Inspection mechanism and inspection robot

Abstract

The invention relates to the field of inspection equipment, and provides an inspection mechanism and an inspection robot. The inspection mechanism comprises a bearing platform, a first detection mechanism and a second detection mechanism, the first detection mechanism comprises a first base and an imaging structure, the first base is installed on the bearing platform, the imaging structure is installed on the side, away from the bearing platform, of the first base, and the imaging structure is used for obtaining image information; the second detection mechanism comprises a second base and an acoustic imager, the second base is installed on the bearing platform, the second base and the first base are arranged in a spaced mode, the acoustic imager is installed on the side, opposite to the first base, of the second base, and the acoustic imager is used for acoustic image detection. Based on the above structure, the inspection mechanism can be suitable for replacing manual work to achieve comprehensive and accurate temperature measurement and leakage detection work in a containment vessel overall pressure test scene, the safety risk of workers can be reduced, the operation difficulty of temperature measurement and leakage detection can be reduced, the detection efficiency and detection accuracy of temperature measurement and leakage detection can be improved, and the inspection efficiency and inspection quality can be improved.

Description

Technical Field

[0001] This application belongs to the field of inspection equipment technology, and in particular relates to an inspection mechanism and an inspection robot. Background Technology

[0002] In the safe operation system of a nuclear power plant, the containment vessel serves as the last and crucial barrier against the leakage of radioactive materials, and its structural integrity and airtightness are of paramount importance. According to relevant regulations, the containment vessel must undergo an overall pressure test after construction is completed, during its first commercial operation, and every ten years thereafter, to verify its ability to withstand a loss of coolant accident (LOCA) condition.

[0003] However, the containment pressure test carries a high risk of fire, necessitating monitoring of the ambient temperature during the test. In the event of anomalies, personnel must enter the outer perimeter corridor of the nuclear island for manual inspection to locate leaks. However, manually performing temperature measurement and leak detection carries significant safety risks, is technically challenging, has low efficiency, and poor accuracy. Summary of the Invention

[0004] This application provides an inspection mechanism and inspection robot, which aims to solve the problems of high safety risks, high operational difficulty, low detection efficiency, and poor detection accuracy when temperature measurement and leak detection are performed manually in the context of containment pressure testing.

[0005] To achieve the above objectives, the technical solution adopted in the embodiments of this application is as follows:

[0006] Firstly, an inspection mechanism is provided, including:

[0007] Platform;

[0008] The first detection mechanism includes a first base and an imaging structure. The first base is mounted on the support platform, and the imaging structure is mounted on the side of the first base away from the support platform. The imaging structure is used to acquire image information.

[0009] The second detection mechanism includes a second base and an audio-visual device. The second base is installed on the support platform and spaced apart from the first base. The audio-visual device is installed on the side of the second base facing away from the first base and is used for audio-visual detection.

[0010] In some embodiments, the second base includes two support portions spaced apart along a first direction, and a mounting portion connected between the two support portions. The mounting portion is mounted on the support platform, and the audio-visual device is disposed between the mounting portion and the two support portions, and mounted on the two support portions.

[0011] In some embodiments, the audio-visual device is rotatably mounted on the two support portions about a first axis parallel to the first direction.

[0012] In some embodiments, the support portion is provided with a first protrusion, the first protrusion being located on the side of the first axis close to the mounting portion, the first protrusion being provided with a first constraint groove, the first constraint groove extending arcuately around the first axis;

[0013] The second base also includes an auxiliary component and two first constraint components. The auxiliary component extends between the two first protrusions and is securely connected to the audio-visual device. The two first constraint components are respectively connected to both ends of the auxiliary component and are slidably installed in the two first constraint grooves.

[0014] In some embodiments, the support portion is provided with a first protrusion, which is located on the side of the first axis near the mounting portion;

[0015] The second base also includes an auxiliary component and a support component. The auxiliary component is connected between the two first protrusions, and the support component is connected to the auxiliary component. The end of the support component away from the auxiliary component abuts against the audio-visual device. The length of the support component from the auxiliary component to the audio-visual device is adjustable.

[0016] In some embodiments, the auxiliary component includes a main body, a first connecting part, and a second connecting part. One end of the second connecting part is connected to the main body through the first connecting part, and the second connecting part is provided with a first connecting hole.

[0017] The abutment is disposed between the main body and the second connecting part. The abutment is provided with an adjustment groove, which extends along the extension direction of the abutment and is through the groove in the depth direction.

[0018] The second base also includes a first fastener and a first nut. The head of the first fastener stops at the opening of the adjustment groove away from the second connecting part. The nail part of the first fastener passes through the adjustment groove and the first connecting hole and is threadedly connected to the first nut.

[0019] In some embodiments, the audio-visual device has a support groove on the side facing the support member, the extension direction of the support groove is perpendicular to the first axis, and the end of the support member abuts in the support groove.

[0020] In some embodiments, the auxiliary component includes a main body, a shaft, and a protective film. The main body is connected between the two first protrusions and is cylindrical. The shaft is sleeved inside the main body and is rotatably connected between the two first protrusions.

[0021] The main body has an opening in its cylindrical wall. The protective film has a fixed end and a free end. The fixed end of the protective film is fixedly connected to the shaft. The free end of the protective film extends from the opening to the outside of the main body. At least a portion of the protective film is wound around the outer periphery of the shaft.

[0022] In some embodiments, the auxiliary component further includes a first driver connected to the shaft portion for driving the shaft portion to rotate to wind or unwind the protective film.

[0023] In some embodiments, the auxiliary component includes a counterweight connected to the free end of the protective membrane and disposed on the side of the audio-visual device having an acoustic wave output surface.

[0024] In some embodiments, the audio-visual device has a groove on one side having an acoustic output surface, and the counterweight is slidably disposed in the groove.

[0025] In some embodiments, the mounting portion has a second protrusion at its center along the first direction, and the second protrusion is rotatably mounted on the bearing platform about a second axis perpendicular to the first direction.

[0026] In some embodiments, the second protrusion is provided with a second constraint groove, the second constraint groove extends arcuately around the second axis, and the bearing platform is provided with a second constraint member, the second constraint member being slidably installed in the second constraint groove.

[0027] In some embodiments, the imaging structure is rotatably mounted on the first base about a third axis perpendicular to the side of the first base away from the support platform.

[0028] In some embodiments, the inspection mechanism further includes a lidar, which is mounted on the support platform and located on the side of the first inspection mechanism away from the second inspection mechanism.

[0029] In some embodiments, the inspection mechanism further includes at least one transmission antenna, the imaging structure is signal-connected to at least one of the transmission antennas, and the audio-visual device is signal-connected to at least one of the transmission antennas.

[0030] Secondly, an inspection robot is provided, including a robot body and an inspection mechanism provided in the embodiments of this application, wherein the inspection mechanism is installed on the robot body.

