Nuclear power station flow channel side wall cleaning robot depending on bottom positioning navigation

Abstract

The invention relates to the technical field of cleaning robots, in particular to a nuclear power station flow channel side wall cleaning robot depending on bottom positioning navigation, which comprises a mobile robotic arm, a positioning module, a route planning module, a cleaning device and a dust suction device, the positioning module is mounted on the mobile robotic arm and is used for acquiring position information of the mobile robotic arm and transmitting the position information of the mobile robotic arm to the route planning module; and the route planning module is used for storing the structural diagram of the nuclear power station flow channel and controlling the movement of the mobile robotic arm according to the position information of the mobile robotic arm and the structural diagram of the nuclear power station flow channel. The positioning module can acquire position information of the mobile robot arm in real time, the route planning module stores a structural chart of the nuclear power station flow channel, and the real-time position information of the mobile robot arm is combined, so that accurate navigation of the mobile robot arm in a complex environment is ensured, and the possibility of violent collision between the mobile robot arm and the side wall of the nuclear power station flow channel is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to a nuclear power plant flow channel side wall cleaning robot which relies on bottom positioning and navigation. Background Art

[0002] In nuclear power plants, "channel sidewall cleaning" generally refers to the cleaning and maintenance of the inner sidewalls of channels (i.e., channels) through which coolant or process fluid flows.

[0003] The application document with publication number CN111659679A discloses a nuclear power plant pipeline foreign matter removal device, which relates to the field of nuclear power plant maintenance and includes a foreign matter removal motor device and a foreign matter removal vehicle. The foreign matter removal vehicle and the foreign matter removal motor device are connected through a connecting pipe and a connecting ring.

[0004] In the prior art, it is necessary to manually push a cleaning device into the nuclear power plant pipeline for cleaning. When the diameter of the pipeline is small, it is difficult for workers to enter the pipeline, and cleaning is restricted. Summary of the invention

[0005] The purpose of the present invention is to provide an automatically positioned cleaning robot. In view of the above-mentioned shortcomings, a nuclear power plant flow channel side wall cleaning robot relying on bottom positioning and navigation is proposed.

[0006] The present invention adopts the following technical solution:

[0007] A nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning and navigation, the robot comprising a mobile robot arm, a positioning module, a route planning module, a cleaning device and a dust suction device;

[0008] The positioning module is installed on the mobile robot arm and is used to obtain the position information of the mobile robot arm and transmit the position information of the mobile robot arm to the route planning module;

[0009] The route planning module is used to store the structural diagram of the flow channel of the nuclear power plant, and control the movement of the mobile robot arm according to the position information of the mobile robot arm and the structural diagram of the flow channel of the nuclear power plant;

[0010] The cleaning device comprises a connecting plate, a cleaning pipe and a dust collecting pipe, wherein the connecting plate is rotatably connected to the end of a mobile robot arm, the mobile robot arm is provided with a cleaning motor, the cleaning motor is used to drive the connecting plate to rotate, a plurality of cleaning pipes are provided and are all made of soft materials, one end of all cleaning pipes is connected to the connecting plate, and the other end abuts against the side wall of the flow channel, the other end of all cleaning pipes passes through the connecting plate and is connected to one end of the dust collecting pipe, and the dust collecting pipe is connected to the connecting plate through a bearing;

[0011] The dust collection device includes a dust box and a fan. The other end of the dust collecting pipe is connected to the dust box. The dust box is installed on the mobile robot arm. The fan is connected to the dust box and generates suction to the inside of the dust box. A balancing air outlet is opened on the side wall of the dust box and a dustproof net is installed at the balancing air outlet.

