Pressurized water reactor refueling water tank inspection system and inspection method

Abstract

The invention provides a pressurized water reactor refueling water tank inspection system and method, the inspection system comprises an inspection unit, a control unit and a collection unit, the inspection unit is used for scanning the interior of a refueling water tank to obtain defect information of the inner wall of the refueling water tank and impurity information in water stored in the refueling water tank; the control unit is in communication connection with the inspection unit and is used for receiving defect information and impurity information from the inspection unit and outputting a collection instruction; the collecting unit is in communication connection with the control unit and used for collecting impurities in the refueling water tank according to a collecting instruction sent by the control unit. The inspection unit and the collection unit can replace workers to enter the refueling water tank for defect inspection, so that the manual operation amount can be reduced, and the operation efficiency can be improved; before the inspection operation, the water stored in the refueling water tank does not need to be emptied, so that the efficiency of the inspection operation can be further improved.

Description

Technical Field

[0001] The present application belongs to the technical field of nuclear power plant maintenance, and more specifically, to a pressurized water reactor refueling water tank inspection system and inspection method. Background Art

[0002] The pressurized water reactor of a nuclear power plant is a key device for realizing the conversion of nuclear energy into thermal energy in a nuclear power plant. It is the core part of energy conversion. The pressurized water reactor contains a refueling water tank. During the overhaul of a nuclear power plant, it is necessary to inspect the inside of the refueling water tank to promptly detect defects such as corrosion in the refueling water tank and repair the defects to ensure that the refueling water tank can operate normally in the subsequent stage.

[0003] In the related art, before inspection, the water stored in the refueling water tank needs to be drained first, and then the staff can enter the water tank from the manhole at the bottom of the refueling water tank for visual inspection. However, this method takes up to 24 hours to drain the water. In addition, during the inspection process, it is necessary to manually clean the impurities attached to the inner wall of the refueling water tank to reduce the impact of the impurities on the inspection results. In this way, the inspection operation is time-consuming and inefficient. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a pressurized water reactor refueling water tank inspection system and inspection method to solve the technical problem of time-consuming and low-efficiency manual inspection operations existing in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, a pressurized water reactor refueling water tank inspection system is provided, comprising:

[0007] An inspection unit, the inspection unit is used to scan the interior of the refueling water tank to obtain defect information of the inner wall of the refueling water tank and impurity information in the stored water of the refueling water tank;

[0008] A control unit, the control unit is communicatively connected with the inspection unit, the inspection unit transmits the acquired defect information and the impurity information to the control unit, and the control unit is further used to output a collection instruction according to the defect information and the impurity information;

[0009] A collecting unit is communicatively connected to the control unit, and is used to collect impurities in the refueling water tank according to the collecting instruction issued by the control unit.

[0010] In some embodiments, the inspection unit includes a first scanner and a second scanner respectively connected to the control unit for communication, the first scanner is used to scan the bottom wall of the refueling water tank to obtain the defect information and the impurity information of the bottom wall of the refueling water tank, and the second scanner is used to scan the side wall of the refueling water tank to obtain the defect information of the side wall of the refueling water tank.

[0011] In some embodiments, the collection unit includes a first collection component and a second collection component that are communicatively connected to a control unit respectively, the first collection component is used to collect impurities at the bottom of the refueling water tank according to the collection instruction, and the second collection component is used to collect floating objects in the water stored in the refueling water tank according to the collection instruction.

[0012] In some embodiments, the first collection component comprises:

[0013] A manipulator, the manipulator is communicatively connected to the control unit, and the manipulator is used to grab impurities in the refueling water tank according to the collection instruction; and

[0014] An absorber is communicatively connected to the control unit, and includes a first receiving member and a first pump and a pipeline connected to the first receiving member, wherein the first pump is used to be started according to the collection instruction to suck impurities in the storage water of the refueling water tank into the pipeline and transport them to the first receiving member via the pipeline.

[0015] In some embodiments, the collection unit further includes a frame and a driving wheel mounted on the frame, the manipulator and the absorber are both mounted on the frame, and the driving wheel drives the frame to move, thereby driving the manipulator and the absorber to move along the inner wall of the refueling water tank.

[0016] In some embodiments, the collection unit further comprises a buoyancy unit capable of floating on the water surface of the refueling water tank, and the buoyancy unit is connected to the second collection assembly so that the second collection assembly floats on the water of the refueling water tank;

[0017] The buoyancy unit includes a plurality of floating blocks, and the density of the floating blocks is less than the density of the water stored in the refueling water tank.

[0018] In some embodiments, the collection unit further includes a propeller, wherein the propeller is connected to the buoyancy unit, and the propeller is used to propel the buoyancy unit and the second collection assembly to move in the water stored in the refueling water tank.

[0019] In some embodiments, the second collecting component includes a second receiving member, which is provided with a filter channel and a water inlet and a first water outlet connected to the filter channel. A first filter screen and a second pump are provided in the filter channel. When the second pump is turned on, a negative pressure is formed in the filter channel so that the water stored in the material replacement water tank flows into the filter channel from the water inlet and then flows out from the first water outlet.

[0020] In some embodiments, the PWR refueling water tank inspection system further includes a robot group, and the robot group includes the inspection unit, the control unit, and the collection unit.

[0021] In a second aspect, a pressurized water reactor refueling water tank inspection method is provided, and the pressurized water reactor refueling water tank inspection system is provided. The pressurized water reactor refueling water tank inspection system includes a robot group, and the pressurized water reactor refueling water tank inspection method includes the following steps:

[0022] Open the exhaust port on the top of the refueling water tank;

[0023] Allowing the inspection unit and the collection unit to enter the interior of the refueling water tank from the exhaust port;

[0024] The inspection unit performs defect inspection on the inner wall of the refueling water tank, and sends the acquired defect information and impurity information of the inner wall of the refueling water tank to the control unit;

[0025] The collecting unit collects impurities in the water stored in the refueling water tank according to the collecting instruction from the control unit;

[0026] After defect inspection and impurity collection are completed, the inspection unit and the collection unit are moved away from the refueling water tank;

[0027] Close the exhaust port.

