A nuclear power plant flow channel sidewall cleaning robot relying on bottom positioning navigation

Abstract

The present invention relates to the technical field of cleaning robots, and specifically relates to a cleaning robot for the side wall of a nuclear power plant flow channel that relies on bottom positioning and navigation. The robot includes a mobile robotic arm, a positioning module, a route planning module, a cleaning device, and a dust suction device; the positioning module is installed on the mobile robotic arm and is used to obtain the position information of the mobile robotic arm and transmit the position information of the mobile robotic arm to the route planning module; the route planning module is used to store the structural diagram of the nuclear power plant flow channel and control 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 plant flow channel. 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 robotic arm to ensure accurate navigation of the mobile robotic arm in a complex environment and reduce the possibility of a violent collision between the mobile robotic arm and the side wall of the nuclear power plant flow channel.

Description

Technical Field

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

[0002] In a nuclear power plant, "cleaning of the side wall of the flow channel" generally refers to the cleaning and maintenance of the inner side wall of the channel (i.e., the flow channel) through which coolant or process fluid flows.

[0003] The application document with the publication number CN111659679A discloses a device for removing foreign objects from nuclear power plant pipelines, which relates to the field of nuclear power plant maintenance, and includes a foreign object removal mobile device and a foreign object removal vehicle. The foreign object removal vehicle is connected to the foreign object removal mobile device through a connecting pipe and a connecting ring.

[0004] In the prior art, it is necessary to manually push the 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 the cleaning is restricted. Summary of the Invention

[0005] The purpose of the present invention is to provide a cleaning robot with automatic positioning. In view of the above deficiencies, a cleaning robot for the side wall of a nuclear power plant flow channel that relies on bottom positioning and navigation is proposed.

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

[0007] A cleaning robot for the side wall of a nuclear power plant flow channel that relies on bottom positioning and navigation, the robot includes a mobile robotic 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 robotic arm and is used to obtain the position information of the mobile robotic arm and transmit the position information of the mobile robotic arm to the route planning module;

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

[0010] The cleaning device includes a connecting plate, cleaning pipes, and a dust collecting pipe. The connecting plate is rotatably connected to the end of the mobile robotic arm. A cleaning motor is installed on the mobile robotic arm, and 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 the cleaning pipes is connected to the connecting plate, and the other end abuts against the side wall of the flow channel. The other ends of all the cleaning pipes penetrate through the connecting plate and are communicated with one end of the dust collecting pipe. The dust collecting pipe is connected to the connecting plate through a bearing;

[0011] The dust suction device includes a dust collection box and a fan. The other end of the dust collection pipe is communicated with the dust collection box. The dust collection box is installed on the mobile robotic arm. The fan is connected to the dust collection box and generates suction inside the dust collection box. A balance air vent is provided on the side wall of the dust collection box, and a dust-proof net is installed at the balance air vent.

[0012] Optionally, the mobile robotic arm includes a mobile chassis, a housing, a turntable, a rotation motor, a first arm, a first arm rotation motor, a second arm, and a second arm rotation 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 housing is installed on the top of the mobile chassis. A plurality of ventilation openings are provided on the side wall of the housing, and the dust collection box is installed inside the housing;

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

[0016] One end of the first arm is rotatably connected to the turntable. The rotation axis of the first arm is arranged in the left and right direction. The first arm rotation motor is connected to the turntable and drives the first arm to rotate;

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

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

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

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

[0021] Optionally, the robot further includes a stopping module, and the stopping module is installed on the housing;

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

[0023] The route planning module suspends the movement of the mobile chassis according to the information on the need to give an alarm.

[0024] Optionally, the stopping module includes a visual detection sub-module, an information storage sub-module, and an alarm analysis sub-module. The visual detection sub-module is installed on the outer side wall of the mobile chassis;

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

[0026] The information storage sub-module is used to store the safe height for the mobile chassis to pass through the obstacle, and transmit it to the alarm analysis sub-module;

[0027] The alarm analysis sub-module obtains the information on whether to alarm according to the maximum value of the actual height of the obstacle, the safe height for the mobile chassis to pass through the obstacle, and according to the alarm factor, and transmits the information on whether to alarm to the route planning module.

