A high-precision detection device for a nuclear reactor pressure vessel cylinder sealing surface

Abstract

The present application belongs to the field of nuclear power plant on-site maintenance, and particularly relates to a high-precision detection device for a sealing surface of a nuclear reactor pressure vessel cylinder, 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 mounting the detection device on a body of the sealing surface to be detected; the vehicle driving mechanism is connected with the vehicle frame and is used for driving the detection device to run along a measurement guide rail; the video inspection system is mounted on the vehicle frame and is used for shooting and inspecting the sealing surface; the laser measurement system is mounted on the vehicle frame and is 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 can automatically inspect and measure defects of the sealing surface of the nuclear reactor pressure vessel cylinder, can realize remote control of equipment inspection and measurement of the sealing surface, and has stable operation and accurate positioning.

Description

Technical Field

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

[0002] The reactor pressure vessel mainly consists of a cylinder and a top cover, connected by multiple main bolts and sealed with two layers of self-tightening O-rings. The self-tightening O-rings, together with the top cover sealing groove and the cylinder sealing surface, form the primary loop pressure boundary.

[0003] Due to the inherent nature of nuclear materials, the sealing surfaces of nuclear reactor pressure vessels acquire extremely high levels of radioactivity as the unit operates for longer periods. Currently, inspections of the sealing surfaces of pressurized water reactor units in China are all conducted manually by maintenance personnel. This method has two limitations: firstly, manual measurement has limited accuracy, making it impossible to obtain high-precision data and cover the entire sealing surface; secondly, manual measurement is time-consuming, and maintenance personnel are exposed to high radiation levels for extended periods, posing a significant risk of radiation exposure and skin contamination.

[0004] If the inspection work fails to measure properly or finds defects, it may cause the pressure vessel to fail to seal, directly affecting nuclear safety and economic benefits.

[0005] The investigation found that there is currently no automated equipment in China for high-precision inspection of the sealing surface of nuclear reactor pressure vessel cylinders.

[0006] Therefore, there is an urgent need to develop an automated device for high-precision inspection of the sealing surface of nuclear reactor pressure vessel cylinders to solve the problems existing in current inspection methods. Summary of the Invention

[0007] The purpose of this invention is to provide a high-precision inspection device for the sealing surface of a nuclear reactor pressure vessel. This device can automatically inspect and measure defects in the sealing surface of the nuclear reactor pressure vessel, realize remote control of equipment inspection and measurement of the sealing surface, and operate smoothly and with accurate positioning.

[0008] Technical solution to achieve the purpose of this invention:

[0009] A high-precision inspection 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 electrical control system; the vehicle frame is used to mount the inspection device onto the sealing surface to be tested; the vehicle drive mechanism is connected to the vehicle frame and is used to drive the inspection device along a measurement guide rail; the video inspection system is mounted on the vehicle frame and is used to photograph and inspect the sealing surface; the laser measurement system is mounted on the vehicle frame and is used to scan and measure the sealing surface; the electrical 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 inspection device.

[0010] The vehicle frame includes: a clamping wheel mechanism, a chassis, support wheels, side guide wheels, a vehicle frame, and a position sensor. The vehicle frame is fixedly connected to the upper surface of the chassis. The clamping wheel mechanism is located on the outside of the vehicle frame and symmetrically installed on the upper surface of the chassis. It clamps the outer arc surface of the main bolt 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 support wheels are symmetrically installed on the lower surface of the chassis for supporting and moving the detection device. The side guide wheels are symmetrically installed on the inner arc of the lower surface of the chassis, and are used to guide the detection device as it rolls along the inner side of the measuring guide surface. The position sensor is installed on the lower surface of the chassis for locating the position of the detection device.

[0011] The vehicle frame also includes: lifting screws, which are located on the outside of the vehicle frame and symmetrically installed on the upper surface of the vehicle chassis, for lifting the inspection device.

[0012] The vehicle frame also includes a protective cover, which is fitted over the vehicle frame to protect it.

