 100 through the tensile cable 300 and the winding and unwinding device 400, so as to realize real-time acquisition of environmental information in the nuclear power plant water conveying tunnel 500. Moreover, the monitoring operation can be performed at any time without changing the working state of the nuclear power plant water conveying tunnel 500, without affecting the function of the nuclear power plant water conveying tunnel 500, without affecting water supply, and being convenient and flexible to use. The system is suitable for online monitoring of the inside of the nuclear power plant water conveying tunnel 500 in normal water conveying, and meets the requirement of online monitoring of marine organisms, sand setting and other foreign matters in the nuclear power plant water conveying tunnel 500 with high flow rate, large water depth and long distance.

[0059] In addition, by arranging the tensile cable 300 and the winding and unwinding device 400, the nuclear power plant water conveying tunnel online monitoring system also has a failure handling mechanism. When the monitoring robot 100 has a serious failure underwater or in an emergency, the monitoring robot 100 can be dragged back by the tensile cable 300, so as to avoid leaving the monitoring robot 100 in the nuclear power plant water conveying tunnel 500 as a foreign object, and the water supply is not affected, and there is no safety problem. At the same time, by arranging the clutch device 121 to be separated when power is off, the monitoring robot 100 has a failure automatic unlocking driving function. When the monitoring robot 100 needs to be dragged back in an emergency, the caterpillar walking mechanism 11 can be freely rotated, the resistance of dragging the monitoring robot 100 is greatly reduced, and the tensile cable 300 can effectively drag the monitoring robot 100 back.

[0060] The nuclear power plant water conveying tunnel online monitoring system of the embodiment effectively solves the problems that it is difficult to meet the online monitoring demand in a long-distance, high-flow-rate, high-water-depth large water conveying tunnel without stopping water, and a submerged robot becomes a foreign object in the water conveying tunnel when it has a serious failure, and affects the use function of the water conveying tunnel.

[0061] Specifically, the tensile force of the tensile cable 300 is greater than or equal to a preset tensile force, the preset tensile force is a product of the maximum static friction of the monitoring robot 100 on a horizontal ground and a safety factor, and the safety factor is greater than 3.

[0062] According to the kinematic principle, in order to realize the dragging of the monitoring robot 100, the tensile force of the tensile cable 300 dragging the monitoring robot 100 needs to be greater than the maximum static friction of the monitoring robot 100, that is, the tensile force of the tensile cable 300 needs to be greater than the maximum static friction of the monitoring robot 100. However, after the nuclear power plant water conveying tunnel 500 is used for a long time, marine organisms, sand, silt and other foreign objects are deposited on the inner wall of the nuclear power plant water conveying tunnel 500, and the maximum static friction of the monitoring robot 100 in the nuclear power plant water conveying tunnel 500 is difficult to determine. Therefore, by arranging the tensile force of the tensile cable 300 to be greater than or equal to a preset tensile force, the preset tensile force is a product of the maximum static friction of the monitoring robot 100 on a horizontal ground and a safety factor, and the safety factor is greater than 3, that is, the tensile force of the tensile cable 300 is greater than 3 times the maximum static friction of the monitoring robot 100 on a horizontal ground. It can be ensured that the tensile cable 300 can bear the tensile force required for dragging the monitoring robot 100, and the tensile cable 300 can effectively drag the monitoring robot 100 back, so as to avoid the monitoring robot 100 becoming a foreign object in the nuclear power plant water conveying tunnel 500 when it has a serious failure, and affecting the use function of the nuclear power plant water conveying tunnel 500.

[0063] Further, the safety factor is in the range of 5-7, which is beneficial to balance the strength and cost of the tensile cable 300. In some embodiments, the maximum static friction of the monitoring robot 100 on the horizontal ground is about 1300 kg; the tensile cable 300 is a high-strength steel wire armored cable, which realizes power supply and information transmission, and the tensile force of the tensile cable 300 is greater than or equal to 8000 kg, that is, the safety factor is about 6.15.

[0064] In some embodiments, the length of the tensile cable 300 is greater than 2.5 km, and the online monitoring operation of the foreign matter in the 2.5 km long nuclear power plant water conveying tunnel 500 can be realized through the tensile cable 300.

[0065] In some embodiments, as shown in Figure 1 and Figure 2 , the hoisting mechanism 200 includes a hoisting device 201 and a hoisting platform 202, the hoisting device 201 is configured at the wellhead 601 of the shaft 600, the bottom of the shaft 600 is in communication with the nuclear power plant water conveying tunnel 500; the hoisting platform 202 is suspendedly connected to the hoisting device 201 and can be loaded into the shaft 600 from the wellhead 601, the hoisting platform 202 is used to carry the monitoring robot 100; the hoisting device 201 can drive the hoisting platform 202 to move up and down in the shaft 600, so as to hoist the monitoring robot 100 to the bottom of the nuclear power plant water conveying tunnel 500.