[0028] Optionally, the visual detection sub-module includes a shooting unit, a preprocessing unit, an identification unit, and a data processing unit;

[0029] The shooting unit is used to shoot the initial image of the nuclear power plant flow channel;

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

[0031] The identification 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 actual height of the obstacle, and transmits the maximum value of the actual height of the obstacle to the alarm analysis sub-module.

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

[0034]

[0035] where, alarm is the alarm factor, height sc is the maximum value of the actual height of the obstacle, height ref is the safe height for the mobile chassis to pass through the obstacle.

[0036] Optionally, one end of all the cleaning pipes is provided with a plurality of avoidance grooves. The plurality of avoidance grooves are circumferentially spaced along the axis of the cleaning pipe. All the avoidance grooves extend along the axis direction of the cleaning pipe, and all the avoidance grooves penetrate the inner side wall and the outer side wall of the cleaning pipe.

[0037] Optionally, at least two elastic strips are embedded inside all the cleaning pipes. The length directions of all the elastic strips are parallel to the axis direction of the cleaning pipe.

[0038] Optionally, a plurality of dust suction holes are provided on the side wall detection of all the cleaning pipes, and all the dust suction holes penetrate through the inner side wall and the outer side wall of the cleaning pipe.

[0039] The beneficial effects obtained by the present invention are as follows:

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

[0041] 2. Through real-time positioning and path planning, the errors caused by manual operation are reduced, and the accuracy and reliability of task execution are improved;

[0042] 3. When the cleaning pipe starts the fan synchronously during the cleaning process, the functions of cleaning and dust collection can be realized simultaneously, which helps to improve work efficiency;

[0043] 4. The stopping module is used to detect and obtain the information on whether an alarm is needed. The route planning module pauses the movement of the mobile chassis according to the information on the need for an alarm, which plays a certain role in protecting the positioning module.

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

[0045] Figure 1 is the overall structural schematic diagram of the present invention;

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

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

[0048] Figure 4 is the overall structural schematic diagram of the second embodiment of the present invention;

[0049] Figure 5 is the structural schematic diagram of the cleaning effect determination module in the second embodiment of the present invention.

[0050] DESCRIPTION OF THE 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 force arm; 240, second force arm. Detailed implementation manners

[0053] The following are specific embodiments to illustrate the implementation manners of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Additionally, the drawings of the present invention are only for simple schematic illustration and are not drawn according to actual dimensions, which is hereby stated in advance. The following implementation manners will further detail the related technical content of the present invention, but the disclosed content is not used to limit the protection scope of the present invention.

[0054] Embodiment 1: This embodiment provides a nuclear power plant flow channel sidewall cleaning robot relying on bottom positioning navigation, as shown in combination with Figures 1 to 3 as shown.

[0055] A nuclear power plant flow channel sidewall cleaning robot relying on bottom positioning navigation, the robot includes a mobile robotic 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 robotic arm and is used to obtain the position information of the mobile robotic arm, and transmit the position information of the mobile robotic arm to the route planning module;

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

[0058] The cleaning device includes a connecting plate, cleaning pipes, and a dust collecting pipe. The connecting plate is rotatably connected to the end of the mobile robotic arm. A cleaning motor is installed on the mobile robotic arm, and the cleaning motor is used to drive the connecting plate to rotate. There are multiple cleaning pipes and all are made of soft materials. One end of all the cleaning pipes is connected to the connecting plate, and the other end abuts against the sidewall of the flow channel. The other ends of all the cleaning pipes penetrate the connecting plate and are communicated with one end of the dust collecting pipe. The dust collecting pipe is connected to the connecting plate through a bearing;

[0059] The dust suction device includes a dust collecting box and a fan. The other end of the dust collecting pipe is communicated with the dust collecting box. The dust collecting box is installed on the mobile robotic arm. The fan is connected to the dust collecting box and generates suction inside the dust collecting box. A balance air vent is provided on the sidewall of the dust collecting box, and a dustproof net is installed at the balance air vent.

