Auxiliary hoisting device based on 5G technology

Abstract

The invention belongs to the technical field of safety production in the nuclear power industry, and particularly relates to a hoisting auxiliary device based on the 5G technology. Comprising a monitoring terminal, an observation terminal and a remote controller, the remote controller controls the monitoring terminal through a wireless signal, and the monitoring terminal communicates with the observation terminal through a 5G signal. A positioning plate is arranged between the box body and the base; a cantilever, a 5GDTU and an antenna are arranged at the top of the box body; a tension spring and an axial rotating mechanism are arranged between the box body and the cantilever; a camera is arranged at the lower part of the front end of the cantilever; and an electric quantity display screen is arranged in front of the box body. According to the invention, observation demand targets of hoisting command personnel and ring crane drivers are met, the possibility of human errors is reduced, and the safety of hoisting work is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of safe production in the nuclear power industry, and specifically relates to a lifting auxiliary device based on 5G technology. Background Art

[0002] The reactor pressure vessel cover weighs about 106 tons, and closing the cover is a landmark node before the primary circuit water pressure test of the nuclear island. After the pressure vessel is loaded during the overhaul of the nuclear power unit, the pressure vessel needs to be closed. The operation process can be divided into five stages: lifting the container cover (from the cover storage room), translation, lowering, centering (three guide rods smoothly pass through the cover bolt holes), and positioning. Among them, the centering stage is more difficult and risky to control.

[0003] During the closing and centering stage of the container top cover, the traditional operation method requires three observers to enter the area with higher doses at the bottom of the core water pool, and use flashlights to illuminate the container guide rods and the bolt holes of the top cover flange where the guide rods pre-pass through (hereinafter referred to as observation holes) from bottom to top, and obtain the spatial position relationship between the guide rods and the observation holes through visual inspection. The observers report the relationship between the guide rods and the observation holes to the ground command using a walkie-talkie.

[0004] The ground command estimated the points where the container cover needed to be adjusted in the circumferential direction based on the observation positions and reported information of the three observers, and notified the crane driver to rotate and translate the container cover. After repeated interactive cycles, the center of the guide rod and the center of the bolt hole were nearly coincident, and the centering stage was completed. The ground command notified the crane driver to continue to lower the height of the container cover until the container cover was in place. Summary of the invention

[0005] The purpose of the present invention is to provide a lifting auxiliary device based on 5G technology, which is used in the lifting process of the pressure vessel top cover to assist the lifting commander and the crane driver to align the guide rod and insert it into the bolt hole of the top cover to avoid the guide rod deviating from the bolt hole and causing damage to the top cover, thereby meeting the observation needs of the lifting commander and the crane driver, reducing the possibility of human errors, and improving the safety of the lifting work.

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

[0007] A lifting auxiliary device based on 5G technology includes a monitoring terminal, an observation terminal, and a remote controller. The remote controller controls the monitoring terminal through wireless signals, and the monitoring terminal and the observation terminal communicate through 5G signals.

[0008] The monitoring terminal includes a box body, which is embedded in the flange hole of the top cover of the pressure vessel through a base. A positioning plate is arranged between the box body and the base. A cantilever, 5GDTU and an antenna are arranged on the top of the box body. A tension spring and an axial rotation mechanism are arranged between the box body and the cantilever. A camera is arranged at the lower part of the front end of the cantilever. A camera horizontal adjustment button is arranged at the front end of the cantilever. A photoelectric switch is arranged on the side of the box body, and a power display screen is arranged on the front of the box body.

[0009] The box body is made of stainless steel.

[0010] The base and positioning plate are made of high-strength nylon.

[0011] The photoelectric switch is used to detect the distance between the camera and the guide column. When the distance is less than a given distance, a command is issued to return the camera to its initial position to avoid collision with the guide column.

[0012] The remote control can be used to control the axial rotation mechanism to lose power and restore the cantilever to its initial state. At the same time, the 5GDTU and antenna can be powered off and restarted.

[0013] The monitoring terminal information is transmitted to the observation terminal in real time via 5G signals, and the hoisting workers can assist in completing the hoisting work based on the information from the observation terminal.

