Intelligent field radiation patrolling device and patrolling method in emergency state of nuclear power plant

Abstract

The invention relates to the field of radiation monitoring and sampling in a nuclear emergency state, in particular to an intelligent field radiation patrolling device and patrolling method in a nuclear power plant emergency state, and the device comprises a robot vehicle body platform, a robot controller, a radiation monitoring instrument, a mechanical arm, a signal receiving device and a visual sensor, the robot car body platform is used for supporting and moving the device, the robot controller and the mechanical arm are arranged at the top end of the robot car body platform, and the robot controller is arranged at the rear end of the mechanical arm; the mechanical arm is used for detecting and sampling, and radiation monitoring instruments are arranged on two sides of the mechanical arm; the robot controller is used for data transmission, data information processing and remote control of the device, the robot controller is provided with a visual sensor and a signal receiving device, and the visual sensor is used for monitoring, navigation and positioning of the device. The system is efficient in work and high in reliability, and wins precious gold processing time for efficient decision making of an emergency command center.

Description

Technical Field

[0001] The present invention relates to the field of radiation monitoring and sampling under nuclear emergency conditions, and in particular to an intelligent field radiation patrol device and a patrol method under the emergency condition of a nuclear power plant. Background Art

[0002] Field radiation patrol is a very important task when a nuclear power plant enters an emergency state, aiming to provide technical support for the radiation dose and surface contamination level in the field for the nuclear power plant emergency command center and the radiation protection group to make decisions on protection actions. The field radiation patrol work is generally carried out by the patrol team of the radiation protection group in the nuclear power plant emergency organization. The team is divided into Team A and Team B, which are used as backups for each other. Each team has 3 staff members and is equipped with a field patrol vehicle.

[0003] When a nuclear power plant conducts field radiation patrol work, the field patrol team needs to measure the environmental gamma dose rate and the surface alpha / beta contamination level at the positions of the main roads, assembly points, and boundary walls at the downwind points of the accident unit, manually record them, and transmit them to the emergency command center (radiation protection group) by means of telephone, email, fax, etc. Usually, 6-10 patrol points are selected for one route. The patrol personnel need to sequentially complete the work of measuring the environmental gamma dose rate and sampling the surface alpha / beta contamination level at each point, and send the surface contamination sampling test paper to the laboratory for analysis. Each radiation patrol work takes about 2-3 hours, which is time-consuming, and the radiation dose received by the emergency response personnel during the patrol period when exposed outdoors for a long time is relatively high.

[0004] The following problems mainly exist in the prior art: 1. The field radiation patrol personnel need to have one main and one backup, and the demand for emergency personnel is large; 2. The exposure dose of the emergency personnel is large when continuously carrying out the field radiation patrol work; 3. There are many patrol points for the gamma dose rate and the alpha / beta surface contamination dose rate, and the work efficiency of carrying out radiation patrol is low; 4. The transmission efficiency of the gamma dose rate and the alpha / beta surface contamination dose rate data is low. Summary of the Invention

[0005] The present invention provides an intelligent field radiation patrol device and a patrol method under the emergency condition of a nuclear power plant, which are used to solve the problems of high exposure dose of personnel, low patrol efficiency, slow data transmission, and large number of emergency personnel in the radiation patrol work in the prior art.

[0006] The technical solution of the present invention:

[0007] The present invention provides an intelligent field radiation survey device under emergency conditions in a nuclear power plant. The device includes a robot vehicle body platform, a robot controller, radiation monitoring instruments, a robotic arm, a signal receiving device, and a vision sensor. The robot vehicle body platform is used to support and move the device. At the top of the robot vehicle body platform, there are a robot controller and a robotic arm, and the robot controller is arranged at the rear end of the robotic arm. The robotic arm is used for detection and sampling, and radiation monitoring instruments are arranged on both sides of the robotic arm. The robot controller is used for data transmission, data information processing, and remote control of the device. A vision sensor and a signal receiving device are provided on the robot controller, and the vision sensor is used for monitoring, navigation, and positioning of the device.