[0028] The beneficial effects of the pressurized water reactor refueling water tank inspection system provided by the present application are: by setting up an inspection unit and a collection unit, the inspection unit and the collection unit can replace the staff to enter the interior of the refueling water tank to perform defect inspection, which can reduce the amount of manual labor and help improve the efficiency of the operation; and the inspection unit and the collection unit can perform defect inspection and impurity collection on the interior of the refueling water tank, so that the staff does not need to enter the interior of the refueling water tank, which can reduce the exposure of the staff to a high radiation environment and help improve the safety of the operation. In addition, because the damage caused by the inspection unit and the collection unit being exposed to a high radiation environment is far less than the damage caused by the human body being exposed to a high radiation environment, it is not necessary to empty the stored water in the refueling water tank before the inspection operation, which can further improve the efficiency of the inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 A schematic diagram of a pressurized water reactor refueling water tank provided in an embodiment of the present application;

[0031] Figure 2 A schematic diagram of the assembled first robot, first scanner and first collection component provided in an embodiment of the present application;

[0032] Figure 3 for Figure 2 A schematic diagram of another state after the first robot, the first scanner and the first collecting component are assembled;

[0033] Figure 4 A schematic diagram of the assembled second robot and the second scanner provided in an embodiment of the present application;

[0034] Figure 5 A schematic diagram of the assembled third robot, the buoyancy unit and the second collection assembly provided in an embodiment of the present application;

[0035] Figure 6 for Figure 5 A schematic diagram showing another perspective of the third robot, the buoyancy unit and the second collection assembly after being assembled;

[0036] Figure 7 for Figure 5 A schematic cross-sectional view of the third robot, the buoyancy unit and the second collection assembly after assembly is shown;

[0037] Figure 8 A schematic diagram of the steps of a method for inspecting a pressurized water reactor refueling tank provided in one embodiment of the present application;

[0038] Fig. 9 A schematic diagram of the steps of a pressurized water reactor refueling tank inspection method provided by another embodiment of the present application;

[0039] Fig.10 A schematic diagram of the steps of a pressurized water reactor refueling tank inspection method provided in yet another embodiment of the present application.

[0040] Among them, the reference numerals in the figure are:

[0041] 100. Working platform;

[0042] 200, refueling water tank; 2001, exhaust port; 2002, manhole door;

[0043] 1. first robot; 11. first scanner; 111. front view camera; 112. macro camera; 12. first collection component; 121. manipulator; 122. first pump; 1221. third water outlet; 123. pipeline; 124. first receiving member; 13. driving wheel; 14. frame;

[0044] 2. second robot; 21. second scanner; 22. lighting lamp; 23. rod body;

[0045] 3. The third robot; 31. The buoyancy unit; 311. The float; 312. The camera assembly; 32. The second collecting assembly; 321. The filtering channel; 3211. The water inlet; 3212. The first water outlet; 322. The second pump; 323. The first filter; 33. The propeller; 34. The third controller. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" means two or more, "multiple groups" means two or more groups, "multiple pieces" means two or more pieces, and "several" means one or more, unless otherwise clearly and specifically defined.

[0050] The pressurized water reactor of a nuclear power plant is a key device for realizing the conversion of nuclear energy into thermal energy in a nuclear power plant. It is the core part of energy conversion. In a pressurized water reactor, nuclear fuel (usually enriched uranium) undergoes a chain fission reaction. The heat generated by the fission reaction will be absorbed by the coolant (high-pressure water) in the closed circulation system (primary loop) connected to the nuclear reactor core, and the coolant will transfer the heat to the corresponding loop.

[0051] Pressurized water reactors contain refueling tanks. During reactor refueling, the fuel assemblies are removed from the core of the pressurized water reactor and placed in the refueling tanks for cooling, transfer and other operations. During this process, the water in the refueling tanks can be used as a shielding medium to reduce the radiation dose received by the workers.

[0052] During the overhaul of a nuclear power plant, it is necessary to inspect the interior of the refueling water tank to promptly detect defects such as corrosion in the refueling water tank and repair the defects to ensure that the refueling water tank can operate normally in the subsequent stages.

[0053] In the related art, the water in the refueling water tank needs to be drained first, and then the staff can enter the water tank from the manhole at the bottom of the refueling water tank for visual inspection. However, this method takes up to 24 hours to drain the water. In addition, during the inspection process, it is necessary to manually clean the impurities attached to the inner wall of the refueling water tank to reduce the impact of the impurities on the inspection results. In this way, the inspection operation is time-consuming and inefficient.

[0054] Based on this, an embodiment of the present application provides a pressurized water reactor refueling water tank inspection system and inspection method to solve the above-mentioned problems.

[0055] Reference Figures 1 to 6 The embodiment of the present application first provides a pressurized water reactor refueling water tank inspection system, including an inspection unit, a control unit and a collection unit, the inspection unit is used to scan the interior of the refueling water tank 200 to obtain defect information of the inner wall of the refueling water tank 200 and impurity information in the stored water of the refueling water tank 200; the control unit is communicatively connected with the inspection unit, the inspection unit transmits the acquired defect information and impurity information to the control unit, and the control unit is also used to output a collection instruction according to the defect information and impurity information; the collection unit is communicatively connected with the control unit, and the collection unit is used to collect impurities in the refueling water tank 200 according to the collection instruction issued by the control unit.

[0056] It should be noted that the control unit is connected to the inspection unit for communication, and the communication connection can be achieved through wired means such as wires, etc., or through wireless means such as Bluetooth, Wi-Fi, mobile networks, etc. The inspection unit and the control unit can be connected by wire or by wireless means, and the defect information and impurity information obtained by the inspection of the inspection unit can be transmitted to the control unit, and the control unit can make corresponding response actions after receiving the defect information and impurity information obtained by the inspection of the inspection unit; in addition, the collection unit and the control unit can be connected by wire or by wireless means.

[0057] It should be noted that the inspection unit may include multiple components, and the multiple components of the inspection unit may respectively scan the bottom wall and the side wall of the refueling water tank 200, and the overall defect information of the refueling water tank 200 may be obtained by summarizing the scanning information of the multiple components of the inspection unit; the collection unit may include multiple components, and the multiple components of the collection unit may respectively collect impurities from different areas of the refueling water tank 200; in addition, the control unit may also include multiple components, and the multiple components of the control unit may respectively be connected to the multiple components of the inspection unit to obtain corresponding information.

[0058] It should be noted that the water stored in the refueling water tank 200 is radioactive boric acid water. The interior of the refueling water tank 200 is a high-radiation environment, and radiation-resistant materials can be used to manufacture the robot group.

[0059] By setting up the inspection unit and the collection unit, the inspection unit and the collection unit can replace the staff to enter the interior of the refueling water tank 200 to perform defect inspection, which can reduce the amount of manual labor and help improve the efficiency of the operation; and the inspection unit and the collection unit can perform defect inspection and impurity collection on the interior of the refueling water tank 200, so that the staff does not need to enter the interior of the refueling water tank 200, which can reduce the exposure of the staff to a high radiation environment and help improve the safety of the operation. In addition, since the damage caused by the inspection unit and the collection unit being exposed to a high radiation environment is much smaller than the damage caused by the human body being exposed to a high radiation environment, it is not necessary to empty the water stored in the refueling water tank 200 before the inspection operation, which can further improve the efficiency of the inspection operation.

[0060] Reference Figures 2 to 4 In some embodiments, the inspection unit includes a first scanner 11 and a second scanner 21 which are respectively communicatively connected to the control unit, the first scanner 11 is used to scan the bottom wall of the refueling water tank 200 to obtain defect information and impurity information of the bottom wall of the refueling water tank 200, and the second scanner 21 is used to scan the side wall of the refueling water tank 200 to obtain defect information of the side wall of the refueling water tank 200.