[0031] The beneficial effects of the inspection organization provided in this application are as follows:

[0032] The inspection mechanism provided in this application embodiment can be installed and reliably supported by a carrier platform for a first and a second detection mechanism. It can acquire image information through the imaging structure of the first detection mechanism to perform temperature measurement and accurately identify and locate areas of abnormal temperature, thereby discovering fire risk points. It can also perform acoustic and image detection and acquire acoustic and image information through the acoustic and image instrument of the second detection mechanism to accurately identify and locate areas of abnormal sound, and thus accurately identify and locate leak points, thereby achieving leak detection. Based on this, the inspection mechanism can be used in containment pressure testing scenarios to replace manual labor in achieving comprehensive and accurate temperature measurement and leak detection, reducing the safety risks to workers, lowering the difficulty of temperature measurement and leak detection operations, improving the efficiency and accuracy of temperature measurement and leak detection, and enhancing the inspection efficiency and quality of the inspection mechanism and inspection robot. Attached Figure Description

[0033] To clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A perspective view of an inspection robot provided in some embodiments of this application;

[0035] Figure 2 for Figure 1 3D illustration of the inspection robot provided Figure 2 ;

[0036] Figure 3 A perspective view of the second detection mechanism and the rotating disk provided in some embodiments of this application;

[0037] Figure 4 for Figure 3 An exploded view of the second detection mechanism and the rotating disk provided;

[0038] Figure 5 A top view of a second base provided for other embodiments of this application, wherein the second base includes auxiliary members and abutment members;

[0039] Figure 6 for Figure 5 A partial structural schematic diagram of the second base is provided;

[0040] Figure 7 The following is a front view of an audio-visual device provided in some other embodiments of this application, wherein the audio-visual device has a support groove on the side facing the support member;

[0041] Figure 8A cross-sectional view of a second base provided for other embodiments of this application, wherein the auxiliary component includes a main body, a first connecting portion, a second connecting portion, a shaft portion, and a protective film.

[0042] The following are the labeling elements in the figure:

[0043] 10-Bearing platform, 11-Rotating disk, 111-Fourth connecting hole; 20-First detection mechanism, 21-First base, 22-Imaging structure, L3-Third axis; 30-Second detection mechanism, 31-Second base, 311-Support part, 3111-First protrusion, 31111-First constraint groove, 3112-Second connecting hole; 312-Mounting part, 3121-Second protrusion, L2-Second axis, 31211-Third connecting hole, 31212-Second constraint groove; 313-Auxiliary part, 3131-Main body, 31311-Port, 3132 - First connecting part, 3133 - Second connecting part, 31331 - First connecting hole, 3134 - Shaft body, 3135 - Protective film, 31351 - Fixed end, 31352 - Free end; 314 - First constraint member, 3141 - Second fastener; 315 - Support member, 3151 - Adjustment groove; 316 - First fastener, 317 - First nut, 318 - Second rotating shaft; 32 - Audio-visual device, L1 - First axis, 321 - Sound wave output surface, 322 - Support groove; 40 - LiDAR, 50 - Transmission antenna, 60 - Robot body; y - First direction. Detailed Implementation

[0044] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clear, the application will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application. Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions. Unless otherwise specified, all technical features and optional technical features of this application can be combined to form new technical solutions.

[0045] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] In the safe operation system of a nuclear power plant, the containment vessel serves as the last and crucial barrier against the leakage of radioactive materials, and its structural integrity and airtightness are of paramount importance. According to relevant regulations, the containment vessel must undergo an overall pressure test after construction is completed, during its first commercial operation, and every ten years thereafter, to verify its ability to withstand a loss of coolant accident (LOCA) condition.

[0049] However, the containment pressure test carries a high risk of fire, necessitating monitoring of the ambient temperature during the test. In the event of anomalies, personnel must enter the outer perimeter corridor of the nuclear island for manual inspection to locate leaks. However, manual temperature measurement and leak detection are inherently risky, difficult, inefficient, and inaccurate. Currently, there is no mature automated equipment to replace manual temperature measurement and leak detection for this specific testing scenario, which to some extent limits the safety and efficiency of the test.

[0050] The embodiments provided in this application will solve the above problems.

[0051] To illustrate the technical solutions provided in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.

[0052] Please see Figure 1 , Figure 2Some embodiments of this application provide an inspection mechanism, including a support platform 10, a first detection mechanism 20, and a second detection mechanism 30. The first detection mechanism 20 includes a first base 21 and an imaging structure 22. The first base 21 is mounted on the support platform 10, and the imaging structure 22 is mounted on the side of the first base 21 away from the support platform 10. The imaging structure 22 is used to acquire image information. The second detection mechanism 30 includes a second base 31 and an audio-visual device 32. The second base 31 is mounted on the support platform 10 and is spaced apart from the first base 21. The audio-visual device 32 is mounted on the side of the second base 31 facing away from the first base 21. The audio-visual device 32 is used for audio-visual detection.

[0053] It should be noted that the carrier platform 10 is the basic carrier of the entire inspection mechanism, used to install and support the first inspection mechanism 20 and the second inspection mechanism 30.

[0054] The first detection mechanism 20 includes a first base 21 and an imaging structure 22. The first base 21 can be fixedly installed on the support platform 10 or movably installed on the support platform 10. The imaging structure 22 is installed on the side of the first base 21 away from the support platform 10, so that the first base 21 supports and elevates the imaging structure 22. The imaging structure 22 can be movably installed on the first base 21 or fixedly installed on the first base 21. The imaging structure 22 is used to acquire image information. In some embodiments, the imaging structure 22 may include an infrared temperature measurement module (not shown in the figure) and a camera positioning module (not shown in the figure). For example, the imaging structure 22 may be an infrared imager or an infrared camera, etc. Based on this, in the containment overall pressure test scenario, the imaging structure 22 can monitor the ambient temperature through the infrared temperature measurement module to detect temperature abnormal areas; the imaging structure 22 can also take pictures and locate the temperature abnormal areas detected by the infrared temperature measurement module through the camera positioning module to accurately locate and determine the specific location of the temperature abnormal areas, and thus accurately locate and determine the fire risk points.

[0055] The second inspection mechanism 30 includes a second base 31 and an audio-visual unit 32. The second base 31 can be movably mounted on the support platform 10 or fixedly mounted on the support platform 10. The second base 31 is spaced apart from the first base 21 to reduce interference between the second inspection mechanism 30 and the first inspection mechanism 20. The small distance between the second base 31 and the first base 21 reduces the overall size (e.g., length, width, etc.) of the inspection mechanism. Figure 1 , Figure 2As shown, the second base 31 and the first base 21 are spaced apart along the length of the inspection mechanism with a small gap, which helps to reduce the length of the inspection mechanism. Based on this, it is beneficial to the miniaturization of the inspection mechanism and the inspection robot. The audio-visual device 32 is used for audio-visual detection and acquisition of audio-visual information. Based on this, in the overall containment pressure test scenario, the equipment is in a shutdown state and should theoretically be very quiet. However, if there is a leak in the containment, gas convection will be generated at the leak point, forming abnormal noise. Therefore, in the overall containment pressure test scenario, the audio-visual device 32 can collect sound signals and audio to detect the abnormal sound area and obtain the spatial location information of the abnormal sound area (that is, the audio-visual device 32 itself can accurately locate the abnormal sound area), and thus accurately locate and determine the leak point.