[0008] In some embodiments, the radiation monitoring instruments include a γ dose monitoring instrument and an α / β surface contamination detection instrument. The γ dose monitoring instrument is arranged on the back of the robotic arm, and the α / β surface contamination detection instrument is arranged directly below the robotic arm.

[0009] In some embodiments, the γ dose monitoring instrument is a columnar structure as a whole, with a measuring range of 0.1 μSv / h to 10 Sv / h; the α / β surface contamination detection instrument is a GM counter tube, with a measuring range of 0.1 cps to 10000 cps.

[0010] In some embodiments, the robot vehicle body platform includes a vehicle body plane, a lithium battery pack, and vehicle tires. The vehicle tires and the lithium battery pack are arranged at the lower end of the vehicle body plane; the traveling speed of the device is 8 - 13 km / h, the continuous working duration is more than 4 hours, and it can cross an obstacle with a vertical height of 10 cm; an external device module is also provided at the upper end of the robot vehicle body platform, and the external device module is used to connect an external radiation monitoring instrument or a controller.

[0011] In some embodiments, the robot controller uses a stainless steel housing, and a server and a signal transmission device are arranged inside the housing.

[0012] In some embodiments, the robotic arm is a four-link structure, and a negative pressure suction cup is arranged at the end of the robotic arm. The negative pressure suction cup is used to grab a sampling test paper.

[0013] In some embodiments, the robotic arm can move 50 cm up and down in the vertical direction and 50 cm left and right in the horizontal direction, and the robotic arm has a "Z" - shaped and an "S" - shaped wiping and sampling function.

[0014] In some embodiments, the vision sensor includes a Real-Time Kinematic (RTK) module, an inertial navigation module, a depth camera, a pan-tilt camera, and a rear-view camera. The pan-tilt camera is provided at the top of the robot controller. The inertial navigation module and the depth camera are sequentially provided from top to bottom on the back of the robot controller. The rear-view cameras are respectively provided on both sides of the robot controller. The RTK module is provided at the top of the rear-view camera on one side, and a signal receiving device including a lidar and a millimeter-wave radar is provided at the top of the rear-view camera on the other side. The signal receiving device cooperates with the vision sensor module to work.

[0015] In some embodiments, the device is also provided with a surface contamination detection and storage mechanism. The surface contamination detection and storage mechanism includes six hollow cylinders and a shielding lead box. Three hollow cylinders are placed on each side of the robotic arm. The hollow cylinders are equipped with lids. The hollow cylinder on one side of the robotic arm is a sampling test paper storage box for placing clean test papers, and the hollow cylinder on the other side of the robotic arm is a contaminated test paper storage box for placing contaminated test papers. The alpha / beta surface contamination monitoring instrument is provided in the shielding lead box, and one side of the shielding lead box is an active lead block door.

[0016] The present invention proposes an intelligent field radiation survey method under the emergency state of a nuclear power plant, which is characterized in that the method includes:

[0017] Step 1: Set the survey path and working parameters of the intelligent field radiation survey device under the emergency state of the nuclear power plant;

[0018] Step 2: The device conducts field radiation surveys along the established route, and the working state of the device is monitored in real time through the pan-tilt camera and the rear-view camera; during the operation of the device, the inertial navigation module, the signal receiving device, the RTK module, and the depth camera are used to achieve road recognition, autonomous navigation, and autonomous obstacle avoidance;

[0019] Step 3: When the device runs to the designated monitoring point, the real-time gamma dose rate is monitored through the gamma dose rate monitoring instrument; the robotic arm uses a negative pressure suction cup to take out the test paper from the sampling test paper storage box and rubs and samples on the ground in a "Z" or "S" shape for 30 seconds continuously; after the device completes sampling, the robotic arm manipulates the negative pressure suction cup to send the test paper into the shielding lead box with the active lead block door opened. The alpha / beta surface contamination monitoring instrument measures the test paper and uploads the data to the operating system; after the measurement is completed, the device closes the shielding lead box, and the robotic arm puts the test paper into the contaminated test paper storage box;

[0020] Step 4: The device moves to the next monitoring point and repeats Step 3. The operating system generates a table and a chart of the measurement results and updates the route planning of the device;

[0021] Step 5: When the battery power of the device reaches the return power level, the device returns to charge autonomously.