[0014] The antennas of the 5G base station are deployed circumferentially in the top cover storage room and the 20-meter platform visible space to ensure that the effective communication range is always maintained with the monitoring terminal placed on the top cover of the container.

[0015] Three sets of distance data from the lower surface of the container top cover flange to the top of the container guide rod are displayed in real time on the video screen of the observation terminal. The observer confirms whether the container top cover is level during the lifting process by comparing the three sets of data for consistency.

[0016] The camera collects video images of the bottom space of the bolt hole cavity, measures the distance data from the lower surface of the bolt hole to the pool bottom, forms new image data after analyzing the data and superimposing the electronic graticule image, and transmits it to the observation terminal through 5GDTU and antenna; receives and accepts control commands from the observation terminal.

[0017] The beneficial effects achieved by the present invention are:

[0018] The present invention is applied in the process of lifting the top cover of a pressure vessel to assist the lifting commander and the crane driver to align the guide rod and insert it into the bolt hole of the top cover to prevent the guide rod from deviating from the bolt hole and causing damage to the top cover. The present invention meets the observation needs of the lifting commander and the crane driver, reduces the possibility of human error, and improves the safety of the lifting work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the monitoring terminal structure of the present invention;

[0020] Figure 2 This is the schematic diagram of the lifting auxiliary device based on 5G technology;

[0021] In the figure: 1 box, 2 base, 3 positioning plate, 4 cantilever, 5 camera, 6 camera level adjustment button, 7 tension spring, 8 5GDTU and antenna, 9 photoelectric switch, 10 axial rotation mechanism, 11 power display screen, 12 monitoring terminal, 13 observation terminal, 14 remote control. DETAILED DESCRIPTION

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] A lifting auxiliary device based on 5G technology includes a monitoring terminal 12, an observation terminal 13, and a remote controller 14. The remote controller 14 controls the monitoring terminal 12 through wireless signals, and the monitoring terminal 12 and the observation terminal 13 communicate through 5G signals. The monitoring terminal 12 includes a box body 1, which is made of stainless steel. The box body 1 is embedded in the flange hole of the top cover of the pressure vessel through a base 2. A positioning plate 3 is arranged between the box body 1 and the base 2. The base 2 and the positioning plate 3 are made of high-strength nylon. A cantilever 4, a 5GDTU and an antenna 8 are arranged on the top of the box body 1. A tension spring 7 and an axial rotation mechanism 10 are arranged between the box body 1 and the cantilever 4. A camera 5 is arranged at the lower part of the front end of the cantilever 4. A camera horizontal adjustment button 6 is arranged at the front end of the cantilever 4 to fine-tune the camera position. A photoelectric switch 9 is arranged on the side of the box body 1, and a power display screen 11 is arranged on the front of the box body 1.

[0024] The signal of the monitoring terminal 12 is transmitted to the observation terminal through the 5GDTU and the antenna 8. The photoelectric switch 9 is used to detect the distance between the camera 5 and the guide column. When the distance is less than the given distance, a command is issued to the structural connector to return the camera 5 to the initial position to avoid collision with the guide column. The power display screen 11 can check the power of the equipment in real time. The remote control 14 can control the axial rotation mechanism 10 to lose power so as to restore the cantilever 4 to its initial state, and at the same time control the 5GDTU and the antenna 8 to power off and restart. The information of the monitoring terminal 12 is transmitted to the observation terminal 13 in real time through the 5G signal, and the hoisting staff can assist in completing the hoisting work according to the information of the observation terminal.

[0025] The present invention proposes:

[0026] (1) The antennas of the 5G base station are deployed circumferentially within the top cover storage room and the 20-meter platform visible space to ensure that the monitoring terminal placed on the top cover of the container always maintains an effective communication range;

[0027] (2) A cantilever that can rotate horizontally is installed at the center of the plane on the monitoring terminal box. A video camera is installed on the top of the cantilever, and the horizontal distance from the camera to the rotating axis can be adjusted;

[0028] (3) The calibration board and the monitoring terminal structural connector are installed together to ensure that the installation angles of the three monitoring terminals are unique;

[0029] (4) The monitoring terminal has the ranging function in the use scenario of 5-meter or 9-meter guide poles;

[0030] (5) The monitoring terminal has a distance measurement function. The video screen of the observation terminal displays three sets of distance data from the lower surface of the container top cover flange to the top of the container guide rod in real time. The observer can confirm whether the container top cover is level during the lifting process by comparing the three sets of data.