[0013] The vehicle drive mechanism includes: a reducer, a drive motor, a drive wheel, and a drive mechanism adjustment device. The drive motor is installed at the input end of the reducer, and the drive wheel is installed at the output end. The reducer is mounted on the drive mechanism adjustment device, which is mounted on the vehicle chassis. The drive motor is used to ensure that the detection device moves accurately and smoothly, and the drive mechanism adjustment device is used to ensure that the drive 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 includes a high-definition camera, which is mounted on the vehicle frame and used to photograph and inspect the sealing surfaces.

[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 includes a laser scanner, a Y-axis measurement system mechanism, and an X-axis measurement system mechanism. The X-axis measurement system mechanism is movably mounted on the upper surface of the vehicle chassis and can move relative to the vehicle chassis in a direction perpendicular to the travel of the detection device. The Y-axis measurement system mechanism is perpendicular to the X-axis measurement system mechanism and is fixedly connected to the X-axis measurement system mechanism. The laser scanner is mounted on the head of the Y-axis measurement system mechanism. The X-axis and Y-axis measurement system mechanisms are used to control the movement direction of the laser scanner, thereby realizing the movement measurement of the laser scanner.

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

[0018] The electronic control system also includes: control buttons and handheld devices. The control buttons and handheld devices are respectively installed on the protective cover. The control buttons and handheld devices 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 this invention are as follows:

[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 sealing surface of the cylinder, thereby realizing the automated measurement of the detection device.

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

[0022] 3. The present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which uses a specially designed high-definition camera to capture 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 a nuclear reactor pressure vessel cylinder, which adopts a high-precision laser scanner, can accurately measure the entire sealing surface of the cylinder with a measurement accuracy of 0.01mm, and can also accurately locate it.

[0024] 5. The present invention provides a high-precision detection device for the sealing surface of the cylinder of a nuclear reactor pressure vessel, which has a defect three-dimensional 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 a nuclear reactor pressure vessel cylinder. Through the cooperation of the X-axis mechanism of the measurement system, the Y-axis mechanism of the measurement system and the laser scanner, it can realize the scanning measurement of various positions of the sealing surface of the cylinder and is suitable for various scanning widths.

[0026] 7. The present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which can be manually controlled by a handheld device to achieve fixed-point measurement.

[0027] 8. The present 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 pressure vessel flange surfaces of different widths.

[0028] 9. The present invention provides a high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, which has two position sensors built into the chassis of the vehicle body. The precise positioning of the vehicle body is achieved by sensing the main bolt holes through the position sensors.

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

[0030] 11. The high-precision detection device for the sealing surface of the nuclear reactor pressure vessel provided by the present invention has a wide range of applications. Through the adjustment of the mechanism inside the detection device, it can detect the sealing surface of the nuclear reactor pressure vessel of most pressurized water reactor units. 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 a nuclear reactor pressure vessel provided by this 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 sealing surface over a long period of time, thus helping to study the corrosion change process of the seal.

[0032] 13. The high-precision inspection device for the sealing surface of the pressure vessel cylinder of a nuclear reactor provided by this invention has been successfully applied to the inspection of the sealing surface of the pressure vessel cylinder of the Qinshan Nuclear Power Plant. It has successfully replaced manual operation methods, effectively reducing the radiation dose to personnel. Video inspection and high-precision measurement can obtain visualized data of the cylinder sealing surface, avoiding missed detections due to human error, providing a reliable basis for defect judgment, ensuring the integrity of the primary circuit pressure boundary, and improving the safety and economic efficiency of the power plant, with significant results. Attached Figure Description

[0033] Figure 1 This is a schematic 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 diagram: 1-Clamping wheel mechanism; 2-Car chassis; 3-Support wheel; 4-Lifting screw; 5-Side guide wheel; 6-Laser scanner; 7-Y-axis mechanism of measurement 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-Handheld device; 17-Connecting cable; 18-X-axis mechanism of measurement system; 19-LED light; 20-Car frame. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0036] like Figure 1 As shown, the present invention provides a high-precision inspection device for the sealing surface of a nuclear reactor pressure vessel. 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 electrical control system.

[0037] The vehicle frame is made of aluminum alloy, which makes the testing device lightweight.

[0038] The vehicle frame is used to mount the testing device onto the sealing surface to be tested; the vehicle drive mechanism is connected to the vehicle frame and is used to drive the testing device to run along the measuring guide rail; the video inspection system is mounted on the vehicle frame and is used to photograph and inspect the sealing surface; the laser measurement system is mounted 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 testing device.