[0060] Specifically, the side wall of the nuclear power plant flow channel can actually be understood as the inner side wall of the pipeline installed inside the nuclear power plant. During 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 for cleaning, and the number of pipelines is large, so the pure manual cleaning method is rather cumbersome; due to the limited space of the nuclear power plant flow channel, the moving direction of the moving robotic arm is actually equivalent to the extension direction of the flow channel length. Therefore, the route planning module can preset the target path according to the structure diagram of the nuclear power plant flow channel. In the initial state, the moving robotic arm is placed in the center direction of the nuclear power plant flow channel outlet, and during the movement of the moving robotic arm, the positioning module will update the position information of the moving robotic arm in real time, and the position information of the moving robotic arm will also be fed back into the route planning module. When the position information of the moving robotic arm feeds back that the moving position of the moving robotic arm is offset, at this time the route planning module will control the moving robotic arm to return to the target path. The route planning module specifically refers to existing slam technology, pid control technology, etc.; due to the relatively special environment of the nuclear power plant, the positioning module can select a lidar locator, a vision locator; the route planning method can also refer to the content of CN112556710A in the prior art.

[0061] The connecting plate has a "*" - shaped structure. The connecting plate can also have a "+" - shaped structure, a "-" - shaped structure, etc. All the cleaning pipes are located on the same side of the connecting plate, and all the cleaning pipes are evenly distributed. The material of the cleaning pipes is selected as rubber. The rubber can be deformed and restored, which is convenient for cleaning the dust on the side wall of the nuclear power plant flow channel; the connecting plate is rotationally connected to the end of the moving robotic 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 the belt drive or the gear drive method; the dust collecting pipe is connected to the connecting plate through a bearing. After adding the bearing, the rotation of the connecting plate does not affect the work of the dust collecting pipe and avoids the torsion of the dust collecting pipe; both ends of the cleaning pipe are interconnected, and the dust absorbed by all the cleaning pipes will be collected in the dust collecting pipe.

[0062] The balance air vent opened on the dust collecting box is mainly to ensure the air pressure balance inside and outside the dust collecting box and avoid the explosion caused by too high air pressure inside the dust collecting box. The other end of the dust collecting pipe is installed on the top of the dust collecting box to make the most of the space inside the dust collecting box. The dust collecting box can be provided with a locked box door for easy cleaning of the inside of the dust collecting box; the fan can select a negative pressure machine; the purpose of the dustproof net is mainly to block the accumulated dust and reduce the direct flying of the accumulated dust from the balance air vent out of the dust collecting box.

[0063] Optionally, the mobile robotic arm includes a mobile chassis, a housing, a turntable, a rotating motor, a first arm, a first arm rotating motor, a second arm, and a second 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 housing is installed on the top of the mobile chassis. A plurality of ventilation openings are provided on the side wall of the housing, and the dust collection box is installed inside the housing;

[0066] The turntable is rotatably connected to the housing. The rotation axis of the turntable is arranged in the up-down direction. The rotation 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 in the left-right direction. The first force arm rotation motor is connected to the turntable and drives the first force arm to rotate;

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

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

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

[0071] The route planning module controls the movement of the mobile chassis according to the position information of the mobile chassis and the structure diagram of the nuclear power plant flow channel, and controls the movements of the turntable, the first force arm, and the second force arm so that the other ends of all the cleaning pipes abut 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 collection pipe passes through the dust collection box. In order to reduce the wear of the dust collection pipe, the dust collection pipe can pass through the inside of the first force arm and the second force arm, and the purpose of hiding the dust collection pipe can also be achieved; in order to improve the safety of transmission, a transmission mechanism can be added between the turntable and the rotation motor, between the first force arm and the first force arm rotation motor, and between the second force arm and the second force arm rotation motor. The transmission mechanism can specifically adopt the belt transmission or the gear transmission method; the connecting plate can be rotated around the axis in the up-down direction under the drive of the rotation motor, the angle between the first force arm and the straight line in the up-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, so as to drive the cleaning pipe to clean the side wall of the nuclear power plant flow channel.