[0066] In this embodiment, the shaft 600 in communication with the nuclear power plant water conveying tunnel 500 is usually provided, for example, the shaft 600 can be a shield well connected from the shore to the nuclear power plant water conveying tunnel 500; the hoisting device 201 provides hoisting for the arrangement of the hoisting platform 202 and the monitoring robot 100, during the monitoring operation, the hoisting device 201 is arranged at the wellhead 601 on the shore of the shaft 600, the monitoring robot 100 is loaded on the hoisting platform 202, the hoisting device 201 hoists the hoisting platform 202 and the monitoring robot 100 from the open shore to the bottom of the shaft 600, so that the monitoring robot 100 enters the nuclear power plant water conveying tunnel 500 under the auxiliary hoisting of the hoisting platform 202.

[0067] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 7As shown, the hoisting platform 202 comprises a frame body 210, the top of the frame body 210 is connected with the hoisting device 201, the inside of the frame body 210 is provided with a robot cabin 211 for parking the monitoring robot 100, the first side of the frame body 210 is provided with an opening 212 in communication with the robot cabin 211, and the first side of the frame body 210 is used to face the entrance 501 of the nuclear power plant water conveying tunnel 500. The frame body 210 is the "skeleton" of the whole hoisting platform 202, by arranging the robot cabin 211 with the opening 212 in the frame body 210, the robot cabin 211 is the place for storing the monitoring robot 100 during hoisting; when the hoisting platform 202 is loaded into the shaft 600 by the wellhead 601, the first side of the frame body 210 faces the side close to the entrance 501 of the nuclear power plant water conveying tunnel 500, so that when the hoisting platform 202 is lowered to the bottom of the shaft 600, the first side of the frame body 210 faces the entrance 501 of the nuclear power plant water conveying tunnel 500, so that the opening 212 is in communication with the entrance 501 of the nuclear power plant water conveying tunnel 500, so that the monitoring robot 100 can drive out of the opening 212 of the robot cabin 211 and enter the nuclear power plant water conveying tunnel 500 through the entrance 501, so as to realize the hoisting and lowering of the monitoring robot 100 to the bottom of the nuclear power plant water conveying tunnel 500.

[0068] In some embodiments, as shown in Figure 7 The frame body 210 is a frame welded by circular steel pipes, and the robot cabin 211 is an open cavity surrounded by a steel structure, which effectively reduces the water flow force acting on the hoisting platform 202 and the influence on the shield shaft water.

[0069] In some embodiments, as shown in Figure 2 and Figure 7 The hoisting platform 202 further comprises a first guide device 220, a plurality of first guide devices 220 are arranged on the opposite sides of the frame body 210 adjacent to the top and the first side, and the first guide device 220 is used to abut against the inner walls of the opposite sides of the shaft 600 and can move along the inner walls of the shaft 600. By arranging the first guide device 220 on the opposite sides of the frame body 210, the first guide device 220 can abut against the inner walls of the shaft 600 when the hoisting platform 202 is lowered or raised along the shaft 600, which plays a guiding and supporting role, ensures the horizontal posture of the hoisting platform 202, prevents the hoisting platform 202 from being stuck in the shaft 600 due to left and right inclination, and realizes the hoisting requirement of preventing the hoisting platform 202 from being stuck.

[0070] Specifically, the first guide device 220 comprises an elastic guide wheel and a spring, the elastic guide wheel is in elastic rolling contact with the inner walls of the shaft 600, and the elastic guide wheel can be telescopic through the spring, which effectively avoids damaging the inner walls of the shaft 600, protects the inner walls of the shaft 600, and can be suitable for shafts 600 with different inner diameters, and has a wider application range.

[0071] In some embodiments, as shown in Figure 2 and Figure 7 The hoisting platform 202 further comprises a second guide device 230, a plurality of second guide devices 230 are arranged on the first side of the frame body 210 and located on opposite sides of the opening 212, the second guide device 230 is used to abut against the inner wall surface of the shaft 600 provided with the inlet 501 of the water conveying tunnel 500 of the nuclear power station and can move along the inner wall surface of the shaft 600. By arranging the second guide device 230 on the first side of the frame body 210, the second guide device 230 can abut against the inner wall surface of the shaft 600 when the hoisting platform 202 descends or ascends along the shaft 600, play a guiding and supporting role, ensure the horizontal posture of the hoisting platform 202, prevent the hoisting platform 202 from jamming, and ensure that the opening 212 is aligned and communicated with the inlet 501, facilitating the robot 100 to enter or exit the water conveying tunnel 500 of the nuclear power station via the inlet 501.

[0072] Specifically, the second guide device 230 is a rigid guide device, and the rigid guide device comprises a roller.