[0012] Optionally, the mobile mechanical arm includes a mobile chassis, a housing, a turntable, a rotating motor, a first force arm, a first force arm rotating motor, a second force arm and a second force arm rotating motor;

[0013] The positioning module is installed on the mobile chassis and is used to obtain the position information of the mobile chassis and transmit the position information of the mobile chassis to the route planning module;

[0014] The shell is installed on the top of the mobile chassis, a plurality of vents are arranged on the side wall of the shell, and the dust collecting box is installed in the shell;

[0015] The turntable is rotatably connected to the housing, the rotation axis of the turntable is arranged in the up-down direction, and the rotating motor is connected to the housing and drives the turntable to rotate;

[0016] One end of the first force arm is rotatably connected to the turntable, the rotation axis of the first force arm is arranged along the left-right direction, the first force arm rotation motor is connected to the turntable, and the first force arm rotation motor drives the first force arm to rotate;

[0017] One end of the second lever arm is rotatably connected to the other end of the first lever arm, the rotation axis of the second lever arm is arranged in the left-right direction, the second lever arm rotation motor is connected to the first lever arm, and the second lever arm rotation motor drives the second lever arm to rotate;

[0018] The connecting plate is rotatably connected to the other end of the second lever arm;

[0019] The cleaning motor is connected to the second lever arm;

[0020] The route planning module controls the movement of the mobile chassis according to the position information of the mobile chassis and the structural diagram of the flow channel of the nuclear power plant, and controls the movement of the turntable, the first force arm and the second force arm so that the other ends of all cleaning pipes are against the side wall of the flow channel.

[0021] Optionally, the robot further comprises a stopping module, and the stopping module is mounted on the shell;

[0022] The interception module is used to detect and obtain information on whether an alarm is required, and transmit it to the route planning module;

[0023] The route planning module suspends the movement of the mobile chassis according to the information of the required alarm.

[0024] Optionally, the interception module includes a visual detection submodule, an information storage submodule and an alarm analysis submodule, and the visual detection submodule is installed on the outer side wall of the mobile chassis;

[0025] The visual detection submodule is used to detect and obtain the maximum value of the measured height of the obstacle, and transmit it to the alarm analysis submodule;

[0026] The information storage submodule is used to store the safe height of the mobile chassis passing through obstacles and transmit it to the alarm analysis submodule;

[0027] The alarm analysis submodule determines whether an alarm is needed based on the maximum value of the obstacle's measured height, the safe height of the mobile chassis passing through the obstacle, and the alarm factor, and transmits the information on whether an alarm is needed to the route planning module.

[0028] Optionally, the visual detection submodule includes a shooting unit, a preprocessing unit, a recognition unit and a data processing unit;

[0029] The photographing unit is used to photograph an initial image of a flow channel of a nuclear power plant;

[0030] The preprocessing unit performs grayscale preprocessing on the initial image;

[0031] The recognition unit extracts the object contour from the preprocessed initial image;

[0032] The data processing unit analyzes the geometric height of the object after contour extraction and obtains the maximum value of the measured height of the obstacle, and transmits the maximum value of the measured height of the obstacle to the alarm analysis submodule.

[0033] Optionally, when the alarm analysis submodule calculates the alarm factor, the following formula is satisfied:

[0034]

[0035] Among them, alarm is the alarm factor, height sc is the maximum measured height of the obstacle, height ref It is the safe height for the mobile chassis to pass through obstacles.

[0036] Optionally, a plurality of avoidance grooves are provided at one end of all the cleaning tubes, the plurality of avoidance grooves are circumferentially spaced along the axis of the cleaning tube, all the avoidance grooves extend along the axis direction of the cleaning tube, and all the avoidance grooves penetrate the inner wall and the outer wall of the cleaning tube.

[0037] Optionally, at least two elastic strips are embedded inside all the cleaning tubes, and the length directions of all the elastic strips are parallel to the axial direction of the cleaning tubes.

[0038] Optionally, the side walls of all the cleaning tubes are provided with a plurality of dust suction holes, and all the dust suction holes penetrate the inner wall and the outer wall of the cleaning tube.

[0039] The beneficial effects achieved by the present invention are:

[0040] 1. The positioning module can obtain its position information in real time. The route planning module stores the structural diagram of the nuclear power plant flow channel and combines the real-time position information of the mobile robot arm to ensure that the mobile robot arm accurately navigates in a complex environment and reduces the possibility of violent collision between the mobile robot arm and the side wall of the nuclear power plant flow channel;

[0041] 2. Reduce errors caused by human operation and improve the accuracy and reliability of task execution through real-time positioning and path planning;

[0042] 3. The fan is started synchronously during the cleaning process of the cleaning pipe, which can realize the functions of cleaning and dust collection at the same time, which helps to improve work efficiency;

[0043] 4. The interception module is used to detect and obtain information on whether an alarm is needed. The route planning module suspends the movement of the mobile chassis according to the alarm information required, which plays a certain protective role for the positioning module.