[0073] Optionally, the robot further includes a stopping module, and the stopping module is installed on the housing;

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

[0075] The route planning module pauses the movement of the mobile chassis according to the information that needs to give an alarm.

[0076] Optionally, the stopping module includes a visual detection sub-module, an information storage sub-module, and an alarm analysis sub-module. The visual detection sub-module is installed on the outer side wall of the mobile chassis;

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

[0078] The information storage sub-module is used to store the safe height for the mobile chassis to pass through the obstacle, and transmit it to the alarm analysis sub-module;

[0079] The alarm analysis sub-module obtains the information on whether an alarm is needed based on the maximum value of the actually measured height of the obstacle and the safe height for the mobile chassis to pass through the obstacle according to 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 needed and the mobile chassis stops advancing; when alarm = 0, it means that no alarm is needed and the mobile chassis continues to advance. Since the space for setting the flow channel in the nuclear power plant is very narrow, the mobile chassis cannot move left or right when there are obstacles. When the mobile chassis advances forcibly, it will touch the sensing elements at the bottom of the mobile chassis, thereby damaging the mobile chassis. Therefore, the start and stop of the mobile chassis can be realized through the alarm factor. The units of the maximum value of the actually measured height of the obstacle and the safe height for the mobile chassis to pass through the obstacle are both centimeters, and the safe height for the mobile chassis to pass through the obstacle is set by those skilled in the art. Since the positioning module is installed at the bottom of the mobile chassis, the main purpose of setting the stopping module is to protect the positioning module. Assuming that the width of the obstacle is too large, the mobile chassis simply cannot pass through the obstacle and will stop advancing autonomously. At this time, the positioning module will not be affected. However, for obstacles with a certain height, if the mobile chassis barely passes through, it may hit the positioning module, thereby damaging the positioning module. Therefore, when calculating the alarm factor, the height of the obstacle is mainly considered. The safe height for the mobile chassis to pass through 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 sub-module includes a shooting unit, a preprocessing unit, an identification unit, and a data processing unit;

[0082] The shooting unit is used to shoot the initial image of the nuclear power plant flow channel;

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

[0084] The identification 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 sub-module.

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

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

[0088]

[0089] where alarm is the alarm factor, height sc is the maximum value of the measured height of the obstacle, height ref is the safe height for the mobile chassis to pass over the obstacle.

[0090] The above units are just examples. Those skilled in the art can set different units according to actual needs when implementing this solution.

[0091] Optionally, one end of all the cleaning pipes is provided with a plurality of avoidance grooves, the plurality of avoidance grooves are circumferentially spaced along the axis of the cleaning pipe, all the avoidance grooves extend along the axis direction of the cleaning pipe, and all the avoidance grooves penetrate the inner side wall and the outer side wall of the cleaning pipe.

[0092] Specifically, the shapes and structures of the avoidance grooves on the same cleaning pipe are the same, the avoidance grooves are arranged in a long strip shape, and the length of the avoidance groove is less than or equal to one-fourth 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 against the side wall of the nuclear power plant flow channel. Due to the provision of the avoidance grooves, the part of the cleaning pipe far from the second force arm will be diverged, 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 pipes, and the length directions of all the elastic strips are parallel to the axis direction of the cleaning pipe.

[0094] Specifically, on the same cleaning pipe, the two elastic strips are parallel to each other and arranged at intervals, and the sum of the length of any one elastic strip and the length of any one avoidance groove is equal to the length of the cleaning pipe. The addition of the elastic strips is mainly to strengthen the structural strength of the part of the cleaning pipe without the avoidance grooves, ensuring that the cleaning pipe can still be in a conductive state under pressure, and the dust is sucked into the dust collecting pipe through the cleaning pipe.

[0095] Optionally, a plurality of dust suction holes are detected and arranged on the side walls of all the cleaning pipes, and all the dust suction holes penetrate the inner side wall and the outer side wall of the cleaning pipe.