[0061] It can be understood that during the inspection of the bottom wall of the refueling water tank 200, the inspection unit needs to be moved in the horizontal direction, and during the inspection of the side wall of the refueling water tank 200, the inspection unit needs to be moved in the vertical direction. The first scanner 11 is set to scan the bottom wall of the refueling water tank 200, and the second scanner 21 is set to scan the side wall of the refueling water tank 200. This can facilitate the design of the inspection routes of the first scanner 11 and the second scanner 21, reduce the difficulty of optimizing the inspection routes, and help shorten the time required for inspection, thereby further improving the efficiency of the inspection operation.

[0062] In some embodiments, the PWR refueling water tank inspection system includes a robot group, which includes an inspection unit, a control unit, and a collection unit. Thus, the inspection unit and the collection unit can be easily moved, thereby facilitating defect inspection and foreign matter collection operations.

[0063] The robot group may further include a first robot 1 and a second robot 2, wherein the first scanner 11 may be a part of the first robot 1, and the second scanner 21 may be a part of the second robot 2. Thus, when the first robot 1 moves, the first scanner 11 may move, and when the second robot 2 moves, the second scanner 21 may move.

[0064] Reference Figure 2 and Figure 3 In some embodiments, the first scanner 11 on the first robot 1 may include a forward-looking camera 111 and a macro camera 112, wherein the forward-looking camera 111 can realize a global observation of the forward direction of the first robot 1, and the macro camera 112 can be used for macro observation of the bottom wall of the refueling water tank 200, for example, macro observation of the weld on the bottom wall of the refueling water tank 200 can be performed.

[0065] In some embodiments, the collection unit includes a first collection component 12 and a second collection component 32, and the first collection component 12 and the second collection component 32 are respectively communicatively connected to the control unit. The first collection component 12 is used to collect impurities at the bottom of the refueling water tank 200 according to the collection instruction, and the second collection component 32 is used to collect floating objects in the water stored in the refueling water tank 200 according to the collection instruction.

[0066] It is understandable that the impurities deposited at the bottom of the refueling water tank 200 will block the bottom wall of the refueling water tank 200, affecting the inspection of the bottom wall of the refueling water tank 200 by the first scanner 11. Therefore, the first collecting component 12 is designed to collect the impurities at the bottom of the refueling water tank 200, which can reduce the impact of the impurities on the inspection results of the first scanner 11 and help improve the accuracy of the inspection results. In addition, the second collecting component 32 can collect floating objects in the stored water, thereby improving the cleanliness of the stored water and reducing the impact of floating objects on the inspection results of the second robot 2.

[0067] In some embodiments, the first collecting component 12 may be a part of the first robot 1, that is, the first robot 1 may include the first collecting component 12 and the first scanner 11 at the same time. It can be understood that impurities deposited at the bottom of the refueling water tank 200 may block the bottom wall of the refueling water tank 200, affecting the inspection of the bottom wall of the refueling water tank 200 by the first scanner 11. Therefore, the first collecting component 12 and the first scanner 11 are set to be part of the first robot 1. During the scanning and inspection process of the first scanner 11, the first collecting component 12 can simultaneously collect and clean the impurities, thereby reducing the influence of impurities on the defect inspection results.

[0068] In some embodiments, the first collection component 12 includes a manipulator 121 and an absorber which are respectively connected to the control unit for communication. The manipulator 121 is used to grab impurities in the refueling water tank 200 according to the collection instruction. The absorber includes a first receiving piece 124 and a first pump 122 and a pipeline 123 connected to the first receiving piece 124. The first pump 122 is used to be started according to the collection instruction to suck the impurities in the stored water of the refueling water tank 200 into the pipeline 123 and transport them to the first receiving piece 124 through the pipeline 123.

[0069] It should be noted that, in some embodiments, the first receiving component 124 can have a chamber that is large enough to be connected to the first pump 122 to accommodate the stored water and impurities in the stored water; in other embodiments, a second water outlet that is connected to its internal chamber can be provided in the first receiving component 124, and the second water outlet is connected to the first pump 122, and the chamber in the first receiving component 124 is also provided with a second filter. When the first pump 122 is turned on, the stored water and impurities in the replacement water tank 200 can enter the chamber of the first receiving component 124 from the pipe 123, and the stored water filtered by the second filter can enter the first pump 122 from the second water outlet, and then be discharged from the third water outlet 1221 of the first pump 122.

[0070] By setting up the manipulator 121 and the absorber, some larger impurities can be grabbed and collected by the manipulator 121, and some smaller or fragile impurities can be sucked and collected by the absorber, thereby improving the collection efficiency of impurities.

[0071] In some embodiments, the collection unit further includes a frame 14 and a driving wheel 13 mounted on the frame 14 , the manipulator 121 and the absorber are both mounted on the frame 14 , and the driving wheel 13 drives the frame 14 to move, thereby driving the manipulator 121 and the absorber to move along the inner wall of the refueling water tank 200 .

[0072] By installing both the manipulator 121 and the absorber on the frame 14 and driving the frame 14 to move by the driving wheel 13, the manipulator 121 and the absorber can move synchronously. When facing different types of impurities, the control unit can promptly instruct the manipulator 121 or the absorber to collect and clean the impurities, which helps to improve the efficiency of collecting and cleaning impurities.

[0073] Reference Figure 2 In some embodiments, when the first pump 122 of the absorber is turned on, the manipulator 121 can clamp the end of the pipe 123 away from the first receiving piece 124 so that the opening of the end of the pipe 123 away from the first receiving piece 124 can be aligned with the impurities, thereby improving the collection effect of the first collecting component 12 on the impurities.

[0074] In some embodiments, the frame 14 and the driving wheel 13 may be part of the first robot 1. When the driving wheel 13 rotates, the first robot 1 may move on the bottom wall of the refueling water tank 200. Thus, the first robot 1 is equivalent to a crawling robot.

[0075] In some embodiments, the first robot 1 has a certain pressure resistance, and the first robot 1 can operate under a pressure of 0 to 100 MPa.

[0076] In some embodiments, the manipulator 121 can be rotatably connected to the frame 14, so that the degree of freedom of the manipulator 121 can be improved, so that the manipulator 121 can collect impurities in a larger spatial range; in some embodiments, the manipulator 121 can have a lifting capacity of 2 kg, and the manipulator 121 can be connected to the frame 14 through a pan-tilt head, and the motor of the pan-tilt head can be driven by a control unit, so that the manipulator 121 can be flipped up and down relative to the frame 14 and rotate around the axis of the manipulator 121 itself.

[0077] In some embodiments, the control unit also includes a first controller, which can be arranged on the first robot 1, and the first collection component 12 and the first scanner 11 can be communicatively connected to the first controller. The defect information and impurity information scanned and acquired by the first scanner 11 can be transmitted to the first controller. When the first controller receives the impurity information, it can send a collection instruction to the first collection component 12, so that the manipulator 121 and the absorber of the first collection component 12 can collect and clean the impurities according to the collection instruction.