[0044] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0046] Figure 2 It is a structural schematic diagram of the connecting plate, the cleaning pipe and the dust collecting pipe in the present invention;

[0047] Figure 3 It is a partial structural schematic diagram of the present invention;

[0048] Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0049] Figure 5 Schematic diagram of the structure of the cleaning effect determination module in the second embodiment of the present invention.

[0050] Description of reference numerals:

[0051] 100, connecting plate; 110, cleaning pipe; 111, avoidance groove; 112, dust suction hole; 120, dust collection pipe;

[0052] 200, mobile chassis; 210, housing; 220, turntable; 230, first lever arm; 240, second lever arm. DETAILED DESCRIPTION

[0053] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0054] Embodiment 1: This embodiment provides a nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning navigation, combined with Figures 1 to 3 shown.

[0055] A nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning and navigation, the robot comprising a mobile robot arm, a positioning module, a route planning module, a cleaning device and a dust suction device;

[0056] The positioning module is installed on the mobile robot arm and is used to obtain the position information of the mobile robot arm and transmit the position information of the mobile robot arm to the route planning module;

[0057] The route planning module is used to store the structural diagram of the flow channel of the nuclear power plant, and control the movement of the mobile robot arm according to the position information of the mobile robot arm and the structural diagram of the flow channel of the nuclear power plant;

[0058] The cleaning device comprises a connecting plate, a cleaning pipe and a dust collecting pipe, wherein the connecting plate is rotatably connected to the end of a mobile robot arm, the mobile robot arm is provided with a cleaning motor, the cleaning motor is used to drive the connecting plate to rotate, a plurality of cleaning pipes are provided and are all made of soft materials, one end of all cleaning pipes is connected to the connecting plate, and the other end abuts against the side wall of the flow channel, the other end of all cleaning pipes passes through the connecting plate and is connected to one end of the dust collecting pipe, and the dust collecting pipe is connected to the connecting plate through a bearing;

[0059] The dust collection device includes a dust box and a fan. The other end of the dust collecting pipe is connected to the dust box. The dust box is installed on the mobile robot arm. The fan is connected to the dust box and generates suction to the inside of the dust box. A balancing air outlet is opened on the side wall of the dust box and a dustproof net is installed at the balancing air outlet.

[0060] Specifically, the side wall of the flow channel of the nuclear power plant can actually be understood as the inner wall of the pipeline set inside the nuclear power plant. In the process of cleaning the inside of the pipeline by the robot, due to the limited space inside the pipeline, it is too difficult for workers to drill in to clean it, and the number of pipelines set is large, and the purely manual cleaning method is relatively cumbersome; due to the limited space of the flow channel of the nuclear power plant, the moving direction of the mobile robot arm is actually equivalent to the extension direction of the flow channel length. Therefore, the route planning module can pre-set the target path according to the structural diagram of the flow channel of the nuclear power plant. In the initial state, the mobile robot arm is placed in the middle direction of the flow channel outlet of the nuclear power plant, and the positioning module will update the position information of the mobile robot arm in real time during the movement of the mobile robot arm. The position information of the mobile robot arm will also be fed back to the route planning module. When the position information of the mobile robot arm feeds back the mobile position offset of the mobile robot arm, the route planning module will control the mobile robot arm to return to the target path. The route planning module specifically refers to the existing SLAM technology, PID control technology, etc.; due to the special environment of the nuclear power plant, the positioning module can use a laser radar locator or a visual locator; the route planning method can also refer to the content of CN112556710A in the prior art.

[0061] The connecting plate is in the shape of an "*", and can also be in the shape of a "cross", "one", etc. All cleaning pipes are located on the same side of the connecting plate, and all cleaning pipes are evenly distributed. The material of the cleaning pipe is rubber, and the rubber deformation is recoverable and it is convenient to clean the dust on the side wall of the flow channel of the nuclear power plant; the connecting plate is rotatably connected to the end of the mobile robot arm through a bearing. In order to improve the safety of the rotation of the connecting plate, a transmission mechanism can be added between the cleaning motor and the connecting plate. The transmission mechanism can specifically adopt a belt drive or a gear drive; the dust collecting pipe is connected to the connecting plate through a bearing. After the bearing is added, the connecting plate does not affect the work of the dust collecting pipe during the rotation process, thereby avoiding the twisting of the dust collecting pipe; the two ends of the cleaning pipe are connected to each other, and the dust absorbed by all the cleaning pipes will be collected in the dust collecting pipe.