[0056] In summary, the inspection mechanism provided in this application embodiment can be reliably supported by the first detection mechanism 20 and the second detection mechanism 30 installed on the support platform 10; it can acquire image information through the imaging structure 22 of the first detection mechanism 20 to achieve temperature measurement and accurately identify and locate abnormal temperature areas, thereby discovering fire risk points; it can perform acoustic and image detection and acquire acoustic and image information through the acoustic and image instrument 32 of the second detection mechanism 30 to accurately identify and locate abnormal sound areas, thereby accurately identifying and locating leak points, thus achieving leak detection. Based on this, the inspection mechanism can be used to replace manual labor in containment pressure testing scenarios to achieve comprehensive and accurate temperature measurement and leak detection, reducing the safety risks for workers, reducing the difficulty of temperature measurement and leak detection operations, improving the detection efficiency and accuracy of temperature measurement and leak detection, and improving the inspection efficiency and quality of the inspection mechanism and inspection robot.

[0057] The inspection mechanism provided in this application embodiment has a compact structure and small size, which is beneficial for reducing the external size of the inspection mechanism and inspection robot, and for miniaturizing the inspection mechanism and inspection robot. Based on this, the inspection robot is suitable for entering the interior of the installation shell, as well as the confined space and irregularly arranged pipelines of the nuclear island outer corridor, and can move flexibly to complete the inspection work flexibly, reliably and smoothly.

[0058] In the containment pressure test scenario, the nuclear island is under a high-pressure environment of 4.2 bar.g (bar is a commonly used unit of pressure). The inspection mechanism provided in this application embodiment, based on the supporting platform 10, the first base 21, the second base 31, and other structures, has good structural strength and strong pressure-bearing capacity, and can withstand the high-pressure environment of the containment pressure test scenario, and can work normally under this high-pressure environment.

[0059] Please see Figure 2 , Figure 3 , Figure 4In some embodiments of this application, the second base 31 includes two support portions 311 spaced apart along the first direction y, and a mounting portion 312 connected between the two support portions 311. The mounting portion 312 is mounted on the support platform 10, and the audio-visual device 32 is disposed between the mounting portion 312 and the two support portions 311, and is mounted on the two support portions 311.

[0060] By adopting the above scheme, the second base 31 can be connected and installed to the support platform 10 through the mounting part 312; the mounting part 312 and the two support parts 311 can form a semi-enclosed structure, thus surrounding and protecting the audio-visual device 32; the two support parts 311 can be connected together and jointly support the audio-visual device 32. Based on this, the structure of the second base 31 can be optimized, the installation stability and reliability between the second base 31 and the support platform 10 and between the second base 31 and the audio-visual device 32 can be improved, the structural strength and pressure bearing capacity of the second base 31 can be enhanced, and the second base 31 can withstand the weight of the audio-visual device 32 and external pressure (e.g., a high-pressure environment of 4.2 bar.g), and the stress can be evenly transferred to the support platform 10 to disperse stress and reduce stress concentration, thereby improving the reliability and service life of the second detection mechanism 30.

[0061] like Figure 2 , Figure 3 , Figure 4 As shown, in some embodiments, the mounting part 312 and the two support parts 311 are integrally formed, which improves processing convenience, processing efficiency, processing accuracy, structural strength, and structural reliability. Of course, in other embodiments, the mounting part 312 and the two support parts 311 can be separately formed and separately connected.

[0062] Please see Figure 2 , Figure 3 , Figure 4 In some embodiments of this application, the audio-visual device 32 is rotatably mounted on two support portions 311 about a first axis L1, the first axis L1 being parallel to a first direction y.

[0063] It should be noted that the audio-visual unit 32 is mounted on two support parts 311 and can rotate (i.e., pitch and swing) relative to the two support parts 311 around the first axis L1 to adjust the orientation of the sound wave output surface 321 of the audio-visual unit 32. Figure 3 , Figure 4 As shown, in some embodiments, the support 311 is provided with a second connecting hole 3112, and the audio-visual device 32 is rotatably connected to the second connecting hole 3112 via a first rotating shaft (not shown in the figure). The central axis of the second connecting hole 3112 is the first axis L1.

[0064] like Figure 2 , Figure 3 , Figure 4 As shown, in some embodiments, before the inspection mechanism begins its inspection, the audio-visual unit 32 is manually rotated around the first axis L1 to manually adjust the orientation of the sound wave output surface 321 of the audio-visual unit 32. After adjustment, the audio-visual unit 32 can be locked to limit its continued rotation around the first axis L1, thereby stabilizing the pitch attitude of the audio-visual unit 32 and the orientation of its sound wave output surface 321. With this configuration, the "second driver (e.g., a geared motor) that electrically drives the audio-visual unit 32 to rotate around the first axis L1" can be omitted. This helps to reduce the weight of the second inspection mechanism 30 and the lightweight design of the second inspection mechanism 30 and the inspection mechanism. Furthermore, since the inspection path of the inspection mechanism (especially the inspection path in the outer corridor of the nuclear island) is usually a circular path, the acoustic output surface 321 of the audio-visual device 32 is adjusted to face the containment before the inspection. During the inspection process of the inspection mechanism along the circular inspection path, the acoustic output surface 321 of the audio-visual device 32 will remain facing the containment, which will not affect the leak detection efficiency, leak detection quality, or leak detection accuracy of the audio-visual device 32.

[0065] In other embodiments, a second driver (not shown in the figure, such as a geared motor) connected to the audio-visual unit 32 may be provided to electrically drive the audio-visual unit 32 to rotate about the first axis L1, thereby automatically adjusting the orientation of the sound wave output surface 321 of the audio-visual unit 32.

[0066] By adopting the above scheme, the orientation of the acoustic output surface 321 of the acoustic imager 32 can be adjusted by rotating the acoustic imager 32 around the first axis L1, thereby adjusting the detection angle of the acoustic imager 32. Based on this, the detection angle, detection direction, and detection range of the acoustic imager 32 can be optimized, the detection blind zone can be reduced, and the acoustic imager 32 can cope with complex working environments and achieve comprehensive, accurate, and effective acquisition of acoustic and image information. This optimizes the scene adaptability, leak detection range, leak detection quality, and leak detection accuracy of the acoustic imager 32, and improves the inspection quality of inspection agencies and inspection robots.

[0067] Please see Figure 2 , Figure 3 , Figure 4 In some embodiments of this application, the support portion 311 is provided with a first protrusion 3111, which is located on the side of the first axis L1 near the mounting portion 312. The first protrusion 3111 is provided with a first constraint groove 31111, which extends arcuately around the first axis L1. The second base 31 also includes an auxiliary member 313 and two first constraint members 314. The auxiliary member 313 extends between the two first protrusions 3111 and is securely connected to the audio-visual device 32. The two first constraint members 314 are respectively connected to the two ends of the auxiliary member 313 and are slidably installed in the two first constraint grooves 31111.

[0068] The first constraint groove 31111 is formed on the side of the first protrusion 3111 facing the audio-visual device 32, and the first constraint groove 31111 can penetrate the first protrusion 3111 along its groove depth direction (e.g., Figure 4 (As shown), it can also be configured not to penetrate the first protrusion 3111.

[0069] The phrase "the auxiliary component 313 is securely connected to the audio-visual device 32" means that the auxiliary component 313 is connected to the audio-visual device 32 and is relatively fixed. The connection method can be a fixed connection method (such as welding, bonding, etc.) or a detachable connection method (such as bolt connection, snap-fit ​​connection, etc.).