[0022] Implementing the present invention has the following beneficial effects:

[0023] 1. The device of the present invention can replace the on-site patrol and detection team in the field area with an intelligent patrol and detection robot, which can effectively reduce the staffing of emergency personnel in nuclear power plants and effectively reduce the radiation exposure dose of emergency personnel.

[0024] 2. The device of the present invention can complete the monitoring of γ dose rate and α / β surface contamination dose rate at various points in a nuclear power plant by an intelligent patrol and detection robot. There is no need to send the surface contamination sampling test paper to the laboratory and wait for the measurement results, which greatly improves the dose monitoring efficiency.

[0025] 3. The device of the present invention can save the γ dose rate and α / β surface contamination dose rate monitored by the intelligent patrol and detection robot, transmit the monitoring data to the emergency command center in real time, and can realize the tabular and graphical display of the dose rate, simplifying the secondary tabulation and charting in the traditional process. The work of the present invention is efficient and highly reliable, winning valuable golden processing time for the efficient decision-making of the emergency command center. Description of the Drawings

[0026] Figure 1 Schematic diagram of an intelligent field area radiation patrol and detection device under the emergency state of a nuclear power plant proposed in an embodiment of the present invention;

[0027] Figure 2 Schematic diagram of the vision sensor of an intelligent field area radiation patrol and detection device under the emergency state of a nuclear power plant proposed in an embodiment of the present invention;

[0028] Figure 3 Top view of an intelligent field area radiation patrol and detection device under the emergency state of a nuclear power plant proposed in an embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the operating system of an intelligent field area radiation patrol and detection device under the emergency state of a nuclear power plant proposed in an embodiment of the present invention;

[0030] In the figure: 1. Robot body platform; 2. Robot controller; 3. γ dose monitoring instrument; 4. Manipulator; 5. α / β surface contamination detection instrument; 6. Shielding lead box; 7. Negative pressure suction cup; 8. Inertial navigation module; 9. Signal receiving device; 10. Pan-tilt camera; 11. Real-time dynamic module; 12. Rear-view camera; 13. Depth camera; 14. External device module; 15. Sampling test paper storage box; 16. Contaminated test paper storage box. Detailed Embodiments

[0031] The technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings and specific embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] As Figures 1 to 3 shown, the present invention provides an intelligent field radiation patrol and detection device under emergency conditions in a nuclear power plant. The device includes a robot vehicle body platform 1, a robot controller 2, radiation monitoring instruments, a robotic arm 4, a signal receiving device 9, and a vision sensor. The top of the robot vehicle body platform 1 is provided with a robot controller 2 and a robotic arm 4. The robot controller 2 is arranged at the rear end of the robotic arm 4. Radiation monitoring instruments are arranged on both sides of the robotic arm 4. A vision sensor and a signal receiving device 9 are provided on the robot controller 2. The front end of the device is provided with the robotic arm 4, and the rear end is provided with the robot controller 2.

[0033] The robot vehicle body platform 1 includes a vehicle body plane and vehicle tires. The vehicle tires are arranged at the lower end of the vehicle body plane. A lithium battery pack and a contact charger are also arranged at the lower end of the vehicle body plane. The lithium battery pack and the contact charger provide power for the device. The robot vehicle body platform 1 is also provided with a transmission shaft and a spring suspension. The robot vehicle body platform 1 supports the movement of the device. The lithium battery pack can enable the radiation patrol and detection device to travel at a speed of 8 - 13 km / h, continuously work for more than 4 hours, and cross obstacles with a vertical height of 10 cm. The robot vehicle body uses 10 - inch wheels, equipped with off - road tires. A four - wheel drive transmission shaft is arranged between the tires, and a 15 - cm hydraulic and spring shock absorber is set. The combination of the robot's low - center - of - gravity structure can provide sufficient power and obstacle - crossing ability for the robot.

