High-precision detection device for sealing surface of nuclear reactor pressure vessel cylinder

Abstract

The invention belongs to the field of nuclear power station on-site maintenance, and particularly relates to a nuclear reactor pressure vessel cylinder sealing surface high-precision detection device which comprises a vehicle frame, a vehicle driving mechanism, a video inspection system, a laser measurement system and an electric control system. The vehicle frame is used for installing the detection device on the to-be-detected sealing surface body; the vehicle driving mechanism is connected with the vehicle frame and used for driving the detection device to operate along the measuring guide rail. The video inspection system is mounted on the vehicle frame and is used for shooting and inspecting the sealing surface; the laser measuring system is mounted on the vehicle frame and used for scanning and measuring the sealing surface; and the electric control system is connected with the vehicle driving mechanism, the video inspection system and the laser measurement system and is used for controlling all automatic and manual operations of the detection device. The device provided by the invention can perform automatic inspection and defect measurement on the sealing surface of the nuclear reactor pressure vessel cylinder, realizes remote control equipment inspection and measurement of the sealing surface, and is stable in operation and accurate in positioning.

Description

Technical Field

[0001] The invention belongs to the field of on-site maintenance of nuclear power plants, and in particular relates to a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder. Background Art

[0002] The reactor pressure vessel is mainly composed of a cylinder and a top cover, which are connected by multiple main bolts and sealed with two internal and external self-tightening O-type metal sealing rings. The self-tightening O-type metal sealing ring, the top cover sealing groove, and the cylinder sealing surface together form a circuit pressure boundary.

[0003] Due to the uniqueness of nuclear power, as the operating time of the unit increases, the sealing surface of the nuclear reactor pressure vessel cylinder has extremely high radioactivity. At present, the inspection of the sealing surface of the nuclear reactor pressure vessel cylinder of domestic pressurized water reactor units is completed manually by maintenance personnel. There are two limitations. One is that the accuracy of manual measurement is limited, and high-precision measurement data cannot be obtained, and the entire sealing surface cannot be covered. The second is that manual measurement is time-consuming. During the entire work process, maintenance personnel need to be in a high-irradiation environment for a long time, which will receive a large radiation dose and have the risk of body contamination.

[0004] If the inspection work is not properly measured and defects are not discovered, it may cause the pressure vessel seal to fail, directly affecting nuclear safety and economic benefits.

[0005] According to the investigation, there is currently no automated equipment in China for high-precision detection of the sealing surface of the nuclear reactor pressure vessel cylinder.

[0006] Therefore, it is urgent to develop an automated device for high-precision detection of the sealing surface of the nuclear reactor pressure vessel cylinder to solve the problems existing in the current detection methods. Summary of the invention

[0007] The purpose of the present invention is to provide a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which can automatically inspect and measure defects on the sealing surface of the nuclear reactor pressure vessel cylinder, realize remote control equipment to inspect and measure the sealing surface, and has stable operation and accurate positioning.

[0008] The technical solution to achieve the purpose of the present invention is:

[0009] A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, the device comprising: a vehicle frame, a vehicle drive mechanism, a video inspection system, a laser measurement system, and an electronic control system; the vehicle frame is used to install the detection device on the sealing surface body to be tested; the vehicle drive mechanism is connected to the vehicle frame and is used to drive the detection device to run along a measurement guide rail; the video inspection system is installed on the vehicle frame and is used to photograph and inspect the sealing surface; the laser measurement system is installed on the vehicle frame and is used to scan and measure the sealing surface; the electronic control system is connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system and is used to control all automatic and manual operations of the detection device.

[0010] The vehicle frame includes: a clamping wheel mechanism, a vehicle chassis, supporting wheels, side guide wheels, a vehicle frame, and a position sensor; the vehicle frame is fixedly connected to the upper surface of the vehicle chassis; the clamping wheel mechanism is located on the outside of the vehicle frame and is symmetrically installed on the upper surface of the vehicle chassis, and is used to clamp the outer arc surface of the main bolt surface connecting the nuclear reactor pressure vessel cylinder and the top cover through the clamping wheel mechanism, so as to control the detection device to be fixed on the main bolt surface; the supporting wheels are symmetrically installed on the lower surface of the vehicle chassis, and are used for supporting and moving the detection device; the side guide wheels are symmetrically installed on the inner side of the arc of the lower surface of the vehicle chassis, and are used for rolling along the inner side of the measuring guide surface when the detection device moves, so as to play a guiding role; the position sensor is installed on the lower surface of the vehicle chassis, and is used to locate the position of the detection device.