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

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

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

[0042] Position sensor 8 is installed on the lower surface of the vehicle chassis 2 and is used to locate the position of the detection device. Precise positioning of the vehicle body is achieved by sensing the main bolt holes with position sensor 8. Preferably, two position sensors 8 are built into the detection device.

[0043] The lifting screws 4 are located on the outside of the vehicle frame 20 and are symmetrically installed at the four corners of the upper surface of the vehicle chassis 2 via threaded connections, for lifting the testing device.

[0044] The protective cover 15 is installed outside the vehicle body frame 20 to protect the vehicle body frame 20.

[0045] The vehicle drive mechanism includes a reducer 10, a drive motor 11, a drive wheel 12, and a drive mechanism adjustment device 13. The drive motor 11 is installed at the input end of the reducer 10, and the drive wheel 12 is installed at the output end. The reducer 10, drive motor 11, and drive wheel 12 together form a power unit. The reducer 10 is mounted on the drive mechanism adjustment device 13, which is mounted on the vehicle chassis 2. The drive motor 11 is a Siemens servo motor, used to ensure accurate and stable movement of the detection device. The drive mechanism adjustment device 13 is used to ensure that the drive wheel 12 always maintains a certain contact force with the measuring guide surface, preventing the detection device from slipping during movement.

[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 via a bracket and is used to photograph and inspect the sealing surface when the inspection device is moving. The high-definition camera 9 is surrounded by a protective mechanism to isolate the radiation environment at the scene from the internal chip of the camera.

[0047] LED lights 19 are installed on both sides of the high-definition camera 9 to provide light for the camera and ensure adequate lighting on site. When the inspection device moves, pressing the automatic video inspection button on the main control box display or the button on the handheld device 15 will allow the high-definition camera 9 to take pictures and inspect simultaneously as it moves.

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

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

[0050] The electronic control system includes: a main control box, control buttons 14, a handheld device 16, and connecting cables 17. The connecting cables 17 are installed on the protective cover 15. The main control box is connected to the detection device via the connecting cables 17. The connecting cables 17 are also connected to the vehicle drive mechanism, the video inspection system, and the laser measurement system. The main control box controls all automatic and manual operations of the vehicle drive mechanism, the video inspection system, and the laser measurement system. The control buttons 14 and the handheld device 16 are respectively installed on the protective cover 15 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.

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

[0052] The main control box, control button 14, and handheld device 16 are connected to the high-definition camera 9 and are used to control the shooting of the high-definition camera 9.

[0053] The main control box, control button 14, and handheld device 16 are respectively connected to drive motor 11 and drive mechanism adjustment device 13, and are used to control drive motor 11 and drive mechanism adjustment device 13.

[0054] The main control box, control button 14, and handheld device 16 are respectively connected to the position sensor 8 to receive the position signal from the position sensor 8.

[0055] The high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder, provided by this invention, is used to detect the sealing surface of the nuclear reactor pressure vessel cylinder. The specific steps include:

[0056] Step 1: Equipment Installation

[0057] Step 1.1: Take the testing device out of the storage box, loosen the clamping wheel mechanism 1, and place the testing device on the measuring guide rail with the support wheel 3 as support.

[0058] Step 1.2: Tighten clamping wheel mechanism 1 to ensure that the detection device is fixed on the measuring guide rail and prevent tipping.

[0059] Step 1.3: Connect the main control box and the detection device, and the connection between the detection device and the handheld device 16, and secure them firmly;

[0060] Step 1.4: Connect the power supply and test the device to ensure all functions are normal.

[0061] Step 2, Video Inspection

[0062] Step 2.1: Manually operate the detection device to the starting position of the video inspection. Stop after the position sensor 8 detects the position of the main bolt hole.

[0063] Step 2.2: Press the automatic video check button on the main control box display or the button on the handheld device 15. The detection device will move while the high-definition camera 9 takes pictures.

[0064] Step 2.3: After shooting, the data will be automatically uploaded to the computer, and then progress markers will be added to the video;

[0065] Step 2.4: Move the detection device to the starting position; the video inspection ends.