[0034] An external device module 14 is also provided at the top of the robot vehicle body platform 1 of the present device. The external device module 14 can be used to connect an external radiation monitoring instrument or controller.

[0035] The robot controller 2 is a square stainless - steel main body, connected to the robot vehicle body platform 1, and houses a computer processor, a graphics card, a server, a signal transmission device, etc. The robot controller 2 realizes data transmission, data information processing, and remote control of the device. The robot controller 2 is controlled by a remote control system to control the operation of the device.

[0036] The radiation monitoring instruments include a γ dose monitoring instrument 3 and an α / β surface contamination detection instrument 5. The γ dose monitoring instrument 3 is installed on the back of the robotic arm 4, and the α / β surface contamination detection instrument 5 is installed directly below the robotic arm 4. The γ dose monitoring instrument 3 is a cylinder, and its measuring range covers 0.1 μSv / h to 10 Sv / h. The measurement error for 137Cs is less than 10%. The γ dose monitoring instrument 3 can simultaneously measure the dose rate, cumulative dose, average dose rate, and maximum dose rate, and can save the maximum measured value. At the same time, it can switch the display to show the relative error of the measurement result. The α / β surface contamination detection instrument 5 is a GM counter tube, and its measuring range is 0.1 cps to 10000 cps. Both radiation monitoring instruments can achieve technical threshold alarms, and the protection level is IP67, enabling detection under high radiation dose working conditions.

[0037] The robotic arm 4 is a four-link structure, capable of moving up and down by 50 cm and left and right by 50 cm. It is equipped with an end negative pressure suction cup 7 and can be linked with the surface contamination detection and storage mechanism. The robotic arm 4 can perform "Z"-shaped and "S"-shaped wiping sampling of surface contamination on the ground, grab surface contamination sampling test papers, put them into the shielding device for detection, and recycle the test papers.

[0038] The vision sensor includes a Real-Time Kinematic (RTK) module 11, an inertial navigation module 8, a depth camera 13, a pan-tilt camera 10, and a rear-view camera 12. The pan-tilt camera 10 is installed at the top of the robot controller 2. The inertial navigation module 8 and the depth camera 13 are successively installed from top to bottom on the back of the robot controller 2. The rear-view cameras 12 are installed on both sides of the robot controller 2. The RTK module 11 is installed at the top of the rear-view camera 12 on one side, and a signal receiving device 9 is installed at the top of the rear-view camera 12 on the other side. The signal receiving device 9 works in cooperation with the vision sensor module. The vision sensor is mainly responsible for the monitoring, navigation, and positioning of this device.

[0039] The signal receiving device 9 contains a lidar and a millimeter-wave radar inside and can be used in cooperation with the vision sensor module. The vision sensor and the radar form a pedestrian detection system to achieve obstacle avoidance monitoring for this device and provide support for the remote operation of the operator.

[0040] The device is also equipped with a surface contamination detection and storage mechanism, which consists of 6 hollow cylinders and a shielding lead box 6 (paired with movable lead blocks). Three hollow cylinders are placed on each side of the robotic arm 4, and are equipped with top covers. One of the hollow cylinders on one side of the robotic arm 4 is a sampling test paper storage box 15 for placing clean test papers, and the hollow cylinder on the other side of the robotic arm 4 is a contaminated test paper storage box 16 for placing contaminated test papers. The main body of the shielding lead box 6 is a square lead box with a thickness of 6 cm. The α / β surface contamination monitoring instrument 5 is placed inside it. One side is an openable and closable movable lead block door, which can be linked with the robotic arm 4. When starting surface contamination sampling, the robotic arm 4 first opens the top cover of the sampling test paper storage box 15, closes the top cover after taking out the test paper, and sends it into the shielding lead box 6 to measure surface contamination after wiping. When measuring, the movable lead block is opened, and the movable lead block is closed after measurement. Finally, the top cover of the contaminated test paper storage box 16 is opened to store the contaminated test paper, thus realizing the surface contamination sampling and measurement process.