[0011] The vehicle frame also includes: a lifting screw, which is located outside the vehicle frame and symmetrically installed on the upper surface of the vehicle chassis and is used for lifting the detection device.

[0012] The vehicle frame further comprises a protective cover which is sleeved outside the vehicle frame and is used for protecting the vehicle frame.

[0013] The vehicle driving mechanism includes: a reducer, a driving motor, a driving wheel, and a driving mechanism adjusting device. The driving motor is installed at the input end of the reducer, and the driving wheel is installed at the output end. The reducer is installed on the driving mechanism adjusting device, and the driving mechanism adjusting device is installed on the vehicle chassis; the driving motor is used to ensure that the detection device moves accurately and smoothly, and the driving mechanism adjusting device is used to ensure that the driving wheel always maintains a certain contact force with the measuring guide surface to prevent the detection device from slipping when moving.

[0014] The video inspection system comprises: a high-definition camera, which is installed on the vehicle body frame and is used to photograph and inspect the sealing surface.

[0015] The video inspection system also includes: LED lights, which are installed on both sides of the high-definition camera to provide light brightness for the high-definition camera.

[0016] The laser measurement system comprises: a laser scanner, a Y-direction mechanism of the measurement system, and an X-direction mechanism of the measurement system. The X-direction mechanism of the measurement system can be movably installed on the upper surface of the vehicle chassis and can move relative to the vehicle chassis in a direction perpendicular to the walking direction of the detection device. The Y-direction mechanism of the measurement system is perpendicular to the X-direction mechanism of the measurement system. The Y-direction mechanism of the measurement system is fixedly connected to the X-direction mechanism of the measurement system. The laser scanner is installed on the head of the Y-direction mechanism of the measurement system. The X-direction mechanism of the measurement system and the Y-direction mechanism of the measurement system are used to control the moving direction of the laser scanner to realize the mobile measurement of the laser scanner.

[0017] The electronic control system includes: a main control box and connecting cables, the connecting cables are installed on the protective cover, the main control box is connected to the detection device through the connecting cables, the connecting cables are connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system, and all automatic and manual operations of the vehicle drive mechanism, the video inspection system, and the laser measurement system are controlled by the main control box.

[0018] The electronic control system also includes: a control button and a hand operator, which are respectively installed on the protective cover, and are respectively connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system for on-site installation and debugging and close-range control of the measurement device.

[0019] The beneficial technical effects of the present invention are:

[0020] 1. The present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which is driven by a servo motor and can automatically measure the entire cylinder sealing surface, thereby realizing automated measurement of the detection device.

[0021] 2. The present invention provides a high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder. The main control box and the detection device body (including the vehicle frame, the vehicle drive mechanism, the video inspection system, and the laser measurement system) are connected by a long connecting cable (for example, a 30-meter cable), which can remotely control all functions of the detection device, including automatic video inspection and three-dimensional laser measurement of the sealing surface of the nuclear reactor pressure vessel cylinder.

[0022] 3. The present invention provides a high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder, which adopts a special high-definition camera and can take high-definition video of the entire cylinder sealing surface.

[0023] 4. The present invention provides a high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder, which adopts a high-precision laser scanner to accurately measure the entire cylinder sealing surface with a measurement accuracy of 0.01mm and can accurately locate.

[0024] 5. The present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which has a three-dimensional defect modeling function, can scan and output 3D images, and can obtain the defect size.

[0025] 6. The present invention provides a high-precision detection device for the sealing surface of the cylinder of a nuclear reactor pressure vessel. Through the cooperation of the X-axis mechanism of the measuring system, the Y-axis mechanism of the measuring system and the laser scanner, it can realize the scanning measurement of various positions of the cylinder sealing surface and is suitable for various scanning widths.