[0073] In some embodiments, as shown in Figure 2 and Figure 7 The hoisting platform 202 further comprises an adjusting leg 240, a plurality of adjusting legs 240 are arranged at the bottom of the frame body 210, the adjusting leg 240 is used to support the hoisting platform 202, and the length of each adjusting leg 240 extending out of the bottom of the frame body 210 can be adjusted. By arranging the adjusting leg 240 at the bottom of the frame body 210 and adjusting the length of the adjusting leg 240 extending out of the frame body 210, the lengths of the plurality of adjusting legs 240 can be adjusted respectively, so that the purpose of adjusting the balance of the hoisting platform 202 can be achieved when the shaft bottom is not flat due to silt deposition after long-term use of the water conveying tunnel 500 of the nuclear power station.

[0074] Specifically, the length of the adjusting leg 240 extending out of the frame body 210 is adjusted by a threaded pair.

[0075] In some embodiments, as shown in Figure 7 The hoisting platform 202 further comprises a cable guide device 250, the cable guide device 250 is arranged in the robot cabin 211, and the cable guide device 250 is used to support and guide the tensile cable 300. By arranging the cable guide device 250, the tensile cable 300 can be supported and guided when the monitoring robot 100 is working, the unwinding and winding of the tensile cable 300 are facilitated, the tensile cable 300 is prevented from winding or jamming, and the operation and use are convenient.

[0076] Specifically, the cable guide device 250 comprises two compression guide wheels.

[0077] In some embodiments, the hoisting platform 202 further comprises a platform monitoring module for exploring the environment at the bottom of the shaft 600 and detecting the attitude of the hoisting platform 202, so as to ensure the horizontal attitude of the hoisting platform 202 and the smooth and safe lowering to the bottom of the shaft 600. For example, the platform monitoring module comprises an underwater illuminating lamp, an underwater high-definition camera, an underwater panoramic camera, an inclination sensor, etc.

[0078] In some embodiments, as shown in Figures 3 to 6 The mobile body 1 further comprises a frame 13 and a shell 14, the shell 14 is arranged on the frame 13 and encloses an installation space with the frame 13, the track walking mechanism 11, the transmission mechanism 12, the hydraulic power mechanism 3 and the monitoring device 2 are all installed on the frame 13; and the front end and the rear end of the shell 14 are both provided with a flow guide surface 141. The front end and the rear end of the shell 14 refer to the opposite ends of the mobile body 1 along the walking direction, and the flow guide surface 141 can be an inclined surface or an arc surface; the mobile body 1 provides support and bearing action through the frame 13, the track walking mechanism 11 and the transmission mechanism 12 are installed on the frame 13 to drive the frame 13 to move, realizing the walking of the mobile body 1; the monitoring device 2 and the hydraulic power mechanism 3 are both installed on the frame 13, and the frame 13 serves as an intermediate body connecting various functional modules of the monitoring robot 100, and part of the functional modules are installed in the installation space enclosed by the shell 14 and the frame 13. By arranging the shell 14 to cover the frame 13 and part of the functional modules carried by the frame 13, and by providing the flow guide surface 141 at the front end and the rear end of the shell 14, the resistance of the monitoring robot 100 when moving in water can be reduced, thereby improving the water flow resistance of the monitoring robot 100, making the movement of the monitoring robot 100 more stable and more adaptable, and effectively meeting the online monitoring demand of the foreign matter in the high-flow-speed nuclear power plant water conveying tunnel 500.

[0079] In some specific embodiments, the shell 14 is further arranged to have a streamlined shape, so as to cover the frame 13 and the devices carried by the frame 13 in a streamlined structure, further reducing the resistance and improving the water flow resistance. By arranging the shell 14 and the track walking mechanism 11, the monitoring robot 100 can resist a water flow speed of 2.8 m / s.

[0080] In some embodiments, the frame 13 is provided with a plurality of mounting interfaces, and the monitoring device 2 is installed on the frame 13 through the mounting interfaces. By arranging a plurality of mounting interfaces, the plurality of mounting interfaces are used to install a plurality of monitoring devices 2, and the mounting interfaces can also be modified according to the use demand, so that the monitoring robot 100 has high expansibility and can carry different execution functional modules such as mechanical hands, underwater cameras, high-precision scanners and water flow detection devices according to the demand.

[0081] Specifically, as shown in Figure 6 and Figure 8As shown, the vehicle frame 13 adopts a simple frame structure, and includes a plurality of longitudinal beams 131 and a plurality of cross beams 132. The middle longitudinal beams 131 provide mounting interfaces for various functional modules, and the two side longitudinal beams 131 provide mounting interfaces for the track walking mechanism 11, which is mounted on the vehicle frame 13 through the mounting interfaces. The cross beams 132 and the longitudinal beams 131 bear bending, torsion, tension, compression and other loads.

[0082] In some embodiments, as shown in Figure 6 and Figure 9 , the track walking mechanism 11 includes a driving wheel 111, a guide wheel 112, a belt support wheel 113, a track roller 114, a track belt 115, a track belt tensioning device 116 and a buffer mechanism 117. The transmission mechanism 12 includes transmission components from the output shaft of the hydraulic power mechanism 3 to the driving wheel 111, which can adopt a conventional and mature planetary gear reduction transmission mode.