[0070] Since there are two support parts 311, each of the two support parts 311 is provided with a first protrusion 3111, that is, there are two first protrusions 3111, and each of the two first protrusions 3111 is provided with a first constraint groove 31111, that is, there are two first constraint grooves 31111, and the two first constraint members 314 can slide in the two first constraint grooves 31111 one by one.

[0071] Based on the configuration of this embodiment, during the rotation of the audio-visual unit 32 around the first axis L1, the side of the audio-visual unit 32 near the mounting part 312 will drive the auxiliary component 313, which is stably connected to the audio-visual unit 32, to swing around the first axis L1 together. As the auxiliary component 313 swings, the two first constraint members 314 at both ends of the auxiliary component 313 will slide one-to-one in the two first constraint grooves 31111 (i.e., slide along the arc-shaped extension path of the first constraint grooves 31111). Based on this, the sliding stroke of the first constraint members 314 can be limited and constrained by the first constraint grooves 31111, thereby limiting and constraining the swing range of the side of the audio-visual unit 32 near the mounting part 312 and the auxiliary component 313, and limiting and constraining the rotation range of the audio-visual unit 32 around the first axis L1. Therefore, by adopting the above scheme, the rotation range of the audio-visual device 32 around the first axis L1 can be constrained to prevent the audio-visual device 32 from colliding with other components of the inspection mechanism or components in confined working environments due to excessive rotation range. This reduces the risk of damage to the audio-visual device 32, improves the reliability and service life of the audio-visual device 32, and makes the audio-visual device 32 particularly suitable for working environments in confined spaces in nuclear islands. Furthermore, the auxiliary component 313 and the two first constraint components 314 can form a "linkage structure" spanning the side of the audio-visual device 32 near the mounting part 312, which can promote the balanced force on both ends when the audio-visual device 32 rotates; the sliding of the first constraint component 314 in the first constraint groove 31111 can provide guidance for the rotation of the audio-visual device 32, which can reduce shaking or jamming; based on this, the design based on the combination of constraint and guidance can enable the audio-visual device 32 to maintain stable rotation under high pressure environment, reduce rotational deviation caused by external pressure fluctuations, improve the rotational smoothness and reliability of the audio-visual device 32, and improve the accuracy of the detection angle adjustment of the audio-visual device 32.

[0072] In some embodiments, the first constraint member 314 may include a second fastener 3141 and a second nut (not shown in the figure). The second fastener 3141 is connected to the end of the auxiliary member 313 and slidably passes through the first constraint groove 31111. The first constraint groove 31111 extends through the first protrusion 3111 along its depth direction. The second nut is located on the side of the first constraint groove 31111 away from the auxiliary member 313 and is threadedly connected to the second fastener 3141. Based on this, the second nut can be loosened, so that the second nut is not pressed against the first protrusion 3111, thus... The second fastener 3141 can slide freely in the first constraint groove 31111 without being restricted by the second nut. At this time, the adjustment operation of "manually driving the audio-visual device 32 to rotate around the first axis L1" can be performed. Conversely, the second nut can be tightened so that the second nut abuts against the first protrusion 3111 to restrict the second fastener 3141 from sliding along the first constraint groove 31111, thereby locking the audio-visual device 32 and restricting the audio-visual device 32 from continuing to rotate around the first axis L1. This stabilizes the pitch attitude of the audio-visual device 32 and stabilizes the orientation of the sound wave output surface 321 of the audio-visual device 32.

[0073] Please see Figure 2 , Figure 5 , Figure 6 , Figure 7 In some embodiments of this application, the support portion 311 is provided with a first protrusion 3111, which is located on the side of the first axis L1 near the mounting portion 312; the second base 31 also includes an auxiliary member 313 and a support member 315. The auxiliary member 313 is connected between the two first protrusions 3111, and the support member 315 is connected to the auxiliary member 313. The end of the support member 315 away from the auxiliary member 313 abuts against the audio-visual device 32, and the length of the support member 315 from the auxiliary member 313 to the audio-visual device 32 is adjustable.

[0074] Based on the configuration of this embodiment, during the rotation of the audio-visual unit 32 around the first axis L1, the side of the audio-visual unit 32 closest to the mounting part 312 will swing around the first axis L1, causing the distance between the audio-visual unit 32 and the auxiliary member 313 to change. Based on this, the length of the support member 315 from the auxiliary member 313 to the audio-visual unit 32 can be adjusted accordingly, so that the end of the support member 315 away from the auxiliary member 313 can abut against the audio-visual unit 32. Thus, the support member 315, supported by the auxiliary member 313, can provide support for the audio-visual unit 32. 2. It provides strong and reliable support, which makes it easy for the audio-visual instrument 32 to stabilize its pitch posture and the orientation of the sound wave output surface 321 after being adjusted to the target detection angle. It can reduce the risk of the detection angle of the audio-visual instrument 32 shifting due to vibration in the high-pressure environment or its own gravity, enhance the posture stability of the audio-visual instrument 32, make the orientation of the sound wave output surface 321 accurate, improve the leak detection quality and accuracy of the audio-visual instrument 32, and optimize the working stability and inspection quality of the inspection mechanism and inspection robot.

[0075] This embodiment is particularly suitable for the situation where the audio-visual unit 32 is manually driven to rotate around the first axis L1. Of course, if the length of the support member 315 from the auxiliary member 313 to the audio-visual unit 32 can be electrically or automatically adjusted, this embodiment is also suitable for the situation where the audio-visual unit 32 is electrically driven to rotate around the first axis L1.

[0076] Please see Figure 5 , Figure 6 , Figure 7 , Figure 8 In some embodiments of this application, the auxiliary component 313 includes a main body 3131, a first connecting part 3132, and a second connecting part 3133. One end of the second connecting part 3133 is connected to the main body 3131 through the first connecting part 3132. The second connecting part 3133 is provided with a first connecting hole 31331. The abutment 315 is disposed between the main body 3131 and the second connecting part 3133. The abutment 315 is provided with an adjustment groove 3151. The adjustment groove 3151 extends along the extension direction of the abutment 315 and is through the groove depth direction. The second base 31 also includes a first fastener 316 and a first nut 317. The head of the first fastener 316 stops at the opening of the adjustment groove 3151 away from the second connecting part 3133. The nail part of the first fastener 316 passes through the adjustment groove 3151 and the first connecting hole 31331 and is threadedly connected to the first nut 317.

[0077] The main body 3131 is connected between two first protrusions 3111. A first connecting portion 3132 and a second connecting portion 3133 are connected sequentially to form a bent structure. The end of the first connecting portion 3132 away from the second connecting portion 3133 is connected to the main body 3131. The main body 3131, the first connecting portion 3132, and the second connecting portion 3133 can be integrally connected and integrally formed, or they can be separately formed and separately connected. The first connecting portion 3132 and the second connecting portion 3133 can be located at the end of the main body 3131 or in the middle of the main body 3131. A first connecting hole 31331 passes through the second connecting portion 3133.