[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 main control box display or the button on the handheld device 15. The X-axis mechanism 18 of the measurement system drives the laser scanner 6 to move slowly to perform scanning measurement. After a single scan is completed, the X-axis mechanism 18 of the measurement system returns to the initial position. The Y-axis mechanism 7 of the measurement system moves one measurement width. The X-axis mechanism 18 of the measurement system drives the laser scanner 6 to move slowly to perform scanning measurement again until the entire sealing surface of this section is scanned and measured.

[0069] Step 3.3: After completion, the detection device starts and begins to move. When the position sensor 8 detects the next hole, 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: Transfer the detection data to the computer and then process the data;

[0072] Step 3.6: Move the detection device to the starting position to complete the scanning measurement.

[0073] Step 4: Equipment disassembly

[0074] Turn off the power, disconnect the connecting wires, loosen the clamping wheel mechanism 1, and put all the components of the testing device back into the storage box.

[0075] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

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 drive mechanism, a video inspection system, a laser measurement system, and an electronic control system; the vehicle frame is used to mount the detection device onto the sealing surface to be tested; the vehicle drive 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 mounted on the vehicle frame and is used to photograph and inspect the sealing surface; the laser measurement system is mounted 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. The vehicle frame includes: a clamping wheel mechanism (1), a vehicle chassis (2), a support 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 installed 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 support wheel (3) is symmetrically installed on the lower surface of the vehicle chassis (2) for the support and movement of the detection device; the side guide wheel (5) is symmetrically installed on the inner arc of the lower surface of the vehicle chassis (2) for the detection device to roll along the inner side of the measuring guide surface when it moves, and plays a guiding role; the position sensor (8) is installed on the lower surface of the vehicle chassis (2). The position sensor (8) is used to accurately locate the position of the detection device by sensing the main bolt hole; The laser measurement system includes: a laser scanner (6), a Y-axis measurement system (7), and an X-axis measurement system (18). The X-axis measurement system (18) is movably mounted on the upper surface of the vehicle chassis (2) and can move relative to the vehicle chassis (2) in a direction perpendicular to the direction in which the detection device travels. The Y-axis measurement system (7) is perpendicular to the X-axis measurement system (18) and is fixedly connected to the X-axis measurement system (18). The laser scanner (6) is mounted on the head of the Y-axis measurement system (7). The X-axis measurement system (18) and the Y-axis measurement system (7) are used to control the moving direction of the laser scanner (6) and realize the moving measurement of the laser scanner (6).

2. The 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 also includes: lifting screws (4), which are located on the outside of the vehicle frame (20) and symmetrically installed on the upper surface of the vehicle chassis (2) for lifting the detection device.

3. The 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 also includes a protective cover (15), which is fitted over the vehicle frame (20) to protect the vehicle frame (20).

4. The high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 1, characterized in that, The vehicle drive mechanism includes: a reducer (10), a drive motor (11), a drive wheel (12), and a drive mechanism adjustment device (13). The reducer (10) has a drive motor (11) installed at its input end and a drive wheel (12) installed at its output end. The reducer (10) is mounted on the drive mechanism adjustment device (13), which is mounted on the vehicle chassis (2). The drive motor (11) is used to ensure that the detection device moves accurately and smoothly. The drive mechanism adjustment device (13) is used to ensure that the drive wheel (12) always maintains a certain contact force with the measuring guide surface to prevent the detection device from slipping when it moves.

5. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 1, characterized in that, The video inspection system includes a high-definition camera (9), which is mounted on the vehicle frame (20) and used to inspect the sealing surface by taking pictures.

6. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 5, characterized in that, The video inspection system also includes LED lights (19), which are installed on both sides of the high-definition camera (9) to provide light brightness for the high-definition camera (9).

7. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 3, characterized in that, The electronic control system includes: a main control box 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. The main control box controls all automatic and manual operations of the vehicle drive mechanism, the video inspection system, and the laser measurement system.

8. A high-precision detection device for the sealing surface of a nuclear reactor pressure vessel cylinder according to claim 3, characterized in that, The electronic control system also includes: control button (14) and hand-held device (16). The control button (14) and hand-held device (16) are respectively installed on the protective cover (15). The control button (14) and hand-held device (16) are respectively connected to the vehicle drive mechanism, video inspection system and laser measurement system for on-site installation and debugging, and close-range control of the measurement device.

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