[0083] In some embodiments, as shown in Figure 4 , Figure 5 , Figure 9 and Figure 10 , the hydraulic power mechanism 3 includes an electric hydraulic power source 31, a hydraulic actuator 32, a hydraulic oil tank 33 and a control valve 34. The electric hydraulic power source 31 is connected to the hydraulic actuator 32 and the hydraulic oil tank 33 through a hydraulic pipeline, and the control valve 34 is arranged on the hydraulic pipeline. The hydraulic actuator 32 includes a hydraulic motor 321, which is drivingly connected to the track walking mechanism 11 through the transmission mechanism 12.

[0084] In the embodiment, the electric-hydraulic power source 31 converts electric power into hydraulic power for driving the hydraulic oil flow in the hydraulic power mechanism 3, for example, the electric-hydraulic power source 31 can be a hydraulic pump; the hydraulic executing device 32 is a functional executing element of the hydraulic power mechanism 3, the hydraulic executing device 32 is connected with the electric-hydraulic power source 31 through a hydraulic pipeline; the hydraulic oil tank 33 stores hydraulic oil, the hydraulic oil tank 33 is connected with the electric-hydraulic power source 31 and the hydraulic executing device 32 through a hydraulic pipeline; the control valve 34 is arranged on the hydraulic pipeline, for controlling the flow of the hydraulic oil between the electric-hydraulic power source 31, the hydraulic executing device 32 and the hydraulic oil tank 33; the hydraulic power mechanism 3 provides the hydraulic oil to the hydraulic executing device 32 through the control of the electric-hydraulic power source 31 and the control valve 34, drives each hydraulic executing device 32 to act, so as to complete the work and the working condition to be realized by the monitoring robot 100. Specifically, the hydraulic executing device 32 includes the hydraulic motor 321, the electric-hydraulic power source 31 cooperates with the control valve 34 to supply the hydraulic oil to the hydraulic motor 321, drives the hydraulic motor 321 to rotate, the rotation of the hydraulic motor 321 drives the track walking mechanism 11 to move, so as to realize the walking function of the monitoring robot 100. The hydraulic power mechanism 3 ensures that the monitoring robot 100 moves stably and accurately during the work, the monitoring robot 100 can complete the required actions at the same time without affecting each other, and the whole has higher operation performance.

[0085] Specifically, as shown in Figure 10 , Figure 10Fig. 3 is a schematic diagram of the working principle of the hydraulic power mechanism 3. The electric hydraulic power source 31 comprises a first hydraulic pump 311 and a second hydraulic pump 312, the control valve 34 comprises a reversing valve 341, a shuttle valve 342 and a relief valve 343, the hydraulic motor 321 comprises a left traveling motor 3211 and a right traveling motor 3212; the hydraulic oil discharged from the first hydraulic pump 311 and the second hydraulic pump 312 is provided to the left traveling motor 3211 through the first reversing valve 341a and to the right traveling motor 3212 through the second reversing valve 341b, the left traveling motor 3211 and the right traveling motor 3212 provide driving force for the track traveling mechanism 11 of the robot 100, the first reversing valve 341a controls the forward and reverse rotation and stop of the left traveling motor 3211, and the second reversing valve 341b controls the forward and reverse rotation and stop of the right traveling motor 3212. The shuttle valve 342 and the brake 35 serve as an insurance for the left traveling motor 3211 and the right traveling motor 3212, and the relief valve 343 serves as a safety overflow, which can realize automatic locking and overload protection of the hydraulic circuit. For example, when no hydraulic oil is provided to the left traveling motor 3211, the left brake 35a is in a locked state, locking the left traveling motor 3211 and serving as a brake to prevent the track 115 from moving; when hydraulic oil is provided to the left traveling motor 3211, whether the left traveling motor 3211 rotates forward or reversely, the hydraulic oil entering the left traveling motor 3211 will flow into the left brake 35a through the left shuttle valve 342a, so that the oil cylinder piston of the left brake 35a retreats, and the track can travel.

[0086] In some embodiments, the first hydraulic pump 311 and the second hydraulic pump 312 are variable pumps, the angle of the swash plate is controlled by an internal hydraulic cylinder, the displacement of the first hydraulic pump 311 and the second hydraulic pump 312 is adjusted, and thus the low, medium and high traveling speeds of the track traveling mechanism 11 are satisfied.

[0087] In some specific embodiments, the electric hydraulic power source 31 comprises a constant pressure and constant power plunger pump, which can automatically change the plunger pump flow according to the pressure used by the front-end hydraulic actuator 32, so as to protect the motor of the electric hydraulic power source 31, prevent the motor from overloading, and prolong the service life of the motor.