[0031] (6) The monitoring terminal uses a 5GDTU communication module, and the four antennas of the communication module are installed on the upper surface of the monitoring terminal box. The monitoring terminal provides working power for the communication module;

[0032] (7) The monitoring terminal is equipped with a 315HMz wireless dual-channel control circuit module. In abnormal conditions, it is convenient for human remote intervention in the working status of the monitoring terminal. One remote control controls the cantilever electromechanical module of the monitoring terminal to lose power, so that the cantilever and the camera on the cantilever are pulled back to the initial state under the action of the tension spring to avoid the guide rod rising channel; one remote control controls the 5G network in the event of communication interruption, and attempts to reset and restart the 5GDTU module on the monitoring terminal;

[0033] (8) During the container top cover hoisting process, under abnormal conditions, the monitoring terminal loses communication with the observation terminal, and the dual-channel remote control cannot intervene and control the monitoring terminal. When the monitoring terminal detects that the guide rod passes through the upper surface of the top cover flange, the internal linkage device of the monitoring terminal will cause the cantilever electromechanical module to lose power, and the cantilever of the monitoring terminal and its monitoring camera will be pulled back to the initial state by the tension spring to avoid the guide rod rising space to prevent the cover closing operation from being interrupted;

[0034] (9) The observation terminal supports 5G communication mode and receives the video images and module working status information transmitted by the 5GDTU module of the display monitoring terminal;

[0035] (10) An electronic graticule (i.e., electronic crosshairs) centered on the video screen is superimposed on the video image of the observation terminal APP as a two-dimensional plane reference coordinate for centering the container guide rod, and the position deviation between the observation hole and the guide rod is quantitatively observed, or whether the two centers coincide;

[0036] (11) The observation terminal APP can receive and query the working status information of the three 5GDTUs, and predict the current service quality of 5GDTU by analyzing parameters such as signal-to-noise ratio and signal receiving power.

[0037] The present invention adopts a monitoring terminal + 5G wireless network + observation terminal structure design, and the product form includes a monitoring terminal and an observation terminal. The terminals are all powered by independent power supplies, and a 5G wireless communication network is used between the terminals.

[0038] 1.1 Monitoring Terminal

[0039] The monitoring terminal consists of a box, a cantilever, a cantilever camera, and mounting and fixing connectors. The box contains a 5GDTU module, a laser ranging module, an electromechanical control module, a power management module, and a battery power module. The cantilever is installed at the center of the upper surface of the box. The electromechanical module provides it with rotational power, and the tension spring provides it with tension to restore its initial state. A monitoring camera is installed at the far end of the cantilever, and the horizontal distance between the camera and the cantilever shaft can be adjusted by the knob on the cantilever.

[0040] The camera collects video images of the bottom space of the bolt hole cavity, and the laser ranging module measures the distance data from the lower surface of the bolt hole to the bottom of the pool. After analyzing the data and superimposing the electronic graticule image, new image data is formed and transmitted to the video observation terminal through the 5GDTU module; the control instructions from the observation terminal are received and accepted.

[0041] 1.1.1 Equipment components

[0042] It consists of an optical zoom integrated camera, 5GDTU, a laser rangefinder, a power management board, an axis rotation platform and cantilever, a stepper motor and driver, a nylon structural connector base, a lithium battery, a battery power display screen, a power switch, a metal shell and other components.

[0043] (1) Optical zoom integrated camera, 25x optical zoom, SD video storage, used for real-time video recording, convenient for video data backtracking. The camera interface board network port is connected to 5GDTU; the camera interface board RS485 port, RS232 port, and power port are connected to the power management board;

[0044] (2) The 50-meter laser rangefinder module is connected to the power management board through the RS232 interface;

[0045] (3) The power management board provides working power for each component of the monitoring terminal; parses the pan / tilt control instructions from the observation terminal; collects laser rangefinder data (actually measured distance L1, and inferred distance L2 from the bottom of the flange to the guide rod head), parses and encodes it, and then sends it to the RS232 serial port of the camera interface board;

[0046] (4) Electromechanical control structure, including stepper motor, motor driver, cantilever, bearing rotating platform and other components.