[0078] In some embodiments, the first scanner 11 may be an underwater radiation-resistant high-definition camera, wherein the underwater radiation-resistant high-definition camera may include an optical lens, a high-radiation-resistant image sensor and a circuit structure; the underwater radiation-resistant high-definition camera may convert image information into electrical signals and transmit the electrical signals to the first controller; the first controller may process the received signals and provide a driving signal to the underwater radiation-resistant high-definition camera so that the underwater radiation-resistant high-definition camera can adjust its posture and change the scanning angle; in addition, when the first scanner 11 scans and inspects the inner wall of the refueling water tank 200, high-definition, low-illumination image information can be obtained, thereby accurately detecting defects in the inner wall.

[0079] In some embodiments, the second scanner 21 may be a part of the second robot 2, and the second scanner 21 may be an underwater radiation-resistant high-definition camera, wherein the underwater radiation-resistant high-definition camera may include an optical lens, a high-radiation-resistant image sensor and a circuit structure, and the underwater radiation-resistant high-definition camera may convert image information into an electrical signal and transmit the electrical signal to the second controller, and the second controller may process the received signal and provide a driving signal to the underwater radiation-resistant high-definition camera so that the underwater radiation-resistant high-definition camera can adjust its posture and change the scanning angle. In addition, when the second scanner 21 scans and inspects the inner wall of the refueling water tank 200, high-definition, low-illumination image information can be obtained, so that defects in the inner wall can be accurately detected.

[0080] In some embodiments, the control unit also includes a second controller, which can be arranged on the second robot 2. The second controller can be communicatively connected to the second scanner 21, and the defect information scanned and acquired by the second scanner 21 can be transmitted to the second controller; in addition, the control unit can also include a control platform, and the second controller and the first controller can also be communicatively connected to the control platform, so that the operator can remotely control the first robot 1 and the second robot 2 through the control platform, and can enable the first controller and the second controller to send the received defect information to the control platform for summary.

[0081] In some embodiments, the second robot may also be provided with a lighting lamp 22 , and the lighting lamp 22 may be used to increase the brightness of the scanning area of ​​the second scanner 21 , thereby improving the accuracy of the inspection result of the second robot 2 .

[0082] In some embodiments, the lighting lamp 22 may be a light-emitting diode (LED).

[0083] In some embodiments, the second robot 2 has a certain pressure resistance, and the second robot 2 can operate under a pressure of 0 to 100 MPa.

[0084] In some embodiments, the second robot 2 may further include a rod body 23 , and the second scanner 21 may be disposed at one end of the rod body 23 . The staff may hold the other end of the rod body 23 to adjust the position of the second scanner 21 .

[0085] In some embodiments, the rod body 23 may also be a telescopic rod, so that during operation, the height of the second scanner 21 can be adjusted by extending and retracting the rod body 23 .

[0086] Reference Figures 5 to 7 In some embodiments, the collection unit further includes a buoyancy unit 31 capable of floating on the water surface of the refueling water tank 200, and the buoyancy unit 31 is connected to the second collection component 32 so that the second collection component 32 floats on the water stored in the refueling water tank 200; wherein the buoyancy unit 31 includes a plurality of floating blocks 311, and the density of the floating blocks 311 is less than the density of the water stored in the refueling water tank 200.

[0087] By providing the buoyancy unit 31, the buoyancy unit 31 can cause the second collecting component 32 to float in the water stored in the refueling water tank 200, thereby facilitating the second collecting component 32 to collect and clean the floating objects in the water stored in the refueling water tank 200; in addition, the buoyancy unit 31 can help the second collecting component 32 to maintain a corresponding posture in the water, so as to enhance the collection effect of the second collecting component 32 on the floating objects.

[0088] In some embodiments, the floating block 311 may be an air bag, a foam board, or the like.

[0089] In some embodiments, the robot group also includes a third robot 3, and the second collecting component 32 may be a part of the third robot 3. In this case, the position change of the second collecting component 32 may not be restricted by the first scanner 11, the second scanner 21 and the first collecting component 12.

[0090] In some embodiments, the collection unit further includes a propeller 33, which is connected to the buoyancy unit 31, and is used to push the buoyancy unit 31 and the second collection assembly 32 to move in the water storage of the refueling water tank 200. Under the coordinated cooperation of the propeller 33 and the buoyancy unit 31, when the propeller 33 is started, the second collection assembly 32 can swim in the water storage, thereby changing the position of the second collection assembly 32 in the refueling water tank 200, and then collecting and cleaning the floating objects in different areas of the refueling water tank 200.

[0091] In some embodiments, the second collection assembly 32, the buoyancy unit 31 and the propeller 33 may all be installed on the third robot.

[0092] In some embodiments, the second collecting component 32 includes a second receiving member, which is provided with a filter channel 321 and a water inlet 3211 and a first water outlet 3212 connected to the filter channel 321. A first filter screen 323 and a second pump 322 are provided in the filter channel 321. When the second pump 322 is turned on, a negative pressure can be formed in the filter channel 321, so that the water stored in the replacement water tank 200 flows into the filter channel 321 from the water inlet 3211 and then flows out from the first water outlet 3212.

[0093] By arranging the first filter screen 323 and the second pump 322 in the filter channel 321, a negative pressure can be formed in the filter channel 321 when the second pump 322 is turned on, thereby prompting the stored water in the replacement water tank 200 to flow from the water inlet 3211 into the filter channel 321 for filtration, so that the second collecting component 32 can collect floating objects in the stored water.

[0094] In some embodiments, the first filter 323 can be arranged on the side of the second pump 322 facing the water inlet 3211, that is, the stored water entering the second collecting component 32 is filtered by the first filter 323 and then flows through the second pump 322. In other embodiments, the first filter 323 can be arranged on the side of the second pump 322 facing the first water outlet 3212, that is, the stored water entering the second collecting component 32 first flows through the second pump 322 and then is filtered by the first filter 323; in this embodiment, the first filter 323 can be arranged on the side of the second pump 322 facing the water inlet 3211, so that the stored water flowing through the second pump 322 has been filtered by the first filter 323, which can reduce the impact of floating objects on the operation of the second pump 322 and help to extend the life of the second pump 322.

[0095] In some embodiments, the buoyancy unit 31 may further include a camera assembly 312, which may be installed on the float 311. The control unit may further include a third controller 34, which may be communicatively connected to the camera assembly 312 and the thruster 33. The camera assembly 312 may detect the environment around the buoyancy unit 31, that is, it may detect the environment around the third robot 3, and transmit the detected environmental information to the third controller 34. The third controller 34 may send control instructions to the thruster 33 based on the received environmental information, thereby controlling the start and shut down of the thruster 33, thereby adjusting the position of the third robot 3 and the second collection assembly 32 installed on the third robot 3 in the stored water.

[0096] In an embodiment of the present application, a first scanner 11, a first collecting component 12, a driving wheel 13, a frame 14 and a first controller are integrated to form a first robot 1, and the first scanner 11 and the first collecting component 12 of the first robot 1 simultaneously perform defect inspection and impurity collection operations; a second scanner 21, an illuminating lamp 22 and a rod body 23 are integrated to form a second robot 2, and the second scanner 21 of the second robot 2 performs defect inspection operations alone; a buoyancy unit 31, a second collecting component 32, a propeller 33 and a third controller 34 are integrated to form a third robot, and the second collecting component 32 of the third robot 3 performs impurity collection operations alone.