[0088] In some embodiments, as shown in Fig. 4, the electric hydraulic power source 31 comprises a constant pressure and constant power plunger pump, which can automatically change the plunger pump flow according to the pressure used by the front-end hydraulic actuator 32, so as to protect the motor of the electric hydraulic power source 31, prevent the motor from overloading, and prolong the service life of the motor. Figures 3 to 5 and Figure 10As shown, the monitoring robot 100 further comprises a mechanical arm device 4 connected to the mobile body 1, and the monitoring device 2 is installed on the mechanical arm device 4; the electric-hydraulic power source 31 further comprises a third hydraulic pump 313, and the hydraulic actuating device 32 further comprises a mechanical arm lifting motor 322 in driving connection with the mechanical arm device 4 for controlling the lifting movement of the mechanical arm device 4; the mechanical arm lifting motor 322 is further connected with a one-way speed regulating mechanism and a hydraulic interlocking mechanism to ensure the working safety of the mechanical arm device 4. The lifting movement control of the mechanical arm device 4 is similar to the walking movement control of the tracked walking mechanism 11, and will not be repeated here.

[0089] In some embodiments, the maximum flow required for driving the tracked walking mechanism 11 is 40 L / min, and the pressure is 16 MPa; the maximum flow required for driving the mechanical arm device 4 is 10 L / min, and the pressure is 16 MPa; thus, the actual working flow required for the hydraulic power mechanism 3 of the monitoring robot 100 is 50 L / min.

[0090] In some embodiments, as shown in Figure 5 Each hydraulic actuating device 32 is installed in a sealed underwater hydraulic control cabin 36, the hydraulic oil cabin 33 adopts an underwater compensation type hydraulic oil tank, the hydraulic power mechanism 3 has good underwater pressure resistance, is suitable for high water depth environment, and meets the online monitoring demand of the foreign matter in the water conveying tunnel 500 of the large water depth nuclear power plant.

[0091] In some embodiments, as shown in Figure 6 and Figure 11 The clutch device 121 comprises a driving half shaft 1211, a driven half shaft 1212, a driven gear 1213, and a hydraulic oil cylinder 1214; the driving half shaft 1211 is in driving connection with the output shaft of the hydraulic motor 321 through the driven gear 1213; the driven half shaft 1212 is coaxially fixedly connected with the driving wheel 111 of the tracked walking mechanism 11; the driving half shaft 1211 and the driven half shaft 1212 are arranged along the axial direction in sequence; the hydraulic oil cylinder 1214 is connected with the driving half shaft 1211 for driving the driving half shaft 1211 to move along the axial direction, so as to axially connect or separate the driving half shaft 1211 and the driven half shaft 1212.

[0092] When the clutch device 121 is powered, the hydraulic cylinder 1214 drives the active half shaft 1211 to butt against the passive half shaft 1212, the hydraulic motor 321 drives the driven gear 1213 to rotate, the driven gear 1213 drives the active half shaft 1211 to rotate, the active half shaft 1211 drives the passive half shaft 1212 to rotate, the passive half shaft 1212 drives the drive wheel 111 to rotate, and the drive wheel 111 drives the track 115 to move, so as to realize the walking of the track walking mechanism 11. When the clutch device 121 is powered off, the hydraulic cylinder 1214 automatically drives the active half shaft 1211 to separate from the passive half shaft 1212, so as to disconnect the transmission between the hydraulic motor 321 and the track walking mechanism 11.

[0093] In some embodiments, as shown in Figures 3 to 5 The monitoring device 2 includes an underwater camera 21 and an underwater three-dimensional scanning device 22. When the monitoring robot 100 walks in the nuclear power plant water conveying tunnel 500, the underwater camera 21 is used to acquire the distribution information of the growth of marine organisms and the distribution of silt, sand and other foreign matters in the nuclear power plant water conveying tunnel 500 in real time, so as to realize the online video monitoring of marine organisms; at the same time, the underwater three-dimensional scanning device 22 is used to carry out a follow-up high-precision three-dimensional scanning operation, to acquire three-dimensional data in the nuclear power plant water conveying tunnel 500 in real time and obtain three-dimensional data information in the nuclear power plant water conveying tunnel 500 after processing, for the operator to view, so as to realize the evaluation of the growth amount of marine organisms.

[0094] In some specific embodiments, the underwater camera 21 adopts a high-resolution color camera.

[0095] In some embodiments, the monitoring device 2 can also include a sonar or other sound and light detection device, which can capture the tiny defects on the inner wall of the nuclear power plant water conveying tunnel 500.

[0096] In some embodiments, as shown in Figure 4 and Figure 5 The monitoring robot 100 also includes an electrical control device 5, which includes control components, a strong current controller, a transformer and a plurality of sealed cabins 51. The control components, the strong current controller and the transformer are respectively sealed and installed in different sealed cabins 51.