[0062] The balancing air vents on the dust box are mainly used to ensure the balance of air pressure inside and outside the dust box to avoid explosion caused by excessive air pressure inside the dust box. The other end of the dust collecting pipe is installed on the top of the dust box to maximize the use of the space inside the dust box. The dust box can be equipped with a lockable door to facilitate cleaning of the dust box; the fan can be a negative pressure machine; the purpose of the dustproof net is mainly to block dust accumulation and reduce the amount of dust flying out of the dust box directly from the balancing air vents.

[0063] Optionally, the mobile mechanical arm includes a mobile chassis, a housing, a turntable, a rotating motor, a first force arm, a first force arm rotating motor, a second force arm and a second force arm rotating motor;

[0064] The positioning module is installed on the mobile chassis and is used to obtain the position information of the mobile chassis and transmit the position information of the mobile chassis to the route planning module;

[0065] The shell is installed on the top of the mobile chassis, a plurality of vents are arranged on the side wall of the shell, and the dust collecting box is installed in the shell;

[0066] The turntable is rotatably connected to the housing, the rotation axis of the turntable is arranged in the up-down direction, and the rotating motor is connected to the housing and drives the turntable to rotate;

[0067] One end of the first force arm is rotatably connected to the turntable, the rotation axis of the first force arm is arranged along the left-right direction, the first force arm rotation motor is connected to the turntable, and the first force arm rotation motor drives the first force arm to rotate;

[0068] One end of the second lever arm is rotatably connected to the other end of the first lever arm, the rotation axis of the second lever arm is arranged in the left-right direction, the second lever arm rotation motor is connected to the first lever arm, and the second lever arm rotation motor drives the second lever arm to rotate;

[0069] The connecting plate is rotatably connected to the other end of the second lever arm;

[0070] The cleaning motor is connected to the second lever arm;

[0071] The route planning module controls the movement of the mobile chassis according to the position information of the mobile chassis and the structural diagram of the flow channel of the nuclear power plant, and controls the movement of the turntable, the first force arm and the second force arm so that the other ends of all cleaning pipes are against the side wall of the flow channel.

[0072] Specifically, the structure of the mobile chassis can be a mobile structure with universal wheels; the dust collecting pipe is passed through the dust collecting box. In order to reduce the wear on the dust collecting pipe, the dust collecting pipe can be passed through the inside of the first force arm and the second force arm, and the purpose of hiding the dust collecting pipe can also be achieved; in order to improve the safety of the transmission, a transmission mechanism can be added between the turntable and the rotating motor, between the first force arm and the first force arm rotating motor, and between the second force arm and the second force arm rotating motor. The transmission mechanism can specifically adopt a belt drive or a gear drive; driven by the rotating motor, the connecting plate can be rotated around the axis in the up and down direction, and the angle between the first force arm and the straight line along the up and down direction can be changed under the drive of the first force arm motor, and the angle between the first force arm and the second force arm can be changed under the drive of the second force arm motor, thereby driving the cleaning pipe to clean the side wall of the flow channel of the nuclear power plant.

[0073] Optionally, the robot further comprises a stopping module, and the stopping module is mounted on the shell;

[0074] The interception module is used to detect and obtain information on whether an alarm is required, and transmit it to the route planning module;

[0075] The route planning module suspends the movement of the mobile chassis according to the information of the required alarm.

[0076] Optionally, the interception module includes a visual detection submodule, an information storage submodule and an alarm analysis submodule, and the visual detection submodule is installed on the outer side wall of the mobile chassis;

[0077] The visual detection submodule is used to detect and obtain the maximum value of the measured height of the obstacle, and transmit it to the alarm analysis submodule;

[0078] The information storage submodule is used to store the safe height of the mobile chassis passing through obstacles and transmit it to the alarm analysis submodule;

[0079] The alarm analysis submodule determines whether an alarm is needed based on the maximum value of the obstacle's measured height, the safe height of the mobile chassis passing through the obstacle, and the alarm factor, and transmits the information on whether an alarm is needed to the route planning module.