[0026] 7. The invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which can realize manual control of fixed-point measurement by configuring a hand operator to manually control the display screen;

[0027] 8. The invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which realizes the guiding and clamping function through a clamping wheel mechanism and can adapt to the clamping and guiding of flange surfaces of pressure vessels with different widths;

[0028] 9. The invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which has two position sensors built under the chassis of the vehicle body, and realizes accurate positioning of the vehicle body through the induction of the position sensors and the main bolt holes;

[0029] 10. The driving mechanism of the high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder provided by the present invention has a floating function and can adapt to the driving of surfaces in different conditions;

[0030] 11. The high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder provided by the present invention has a wide range of applications. By adjusting the mechanism in the detection device, the sealing surface of the nuclear reactor pressure vessel cylinder of most pressurized water reactor units can be detected; it can be used for nuclear reactors of various types, including M310, CNP300, Hualong One and other units.

[0031] 12. The high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder provided by the present invention can obtain high-precision measurement data, which can not only provide data support for subsequent processing of defects on the sealing surface, but also study the corrosion change trend of the pressure vessel cylinder sealing surface over a long period of time, thereby providing assistance for studying the corrosion change process of the seal.

[0032] 13. The high-precision detection device for the sealing surface of the nuclear reactor pressure vessel cylinder provided by the present invention has been successfully applied to the detection of the sealing surface of the pressure vessel cylinder of the Qinshan Nuclear Power Reactor, successfully replacing the manual operation method and effectively reducing the radiation dose of personnel. Video inspection and high-precision measurement can obtain visual data of the cylinder sealing surface, avoid missed inspections due to human errors, provide a reliable basis for defect judgment, ensure the integrity of the primary circuit pressure boundary, and improve the safety and economic benefits of the power plant, with significant results. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic structural diagram of a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder provided by the present invention;

[0034] In the figure: 1-clamping wheel mechanism; 2-body chassis; 3-support wheel; 4-lifting screw; 5-side guide wheel; 6-laser scanner; 7-Y-axis mechanism of measuring system; 8-position sensor; 9-high-definition camera; 10-reducer; 11-drive motor; 12-drive wheel; 13-drive mechanism adjustment device; 14-control button; 15-protective cover; 16-hand operator; 17-connecting cable; 18-X-axis mechanism of measuring system; 19-LED light; 20-body frame. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0036] like Figure 1 As shown, the present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder. The device adopts an integrated vehicle structure design and includes: a vehicle frame, a vehicle drive mechanism, a video inspection system, a laser measurement system, and an electronic control system.

[0037] The vehicle frame is made of aluminum alloy to achieve lightweight detection equipment.

[0038] The vehicle frame is used to install the detection device on the sealing surface body to be tested; the vehicle driving mechanism is connected to the vehicle frame and is used to drive the detection device to run along the measuring guide rail; the video inspection system is installed on the vehicle frame and is used to take pictures and inspect the sealing surface; the laser measurement system is installed on the vehicle frame and is used to scan and measure the sealing surface; the electronic control system is connected to the vehicle driving mechanism, the video inspection system and the laser measurement system and is used to control all automatic and manual operations of the detection device.

[0039] The vehicle frame includes: a clamping wheel mechanism 1, a vehicle chassis 2, a supporting wheel 3, a lifting screw 4, a side guide wheel 5, a protective cover 15, a vehicle frame 20, and a position sensor 8.

[0040] The vehicle body frame 20 is fixedly connected to the upper surface of the vehicle body chassis 2; two sets of clamping wheel mechanisms 1 are located on the outside of the vehicle body frame 20 and are symmetrically installed on the upper surface of the vehicle body chassis 2. The outer arc surface of the main bolt surface connecting the nuclear reactor pressure vessel cylinder and the top cover is clamped by the clamping wheel mechanism 1, which is used to control the detection device to be fixed on the main bolt surface; four sets of supporting wheels 3 are symmetrically installed on the lower surface of the vehicle body chassis 2, which are used for supporting and moving the detection device; two sets of side guide wheels 5 are symmetrically installed on the inner side of the arc of the lower surface of the vehicle body chassis 2, which are used for rolling along the inner side of the measuring guide surface when the detection device moves, so as to play a guiding role.