[0097] In the embodiment, the control components of the electrical control device 5, the strong current controller and the transformer are integrally arranged on the mobile body 1. The electrical control device 5 has the capabilities of various voltage outputs, real-time voltage and current monitoring, autonomous electrical protection in abnormal conditions and anti-environmental interference, and is used to provide electrical power, electrical control integration and protection for the monitoring robot 100. The control components, the strong current controller and the transformer are respectively sealed and installed in the sealed cabins 51. The inside of the sealed cabin 51 is pressurized to balance the internal and external pressures, and has strong water pressure resistance. The monitoring robot 100 is suitable for high water depth environments and meets the online monitoring needs of the foreign matter in the water tunnel 500 of the nuclear power plant. At the same time, by respectively sealing and installing the control components, the strong current controller and the transformer in different sealed cabins 51, the cabin control is formed, the interference of high voltage on low voltage is reduced, the strong current voltage does not affect the normal use function of the control components when the monitoring robot 100 operates, the stability and reliability are higher, and the online monitoring operation of the monitoring robot 100 in the water tunnel 500 of the nuclear power plant is ensured to be successfully completed.

[0098] Specifically, the sealed cabin 51 includes a transformer cabin 511, a high-voltage electrical cabin 512 and a low-voltage electrical cabin 513. The transformer is installed in the transformer cabin 511, all control components are installed in the low-voltage electrical cabin 513, and only the strong current controller is installed in the high-voltage electrical cabin 512. The high-voltage electrical cabin 512 inputs 380V voltage, and the low-voltage electrical cabin 513 inputs 220V voltage. The transformer is electrically connected with the strong current controller, and the low-voltage relay in the low-voltage electrical cabin 513 is electrically connected with the high-voltage relay in the high-voltage electrical cabin 512. In some embodiments, through the design of the sealed cabin 51, the monitoring robot 100 can resist 50m water depth pressure.

[0099] In some embodiments, the monitoring robot 100 further includes a state detection module, a communication module and a control module. The state detection module includes at least one of a depth detection device, a speed detection device, a water flow speed detection device and a posture detection device. The control module is in communication connection with the hydraulic power mechanism 3, the monitoring device 2, the state detection module and the remote control console through the communication module.

[0100] In this embodiment, the state detection module is mounted on the mobile body 1 of the monitoring robot 100 and is used to monitor the robot 100's own state detection and environmental information acquisition, mainly including depth detection, speed detection, flow velocity detection, and self-attitude acquisition. The control module is used for the control of the monitoring robot 100 and data acquisition, realizing functions such as walking drive, data acquisition, energy supply, and control of auxiliary equipment, ensuring the realization of the monitoring function. The communication module is connected to the tensile cable 300 and is used for communication between the monitoring robot 100 and the remote control console, as well as communication between the various functional modules of the monitoring robot 100, realizing data transmission through the communication module. In some specific embodiments, the depth detection device adopts a high-precision depth sensor (accuracy greater than 0.1m), and the attitude detection device adopts a three-axis tilt attitude sensor.

[0101] In some specific embodiments, the control module employs an embedded control device and a data storage module.

[0102] In some embodiments, such as Figure 4 and Figure 5 As shown, the electrical control equipment 5 also includes a junction box 52. The tensile cable 300 is connected from the remote control console to the monitoring robot 100 and then to the junction box 52. The cable of the junction box 52 is electrically connected to the transformer. The electrical signal is output to the transformer through the junction box 52. After passing through the transformer, the electrical signal outputs 380V voltage to the high-voltage electrical compartment 512. A portion of the 380V voltage is output from the high-voltage electrical compartment 512 to power the 18.5KW motor of the hydraulic power mechanism 3, and a portion of 220V voltage is output to the low-voltage electrical compartment 513 to power the various functional modules of the monitoring robot 100. The optical fiber of the junction box 52 is connected to the control components. The optical fiber and other control signals are output to the control components. The other 220V voltage is output to the high-voltage relay in the high-voltage electrical compartment 512 after passing through the low-voltage relay in the low-voltage electrical compartment 513, so that the control components in the low-voltage electrical compartment 513 can control all the functions of the mobile body 1.

[0103] In some specific embodiments, the transformer is designed with a total power of 20KVA, which, without affecting thermal variables, translates to 80% of the actual usable power, or 24KW. The underwater motor has a rated power of 18.5KW, and the total power of all other components in the monitoring robot 100 is 5KW. The transformer's output power is sufficient to meet the normal operating requirements of the mobile body 1.

[0104] In some embodiments, the anti-pulling cable 300 is provided with optical fibers, and the monitoring robot 100 communicates with the remote console through the optical fibers. The entire communication process is full-duplex interactive communication, and the receiving and sending data processes are consistent. When interactive communication is performed, the electrical signals of the functional modules of the monitoring robot 100 are first converted into Ethernet signals, and then the Ethernet signals are converted through the optical fiber switch and transmitted to the remote console through the optical fiber; the remote console decomposes the information into Ethernet signals through the optical fiber switch, that is, the device information is obtained, and the remote console realizes the remote control of the entire system, including instruction sending and data display. Preferably, the anti-pulling cable 300 is provided with multiple optical fibers, and part of the optical fibers are used as backup communication lines to ensure smooth communication and avoid communication failure caused by external reasons.