[0097] In some embodiments, the pressurized water reactor refueling water tank inspection system further includes a lifting tool and a connecting rope, the connecting rope is used to connect the robot group and the lifting tool, and the lifting tool is used to connect with the robot group to lift the robot group into and out of the refueling water tank 200. By setting the lifting tool, the lifting tool can lift the robot group into and out of the refueling water tank 200, thereby facilitating the inspection operation; in addition, the lifting tool lifts the robot group into the refueling water tank 200, which can reduce the impact of the robot group on the water when entering the refueling water tank 200, thereby reducing the splash generated when the robot group enters the water, which helps to improve the safety of the operation; using the connecting rope to connect the robot group to the lifting tool can reduce the impact on the movement of the robot group, thereby ensuring that the robot group can perform defect inspection and impurity collection in various areas of the refueling water tank 200.

[0098] In some embodiments, when the first robot 1 is required to carry the first scanner 11 and the first collection component 12 into the refueling water tank 200, the connecting rope can be connected to the frame 14 of the first robot 1; when the second robot 2 is required to carry the second scanner 21 into the refueling water tank 200, the connecting rope can be connected to the rod body 23 of the second robot 2; when the third robot 3 is required to carry the second collection component 32 into the refueling water tank 200, the connecting rope can be connected to the buoyancy unit 31 of the third robot 3.

[0099] It should be noted that the refueling water tank 200 in any of the above embodiments has a height of approximately 19.4 meters and a diameter of approximately 12 meters. The manhole of the refueling water tank 200 is arranged at a height of approximately 0.5 meters of the refueling water tank 200. When the refueling water tank 200 is operating normally, the manhole door 2002 is used to seal the manhole. The water stored inside the refueling water tank 200 is radioactive boric acid water. When the nuclear power plant is operating normally, the water storage height inside the refueling water tank 200 is approximately 15 meters. The refueling water tank 200 can be connected to the external atmosphere through the exhaust port 2001, so that the interior of the refueling water tank 200 is a normal temperature and pressure environment.

[0100] In some embodiments, after the defect inspection operation is completed, clean water can be used to rinse the first robot 1, the second robot 2, the third robot 3, the first scanner 11, the second scanner 21, the first collection component 12 and the second collection component 32 to reduce the corrosion of the equipment by the water stored in the refueling water tank 200.

[0101] The present application also provides a method for inspecting a pressurized water reactor refueling water tank. Figure 1 The refueling water tank 200 shown in the figure is inspected, and a pressurized water reactor refueling water tank inspection system in any of the above embodiments is provided. The pressurized water reactor refueling water tank inspection method includes the following steps:

[0102] Open the exhaust port 2001 on the top of the refueling water tank 200; allow the inspection unit and the collection unit to enter the interior of the refueling water tank 200 from the exhaust port 2001, allow the inspection unit to perform defect inspection on the inner wall of the refueling water tank 200, and send the acquired defect information and impurity information of the inner wall of the refueling water tank 200 to the control unit, and the collection unit collects impurities in the water stored in the refueling water tank 200 according to the collection instruction from the control unit. After the defect inspection and impurity collection are completed, allow the robot group to leave the refueling water tank 200; close the exhaust port 2001.

[0103] It should be noted that during the operation of the nuclear power plant, the exhaust port 2001 on the top of the refueling water tank 200 may be unsealed. The exhaust port 2001 allows gas exchange between the inside of the refueling water tank 200 and the external environment, thereby ensuring that the inside of the refueling water tank 200 has a constant air pressure. Therefore, during the inspection operation, opening the exhaust port 2001 of the refueling water tank 200 will not cause additional pollution to the environment, and this method meets production requirements.

[0104] It should be noted that the exhaust port 2001 can be provided with a filtering structure such as a third filter to reduce the probability of impurities in the external environment entering the refueling water tank 200 through the exhaust port 2001, which helps to keep the interior of the refueling water tank 200 clean. Therefore, opening the exhaust port 2001 at the top of the refueling water tank 200 can be to remove the filtering structure such as the third filter provided at the exhaust port 2001, so that the exhaust port 2001 can be used for the equipment required for inspection to pass through. Correspondingly, closing the exhaust port 2001 can be to re-set the above-mentioned removed filtering structure to the exhaust port 2001, and the exhaust port 2001 can still remain connected to the external atmosphere, but the exhaust port 2001 cannot allow equipment to pass through, that is, closing the exhaust port 2001 means that the exhaust port 2001 cannot allow equipment to pass through. After the exhaust port 2001 is closed, the interior of the refueling water tank 200 can still remain connected to the external atmosphere. Of course, the exhaust port 2001 can also be sealed so that the interior of the refueling water tank 200 is not connected to the external atmosphere.

[0105] It should be noted that the inner wall of the refueling water tank 200 includes a bottom wall and side walls. The inspection unit needs to inspect both the bottom wall and the side walls during the defect inspection. In addition, during the inspection process, the collection unit can collect impurities in the stored water, that is, the inspection operation and the impurity collection operation can be carried out at the same time, or the impurities in the stored water can be collected before the inspection operation, or the inspection operation and the impurity collection operation can be carried out alternately.

[0106] The pressurized water reactor refueling water tank inspection method provided in the present application, through the inspection unit and the collection unit entering the interior of the refueling water tank 200 from the exhaust port 2001 at the top of the refueling water tank 200, there is no need to empty the water stored in the refueling water tank 200, which can shorten the inspection operation time and help improve the efficiency of the inspection operation; in addition, the collection unit can clean impurities in the water stored in the refueling water tank 200, which can reduce the obstruction of the inner wall of the refueling water tank 200 by impurities, thereby reducing the interference of impurities on the defect inspection results, which is conducive to improving the inspection speed, thereby further improving the efficiency of the inspection operation.

[0107] In some embodiments, the PWR refueling tank inspection system includes a robot group, referring to Figure 8 The inspection method of the pressurized water reactor refueling water tank includes the following steps:

[0108] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0109] S200, the robot group is made to enter the interior of the refueling water tank 200 from the exhaust port 2001, the inspection unit is made to perform defect inspection on the inner wall of the refueling water tank 200, and the acquired defect information and impurity information of the inner wall of the refueling water tank 200 are sent to the control unit, and the collection unit collects impurities in the water stored in the refueling water tank 200 according to the collection instruction from the control unit. After the defect inspection and impurity collection are completed, the robot group is made to leave the refueling water tank 200;

[0110] S300, close the exhaust port 2001.