[0080] Specifically, when alarm=1, it means that an alarm is required and the mobile chassis stops moving forward; when alarm=0, it means that an alarm is not required and the mobile chassis continues to move forward; since the space for setting the flow channel in the nuclear power plant is very narrow, the mobile chassis cannot avoid left and right when there is an obstacle. When the mobile chassis is forced to move forward, it will touch the sensor element at the bottom of the mobile chassis, thereby damaging the mobile chassis. Therefore, the start and stop of the mobile chassis can be achieved through the alarm factor; the maximum value of the measured height of the obstacle and the safe height of the mobile chassis passing the obstacle are both in centimeters, and the safe height of the mobile chassis passing the obstacle is set by technical personnel in this field; since the positioning module is installed at the bottom of the mobile chassis, the stop module is mainly set to protect the positioning module. Assuming that the width of the obstacle is too large, the mobile chassis cannot pass through the obstacle at all, and the mobile chassis will stop moving forward autonomously. At this time, the positioning module will not be affected, but for obstacles with a certain height, the mobile chassis may hit the positioning module if it barely passes through, thereby damaging the positioning module. Therefore, the height of the obstacle is mainly considered when calculating the alarm factor; the safe height of the mobile chassis passing the obstacle can be understood as the straight-line distance between the bottom of the positioning module and the side wall of the flow channel below it.

[0081] Optionally, the visual detection submodule includes a shooting unit, a preprocessing unit, a recognition unit and a data processing unit;

[0082] The photographing unit is used to photograph an initial image of a flow channel of a nuclear power plant;

[0083] The preprocessing unit performs grayscale preprocessing on the initial image;

[0084] The recognition unit extracts the object contour from the preprocessed initial image;

[0085] The data processing unit analyzes the geometric height of the object after contour extraction and obtains the maximum value of the measured height of the obstacle, and transmits the maximum value of the measured height of the obstacle to the alarm analysis submodule.

[0086] Specifically, the shooting unit is installed on the outer side wall of the mobile chassis.

[0087] Optionally, when the alarm analysis submodule calculates the alarm factor, the following formula is satisfied:

[0088]

[0089] Among them, alarm is the alarm factor, height sc is the maximum measured height of the obstacle, height ref It is the safe height for the mobile chassis to pass through obstacles.

[0090] The above units are only examples, and those skilled in the art may set different units according to actual needs when implementing this solution.

[0091] Optionally, a plurality of avoidance grooves are provided at one end of all the cleaning tubes, the plurality of avoidance grooves are circumferentially spaced along the axis of the cleaning tube, all the avoidance grooves extend along the axis direction of the cleaning tube, and all the avoidance grooves penetrate the inner wall and the outer wall of the cleaning tube.

[0092] Specifically, the avoidance grooves on the same cleaning pipe have the same shape and structure, and the avoidance grooves are arranged in a long strip shape, and the length of the avoidance grooves is less than or equal to one quarter of the length of the cleaning pipe; when one end of the cleaning pipe abuts against the side wall of the nuclear power plant flow channel, the rotating connecting plate will press the cleaning pipe toward the side wall of the nuclear power plant flow channel. Due to the arrangement of the avoidance groove, the portion of the cleaning pipe away from the second force arm will be separated, thereby increasing the contact area between the cleaning pipe and the side wall of the nuclear power plant flow channel, thereby helping to improve the overall cleaning effect.

[0093] Optionally, at least two elastic strips are embedded inside all the cleaning tubes, and the length directions of all the elastic strips are parallel to the axial direction of the cleaning tubes.

[0094] Specifically, on the same cleaning pipe, two elastic strips are parallel to each other and arranged at intervals. The length of any elastic strip plus the length of any avoidance groove is equal to the length of the cleaning pipe. The elastic strips are added mainly to strengthen the structural strength of the part of the cleaning pipe where the avoidance groove is not set, to ensure that the cleaning pipe can remain conductive even when under pressure, and the accumulated dust is sucked into the dust collecting pipe through the cleaning pipe.