[0078] Based on the configuration of this embodiment, the abutment 315 is positioned between the main body 3131 and the second connecting part 3133, and is connected to the auxiliary part 313 via the first fastener 316 and the first nut 317. Furthermore, during the adjustment period when the audio-visual unit 32 rotates around the first axis L1, the first nut 317 can be loosened, so that the head of the first fastener 316 does not press against the opening of the adjustment groove 3151 (i.e., does not press against the abutment 315), so that the heads of the first nut 317 and the first fastener 316 do not jointly clamp the abutment 315 and the second connecting part 3133, allowing the adjustment groove 3151 to slide relative to the first fastener 316, allowing the abutment 315 to move relative to the auxiliary part 313 to adjust the length of the abutment 315 from the auxiliary part 313 to the audio-visual unit 32, so that the end of the abutment 315 away from the auxiliary part 313 can abut against the audio-visual unit 32. Conversely, after the audio-visual device 32 has been adjusted, the first nut 317 can be tightened so that the head of the first fastener 316 presses against the opening of the adjustment groove 3151. This causes the heads of the first nut 317 and the first fastener 316 to clamp the support member 315 and the second connecting part 3133 together, thereby restricting the sliding of the adjustment groove 3151 relative to the first fastener 316 and restricting the movement of the support member 315 relative to the auxiliary member 313. This locks the length of the support member 315 from the auxiliary member 313 to the audio-visual device 32, stabilizing the state in which "the end of the support member 315 away from the auxiliary member 313 abuts against the audio-visual device 32". Therefore, the length of the support member 315 from the auxiliary member 313 to the audio-visual device 32 can be flexibly adjusted according to the rotation angle of the audio-visual device 32. This allows the support member 315 to adaptably abut against the audio-visual device 32 at different pitch positions, providing stable and reliable support for the audio-visual device 32 and improving the stability of the detection angle of the audio-visual device 32. Furthermore, the adjustment process of the length of the support member 315 from the auxiliary member 313 to the audio-visual device 32 only requires three steps: loosening, sliding, and tightening. The operation is simple and intuitive, allowing for quick adjustment, reducing the difficulty of operation, and optimizing the convenience of operation. Furthermore, the support member 315 achieves length locking through mechanical clamping of the first nut 317 and the first fastener 316, eliminating the need for additional complex drive components and simplifying the overall structure of the second base 31. This also enhances the connection strength between the support member 315 and the auxiliary member 313. Under the 4.2 bar.g high-pressure environment of the containment pressure test, it can effectively resist the influence of external pressure on the structure, reduce abnormal posture of the audio-visual unit 32 caused by loosening of the support member 315, and improve the overall pressure-bearing capacity and reliability of the second detection mechanism 30. This embodiment is particularly suitable for situations where the audio-visual unit 32 is manually driven to rotate around the first axis L1.

[0079] Of course, in other embodiments, the support member 315 may adopt other structural designs to achieve "the length of the support member 315 from the auxiliary member 313 to the audio-visual device 32 is adjustable", for example, a telescopic sleeve design may be adopted, etc.

[0080] Please see Figure 5 , Figure 6 , Figure 7 In some embodiments of this application, the audio-visual unit 32 has a support groove 322 on the side facing the support member 315. The extension direction of the support groove 322 is perpendicular to the first axis L1, and the end of the support member 315 abuts in the support groove 322. The support groove 322 can be through-type along its extension direction (e.g., Figure 7 (As shown), it can also be provided without being continuous. The end of the support member 315 and the support groove 322 can be fitted together or with a clearance fit.

[0081] By adopting the above solution, the end of the support member 315 can be limited by the support groove 322, so that the contact between the support member 315 and the audio-visual device 32 changes from "point contact" or "line contact" to "in-groove contact". This can ensure that the support member 315 can form effective contact with the support groove 322 under different pitch positions of the audio-visual device 32, and can also ensure that the support member 315 can form effective contact with the support groove 322 under the movement and vibration of the inspection mechanism. This can basically prevent the support member 315 from losing contact with the audio-visual device 32, thereby improving the connection stability and overall structural stability of the support member 315 and the audio-visual device 32, ensuring that the support member 315 provides continuous and effective support for the audio-visual device 32, and effectively stabilizing and securing the pitch position of the audio-visual device 32.

[0082] Of course, in other embodiments, the abutment groove 322 may be omitted from the audio-visual device 32, and the abutment member 315 may directly abut against the side of the audio-visual device 32 to form a "point contact" or "line contact".

[0083] Please see Figure 5 , Figure 6 , Figure 7 , Figure 8 In some embodiments of this application, the auxiliary component 313 includes a main body 3131, a shaft 3134, and a protective film 3135. The main body 3131 is connected between two first protrusions 3111 and is cylindrical. The shaft 3134 is sleeved inside the main body 3131 and rotatably connected between the two first protrusions 3111. The cylindrical wall of the main body 3131 is provided with a through-hole 31311. The protective film 3135 has a fixed end 31351 and a free end 31352. The fixed end 31351 of the protective film 3135 is fixedly connected to the shaft 3134. The free end 31352 of the protective film 3135 extends from the through-hole 31311 to the outside of the main body 3131. At least a portion of the protective film 3135 is wound around the outer periphery of the shaft 3134.

[0084] By adopting the above solution, the main body 3131 can accommodate, conceal, and protect the shaft 3134 and the protective film 3135; the rotation of the shaft 3134 can realize the winding and unwinding of the protective film 3135. Based on this, in the non-working state of the inspection mechanism, by unwinding the protective film 3135, the portion of the protective film 3135 extending from the opening 31311 to the outside of the main body 3131 can cover the surface of the audio-visual device 32 (especially the sound wave output surface 321), thus protecting the audio-visual device 32 from dust, thereby reducing the risk of interference to the audio-visual device 32 caused by dust entering the surface pores of the audio-visual device 32, reducing the risk of reduced detection accuracy of the audio-visual device 32, and improving the reliability and service life of the audio-visual device 32. Conversely, when the inspection mechanism is in operation, the protective film 3135 can be wound back around the outer periphery of the shaft part 3134 and stored inside the main body part 3131 by rewinding the protective film 3135, thereby reducing the risk of the protective film 3135 being exposed and damaged, and reducing the risk of the protective film 3135 being exposed and interfering with other components such as the audio-visual device 32.

[0085] Please see Figure 8 In some embodiments of this application, the auxiliary component 313 further includes a first driver (not shown in the figure), which is connected to the shaft portion 3134 and is used to drive the shaft portion 3134 to rotate to wind or unwind the protective film 3135. The first driver may be, but is not limited to, a geared motor.

[0086] By adopting the above solution, the first driver can electrically drive the shaft 3134 to rotate forward to unwind the protective film 3135, or electrically drive the shaft 3134 to rotate in reverse to wind up the protective film 3135. This automates the winding and unwinding of the protective film 3135, eliminating the need for manual operation and improving the convenience, accuracy, and timeliness of the winding and unwinding process. "Forward rotation" and "reverse rotation" are relative concepts.

[0087] Of course, in other embodiments, the winding and unwinding of the protective film 3135 can be operated manually.

[0088] Please see Figure 2 , Figure 8 In some embodiments of this application, the auxiliary component 313 includes a counterweight (not shown in the figure), which is connected to the free end 31352 of the protective membrane 3135 and is disposed on the side of the audio-visual device 32 having the sound wave output surface 321.