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

[0097] In this embodiment, the problem of the traditional cleaning method being relatively cumbersome is solved by automatically planning the cleaning path. Among them, the positioning module can obtain its position information in real time. The route planning module stores the structure diagram of the nuclear power plant flow channel and combines the real-time position information of the mobile robotic arm to ensure that the mobile robotic arm accurately navigates in a complex environment and reduces the possibility of a violent collision between the mobile robotic 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 relying on bottom positioning and navigation, as shown in Figure 4 and Figure 5 shown.

[0099] A nuclear power plant flow channel side wall cleaning robot relying on bottom positioning and navigation, the robot further includes a cleaning effect determination module, and the cleaning effect determination module is installed on the 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 sub-module, a data setting sub-module, a calculation sub-module, and a cleaning effect determination sub-module;

[0102] The gloss meter is used to detect and obtain the glossiness detected for the z-th time and the glossiness detected for the y-th time, and transmit them to the calculation sub-module;

[0103] The roughness measuring instrument is used to detect and obtain the roughness detected for the x-th time and the initial value of the roughness of the side wall of the flow channel, and transmit them to the calculation sub-module;

[0104] The visual analysis sub-module is used to detect and obtain the total area of the dirt on the side wall of the flow channel before cleaning and the total area of the dirt on the side wall of the flow channel after cleaning, and transmit them to the calculation sub-module;

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

[0106] The calculation sub-module obtains the total number of roughness tests after cleaning the side wall of the flow channel based on the rotation speed of the connecting plate, obtains the average roughness of the side wall of the flow channel after cleaning according to the total number of roughness tests after cleaning the side wall of the flow channel and the roughness detected at the x-th time, obtains the average glossiness of the side wall of the flow channel before cleaning according to the total number of glossiness tests before cleaning the side wall of the flow channel and the glossiness detected at the y-th time, obtains the average glossiness of the side wall of the flow channel after cleaning according to the total number of glossiness tests after cleaning the side wall of the flow channel and the glossiness detected at the z-th time, obtains the cleaning effect factor based on the average glossiness of the side wall of the flow channel after cleaning, the average glossiness of the side wall of the flow channel before cleaning, the average roughness of the side wall of the flow channel after cleaning, the initial value of the roughness of the side wall of the flow channel, the total area of dirt on the side wall of the flow channel before cleaning, and the total area of dirt on the side wall of the flow channel after cleaning, and transmits the cleaning effect factor to the cleaning effect determination sub-module;

[0107] The cleaning effect determination sub-module obtains information on whether the cleanliness of the side wall of the flow channel is high or low based on the cleaning effect factor.

[0108] Specifically, when the cleaning effect determination sub-module makes a determination, it refers to the following principle: when the cleaning effect factor is greater than or equal to the selected threshold of the cleaning effect factor, it indicates that the cleanliness of the side wall of the flow channel is high; when the cleaning effect factor is less than the selected threshold of the cleaning effect factor, it indicates that the cleanliness of the side wall of the flow channel is low; the selected threshold of the cleaning effect factor is set by those skilled in the art; according to the information on the low cleanliness of the side wall of the flow channel, select to clean the side wall of the flow channel in this area again.

[0109] Since the glossiness meter, roughness measuring instrument, and visual analysis sub-module need to detect the side wall of the nuclear power plant flow channel, the glossiness meter, roughness measuring instrument, and visual analysis sub-module are respectively installed on the second force arm through cylinders, and external staff remotely control different cylinders to move the glossiness meter, roughness measuring instrument, and visual analysis sub-module to the target position for detection.

[0110] Optionally, the visual analysis sub-module includes an acquisition unit, a target extraction unit, and an analysis unit;

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

[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 contour extraction and obtains the total area of dirt on the side wall of the flow channel before cleaning and the total area of dirt on the side wall of the flow channel after cleaning, and transmits them to the calculation sub-module.