[0095] Optionally, the side walls of all the cleaning tubes are provided with a plurality of dust suction holes, and all the dust suction holes penetrate the inner wall and the outer wall of the cleaning tube.

[0096] Specifically, when the cleaning pipe cleans the side wall of the flow channel of the nuclear power plant, the dust will be sucked into the dust collecting pipe through one end of the cleaning pipe. The added dust suction holes can increase the probability of dust entering the cleaning pipe, thereby improving the cleaning efficiency.

[0097] This embodiment solves the problem that the traditional cleaning method is relatively cumbersome by automatically planning the cleaning path. The positioning module can obtain its position information in real time, and the route planning module stores the structural diagram of the nuclear power plant flow channel, and combines the real-time position information of the mobile robot arm to ensure that the mobile robot arm accurately navigates in a complex environment and reduces the possibility of a violent collision between the mobile robot arm and the side wall of the nuclear power plant flow channel.

[0098] Embodiment 2: This embodiment includes all the contents of embodiment 1, and provides a nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning navigation, combined with Figure 4 and Figure 5 shown.

[0099] A nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning navigation, the robot also includes a cleaning effect determination module, and the cleaning effect determination module is installed on a mobile chassis;

[0100] The cleaning effect determination module is used to determine the cleanliness of the side wall of the flow channel.

[0101] Optionally, the cleaning effect determination module includes a gloss meter, a roughness measuring instrument, a visual analysis submodule, a data setting submodule, a calculation submodule and a cleaning effect determination submodule;

[0102] The gloss meter is used to detect and obtain the glossiness detected for the zth time and the glossiness detected for the yth time, and transmit them to the calculation submodule;

[0103] The roughness measuring instrument is used to detect and obtain the initial value of the roughness detected for the xth time and the roughness of the flow channel side wall, and transmit it to the calculation submodule;

[0104] The visual analysis submodule is used to detect and obtain the total area of ​​dirt before the flow channel side wall is cleaned and the total area of ​​dirt after the flow channel side wall is cleaned, and transmit the results to the calculation submodule;

[0105] The data setting submodule is used to set the rotation speed of the connecting plate, the total number of glossiness tests after the flow channel side wall is cleaned, and the total number of glossiness tests before the flow channel side wall is cleaned, and transmit them to the calculation submodule;

[0106] The calculation submodule obtains the total number of roughness tests after the flow channel side wall is cleaned according to the rotation speed of the connecting plate, obtains the average value of the roughness after the flow channel side wall is cleaned according to the total number of roughness tests after the flow channel side wall is cleaned and the roughness detected for the xth time, obtains the average value of the gloss before the flow channel side wall is cleaned according to the total number of gloss tests before the flow channel side wall is cleaned and the gloss detected for the yth time, obtains the average value of the gloss after the flow channel side wall is cleaned according to the total number of gloss tests after the flow channel side wall is cleaned and the gloss detected for the zth time, obtains the average value of the gloss after the flow channel side wall is cleaned according to the average value of the gloss after the flow channel side wall is cleaned, the average value of the gloss before the flow channel side wall is cleaned, the average value of the roughness after the flow channel side wall is cleaned, the initial value of the roughness of the flow channel side wall, the total area of ​​dirt before the flow channel side wall is cleaned, and the total area of ​​dirt after the flow channel side wall is cleaned, and obtains the cleaning effect factor, and transmits the cleaning effect factor to the cleaning effect determination submodule;

[0107] The cleaning effect determination submodule obtains information on whether the cleanliness of the flow channel side wall is high or low according to the cleaning effect factor.

[0108] Specifically, when the cleaning effect determination submodule makes a determination, the following principles are referred to: when the cleaning effect factor is greater than or equal to the selection threshold of the cleaning effect factor, it indicates that the cleanliness of the flow channel side wall is high; when the cleaning effect factor is less than the selection threshold of the cleaning effect factor, it indicates that the cleanliness of the flow channel side wall is low; the selection threshold of the cleaning effect factor is set by a technician in this field; based on the information of the low cleanliness of the flow channel side wall, the flow channel side wall in this area is selected to be cleaned again.