[0111] In some embodiments, the first scanner 11 and the second scanner 21 of the inspection unit are installed on the first robot 1 and the second robot 2 respectively, and the first collection component 12 of the collection unit is installed on the first robot 1. Fig. 9 In some embodiments, the step of “enabling the robot group to enter the interior of the refueling water tank 200 from the exhaust port 2001, enabling the inspection unit to perform defect inspection on the inner wall of the refueling water tank 200, and sending the acquired defect information and impurity information of the inner wall of the refueling water tank 200 to the control unit, and the collection unit to collect impurities in the water stored in the refueling water tank 200 according to the collection instruction from the control unit” in S200 specifically includes;

[0112] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner 11 to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0113] S220, enable the second robot 2 of the robot group to carry the second scanner 21 and enter the interior of the refueling water tank 200 from the exhaust port 2001, enable the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and send the acquired defect information of the side wall of the refueling water tank 200 to the control unit.

[0114] Thus, the PWR refueling water tank inspection method may include the following steps:

[0115] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0116] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner 11 to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0117] S220, enabling the second robot 2 of the robot group to carry the second scanner 21 and enter the refueling water tank 200 from the exhaust port 2001, enabling the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and sending the acquired defect information of the side wall of the refueling water tank 200 to the control unit;

[0118] S230, after defect inspection and impurity collection are completed, the robot group leaves the refueling water tank 200;

[0119] S300, close the exhaust port 2001.

[0120] It should be noted that, in this embodiment, the first robot 1 and the second robot 2 can enter the refueling water tank 200 in sequence. For example, the first robot 1 can enter the refueling water tank 200 first, and then the second robot 2 enters the refueling water tank 200, or the first robot 1 and the second robot 2 can enter the refueling water tank 200 at the same time. In this way, there may be no sequence requirement between S210 and S220, that is, S220 can be performed first and then S210, or S210 can be performed first and then S220, or S210 and S220 can be performed at the same time.

[0121] It can be understood that, during the inspection of the bottom wall of the refueling water tank 200, the robot group needs to be moved in the horizontal direction, and during the inspection of the side wall of the refueling water tank 200, the robot group needs to be moved in the vertical direction; the first robot 1 and the second robot 2 are set to carry the first scanner 11 and the second scanner 21 to enter the refueling water tank 200, and the first robot 1 is used to specifically inspect the bottom wall of the refueling water tank 200, and the second robot 2 is used to specifically inspect the side wall of the refueling water tank 200, so that the inspection routes of the first robot 1 and the second robot 2 can be conveniently designed, and Reducing the difficulty of optimizing the inspection route helps to shorten the time required for inspection, which can further improve the efficiency of the inspection operation. In addition, it is understandable that impurities deposited at the bottom of the refueling water tank 200 will block the bottom wall of the refueling water tank 200, affecting the inspection of the bottom wall of the refueling water tank 200 by the first scanner 11. Therefore, a first robot 1 is provided to carry a first collecting component 12. The first collecting component 12 can collect impurities, which can reduce the impurities deposited at the bottom of the refueling water tank 200, thereby reducing the obstruction of the bottom wall by impurities, which helps to improve the efficiency and accuracy of the inspection.

[0122] It should be noted that the side walls of the refueling water tank 200 are vertically arranged, and impurities are difficult to deposit on the side walls of the refueling water tank 200, that is, the impurities have little effect on the operation of the second robot 2, so the second robot 2 can carry the collection component.

[0123] In some embodiments, after the first robot 1 leaves the refueling water tank 200 , the second robot 2 enters the refueling water tank 200 .

[0124] At this time, “making the robot group leave the refueling water tank 200 ” in S230 may be making the second robot 2 leave the refueling water tank 200 .

[0125] Thus, the PWR refueling water tank inspection method may include the following steps:

[0126] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0127] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner 11 to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0128] After the first scanner 11 and the first collecting component 12 have completed defect inspection and impurity collection on the bottom of the refueling water tank 200, the first robot 1 carries the first scanner 11 and the first collecting component 12 away from the refueling water tank 200;

[0129] S220, enabling the second robot 2 of the robot group to carry the second scanner 21 and enter the refueling water tank 200 from the exhaust port 2001, enabling the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and sending the acquired defect information of the side wall of the refueling water tank 200 to the control unit;

[0130] After the second scanner 21 completes defect inspection on the side wall of the refueling water tank 200, the second robot 2 carries the second scanner 21 away from the refueling water tank 200;

[0131] S300, close the exhaust port 2001.

[0132] It is understandable that when the first robot 1 and the second robot 2 are in the refueling water tank 200 at the same time, there is a risk of collision between the first robot 1 and the second robot 2. Therefore, it is necessary to strictly control the operation process of the first robot 1 and the second robot 2, and to accurately control the displacement of the first robot 1 and the second robot 2. This method will greatly increase the difficulty of controlling the first robot 1 and the second robot 2, that is, it will increase the difficulty of the inspection operation. In this embodiment, after the first robot 1 leaves the refueling water tank 200, the second robot 2 enters the refueling water tank 200. The first robot 1 and the second robot 2 will not be in the refueling water tank 200 at the same time. In this way, even if there is a large error in the displacement of the first robot 1 or the second robot 2, the first robot 1 and the second robot 2 will not collide in the refueling water tank 200, which can ensure the safety of the operation. In addition, the first collection component 12 carried by the first robot 1 can first collect impurities deposited at the bottom of the refueling water tank 200, which can reduce the influence of these impurities on the second scanner 21, which is helpful to improve the efficiency of the inspection operation and improve the accuracy of the inspection results.

[0133] In some embodiments, the first robot 1 moves along a preset route so that the first scanner 11 performs defect inspection on the bottom wall of the refueling water tank 200 along a preset path. When the first scanner 11 finds impurities during the defect inspection, the first collection component 12 collects the found impurities.

[0134] In this embodiment, after the first scanner 11 finds impurities during the inspection of the bottom wall of the refueling water tank 200, the impurities found can be collected immediately, that is, the inspection operation and the impurity collection operation can be performed simultaneously. In this way, during the scanning and inspection process of the bottom wall of the refueling water tank 200 by the first scanner 11, the first scanner 11 can simultaneously obtain the defect information of the bottom wall and the deposited impurity information, so that the first collection component 12 can synchronously collect and clean the impurities, thus reducing the operation time; in addition, when impurities are found, they can be cleaned immediately, which can minimize the impact of impurities on the inspection results.

[0135] Reference Fig.10 In some embodiments, the step of “enabling the robot group to enter the interior of the refueling water tank 200 from the exhaust port 2001, enabling the inspection unit to perform defect inspection on the inner wall of the refueling water tank 200, and sending the acquired defect information and impurity information of the inner wall of the refueling water tank 200 to the control unit, and the collection unit to collect impurities in the water stored in the refueling water tank 200 according to the collection instruction from the control unit” in S200 also includes:

[0136] S219 , enabling the third robot 3 of the robot group to carry the second collecting component 32 and enter the refueling water tank 200 from the exhaust port 2001 to collect floating objects in the water stored in the refueling water tank 200 .