[0114] Optionally, when the calculation sub-module calculates the cleaning effect factor, it satisfies the following formula:

[0115]

[0116] Z > Y;

[0117]

[0118] Wherein, Clean is the cleaning effect factor, ΔGloss a is the average glossiness of the side wall of the flow channel after cleaning, ΔGloss b is the average glossiness of the side wall of the flow channel before cleaning, ΔRh a is the average roughness of the side wall of the flow channel after cleaning, Rh c is the initial value of the roughness of the side wall of the flow channel, S b is the total area of dirt on the side wall of the flow channel before cleaning, S a is the total area of dirt on the side wall of the flow channel after cleaning;

[0119] Z is the total number of glossiness tests on the side wall of the flow channel after cleaning, ga z is the glossiness detected at the z-th time;

[0120] Y is the total number of glossiness tests on the side wall of the flow channel before cleaning, gb y is the glossiness detected at the y-th time;

[0121] X is the total number of roughness tests on the side wall of the flow channel after cleaning, ra x is the roughness detected at the x-th time;

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

[0123] Specifically, the unit of the average roughness of the side wall of the flow channel after cleaning, the initial value of the roughness of the side wall of the flow channel, and the roughness detected at the x-th time is micrometer; the unit of the total area of dirt on the side wall of the flow channel before cleaning and the total area of dirt on the side wall of the flow channel after cleaning is square centimeter; the unit of the rotational speed of the connecting plate is revolutions per minute; the "initial value of the roughness of the side wall of the flow channel" refers to the roughness corresponding to the factory setting of the side wall of the flow channel; the higher the value of the glossiness, the cleaner and smoother the surface of the side wall of the flow channel.

[0124] The above units are just an example, and those skilled in the art can set different units according to actual needs when implementing this solution.

[0125] This embodiment solves the problem that the traditional cleaning system cannot feedback the cleaning effect through the cleaning effect determination module. Among them, the cleaning effect determination module is used to determine the cleanliness of the side wall of the flow channel, and the staff determines whether it is necessary to clean the side wall of the nuclear power plant flow channel again according to the cleanliness of the side wall of the flow channel.

[0126] The content disclosed above is only a preferred and feasible embodiment of the present invention, and does not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention. In addition, with the development of technology, the elements therein can be updated.

Claims

1. A cleaning robot for the side wall of the flow channel of a nuclear power plant that relies on bottom positioning and navigation, characterized in that, The robot includes a mobile robotic arm, a positioning module, a route planning module, a cleaning device, and a dust suction device; The positioning module is installed on the mobile robotic arm and is used to obtain the position information of the mobile robotic arm and transmit the position information of the mobile robotic arm to the route planning module; The route planning module is used to store the structure diagram of the nuclear power plant flow channel and control the movement of the mobile robotic arm according to the position information of the mobile robotic arm and the structure diagram of the nuclear power plant flow channel; The cleaning device includes a connecting plate, a cleaning pipe, and a dust collecting pipe. The connecting plate is rotatably connected to the end of the mobile robotic arm. A cleaning motor is installed on the mobile robotic arm and is used to drive the connecting plate to rotate. A plurality of cleaning pipes are provided and are all made of soft materials. The first ends of all the cleaning pipes are connected to the connecting plate and communicate with one end of the dust collecting pipe, and the second ends are abutted against the side wall of the flow channel. The dust collecting pipe is connected to the connecting plate through a bearing; The dust suction device includes a dust collecting box and a fan. The other end of the dust collecting pipe communicates with the dust collecting box. The dust collecting box is installed on the mobile robotic arm. The fan is connected to the dust collecting box and generates suction inside the dust collecting box. A balance air vent is provided on the side wall of the dust collecting box, and a dust-proof net is installed at the balance air vent; The mobile robotic arm includes a turntable, a first force arm, a first force arm rotating motor, a second force arm, and a second force arm rotating motor; one end of the first force arm is rotatably connected to the turntable, the rotation axis of the first force arm is arranged in the left-right direction, the first force arm rotating motor is connected to the turntable, and the first force arm rotating motor drives the first force arm to rotate; One end of the second force arm is rotatably connected to the other end of the first force arm, the rotation axis of the second force arm is arranged in the left-right direction, the second force arm rotating motor is connected to the first force arm, and the second force arm rotating motor drives the second force arm to rotate; the connecting plate is rotatably connected to the other end of the second force arm; under the drive of the first force arm rotating motor, the angle between the first force arm and the straight line in the up-down direction is changed, and under the drive of the second force arm rotating motor, the angle between the first force arm and the second force arm is changed; a plurality of avoidance grooves are provided at the second ends of all the cleaning pipes, the plurality of avoidance grooves are circumferentially spaced along the axis of the cleaning pipe, all the avoidance grooves extend along the axis direction of the cleaning pipe, and all the avoidance grooves penetrate the inner side wall and the outer side wall of the cleaning pipe; At least two elastic strips are embedded inside all the cleaning pipes, and the length directions of all the elastic strips are parallel to the axis direction of the cleaning pipe; A plurality of dust suction holes are provided on the side walls of all the cleaning pipes, and all the dust suction holes penetrate the inner side wall and the outer side wall of the cleaning pipe.