[0041] When the detection device is placed on the measuring guide rail, the clamping wheel mechanism 1 is loosened in advance, so that the supporting wheel 3 contacts the measuring guide rail surface, and the detection device is placed on the measuring guide rail, close to the inner side guide wheel 5, and then the clamping wheel mechanism 1 is tightened, and the detection device can move along the measuring guide rail.

[0042] The position sensor 8 is installed on the lower surface of the vehicle chassis 2 to locate the position of the detection device. The vehicle body is accurately positioned through the induction between the position sensor 8 and the main bolt hole. Preferably, two position sensors 8 are built into the detection device.

[0043] The lifting screws 4 are located outside the vehicle frame 20 and are symmetrically installed at the four corners of the upper surface of the vehicle chassis 2 through threaded connection for lifting the detection device.

[0044] The protective cover 15 is sleeved on the vehicle frame 20 to protect the vehicle frame 20 .

[0045] The vehicle driving mechanism includes: a reducer 10, a driving motor 11, a driving wheel 12, and a driving mechanism adjusting device 13. The driving motor 11 is installed at the input end of the reducer 10, and the driving wheel 12 is installed at the output end. The reducer 10, the driving motor 11, and the driving wheel 12 constitute a power unit as a whole. The reducer 10 is installed on the driving mechanism adjusting device 13, and the driving mechanism adjusting device 13 is installed on the vehicle chassis 2. The driving motor 11 adopts a Siemens servo motor to ensure that the detection device moves accurately and smoothly. The driving mechanism adjusting device 13 is used to ensure that the driving wheel 12 always maintains a certain contact force with the measuring guide surface to prevent the detection device from slipping when moving.

[0046] The video inspection system includes: a high-definition camera 9 and an LED light 19. The high-definition camera 9 is mounted on the vehicle frame 20 through a bracket and is used to take pictures and inspect the sealing surface when the detection device is moving. The high-definition camera 9 is surrounded by a protective mechanism to isolate the influence of the radiation environment on the camera internal chip.

[0047] LED lights 19 are installed on both sides of the high-definition camera 9 to provide light brightness for the high-definition camera 9 to ensure the light brightness on site. When the detection device is moving, the automatic video inspection button on the display screen of the main control box or the button on the hand operator 15 is pressed to shoot the inspection while moving through the high-definition camera 9.

[0048] The laser measurement system includes: a laser scanner 6, a measurement system Y-direction mechanism 7, and a measurement system X-direction mechanism 18. The measurement system X-direction mechanism 18 can be movably installed on the upper surface of the vehicle chassis 2, and can move relative to the vehicle chassis 2 in a direction perpendicular to the movement of the detection device. The measurement system Y-direction mechanism 7 is perpendicular to the measurement system X-direction mechanism 18, and the measurement system Y-direction mechanism 7 is fixedly connected to the measurement system X-direction mechanism 18. The laser scanner 6 is installed on the head of the measurement system Y-direction mechanism 7. The measurement system X-direction mechanism 18 and the measurement system Y-direction mechanism 7 are used to control the moving direction of the laser scanner 6 to realize the mobile measurement of the laser scanner 6.

[0049] When measurement is required, the position sensor 8 is positioned at the specified position, the measuring device stops moving, the automatic laser scanning button on the display screen of the main control box or the button on the hand operator 15 is pressed, and then the measuring system X-axis mechanism 18 moves to drive the laser scanner 6 to scan and measure the sealing surface. When it is necessary to measure other areas in the Y direction, the measuring system Y-axis mechanism 7 is moved. All the scanned data is transmitted to the main control box for convenient data measurement and storage.

[0050] The electric control system includes: a main control box, a control button 14, a hand operator 16, and a connecting cable 17. The connecting cable 17 is installed on the protective cover 15. The main control box is connected to the detection device through the connecting cable 17. The connecting cable 17 is connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system. All automatic and manual operations of the vehicle drive mechanism, the video inspection system, and the laser measurement system are controlled by the main control box; the control button 14 and the hand operator 16 are respectively installed on the protective cover 15. The control button 14 and the hand operator 16 are respectively connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system, and are used for on-site installation and debugging, and close-range control of the measuring device.