[0089] By adopting the above scheme, when the first driver electrically drives the shaft 3134 to rotate in the forward direction to unwind the protective film 3135, the counterweight can hang down naturally under the action of gravity and form a continuous and stable tension on the free end 31352 of the protective film 3135, so as to make the protective film 3135 unfold flat and cover the sound wave output surface 321 of the audio-visual device 32. Based on this, the stability of unwinding the protective film 3135 can be improved, the adhesion between the protective film 3135 and the sound wave output surface 321 of the audio-visual device 32 can be improved, the dustproof and other protective effects of the protective film 3135 on the sound wave output surface 321 of the audio-visual device 32 can be enhanced, and the risk of protective failure caused by gaps can be reduced. Conversely, when the first driver electrically drives the shaft 3134 to rotate in the opposite direction to wind up the protective film 3135, the weight of the counterweight can help the protective film 3135 maintain its stretched state and balance the inertia of the protective film 3135 during winding. Based on this, the protective film 3135 can be smoothly wound around the outer periphery of the shaft 3134, reducing the entanglement and overlapping caused by the loosening of the protective film 3135. It can also reduce the risk of the protective film 3135 wrinkling or getting stuck at the opening 31311 of the main body 3131 due to sudden acceleration of winding, thus reducing the risk of mechanical failure.

[0090] Please see Figure 2 , Figure 8 In some embodiments of this application, the audio-visual device 32 has a groove (not shown in the figure) on one side of the sound wave output surface 321, and the counterweight is slidably disposed in the groove.

[0091] By adopting the above scheme, the chute can provide a clear sliding path for the counterweight, guide the movement trajectory of the counterweight, and the chute wall can provide lateral restraint for the counterweight, reducing the swaying or swinging of the counterweight during movement. Based on this, it is convenient for the counterweight to move stably along the preset trajectory during the unwinding and rewinding of the protective film 3135, it is convenient for the counterweight to form a directional and balanced tension on the protective film 3135, it is convenient for the counterweight to assist the protective film 3135 in smooth unwinding and rewinding, and it can reduce the skewing and wrinkling of the protective film 3135 caused by the swinging of the counterweight.

[0092] Please see Figure 2 , Figure 3 , Figure 4 In some embodiments of this application, the mounting part 312 is provided with a second protrusion 3121 at the middle of the first direction y. The second protrusion 3121 is rotatably mounted on the bearing platform 10 around the second axis L2, which is perpendicular to the first direction y.

[0093] It should be noted that the mounting part 312 is mounted on the support platform 10 via the second protrusion 3121, and can rotate circumferentially relative to the support platform 10 around the second axis L2 to adjust the overall orientation of the second detection mechanism 30, especially the orientation of the acoustic wave output surface 321 of the audio-visual unit 32. Figure 3 , Figure 4 As shown, in some embodiments, the second protrusion 3121 is provided with a third connecting hole 31211, and the second rotating shaft 318 passes through and connects the third connecting hole 31211 and the support platform 10, so that the second protrusion 3121 is rotatably connected to the support platform 10; in other embodiments, the second protrusion 3121 is provided with a second rotating shaft 318, and the second rotating shaft 318 is rotatably inserted into the support platform 10, so that the second protrusion 3121 is rotatably connected to the support platform 10; wherein, the central axis of the second rotating shaft 318 is the second axis L2.

[0094] like Figure 2 , Figure 3 , Figure 4 As shown, in some embodiments, before the inspection mechanism begins its inspection, the second protrusion 3121 is manually driven to rotate around the second axis L2 to manually adjust the overall orientation of the second detection mechanism 30, especially to manually adjust the orientation of the acoustic output surface 321 of the audio-visual unit 32; after adjustment, the second protrusion 3121 can be locked to restrict the second protrusion 3121 from continuing to rotate around the second axis L2, thereby stabilizing the overall orientation of the second detection mechanism 30; with this configuration, the "third driver that electrically drives the second protrusion 3121 to rotate around the second axis L2 (e.g.)" can be omitted. "Such as a geared motor"), which helps to reduce the weight of the second detection mechanism 30 and the lightweighting of the second detection mechanism 30 and the inspection mechanism; and since the inspection path of the inspection mechanism (especially the inspection path in the outer corridor of the nuclear island) is usually a circular path, the acoustic output surface 321 of the audio-visual instrument 32 is adjusted to face the containment before the inspection. During the inspection process of the inspection mechanism along the circular inspection path, the acoustic output surface 321 of the audio-visual instrument 32 will remain facing the containment, which will not affect the leak detection efficiency, leak detection quality and leak detection accuracy of the audio-visual instrument 32.

[0095] In other embodiments, a third driver (not shown in the figure, such as a geared motor) connected to the audio-visual unit 32 may be provided to electrically drive the second protrusion 3121 to rotate about the second axis L2, thereby automatically adjusting the orientation of the sound wave output surface 321 of the audio-visual unit 32.

[0096] By adopting the above scheme, the second protrusion 3121 can be rotated around the second axis L2, causing the mounting part 312, the two support parts 311, and the audio-visual device 32 to rotate circumferentially around the second axis L2. This adjusts the overall orientation of the second detection mechanism 30, thereby flexibly adjusting the orientation of the acoustic wave output surface 321 of the audio-visual device 32 and the detection angle of the audio-visual device 32. Based on this, the detection angle, detection direction, and detection range of the audio-visual device 32 can be optimized, the detection blind zone can be reduced, and the audio-visual device 32 can cope with complex working environments and achieve comprehensive, accurate, and effective acquisition of acoustic and image information. This optimizes the scene adaptability, leak detection range, leak detection quality, and leak detection accuracy of the audio-visual device 32, and optimizes the inspection quality of the inspection mechanism and inspection robot.

[0097] This embodiment and the related embodiment in which "the audio-visual device 32 is rotatably mounted on two support parts 311 around the first axis L1" can be selected or combined. In the case of combined arrangement, since the second protrusion 3121 can drive the audio-visual device 32 to rotate around the second axis L2, and since the audio-visual device 32 can pitch and swing around the first axis L1, the adjustment range of the detection angle of the audio-visual device 32 can be expanded, the detection angle, detection direction and detection range of the audio-visual device 32 can be optimized, the detection blind zone can be reduced, and the audio-visual device 32 can cope with complex working environments and achieve comprehensive, accurate and effective acquisition of audio-visual information.

[0098] Please see Figure 2 , Figure 3 , Figure 4 In some embodiments of this application, the second protrusion 3121 is provided with a second constraint groove 31212, the second constraint groove 31212 extends arcuately around the second axis L2, and the bearing platform 10 is provided with a second constraint member (not shown in the figure), the second constraint member is slidably installed in the second constraint groove 31212.

[0099] The second constraint groove 31212 is formed on the side of the second protrusion 3121 facing the bearing platform 10, and the second constraint groove 31212 can penetrate the second protrusion 3121 along its groove depth direction (e.g., Figure 4 (As shown), it can also be configured without penetrating the second protrusion 3121.

[0100] like Figure 3 , Figure 4 As shown, in some embodiments, the support platform 10 is provided with a rotating disk 11 on which the second protrusion 3121 is rotatably mounted, and the rotating disk 11 is provided with a fourth connecting hole 111, and the second constraint member can be separately connected to the fourth connecting hole 111. Of course, in other embodiments, the second constraint member can be integrally formed on the surface of the support platform 10.