2. The cleaning robot for the side wall of the flow channel of a nuclear power plant relying on bottom positioning and navigation as claimed in claim 1, wherein The mobile robotic arm further includes a mobile chassis, a housing, and a 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 housing is installed on the top of the mobile chassis, a plurality of ventilation openings are provided on the side wall of the housing, and the dust collecting box is installed inside the housing; The turntable is rotatably connected to the housing, the rotation axis of the turntable is arranged in the up-down direction, 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 in 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 force arm is rotatably connected to the other end of the first force arm. The rotation axis of the second force arm is arranged in the left-right direction. The second force arm rotation motor is connected to the first force arm, and the second force arm rotation motor drives the second force arm to rotate; The connecting plate is rotatably connected to the other end of the second force arm; The cleaning motor is connected to the second force arm; The route planning module controls the movement of the mobile chassis according to the position information of the mobile chassis and the structure diagram of the nuclear power plant flow channel, and controls the movements of the turntable, the first force arm, and the second force arm so that the second ends of all the cleaning pipes abut against the side wall of the flow channel.

3. The wall cleaning robot for the side wall of the flow channel of a nuclear power plant relying on bottom positioning and navigation according to claim 2, wherein, The robot further includes a stopping module, and the stopping module is installed on the housing; The stopping module is used to detect and obtain the information on whether an alarm is needed, and transmit it to the route planning module; The route planning module pauses the movement of the mobile chassis according to the information on whether an alarm is needed.

4. The cleaning robot for the side wall of the nuclear power plant flow channel relying on bottom positioning and navigation as claimed in claim 3, wherein, The stopping module includes a visual detection sub-module, an information storage sub-module, and an alarm analysis sub-module. The visual detection sub-module is installed on the outer side wall of the mobile chassis; The visual detection sub-module is used to detect and obtain the maximum value of the actually measured height of the obstacle, and transmit it to the alarm analysis sub-module; The information storage sub-module is used to store the safe height for the mobile chassis to pass through the obstacle, and transmit it to the alarm analysis sub-module; The alarm analysis sub-module obtains the information on whether an alarm is needed according to the maximum value of the actually measured height of the obstacle, the safe height for the mobile chassis to pass through the obstacle, and according to the alarm factor, and transmits the information on whether an alarm is needed to the route planning module.

5. The cleaning robot for the side wall of the flow channel of a nuclear power plant relying on bottom positioning navigation according to claim 4, characterized in that The visual detection sub-module includes a photographing unit, a preprocessing unit, an identification unit, and a data processing unit; The photographing unit is used to photograph the initial image of the nuclear power plant flow channel; The preprocessing unit performs gray-scale preprocessing on the initial image; The identification 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 actually measured height of the obstacle, and transmits the maximum value of the actually measured height of the obstacle to the alarm analysis sub-module.

6. The cleaning robot for the side wall of the flow channel of a nuclear power plant relying on bottom positioning and navigation as described in claim 5, wherein, When the alarm analysis sub-module calculates the alarm factor, the following formula is satisfied: ； Among them, is the alarm factor, is the maximum value of the actually measured height of the obstacle, is the safe height for the mobile chassis to pass over the obstacle.

Images