[0051] The main control box, control button 14 and hand operator 16 are respectively connected to the laser scanner 6, the measuring system Y-axis mechanism 7 and the measuring system X-axis mechanism 18, and are used to control the movement of the measuring system Y-axis mechanism 7 and the measuring system X-axis mechanism 18, the scanning of the laser scanner 6, receive the scanning data and perform data measurement and storage.

[0052] The main control box, the control button 14 and the hand operator 16 are respectively connected to the high-definition camera 9 for controlling the shooting of the high-definition camera 9 .

[0053] The main control box, the control button 14 and the hand operator 16 are respectively connected to the drive motor 11 and the drive mechanism adjustment device 13 for controlling the drive motor 11 and the drive mechanism adjustment device 13 .

[0054] The main control box, the control button 14 and the hand operator 16 are respectively connected to the position sensor 8 for receiving the position signal of the position sensor 8 .

[0055] The high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder provided by the present invention is used to detect the sealing surface of the nuclear reactor pressure vessel cylinder, which specifically includes the following steps:

[0056] Step 1: Equipment Installation

[0057] Step 1.1, take out the detection device from the storage box, loosen the clamping wheel mechanism 1, and place the detection device on the measuring guide rail with the support wheel 3 as support;

[0058] Step 1.2, tighten the clamping wheel mechanism 1 to ensure that the detection device is fixed on the measuring guide rail to prevent tipping;

[0059] Step 1.3, connect the main control box and the detection device, and the connection between the detection device and the hand operator 16, and fix them firmly;

[0060] Step 1.4: Turn on the power and debug the device to make sure all functions are normal.

[0061] Step 2: Video inspection

[0062] Step 2.1, manually operate the detection device to the video inspection starting position, and stop after the position sensor 8 detects the main bolt hole position;

[0063] Step 2.2, press the automatic video inspection button on the display screen of the main control box or the button on the hand operator 15, and the detection device will move while the high-definition camera 9 takes pictures;

[0064] Step 2.3: After the shooting is completed, the data will be automatically uploaded to the computer, and a progress mark will be added to the video;

[0065] Step 2.4: Operate the detection device to the starting position and the video inspection is completed.

[0066] Step 3: Laser measurement

[0067] Step 3.1, manually operate the detection device to the laser measurement starting position, and stop after the position sensor 8 detects the hole position;

[0068] Step 3.2, press the automatic laser scanning button on the display screen of the main control box or the button on the hand operator 15, the measuring system X-axis mechanism 18 drives the laser scanner 6 to move slowly for scanning measurement, after a single scan is completed, the measuring system X-axis mechanism 18 returns to the initial position, the measuring system Y-axis mechanism 7 moves a measuring width, and the measuring system X-axis mechanism 18 drives the laser scanner 6 to move slowly for scanning measurement again until the entire scanning measurement of the sealing surface is completed;

[0069] Step 3.3: After completion, the detection device starts and starts moving. When the position sensor 8 detects the next hole position, the detection device stops and executes the action of step 3.2 to complete the sealing surface measurement;

[0070] Step 3.4: Repeat steps 3.2 and 3.3 to complete the measurement of the entire sealing surface;

[0071] Step 3.5, the detection data is transmitted to the computer and then processed;

[0072] Step 3.6: Operate the detection device to the starting position and the scanning measurement is completed.

[0073] Step 4: Equipment disassembly

[0074] Turn off the power supply, remove the connecting wires, release the clamping wheel mechanism 1, and put the components of the detection device back into the storage box.

[0075] The present invention is described in detail above with reference to the accompanying drawings and embodiments, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present invention. The contents not described in detail in the present invention can adopt the existing technology.

Claims

1. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, characterized in that: The device includes: a vehicle frame, a vehicle driving mechanism, a video inspection system, a laser measurement system, and an electronic control system; the vehicle frame is used to install the detection device on the sealing surface body to be tested; the vehicle driving mechanism is connected to the vehicle frame and is used to drive the detection device to run along the measurement guide rail; the video inspection system is installed on the vehicle frame and is used to photograph and inspect the sealing surface; the laser measurement system is installed on the vehicle frame and is used to scan and measure the sealing surface; the electronic control system is connected to the vehicle driving mechanism, the video inspection system, and the laser measurement system and is used to control all automatic and manual operations of the detection device.

2. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 1, characterized in that: The vehicle frame comprises: a clamping wheel mechanism (1), a vehicle chassis (2), a supporting wheel (3), a side guide wheel (5), a vehicle frame (20), and a position sensor (8); the vehicle frame (20) is fixedly connected to the upper surface of the vehicle chassis (2); the clamping wheel mechanism (1) is located outside the vehicle frame (20) and is symmetrically mounted on the upper surface of the vehicle chassis (2); the clamping wheel mechanism (1) clamps the outer arc surface of the main bolt surface connecting the nuclear reactor pressure vessel cylinder and the top cover, and is used to control the detection device to be fixed on the main bolt surface; the supporting wheel (3) is symmetrically mounted on the lower surface of the vehicle chassis (2), and is used for supporting and moving the detection device; the side guide wheel (5) is symmetrically mounted on the inner side of the arc of the lower surface of the vehicle chassis (2), and is used for the detection device to roll along the inner side of the measuring guide surface when moving, and plays a guiding role; the position sensor (8) is mounted on the lower surface of the vehicle chassis (2), and is used to locate the position of the detection device.

3. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 2, characterized in that: The vehicle frame further comprises: a lifting screw (4), which is located outside the vehicle frame (20) and symmetrically mounted on the upper surface of the vehicle chassis (2) and is used for lifting the detection device.

4. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 2, characterized in that: The vehicle frame further comprises a protective cover (15), which is sleeved outside the vehicle body frame (20) and is used to protect the vehicle body frame (20).

5. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 2, characterized in that: The vehicle driving mechanism comprises: a speed reducer (10), a driving motor (11), a driving wheel (12), and a driving mechanism adjusting device (13); the driving motor (11) is installed at the input end of the speed reducer (10), and the driving wheel (12) is installed at the output end; the speed reducer (10) is installed on the driving mechanism adjusting device (13), and the driving mechanism adjusting device (13) is installed on the vehicle chassis (2); the driving motor (11) is used to ensure that the detection device moves accurately and smoothly, and the driving mechanism adjusting device (13) is used to ensure that the driving wheel (12) always maintains a certain contact force with the measuring guide rail surface to prevent the detection device from slipping when moving.

6. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 2, characterized in that: The video inspection system comprises: a high-definition camera (9), which is mounted on a vehicle body frame (20) and is used to photograph and inspect the sealing surface.

7. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 6, characterized in that: The video inspection system further comprises: an LED lamp (19), which is installed on both sides of the high-definition camera (9) and is used to provide light brightness for the high-definition camera (9).

8. The high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 2, characterized in that: The laser measurement system comprises: a laser scanner (6), a measurement system Y-direction mechanism (7), and a measurement system X-direction mechanism (18); the measurement system X-direction mechanism (18) is movably mounted on the upper surface of a vehicle chassis (2) and is capable of moving relative to the vehicle chassis (2) in a direction perpendicular to the travel of a detection device; the measurement system Y-direction mechanism (7) is perpendicular to the measurement system X-direction mechanism (18); the measurement system Y-direction mechanism (7) is fixedly connected to the measurement system X-direction mechanism (18); the laser scanner (6) is mounted on the head of the measurement system Y-direction mechanism (7); the measurement system X-direction mechanism (18) and the measurement system Y-direction mechanism (7) are used to control the moving direction of the laser scanner (6) to achieve mobile measurement of the laser scanner (6).

9. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 4, characterized in that: The electric control system comprises: a main control box and a connecting cable (17), wherein the connecting cable (17) is installed on the protective cover (15), the main control box is connected to the detection device via the connecting cable (17), and the connecting cable (17) is connected to the vehicle driving mechanism, the video inspection system, and the laser measurement system, and all automatic and manual operations of the vehicle driving mechanism, the video inspection system, and the laser measurement system are controlled by the main control box.

10. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 4, characterized in that: The electric control system further comprises: a control button (14) and a hand operator (16), wherein the control button (14) and the hand operator (16) are respectively mounted on the protective cover (15), and the control button (14) and the hand operator (16) are respectively connected to the vehicle driving mechanism, the video inspection system, and the laser measurement system, and are used for on-site installation and debugging, and close-range control of the measurement device.

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