[0047] Since the observation hole is the only way for the guide rod to pass through, the space above the observation hole is only allowed to be occupied before the container top cover is closed and centered. The monitoring terminal includes a set of mechanical rotating mechanisms driven by a stepper motor, which dynamically moves the camera from the initial position to the center of the bolt hole or from the center of the bolt hole to the initial position.

[0048] The electromechanical control module receives the PWM pulse command from the power management board and drives the camera on the cantilever to move clockwise or counterclockwise. The driver signal line is connected to the IO interface of the power management board;

[0049] (5) 5GDTU communication module. Provides a wired Ethernet to 5G wireless transmission interface for the monitoring terminal, and uses an Ethernet cable to connect to the camera interface board;

[0050] (6) The nylon structural connector base fixes the monitoring terminal to the bolt hole of the container top cover flange in a flexible connection manner. The top of the T-shaped cylindrical base is screwed to the metal structure of the monitoring terminal, and the body of the T-shaped cylindrical base is embedded in the bolt hole of the container top cover flange;

[0051] (7) Use 25.2V 6AH lithium battery as the power source of the equipment.

[0052] (8) When the equipment is not powered on, the position of the cantilever and the camera should not be within the observation hole area (initial position). After the monitoring equipment is powered on, instructions can be issued through the observation terminal to move the cantilever and the camera to the observation hole area for observation, and move them out of the observation hole area after the observation is completed.

[0053] The calibration plate is installed in coordination with the monitoring terminal structural connectors to ensure that the monitoring terminal is installed at a uniform angle.

[0054] The calibration plate is made of cylindrical nylon material, with a diameter equivalent to the bolt hole, and is designed with a convex platform that matches the concave platform on the upper surface of the base of the structural connector. It is used to uniquely determine the installation position and angle of the monitoring terminal to prevent the initial position of the mechanical cantilever from being in the monitoring hole area due to the random installation of the monitoring terminal.

[0055] (8) During the operation of closing the container cover, the 5G wireless network may be interrupted. At this time, the monitoring terminal cantilever and camera may be in the monitoring hole area, occupying the guide rod ascending channel, which may eventually cause the guide rod to collide with the monitoring terminal, causing foreign objects to fall into the container or the container cover closing operation to be terminated.

[0056] Added the function of returning the monitoring terminal cantilever and camera to their initial positions under abnormal working conditions.

[0057] (8.1) A cantilever limiter is designed on the monitoring terminal box to prevent the camera cantilever from excessive rotation, causing the return spring to fail;

[0058] (8.2) Find a fulcrum on the upper surface of the metal structure of the monitoring terminal to fix one end of the spring, and fix the other end of the spring to the middle position of the lower surface of the mechanical cantilever. When the cantilever is in the initial position, the spring has a certain deformation. The spring tension is opposite to the torque of the cantilever rotating from the initial position to the monitoring hole position, and the spring tension is less than the torque of the rotating platform to ensure the normal rotation of the cantilever and the camera;

[0059] (8.3) Considering that when the 5G wireless network is interrupted, the cantilever of the monitoring terminal cannot be reset by remote control of the observation terminal. A 315MHz wireless remote control and a receiving controller (installed on the monitoring terminal) are added to the system. When the receiving controller receives the control command, the controller forcibly cuts off the power to the mechanical rotation mechanism circuit of the monitoring terminal. When the motor of the cantilever and the camera loses power, the spring uses the deformation potential energy to pull the cantilever and the camera back to the initial position to avoid the guide rod rising channel.

[0060] (8.4) Considering that when the 5G wireless network is interrupted, after the guide rod passes through the upper surface of the top cover flange, the photoelectric switch is blocked, the delay relay is powered off, the motor driver is powered off, and the cantilever of the monitoring terminal is pulled back by the spring. After the photoelectric switch obstruction is removed, the delay relay is powered on, and the motor driver is powered on after a delay of 6 seconds, and the monitoring terminal can remotely control the monitoring terminal again.

[0061] 1.1.2 Deployment Location

[0062] The monitoring terminal is installed in the adjacent hole (serial number + 1) of the observation hole.