[0137] Thus, the PWR refueling water tank inspection method may include the following steps:

[0138] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0139] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner 11 to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0140] S219, enabling the third robot 3 of the robot group to carry the second collecting component 32 and enter the refueling water tank 200 from the exhaust port 2001 to collect floating objects in the water stored in the refueling water tank 200;

[0141] S220, enabling the second robot 2 of the robot group to carry the second scanner and enter the refueling water tank 200 from the exhaust port 2001, enabling the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and sending the acquired defect information of the side wall of the refueling water tank 200 to the control unit;

[0142] S230, after defect inspection and impurity collection are completed, the robot group leaves the refueling water tank 200;

[0143] S300, close the exhaust port 2001.

[0144] It should be noted that, in some embodiments, the first robot 1, the second robot 2 and the third robot 3 can enter the refueling water tank 200 in a specific order. For example, the first robot 1 can be allowed to enter the refueling water tank 200 first, and then the second robot 2 can be allowed to enter the refueling water tank 200, and finally the third robot 3 can be allowed to enter the refueling water tank 200. In this way, S210, S220 and S219 can be performed in sequence; the first robot 1 can also be allowed to enter the refueling water tank 200 first, and then the third robot 3 can be allowed to enter the refueling water tank 200, and finally the second robot 2 can be allowed to enter the refueling water tank 200. In this way, S210, S219 and S220 can be performed in sequence; the third robot 3 can also be allowed to enter the refueling water tank 200 first, and then Then make the first robot 1 enter the refueling water tank 200, and finally make the second robot 2 enter the refueling water tank 200. In this way, S2119, S210 and S220 can be performed in sequence; that is, there may be no clear sequence requirement between the first robot 1, the second robot 2 and the third robot 3, and there may be no clear sequence requirement for S210, S219 and S220. For the convenience of operation, a specific entry order can be set for the first robot 1, the second robot 2 and the third robot 3, so as to perform S210, S219 and S220 respectively; in other embodiments, the first robot 1, the second robot 2 and the third robot 3 can enter the refueling water tank 200 at the same time, that is, S210, S219 and S220 can be performed at the same time.

[0145] By arranging the third robot 3 to carry the second collecting component 32 to collect floating objects stored in the refueling water tank 200, impurities in the refueling water tank 200 can be reduced, so that the refueling water tank 200 can be kept clean and the subsequent use of the refueling water tank is convenient.

[0146] In some embodiments, after the third robot 3 leaves the refueling water tank 200 , the second robot 2 enters the refueling water tank 200 .

[0147] Thus, the PWR refueling water tank inspection method may include the following steps:

[0148] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0149] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner 11 to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0150] S219, enabling the third robot 3 of the robot group to carry the second collecting component 32 and enter the refueling water tank 200 from the exhaust port 2001 to collect floating objects in the water stored in the refueling water tank 200;

[0151] After the second collecting component 32 has finished collecting the floating objects stored in the refueling water tank 200, the third robot 3 leaves the refueling water tank 200;

[0152] S220, enabling the second robot 2 of the robot group to carry the second scanner 21 and enter the refueling water tank 200 from the exhaust port 2001, enabling the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and sending the acquired defect information of the side wall of the refueling water tank 200 to the control unit;

[0153] S230, after defect inspection and impurity collection are completed, the robot group leaves the refueling water tank 200;

[0154] S300, close the exhaust port 2001.

[0155] It should be noted that, in this embodiment, the order in which the first robot 1 and the third robot 3 enter the refueling water tank 200 is not restricted, that is, the first robot 1 can enter the refueling water tank for operation first, and then the third robot 3 can enter the refueling water tank 200 for operation, or the third robot 3 can enter the refueling water tank 200 for operation first, and then the first robot 1 can enter the refueling water tank 200 for operation, or the first robot 1 and the third robot 3 can enter the refueling water tank 200 for operation at the same time.

[0156] It is understandable that floating objects in the stored water may float to between the second scanner 21 carried by the second robot 2 and the side wall of the refueling water tank 200. In this way, the floating objects may block and affect the inspection of the side wall of the refueling water tank 200 by the second scanner 21. By setting the third robot 3 to leave the refueling water tank 200 and then allowing the second robot 2 to enter the refueling water tank 200, the second collection component 32 carried by the third robot 3 has completed the collection and cleaning of the floating objects before the second robot 2 enters the refueling water tank 200. In this way, the inspection speed of the second scanner 21 for side wall defects can be improved, which helps to improve the overall efficiency of the inspection operation.

[0157] In some embodiments, the first robot 1, the third robot 3 and the second robot 2 may perform operations on the refueling water tank 200 in sequence. At this time, the PWR refueling water tank inspection method may include the following steps:

[0158] S100, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0159] S210, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting component 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001, enabling the first scanner to perform defect inspection on the bottom wall of the refueling water tank 200, and sending the acquired defect information of the bottom wall of the refueling water tank 200 and impurity information to the control unit, and the first collecting component 12 to collect impurities in the refueling water tank 200 according to the collection instruction from the control unit;

[0160] After the first scanner 11 and the first collecting component 12 have completed defect inspection and impurity collection on the bottom of the refueling water tank 200, the first robot 1 carries the first scanner 11 and the first collecting component 12 away from the refueling water tank 200;

[0161] S219, enabling the third robot 3 of the robot group to carry the second collecting component 32 and enter the refueling water tank 200 from the exhaust port 2001 to collect floating objects in the water stored in the refueling water tank 200;

[0162] After the second collecting component 32 has finished collecting the floating objects stored in the refueling water tank 200, the third robot 3 leaves the refueling water tank 200;

[0163] S220, enabling the second robot 2 of the robot group to carry the second scanner 21 and enter the refueling water tank 200 from the exhaust port 2001, enabling the second scanner 21 to perform defect inspection on the side wall of the refueling water tank 200, and sending the acquired defect information of the side wall of the refueling water tank 200 to the control unit;

[0164] After the second scanner 21 completes the defect inspection on the side wall of the refueling water tank 200, the second robot 2 carries the second scanner away from the refueling water tank 200;

[0165] S300, close the exhaust port.

[0166] By first allowing the first robot 1 to enter the refueling water tank 200, the bottom of the refueling water tank 200 can be inspected and impurities collected first. In this way, the inspection operation can be carried out from the bottom to the top of the refueling water tank 200, which is helpful to summarize and count the defective positions of the refueling water tank 200 and can reduce the difficulty of finding and locating the defective positions in subsequent repair operations.

[0167] In some embodiments, a lifting tool is used to lift the robot group into and out of the refueling water tank 200 .

[0168] By using a lifting tool to lift the robot group in and out of the refueling water tank 200, the difficulty of the robot group entering and exiting the refueling water tank 200 can be reduced, thereby reducing the difficulty of the inspection operation; in addition, the lifting tool lifts the robot group into the refueling water tank 200, which can reduce the impact of the robot group on the water when entering the refueling water tank 200, thereby reducing the splash generated when the robot group enters the water, which helps to improve the safety of the operation.

[0169] In some embodiments, a connecting rope is used to connect the robot group to the lifting tool, and the connecting rope remains connected to the robot group while the robot group is operating in the refueling water tank 200 .