[0041] The device of the present invention can complete the monitoring of γ dose rate and α / β surface contamination dose rate at various points in the nuclear power plant by an intelligent patrol and measurement robot, without sending the surface contamination sampling test paper to the laboratory to wait for the measurement result, greatly improving the dose monitoring efficiency.

[0042] As Figures 1 to 4 shown, the present invention proposes a patrol and measurement method for an intelligent field radiation patrol and measurement device under emergency conditions in a nuclear power plant. The device is controlled by a remote control system. The specific implementation method of the device is as follows:

[0043] Step 1: The operator uses the remote control system to set the patrol and measurement path and determine the working parameters of the device under emergency conditions in the nuclear power plant.

[0044] Step 2: The device conducts field radiation patrol and measurement along the established route. The operator can monitor the working status of the device in real time through the pan-tilt camera 10 and the rear-view camera 12 in the remote control system. During the operation of the device, the inertial navigation module 8, the signal receiving device 9, the real-time kinematic module 11 and the depth camera 13 are used to realize road recognition, autonomous navigation and autonomous obstacle avoidance, ensuring that it can reach the designated location.

[0045] Step 3: After the device runs to the specified monitoring point, the real-time γ dose rate is monitored by the γ dose rate monitoring instrument 3, and the dose rate is transmitted to the remote control system in real time. At the same time, the robotic arm 4 starts to work. The clean test paper is taken out from the sampling test paper storage box 15 using the negative pressure suction cup 7, and friction sampling is carried out on the ground in a "Z" or "S" shape for 30 seconds continuously. After the device finishes sampling, the robotic arm 4 manipulates the negative pressure suction cup 7 to send the sampling test paper into the shielding lead box 6 with the movable lead block door opened. The α / β surface contamination monitoring instrument 5 measures the sampling test paper. After the measurement is completed, the shielding lead box 6 is closed, and the data is transmitted to the remote control system. Subsequently, the robotic arm 4 puts the contaminated test paper into the contaminated test paper storage box 16, and the measurement is completed.

[0046] Step 4: The device moves to the next monitoring point and repeats Step 3. The remote control system continuously generates tables and charts and updates the travel route plan of the device.

[0047] Step 5: When the power of the device reaches the return power level, the remote control system automatically triggers a return command to instruct the device to return to charge autonomously.

[0048] The device of the present invention can save the γ dose rate and α / β surface contamination dose rate monitored by the intelligent patrol robot, transmit the monitoring data to the emergency command center in real time, and can realize the tabular and graphical display of the dose rate, simplifying the secondary tabulation and charting in the traditional process. The present invention works efficiently and has high reliability, winning valuable golden processing time for the efficient decision-making of the emergency command center.

[0049] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be thus understood as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. An intelligent radiation inspection device for a nuclear power plant in an emergency state, characterized in that: The device includes a robot body platform, a robot controller, a radiation monitoring instrument, a mechanical arm, a signal receiving device and a visual sensor. The robot body platform is used to support and move the device. The robot controller and the mechanical arm are arranged on the top of the robot body platform, and the robot controller is arranged on the rear end of the mechanical arm; the mechanical arm is used to detect sampling, and the radiation monitoring instrument is arranged on both sides of the mechanical arm; the robot controller is used for data transmission, data information processing and remote control of the device, and the visual sensor and the signal receiving device are arranged on the robot controller, and the visual sensor is used for monitoring, navigation and positioning of the device.

2. According to the intelligent radiation inspection device for nuclear power plant in emergency state as described in claim 1, it is characterized in that: The radiation monitoring instrument comprises a gamma dose monitoring instrument and an alpha / beta surface contamination detection instrument. The gamma dose monitoring instrument is arranged on the back of the mechanical arm, and the alpha / beta surface contamination detection instrument is arranged directly below the mechanical arm.

3. According to claim 2, a smart radiation inspection device for a nuclear power plant in an emergency state, characterized in that: The gamma dose monitoring instrument is a cylindrical structure as a whole, and the measuring range is 0.1μSv / h~10Sv / h; the alpha / beta surface contamination detection instrument is a GM counter tube, and the measuring range is 0.1cps~10000cps.