[0101] Based on the configuration of this embodiment, during the rotation of the second protrusion 3121 around the second axis L2, the second constraint groove 31212 will slide relative to the second constraint member. Based on this, the arc-shaped extension length of the second constraint groove 31212 can limit and constrain the relative sliding stroke between the second constraint groove 31212 and the second constraint member, thereby limiting and constraining the circumferential rotation range of the second protrusion 3121, and constraining the range of circumferential rotation of the mounting part 312, the two support parts 311, and the audio-visual device 32 as a whole around the second axis L2. Therefore, by adopting the above solution, the rotation range of the installation part 312, the two support parts 311, and the audio-visual device 32 around the second axis L2 can be constrained, so as to prevent the second detection mechanism 30 from colliding with other parts of the inspection mechanism (especially the first detection mechanism 20) or parts in confined working environments due to excessive rotation. This reduces the risk of damage to the second detection mechanism 30 (especially the audio-visual device 32), improves the reliability and service life of the second detection mechanism 30 (especially the audio-visual device 32), and makes the second detection mechanism 30 (especially the audio-visual device 32) suitable for working environments in confined spaces in the nuclear island. Furthermore, the relative sliding between the second constraint groove 31212 and the second constraint member can provide guidance for the rotation of the second protrusion 3121, reducing shaking or jamming during rotation. Based on this, the second detection mechanism 30 can still rotate stably around the second axis L2 under high pressure, reducing rotational deviation caused by external pressure fluctuations, improving the rotational stability and reliability of the second detection mechanism 30 around the second axis L2, and improving the accuracy of the detection angle adjustment of the audio-visual instrument 32.

[0102] Of course, in other embodiments, the second constraint member can be provided by the second protrusion 3121, and the second constraint groove 31212 can be provided by the bearing platform 10.

[0103] Please see Figure 1 , Figure 2 In some embodiments of this application, the imaging structure 22 is rotatably mounted on the first base 21 about a third axis L3, the third axis L3 being perpendicular to the side of the first base 21 away from the support platform 10.

[0104] It should be noted that the imaging structure 22 is mounted on the first base 21 and can rotate circumferentially relative to the first base 21 about the third axis L3 to adjust the lens orientation of the imaging structure 22. In some embodiments, a fourth driver (not shown in the figure, such as a geared motor) connected to the imaging structure 22 can be provided to electrically drive the imaging structure 22 to rotate about the third axis L3, thereby automatically adjusting the lens orientation of the imaging structure 22.

[0105] By adopting the above scheme, the lens orientation of the imaging structure 22 can be flexibly adjusted by rotating the imaging structure 22 around the third axis L3, thereby expanding the detection area that the imaging structure 22 can cover, so that the imaging detection range of the imaging structure 22 at least covers the front side (e.g., Figure 1 As shown, the side located in the positive X-axis direction is defined as the front (corresponding to the forward direction of the inspection mechanism), the left side, the right side, and even the imaging detection range of the imaging structure 22 can reach 360°. Based on this, the detection blind zone caused by the fixed viewing angle can be reduced, the imaging structure 22 can adapt to the complex pipeline layout and narrow space inside the nuclear island, and can fully capture areas with abnormal temperatures and fire risk points. This can improve the temperature measurement accuracy and scene adaptability of the imaging structure 22, and optimize the inspection quality of the inspection mechanism and inspection robot.

[0106] This embodiment is particularly suitable for use in conjunction with the previous embodiment. The imaging detection range of the imaging structure 22 is relatively wide, even up to 360°, while the distance between the first detection mechanism 20 and the second detection mechanism 30 is small. Based on this, the rotation range of the second detection mechanism 30 around the second axis L2 can be constrained by the sliding fit between the second constraint groove 31212 and the second constraint member, and by the arc-shaped extension length of the second constraint groove 31212, so as to prevent the risk of the second detection mechanism 30 colliding with the first detection mechanism 20 due to excessive rotation.

[0107] Please see Figure 1 , Figure 2 In some embodiments of this application, the inspection mechanism further includes a lidar 40, which is mounted on the support platform 10 and located on the side of the first inspection mechanism 20 away from the second inspection mechanism 30.

[0108] By adopting the above solution, the inspection agency can enhance its environmental perception and positioning navigation capabilities through the LiDAR 40. Specifically, the LiDAR 40 can scan the surrounding environment by emitting laser beams to quickly generate a high-precision 3D point cloud map, accurately reconstructing the spatial structure of the inspection area (such as the pipeline layout of the outer ring corridor of the nuclear island, the boundaries of narrow spaces, etc.), providing detailed environmental data support for the inspection robot. Furthermore, combined with the 3D point cloud map, the LiDAR 40 can also perceive the inspection robot's own position and the distribution of surrounding obstacles in real time, assisting the inspection robot in achieving autonomous positioning, obstacle avoidance, planning inspection paths, and automatic inspection. Especially in scenarios with irregular pipeline layouts and narrow spaces, such as the outer ring corridor of the nuclear island, it can improve the flexibility and reliability of the inspection robot's movement. As a result, the inspection agency can improve the detection accuracy and operational reliability in high-pressure and complex spatial scenarios of the nuclear island, meeting the needs of comprehensive and efficient inspection in the overall containment pressure test.

[0109] By adopting the above scheme, the overall layout of the lidar 40, the first detection mechanism 20, and the second detection mechanism 30 can be optimized by placing the lidar 40 on the side of the first detection mechanism 20 away from the second detection mechanism 30. Based on this, on the one hand, the lidar 40 can be located at the foremost side of the inspection mechanism (e.g., Figure 1 As shown, the side located in the positive direction of the X-axis is defined as the front (corresponding to the forward direction of the inspection mechanism), which facilitates the scanning and mapping of the lidar 40; on the other hand, it allows the lidar 40 to avoid the activity space between the audio-visual device 32 and the imaging structure 22, which can reduce the interference and interference of the lidar 40 on the movement of the audio-visual device 32 and the imaging structure 22, make full use of the space of the support platform 10, and facilitate the compact structure and miniaturization of the inspection mechanism.

[0110] Please see Figure 1 , Figure 2 In some embodiments of this application, the inspection mechanism further includes at least one transmission antenna 50, the imaging structure 22 is signal-connected to at least one transmission antenna 50, and the audio-visual device 32 is signal-connected to at least one transmission antenna 50.

[0111] The transmission antenna 50 may be provided in one or more ways. When there are multiple transmission antennas 50, the multiple transmission antennas 50 may transmit signals of different types, such as WiFi signals (wireless network signals, which are short-range wireless local area network technology signals based on the IEEE 802.11 series of protocols), 4G signals (fourth-generation mobile communication technology signals), 5G signals (fifth-generation mobile communication technology signals), etc.

[0112] Specifically, based on the signal type of the imaging structure 22, the imaging structure 22 can be connected to at least one transmission antenna 50 that matches its own signal type to achieve detection data transmission. Similarly, based on the signal type of the audio-visual unit 32, the audio-visual unit 32 can be connected to at least one transmission antenna 50 that matches its own signal type to achieve detection data transmission. Similarly, based on the signal type of the lidar 40, the lidar 40 can be connected to at least one transmission antenna 50 that matches its own signal type to achieve scanning data transmission.