[0109] Since the gloss meter, roughness measuring instrument, and visual analysis submodule need to inspect the side walls of the flow channel of the nuclear power plant, the gloss meter, roughness measuring instrument, and visual analysis submodule are respectively installed on the second force arm through cylinders. External staff remotely control different cylinders to move the gloss meter, roughness measuring instrument, and visual analysis submodule to the target position for inspection.

[0110] Optionally, the visual analysis submodule includes a collection unit, a target extraction unit and an analysis unit;

[0111] The acquisition unit is used to capture the original image of the flow channel of the nuclear power plant;

[0112] The target extraction unit identifies the target in the original image and extracts the dirt contour;

[0113] The analysis unit analyzes the area of ​​the dirt after the contour extraction and obtains the total area of ​​the dirt before the flow channel side wall is cleaned and the total area of ​​the dirt after the flow channel side wall is cleaned, and transmits the results to the calculation submodule.

[0114] Optionally, when the calculation submodule calculates the cleaning effect factor, the following formula is satisfied:

[0115]

[0116] Z>Y;

[0117]

[0118] Among them, Clean is the cleaning effect factor, ΔGloss a ΔGloss is the average gloss of the channel side wall after cleaning. b is the average glossiness of the channel sidewall before cleaning, ΔRh a Rh is the average roughness of the channel side wall after cleaning. c is the initial value of the roughness of the flow channel side wall, S b is the total area of ​​dirt on the flow channel side wall before cleaning, S a It is the total area of ​​dirt after the flow channel side wall is cleaned;

[0119] Z is the total number of gloss tests after the flow channel side wall is cleaned, ga z is the glossiness detected for the zth time;

[0120] Y is the total number of gloss tests before the flow channel side wall is cleaned, gb y is the glossiness detected for the yth time;

[0121] X is the total number of roughness tests after the flow channel side wall is cleaned, x is the roughness detected for the xth time;

[0122] v is the rotation speed of the connecting plate.

[0123] Specifically, the units of the average value of the roughness of the channel side wall after cleaning, the initial value of the roughness of the channel side wall, and the roughness detected for the xth time are all microns; the units of the total area of ​​dirt before cleaning the channel side wall and the total area of ​​dirt after cleaning the channel side wall are both square centimeters; the unit of the rotation speed of the connecting plate is revolutions per minute; the "initial value of the roughness of the channel side wall" refers to the roughness corresponding to the channel side wall when it leaves the factory; the higher the glossiness value, the cleaner and smoother the surface of the channel side wall is.

[0124] The above units are only examples, and those skilled in the art may set different units according to actual needs when implementing this solution.

[0125] This embodiment solves the problem that the traditional cleaning system cannot provide feedback on the cleaning effect through a cleaning effect determination module, wherein the cleaning effect determination module is used to determine the cleanliness of the flow channel side wall. The staff determines whether the nuclear power plant flow channel side wall needs secondary cleaning based on the cleanliness of the flow channel side wall.

[0126] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A nuclear power plant flow channel side wall cleaning robot that relies on bottom positioning and navigation, characterized in that: The robot includes a mobile robot arm, a positioning module, a route planning module, a cleaning device and a dust collection device; The positioning module is installed on the mobile robot arm and is used to obtain the position information of the mobile robot arm and transmit the position information of the mobile robot arm to the route planning module; The route planning module is used to store the structural diagram of the flow channel of the nuclear power plant, and control the movement of the mobile robot arm according to the position information of the mobile robot arm and the structural diagram of the flow channel of the nuclear power plant; The cleaning device comprises a connecting plate, a cleaning pipe and a dust collecting pipe, wherein the connecting plate is rotatably connected to the end of a mobile robot arm, the mobile robot arm is provided with a cleaning motor, the cleaning motor is used to drive the connecting plate to rotate, a plurality of cleaning pipes are provided and are all made of soft materials, one end of all cleaning pipes is connected to the connecting plate, and the other end abuts against the side wall of the flow channel, the other end of all cleaning pipes passes through the connecting plate and is connected to one end of the dust collecting pipe, and the dust collecting pipe is connected to the connecting plate through a bearing; The dust collection device includes a dust box and a fan. The other end of the dust collecting pipe is connected to the dust box. The dust box is installed on the mobile robot arm. The fan is connected to the dust box and generates suction to the inside of the dust box. A balancing air outlet is opened on the side wall of the dust box and a dustproof net is installed at the balancing air outlet.

2. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 1, characterized in that: The mobile mechanical arm includes a mobile chassis, a housing, a turntable, a rotating motor, a first force arm, a first force arm rotating motor, a second force arm, and a second force arm rotating motor; The positioning module is installed on the mobile chassis and is used to obtain the position information of the mobile chassis and transmit the position information of the mobile chassis to the route planning module; The shell is installed on the top of the mobile chassis, a plurality of vents are arranged on the side wall of the shell, and the dust collecting box is installed in the shell; The turntable is rotatably connected to the housing, the rotation axis of the turntable is arranged in the up-down direction, and the rotating motor is connected to the housing and drives the turntable to rotate; One end of the first force arm is rotatably connected to the turntable, the rotation axis of the first force arm is arranged along the left-right direction, the first force arm rotation motor is connected to the turntable, and the first force arm rotation motor drives the first force arm to rotate; One end of the second lever arm is rotatably connected to the other end of the first lever arm, the rotation axis of the second lever arm is arranged in the left-right direction, the second lever arm rotation motor is connected to the first lever arm, and the second lever arm rotation motor drives the second lever arm to rotate; The connecting plate is rotatably connected to the other end of the second lever arm; The cleaning motor is connected to the second lever arm; The route planning module controls the movement of the mobile chassis according to the position information of the mobile chassis and the structural diagram of the flow channel of the nuclear power plant, and controls the movement of the turntable, the first force arm and the second force arm so that the other ends of all cleaning pipes are against the side wall of the flow channel.

3. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 2, characterized in that: The robot also includes a stopping module, which is mounted on the shell; The interception module is used to detect and obtain information on whether an alarm is required, and transmit it to the route planning module; The route planning module suspends the movement of the mobile chassis according to the information of the required alarm.

4. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 3, characterized in that: The interception module includes a visual detection submodule, an information storage submodule and an alarm analysis submodule, and the visual detection submodule is installed on the outer side wall of the mobile chassis; The visual detection submodule is used to detect and obtain the maximum value of the measured height of the obstacle, and transmit it to the alarm analysis submodule; The information storage submodule is used to store the safe height of the mobile chassis passing through obstacles and transmit it to the alarm analysis submodule; The alarm analysis submodule determines whether an alarm is needed based on the maximum value of the obstacle's measured height, the safe height of the mobile chassis passing through the obstacle, and the alarm factor, and transmits the information on whether an alarm is needed to the route planning module.

5. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 4, characterized in that: The visual detection submodule includes a shooting unit, a preprocessing unit, a recognition unit and a data processing unit; The photographing unit is used to photograph an initial image of a flow channel of a nuclear power plant; The preprocessing unit performs grayscale preprocessing on the initial image; The recognition unit extracts the object contour from the preprocessed initial image; The data processing unit analyzes the geometric height of the object after contour extraction and obtains the maximum value of the measured height of the obstacle, and transmits the maximum value of the measured height of the obstacle to the alarm analysis submodule.

6. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 5, characterized in that: When the alarm analysis submodule calculates the alarm factor, the following formula is satisfied: Among them, alarm is the alarm factor, height sc is the maximum measured height of the obstacle, height ref It is the safe height for the mobile chassis to pass through obstacles.

7. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning and navigation as claimed in claim 1, characterized in that: A plurality of avoidance grooves are arranged at one end of all the cleaning pipes, and the plurality of avoidance grooves are arranged at intervals along the circumferential direction of the axis of the cleaning pipe. All the avoidance grooves extend along the axial direction of the cleaning pipe, and all the avoidance grooves penetrate the inner wall and the outer wall of the cleaning pipe.

8. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 7, characterized in that: At least two elastic strips are embedded in the interior of all the cleaning tubes, and the length directions of all the elastic strips are parallel to the axial direction of the cleaning tubes.

9. A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning navigation as claimed in claim 8, characterized in that: The side walls of all the cleaning tubes are provided with a plurality of dust suction holes, and all the dust suction holes penetrate the inner wall and the outer wall of the cleaning tube.

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