[0105] In some embodiments, as shown in Figure 12 The anti-pulling cable 300 includes a power cable 301 and a signal cable 302. The power cable 301 includes four high-voltage cables, which are high-voltage 6KV cables, meeting the power and voltage requirements of the monitoring robot 100 and having a certain redundancy. The signal cable 302 is a four-core armored optical fiber, which transmits signals through optical fibers. The signal cable 302 has a total of four optical fibers, two of which are in real-time working state, and the other two are standby. The signal cable 302 adopts a redundant design to improve the reliability of signal transmission. The anti-pulling cable 300 is filled with a flexible filler 303, preferably made of Kevlar, and the power cable 301 and the signal cable 302 are arranged around the filler 303. The outside is sequentially wrapped with a 2-ton anti-pulling braid layer 304, a TPU (polyurethane elastomer) isolation layer 305, a 6-ton anti-pulling layer 306, and a TPU sheath layer 307. The anti-pulling layer 306 is made of Kevlar. The anti-pulling cable 300 adopts a multi-layer isolation structure to meet the system function requirements and reduce the interference of the power cable 301 on the signal cable 302. The total diameter of the anti-pulling cable 300 is controlled to be 26±0.5 mm, and the volume after winding is not too large, which is convenient for use and transportation.

[0106] In some embodiments, as shown in Figure 13 and Figure 14As shown, the hoisting device 201 adopts an electric hoist portal crane, specifically a double 10-ton extended portal double hoist system. The hoisting device 201 is equipped with two electric hoists for hoisting from the hooks on both sides of the hoisting platform 202. The two electric hoists have good synchronous performance and can be used separately or synchronously. The hoisting load is small, but the lifting height is large, and the hoisting platform 202 can be moved and adjusted within a large range. The hoisting range covers the entire wellhead 601, ensuring that the hoisting platform 202 can be hoisted from the shore on the side of the shaft 600 into the shaft 600. The double hooks of the hoisting device 201 can be controlled simultaneously or individually to ensure the stability of the hoisting platform 202. When the hoisting platform 202 enters the shaft 600, it ensures that the hoisting platform 202 will not jam in the shaft 600.

[0107] In some embodiments, as shown in Figures 13 to 15 The winding and unwinding device 400 includes a cable winch, which is arranged on the hoisting device 201. The cable winch realizes real-time winding and unwinding of the tensile cable 300 during monitoring operations, preventing the monitoring robot 100 from being entangled. In the event of equipment failure or other emergencies, the cable winch pulls the monitoring robot 100 back through the tensile cable 300.

[0108] In some specific embodiments, as shown in Figure 15 The cable winch includes a frame 401 and a winding drum 402, which is rotatably arranged in the frame 401. The winding drum 402 is also provided with a wire arranging device 403 and a wire pressing device 404. Before monitoring operations, the tensile cable 300 is wound on the winding drum 402. The cable winch is controlled and driven by a hydraulic servo system, connected to the winding drum 402 through a hydraulic speed reducer 405, and rotates the winding drum 402 to realize winding or unwinding of the tensile cable 300. In some specific embodiments, the cable winch meets the requirement of pulling the monitoring robot 100, with a rated pulling force greater than or equal to 8000 kg.

[0109] Optionally, the cable winch is also provided with a detection device, which can realize real-time monitoring and feedback of the winding and unwinding speed of the tensile cable 300, and synchronous counting of the length of the tensile cable 300, realizing automatic data addition and subtraction function. The winding and unwinding speed of the tensile cable 300 is synchronized with the walking speed of the monitoring robot 100, and can be manually and automatically switched and controlled. Optionally, the cable winch is also provided with a heat dissipation device, which has heat dissipation function, and is beneficial to maintaining the working temperature of the tensile cable 300.

[0110] Optionally, the cable winch adopts modular design, realizing modularization of each function, facilitating installation, debugging and function replacement; the whole cable winch is arranged on the top of the hoisting device 201, and is simple and convenient to use.

[0111] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.