[0113] By adopting the above scheme, the imaging structure 22, the audio-visual device 32 (and possibly the lidar 40) can be connected to the transmission antenna 50 that matches their own signal type to achieve data transmission. Based on this, the inspection agency can have a stable and efficient data transmission capability, and can transmit various types of data (image information, audio-visual information, scan data, etc.) in a stable and efficient manner. This can improve the stability and relevance of data transmission, reduce mutual interference between signals from different devices during transmission, reduce data loss or transmission delays, enhance the real-time performance and remote controllability of inspection work, and facilitate staff to view information such as abnormal temperature areas and leak points in real time in a safe area, promptly judge the inspection situation, and issue adjustment instructions to the inspection agency and inspection robot, thereby improving the response speed of inspection work and the reliability of remote control.

[0114] Please see Figure 1 , Figure 2 Some embodiments of this application provide an inspection robot, including a robot body 60 and an inspection mechanism provided in the embodiments of this application, the inspection mechanism being installed on the robot body 60.

[0115] The inspection mechanism's support platform 10 is installed on the robot body 60, which can drive the inspection mechanism to move in order to complete the inspection work.

[0116] In some embodiments, the robot body 60 may include an ultrasonic sensor. By emitting and receiving ultrasonic signals, the ultrasonic sensor can detect the distance between the robot body 60 and surrounding obstacles (such as pipes, walls, equipment, etc. in the inner corridor of the nuclear island) in real time. This enhances the inspection robot's environmental perception and obstacle avoidance capabilities, improves its mobility, and allows it to adapt to scenarios with irregular pipe layouts and confined spaces, such as the outer corridor of the nuclear island. The ultrasonic sensor can work in conjunction with other navigation components (such as LiDAR 40) to provide the inspection robot with distance data of the surrounding environment, helping it accurately determine its own position and optimize its travel path; that is, it can assist in localization and path planning.

[0117] In some embodiments, the robot body 60 includes a control component for controlling the operation and movement of the robot body 60. The control component may be, but is not limited to, a microcontroller, microprocessor unit (MPU), microcontroller unit (MCU), digital signal processor (DSP), field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), etc.

[0118] In some embodiments, the robot body 60 includes a communication component for communicating with external systems to receive control signals or send detection results.

[0119] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An inspection mechanism, characterized in that, include: Platform; The first detection mechanism includes a first base and an imaging structure. The first base is mounted on the support platform, and the imaging structure is mounted on the side of the first base away from the support platform. The imaging structure is used to acquire image information. The second detection mechanism includes a second base and an audio-visual device. The second base is installed on the support platform and spaced apart from the first base. The audio-visual device is installed on the side of the second base facing away from the first base and is used for audio-visual detection.

2. The inspection mechanism as described in claim 1, characterized in that, The second base includes two support portions spaced apart along a first direction, and a mounting portion connected between the two support portions. The mounting portion is mounted on the bearing platform, and the audio-visual device is located between the mounting portion and the two support portions, and is mounted on the two support portions.

3. The inspection mechanism as described in claim 2, characterized in that, The audio-visual device is rotatably mounted on the two support portions about a first axis, which is parallel to the first direction.

4. The inspection mechanism as described in claim 3, characterized in that, The support portion is provided with a first protrusion, which is located on the side of the first axis close to the mounting portion. The first protrusion is provided with a first constraint groove, which extends arc-shaped around the first axis. The second base also includes an auxiliary component and two first constraint components. The auxiliary component extends between the two first protrusions and is securely connected to the audio-visual device. The two first constraint components are respectively connected to both ends of the auxiliary component and are slidably installed in the two first constraint grooves.

5. The inspection mechanism as described in claim 3, characterized in that, The support portion is provided with a first protrusion, which is located on the side of the first axis close to the mounting portion. The second base also includes an auxiliary component and a support component. The auxiliary component is connected between the two first protrusions, and the support component is connected to the auxiliary component. The end of the support component away from the auxiliary component abuts against the audio-visual device. The length of the support component from the auxiliary component to the audio-visual device is adjustable.

6. The inspection mechanism as described in claim 5, characterized in that, The auxiliary component includes a main body, a first connecting part, and a second connecting part. One end of the second connecting part is connected to the main body through the first connecting part, and the second connecting part is provided with a first connecting hole. The abutment is disposed between the main body and the second connecting part. The abutment is provided with an adjustment groove, which extends along the extension direction of the abutment and is through the groove in the depth direction. The second base also includes a first fastener and a first nut. The head of the first fastener stops at the opening of the adjustment groove away from the second connecting part. The nail part of the first fastener passes through the adjustment groove and the first connecting hole and is threadedly connected to the first nut.

7. The inspection mechanism as described in claim 5, characterized in that, The audio-visual device has a support groove on the side facing the support member, the extension direction of the support groove is perpendicular to the first axis, and the end of the support member abuts in the support groove.

8. The inspection mechanism as described in claim 5, characterized in that, The auxiliary component includes a main body, a shaft, and a protective film. The main body is connected between the two first protrusions and is cylindrical. The shaft is sleeved inside the main body and is rotatably connected between the two first protrusions. The main body has an opening in its cylindrical wall. The protective film has a fixed end and a free end. The fixed end of the protective film is fixedly connected to the shaft. The free end of the protective film extends from the opening to the outside of the main body. At least a portion of the protective film is wound around the outer periphery of the shaft.

9. The inspection mechanism as described in claim 8, characterized in that, The auxiliary component also includes a first driver, which is connected to the shaft portion and is used to drive the shaft portion to rotate in order to wind up or unwind the protective film.

10. The inspection mechanism as described in claim 9, characterized in that, The auxiliary component includes a counterweight, which is connected to the free end of the protective membrane and is located on the side of the audio-visual device with the sound wave output surface.

11. The inspection mechanism as described in claim 10, characterized in that, The audio-visual instrument has a sliding groove on one side with the sound wave output surface, and the counterweight is slidably disposed in the sliding groove.

12. The inspection mechanism as described in any one of claims 2-11, characterized in that, The mounting portion has a second protrusion at its center along the first direction. The second protrusion is rotatably mounted on the bearing platform around a second axis, which is perpendicular to the first direction.

13. The inspection mechanism as described in claim 12, characterized in that, The second protrusion is provided with a second constraint groove, which extends arcuately around the second axis. The bearing platform is provided with a second constraint member, which is slidably installed in the second constraint groove.

14. The inspection mechanism as described in any one of claims 1-11, characterized in that, The imaging structure is rotatably mounted on the first base about a third axis, the third axis being perpendicular to the side of the first base away from the support platform; And / or, the inspection mechanism further includes a lidar, which is installed on the support platform and located on the side of the first inspection mechanism away from the second inspection mechanism; And / or, the inspection mechanism further includes at least one transmission antenna, the imaging structure is signal-connected to at least one of the transmission antennas, and the audio-visual device is signal-connected to at least one of the transmission antennas.

15. An inspection robot, characterized in that, It includes a robot body and an inspection mechanism as described in any one of claims 1-14, wherein the inspection mechanism is mounted on the robot body.

Images