4. According to the intelligent radiation inspection device for a nuclear power plant in an emergency state as described in claim 1, it is characterized in that: The robot body platform includes a body plane, a lithium battery pack and vehicle tires, and the lower end of the body plane is provided with vehicle tires and lithium battery packs; the device has a travel speed of 8-13km / h, a continuous working time of more than 4 hours, and can cross obstacles with a vertical height of 10cm; the upper end of the robot body platform is also provided with an external device module, and the external device module is used to connect an external radiation monitoring instrument or controller.

5. According to the intelligent radiation inspection device for nuclear power plant in emergency state as described in claim 1, it is characterized by: The robot controller adopts a stainless steel shell, and a server and a signal transmission device are arranged in the shell.

6. According to claim 1, a smart radiation inspection device for a nuclear power plant in an emergency state, characterized in that: The mechanical arm is a four-link structure, and a negative pressure suction cup is provided at the end of the mechanical arm, and the negative pressure suction cup is used to grab the sampling test paper.

7. According to claim 6, a smart radiation inspection device for a nuclear power plant in an emergency state, characterized in that: The robotic arm can move 50 cm up and down in the vertical direction and 50 cm left and right in the horizontal direction. The robotic arm has "Z"-shaped and "S"-shaped wiping sampling functions.

8. According to the intelligent radiation inspection device for nuclear power plant in emergency state as described in claim 1, it is characterized by: The visual sensor includes a real-time dynamic module, an inertial navigation module, a depth camera, a gimbal camera and a rear-view camera. A gimbal camera is provided on the top of the robot controller, and an inertial navigation module and a depth camera are provided on the back of the robot controller from top to bottom; rear-view cameras are provided on both sides of the robot controller, a real-time dynamic module is provided on the top of the rear-view camera on one side, and a signal receiving device is provided on the top of the rear-view camera on the other side. The signal receiving device includes a laser radar and a millimeter-wave radar, and the signal receiving device works in conjunction with the visual sensor module.

9. According to claim 1, a smart radiation inspection device for a nuclear power plant in an emergency state, characterized in that: The device is also provided with a surface contamination detection storage mechanism, which includes 6 hollow cylinders and a shielding lead box; three of the hollow cylinders are placed on each side of the robotic arm, and the hollow cylinders are equipped with a top cover. The hollow cylinder on one side of the robotic arm is a sampling test paper storage box for placing clean test papers, and the hollow cylinder on the other side of the robotic arm is a contaminated test paper storage box for placing contaminated test papers; the α / β surface contamination monitoring instrument is arranged in the shielding lead box, and one side of the shielding lead box is a movable lead block door.

10. A method for intelligent radiation inspection in a nuclear power plant under emergency conditions according to any one of claims 1 to 9, characterized in that: The method comprises: Step 1: Set the inspection path and working parameters of the intelligent radiation inspection device in the nuclear power plant emergency state; Step 2: The device conducts radiation inspection in the field according to the established route, and monitors the working status of the device in real time through the pan-tilt camera and the rear-view camera; during the operation of the device, the inertial navigation module, the signal receiving device, the real-time dynamic module and the depth camera are used to realize road recognition, autonomous navigation and autonomous obstacle avoidance; Step 3: The device runs to the designated monitoring point, and the real-time gamma dose rate is monitored by the gamma dose rate monitoring instrument; the robot arm uses the negative pressure suction cup to take out the test paper from the sampling test paper storage box, and rubs the sample on the ground in a "Z" or "S" shape, and the sampling is continued for 30 seconds; after the device completes the sampling, the robot arm manipulates the negative pressure suction cup to send the test paper into the shielding lead box with the movable lead block door opened, and the α / β surface contamination monitoring instrument measures the test paper and uploads the data to the operating system; after the measurement is completed, the device closes the shielding lead box, and the robot arm puts the test paper into the contaminated test paper storage box; Step 4: the device moves to the next monitoring point and repeats step 3, the operating system generates a table and a chart of the measurement results and updates the route plan of the device; Step 5: When the power of the device reaches the return power, the device returns to charge autonomously.

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