[0063] 1.1.3 Main functions

[0064] During the closing process of the container top cover, the monitoring terminal remains fixed relative to the container top cover. With the help of the monitoring terminal cantilever, the camera is rotated to the top of the observation hole, so that the spatial position relationship between the through hole of the container top cover flange and the guide rod can be observed from above the observation hole; when the centering stage is completed, the camera is rotated back to the initial state with the help of the cantilever to avoid the upward channel of the container guide rod.

[0065] 1.2 Observation Terminal

[0066] The observation terminal consists of three tablet devices, on which customized video surveillance software is installed.

[0067] 1.3.1 Components

[0068] (1) Tablet computer: Xiaomi 5G Pro;

[0069] (2) Customized video surveillance software;

[0070] 1.3.2 Deployment Location

[0071] 20-meter platform ground commander and crane driver.

[0072] 1.2.3 Main functions

[0073] (1) Observe the video images of three cameras;

[0074] (2) Observation distance data (the distance information is superimposed on the video image);

[0075] (3) Observe the electronic reticle pattern. The electronic reticle has a fixed size, and the camera zoom does not affect the size change of the electronic reticle;

[0076] (4) Provide ground command and crane driver with control functions such as cantilever rotation, lens zoom, and snapshot of monitoring terminals;

[0077] (5) Observe and query the status messages and logs reported by the 5GDTU module.

Claims

1. A lifting auxiliary device based on 5G technology, characterized in that: It includes a monitoring terminal, an observation terminal, and a remote control. The remote control controls the monitoring terminal through wireless signals, and the monitoring terminal and the observation terminal communicate through 5G signals.

2. The 5G-based lifting auxiliary device according to claim 1 is characterized in that: The monitoring terminal includes a box body, which is embedded in the flange hole of the top cover of the pressure vessel through a base. A positioning plate is arranged between the box body and the base. A cantilever, 5GDTU and an antenna are arranged on the top of the box body. A tension spring and an axial rotation mechanism are arranged between the box body and the cantilever. A camera is arranged at the lower part of the front end of the cantilever. A camera horizontal adjustment button is arranged at the front end of the cantilever. A photoelectric switch is arranged on the side of the box body, and a power display screen is arranged on the front of the box body.

3. The 5G-based lifting auxiliary device according to claim 2 is characterized in that: The box body is made of stainless steel.

4. The 5G-based lifting auxiliary device according to claim 2 is characterized in that: The base and positioning plate are made of high-strength nylon.

5. The 5G-based lifting auxiliary device according to claim 2 is characterized in that: The photoelectric switch is used to detect the distance between the camera and the guide column. When the distance is less than a given distance, a command is issued to return the camera to its initial position to avoid collision with the guide column.

6. The 5G-based lifting auxiliary device according to claim 2, characterized in that: The remote control can be used to control the axial rotation mechanism to lose power and restore the cantilever to its initial state. At the same time, the 5GDTU and antenna can be powered off and restarted.

7. The 5G-based lifting auxiliary device according to claim 1, characterized in that: The monitoring terminal information is transmitted to the observation terminal in real time via 5G signals, and the hoisting workers can assist in completing the hoisting work based on the information from the observation terminal.

8. The 5G-based lifting auxiliary device according to claim 1, characterized in that: The antennas of the 5G base station are deployed circumferentially in the top cover storage room and the 20-meter platform visible space to ensure that the effective communication range is always maintained with the monitoring terminal placed on the top cover of the container.

9. The 5G-based lifting auxiliary device according to claim 1, characterized in that: Three sets of distance data from the lower surface of the container top cover flange to the top of the container guide rod are displayed in real time on the video screen of the observation terminal. The observer confirms whether the container top cover is level during the lifting process by comparing the three sets of data for consistency.

10. The 5G technology-based lifting auxiliary device according to claim 2, characterized in that: The camera collects video images of the bottom space of the bolt hole cavity, measures the distance data from the lower surface of the bolt hole to the pool bottom, forms new image data after analyzing the data and superimposing the electronic graticule image, and transmits it to the observation terminal through 5GDTU and antenna; receives and accepts control commands from the observation terminal.

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