[0170] By setting the robot group to operate in the refueling water tank 200, the connecting rope remains connected to the robot group. When the robot group needs to be lifted out, the lifting tool can directly pull the connecting rope, thereby facilitating the lifting operation. In addition, using the connecting rope to connect the robot group to the lifting tool can reduce the impact on the movement of the robot group, thereby ensuring that the robot group can perform defect inspection and impurity collection in various areas of the refueling water tank 200.

[0171] In some embodiments, when the first robot 1 of the robot group needs to be hoisted into the refueling water tank 200, the connecting rope can be connected to the first robot 1; when the second robot 2 of the robot group needs to be hoisted into the refueling water tank 200, the connecting rope can be connected to the second robot 2; when the third robot 3 of the robot group needs to be hoisted into the refueling water tank 200, the connecting rope can be connected to the third robot 3.

[0172] See also Figure 1 In some embodiments, a working platform 100 can be set above the refueling water tank 200, a lifting tool can be set on the working platform 100, and a worker can connect a connecting rope to the first robot 1, the second robot 2 and the third robot 3 of the robot group on the working platform 100, so that the operation can be conveniently performed.

[0173] In some embodiments, the inspection of the PWR refueling water tank 200 may include the following steps:

[0174] S10, arranging a work platform 100 above the refueling water tank 200, and transporting the robot group to the work platform 100;

[0175] S20, opening the exhaust port 2001 at the top of the refueling water tank 200;

[0176] S30, enabling the first robot 1 of the robot group to carry the first scanner 11 and the first collecting assembly 12 to enter the bottom of the refueling water tank 200 from the exhaust port 2001 to perform defect inspection and impurity collection on the bottom wall of the refueling water tank 200;

[0177] S40: After the first scanner 11 and the first collecting component 12 have completed defect inspection and impurity collection on the bottom of the refueling water tank 200, the first robot 1 leaves the refueling water tank 200;

[0178] S50, enabling the third robot 3 of the robot group to carry the second collecting component 32 and enter the refueling water tank 200 from the exhaust port 2001 to collect floating objects in the water stored in the refueling water tank 200;

[0179] S60, after the second collecting component 32 has finished collecting the floating objects stored in the refueling water tank 200, the third robot 3 leaves the refueling water tank 200;

[0180] S70, enabling the second robot 2 of the robot group to carry the second scanner 21 and enter the refueling water tank 200 from the exhaust port 2001 to perform defect inspection on the side wall of the refueling water tank 200;

[0181] S80, after the second scanner 21 completes the defect inspection on the side wall of the refueling water tank 200, the second robot 2 leaves the refueling water tank 200;

[0182] S90, close the exhaust port 2001.

[0183] In some embodiments, after the inspection work is completed, the first robot 1, the second robot 2 and the third robot 3 of the robot group can be cleaned, so as to reduce the corrosion of the first robot 1, the second robot 2 and the third robot 3 caused by the water stored in the refueling water tank 200.

[0184] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A pressurized water reactor refueling water tank inspection system, characterized in that: include: An inspection unit, the inspection unit is used to scan the interior of the refueling water tank to obtain defect information of the inner wall of the refueling water tank and impurity information in the stored water of the refueling water tank; A control unit, the control unit is communicatively connected with the inspection unit, the inspection unit transmits the acquired defect information and the impurity information to the control unit, and the control unit is further used to output a collection instruction according to the defect information and the impurity information; A collecting unit is communicatively connected to the control unit, and is used to collect impurities in the refueling water tank according to the collecting instruction issued by the control unit.

2. The PWR refueling water tank inspection system according to claim 1, characterized in that: The inspection unit includes a first scanner and a second scanner respectively connected to the control unit for communication, the first scanner being used to scan the bottom wall of the refueling water tank to obtain the defect information and the impurity information of the bottom wall of the refueling water tank, and the second scanner being used to scan the side wall of the refueling water tank to obtain the defect information of the side wall of the refueling water tank.

3. The PWR refueling water tank inspection system according to claim 1, characterized in that: The collecting unit includes a first collecting component and a second collecting component respectively communicatively connected to the control unit, the first collecting component is used to collect impurities at the bottom of the refueling water tank according to the collecting instruction, and the second collecting component is used to collect floating objects in the water stored in the refueling water tank according to the collecting instruction.

4. The PWR refueling water tank inspection system according to claim 3, characterized in that: The first collecting component comprises: A manipulator, the manipulator is communicatively connected to the control unit, and the manipulator is used to grab impurities in the refueling water tank according to the collection instruction; and An absorber is communicatively connected to the control unit, and includes a first receiving member and a first pump and a pipeline connected to the first receiving member, wherein the first pump is used to be started according to the collection instruction to suck impurities in the storage water of the refueling water tank into the pipeline and transport them to the first receiving member via the pipeline.

5. The PWR refueling water tank inspection system according to claim 4, characterized in that: The collecting unit further comprises a frame and a driving wheel mounted on the frame, the manipulator and the absorber are both mounted on the frame, and the driving wheel drives the frame to move, thereby driving the manipulator and the absorber to move along the inner wall of the refueling water tank.

6. The PWR refueling water tank inspection system according to claim 3, characterized in that: The collecting unit further comprises a buoyancy unit capable of floating on the water surface of the refueling water tank, wherein the buoyancy unit is connected to the second collecting assembly so that the second collecting assembly collects the water floating on the refueling water tank; The buoyancy unit includes a plurality of floating blocks, and the density of the floating blocks is less than the density of the water stored in the refueling water tank.

7. The PWR refueling water tank inspection system according to claim 6, characterized in that: The collecting unit further comprises a propeller, which is connected to the buoyancy unit and is used to propel the buoyancy unit and the second collecting assembly to move in the water stored in the refueling water tank.

8. The PWR refueling water tank inspection system according to claim 3, characterized in that: The second collecting component includes a second receiving member, which is provided with a filter channel and a water inlet and a first water outlet connected to the filter channel. A first filter screen and a second pump are provided in the filter channel. When the second pump is turned on, a negative pressure is formed in the filter channel so that the water stored in the material replacement water tank flows into the filter channel from the water inlet and then flows out from the first water outlet.

9. The PWR refueling water tank inspection system according to any one of claims 1 to 8, characterized in that: The PWR refueling water tank inspection system further includes a robot group, which includes the inspection unit, the control unit and the collection unit.

10. A method for inspecting a pressurized water reactor refueling water tank, characterized in that: A pressurized water reactor refueling water tank inspection system according to any one of claims 1 to 9 is provided, wherein the pressurized water reactor refueling water tank inspection method comprises the following steps: Open the exhaust port on the top of the refueling water tank; Allowing the inspection unit and the collection unit to enter the interior of the refueling water tank from the exhaust port; enabling the inspection unit to perform defect inspection on the inner wall of the refueling water tank, and sending the acquired defect information and impurity information of the inner wall of the refueling water tank to the control unit; The collecting unit collects impurities in the water stored in the refueling water tank according to the collecting instruction from the control unit; After defect inspection and impurity collection are completed, the inspection unit and the collection unit are moved away from the refueling water tank; Close the exhaust port.

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