[0112] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. An online monitoring system for a water conveyance tunnel of a nuclear power plant, characterized in that, The utility model relates to a monitoring robot, including mobile body and the monitoring device and hydraulic power mechanism of installation on the mobile body, the mobile body includes track walking mechanism and transmission mechanism, transmission mechanism is connected with track walking mechanism, track walking mechanism includes drive wheel and track, the monitoring device is used to obtain the environmental information in the nuclear power plant water conveyance tunnel, hydraulic power mechanism is connected with transmission mechanism, and hydraulic power mechanism provides drive force for track walking mechanism, and hydraulic power mechanism includes hydraulic motor, Transmission mechanism includes clutch, and the clutch includes: driving half shaft, passive half shaft, driven gear and hydraulic cylinder, the hydraulic cylinder is connected with driving half shaft, is used to drive driving half shaft axial translation movement, to make driving half shaft with passive half shaft axial butt joint or separate, When the clutch is powered, the hydraulic cylinder drives the driving half shaft and the passive half shaft to butt joint, the hydraulic motor drives the driven gear to rotate, the driven gear drives the driving half shaft to rotate, the driving half shaft drives the passive half shaft to rotate, the passive half shaft drives the drive wheel to rotate, the drive wheel drives the track to move, realizes track walking mechanism walking, when the clutch is powered off, the hydraulic cylinder automatically drives the driving half shaft and the passive half shaft to separate, to make the hydraulic motor and the transmission of track walking mechanism disconnect, Hoisting mechanism is used to hang the monitoring robot to the bottom of the nuclear power plant water conveyance tunnel, Tensile cable is connected with the monitoring robot, and the tensile cable is used for power supply and data transmission of the monitoring robot, and Take-up device is connected with the tensile cable, and the take-up device is used for winding the tensile cable, and the monitoring robot can be dragged through the tensile cable. The tensile force of the tensile cable is greater than or equal to the preset tension, the preset tension is equal to the product of the maximum static friction of the monitoring robot on the horizontal ground and the safety factor, and the safety factor is greater than 3.

2. The nuclear power plant water conveyance tunnel online monitoring system according to claim 1, characterized in that, The hoisting mechanism includes a lifting device and a hoisting platform, the lifting device is arranged at the wellhead of a vertical shaft, the bottom of the vertical shaft is communicated with the nuclear power plant water conveyance tunnel, the hoisting platform is suspendedly connected to the lifting device and can be loaded into the vertical shaft from the wellhead, and the hoisting platform is used for carrying the monitoring robot; the lifting device can drive the hoisting platform to move up and down in the vertical shaft to hang the monitoring robot to the bottom of the nuclear power plant water conveyance tunnel.

3. The nuclear power plant water conveyance tunnel online monitoring system according to claim 1, characterized in that, The hoisting platform includes a frame, the top of the frame is connected with the lifting device, a robot cabin is arranged in the frame, the robot cabin is used for parking the monitoring robot, a first side of the frame is provided with an opening communicated with the robot cabin, and the first side is used for facing the entrance of the nuclear power plant water conveyance tunnel.

4. The nuclear power plant water conveyance tunnel online monitoring system according to claim 3, characterized in that, The hoisting platform further includes at least one of a first guide device, a second guide device and an adjusting leg.

5. The nuclear power plant water conveyance tunnel online monitoring system according to claim 4, characterized in that, ​ A plurality of the first guiding devices are arranged on opposite sides of the frame body adjacent to the top and the first side, and are used to abut and move along the inner walls of the shaft; A plurality of the second guiding devices are arranged on the first side of the frame body and located on opposite sides of the opening, and are used to abut and move along the inner walls of the shaft provided with the inlet of the water tunnel of the nuclear power station; A plurality of the adjusting legs are arranged at the four corners of the bottom of the frame body, and are used to support the hoisting platform, and the length of each adjusting leg extending out of the bottom of the frame body can be adjusted.

6. The nuclear power plant water conveyance tunnel online monitoring system according to claim 4, characterized in that, The hoisting platform further comprises a cable guiding device arranged in the robot cabin, which is used to support and guide the tensile cable.

7. The nuclear power plant water conveyance tunnel online monitoring system according to any one of claims 1 to 6, characterized in that, The mobile body further comprises a frame and a shell, the shell is arranged on the frame and forms an installation space with the frame, the track walking mechanism, the transmission mechanism, the hydraulic power mechanism and the monitoring device are installed on the frame; and the front end and the rear end of the shell are provided with flow guiding surfaces.

8. The nuclear power plant water conveyance tunnel online monitoring system according to any one of claims 1 to 6, characterized in that, The hydraulic power mechanism comprises an electric hydraulic power source, a hydraulic actuator, a hydraulic oil tank and a control valve, the electric hydraulic power source is connected with the hydraulic actuator and the hydraulic oil tank through a hydraulic pipeline, the control valve is arranged on the hydraulic pipeline, the hydraulic actuator comprises a hydraulic motor, and the hydraulic motor is drivingly connected with the track walking mechanism through the transmission mechanism; And / or, the monitoring device comprises an underwater camera and an underwater three-dimensional scanning device.

9. The nuclear power plant water conveyance tunnel online monitoring system according to any one of claims 1 to 6, characterized in that, The monitoring robot further comprises an electrical control device, the electrical control device comprises control components, a strong current controller, a transformer and a plurality of sealed cabins, the plurality of sealed cabins are installed on the mobile body, and the control components, the strong current controller and the transformer are respectively sealedly installed in different sealed cabins.

10. The nuclear power plant water conveyance tunnel online monitoring system according to any one of claims 1 to 6, characterized in that, The monitoring robot further comprises a state detection module, a communication module and a control module; the state detection module comprises at least one of a depth detection device, a speed detection device, a water flow speed detection device and a posture detection device; the control module is in communication connection with the hydraulic power mechanism, the monitoring device, the state detection module and a remote control console through the communication module.

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