Helium leakage source positioning and radioactivity detection device and detection method

Abstract

The invention discloses a helium leakage source positioning and radioactivity detection device and method, and the device comprises a moving trolley. The shielding platform is arranged on the moving trolley and can incline and rotate relative to the moving trolley; the detection assembly is arranged on the shielding platform, the detection assembly comprises a gas detector and two ray detectors, the detection directions of the two ray detectors and the detection direction of the gas detector are arranged in a pairwise orthogonal mode in a three-dimensional space, and the detection direction of the gas detector faces the length direction or the width direction of the shielding platform. Therefore, the radioactive detection task can be screened and executed in a large range, and the position of the leakage source can be finely positioned. The design not only solves the limitation that a fixed detection system can only realize regional alarm and cannot accurately lock a specific leakage point location, but also effectively overcomes the defects of inaccurate positioning, poor accessibility and the like in a manual inspection process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of helium detection, and in particular to a device and method for locating a helium leakage source and detecting radioactivity. BACKGROUND

[0002] A high-temperature gas-cooled reactor uses helium as a coolant. Helium has advantages such as inertness and difficulty in activation, but its molecules are small and have strong permeability, and the pressure boundary of the loop is prone to leakage. Once a leak occurs, helium will carry activated radioactive graphite dust, and then form radioactive airborne effluent, which poses a potential threat to the environmental safety of the plant and the health of personnel.

[0003] Currently, nuclear power plants detect such leakage mainly by fixed radiation monitoring systems and manual handheld inspection. The fixed monitor can only provide regional alarm information, but cannot accurately locate the specific position of the leakage source. Manual inspection has the disadvantages of poor accessibility, low and inaccurate positioning efficiency. SUMMARY

[0004] The present application aims to at least partially solve one of the technical problems in the related art.

[0005] To this end, one object of the present application is to provide a device and method for locating a helium leakage source and detecting radioactivity, which can both perform a radioactivity detection task and precisely locate the position of the leakage source. This design not only solves the limitation of the fixed detection system that can only achieve regional alarm and cannot accurately lock the specific leakage point, but also effectively overcomes the problem of inaccurate positioning and poor accessibility in the manual inspection process.

[0006] To achieve the above object, the present application provides a device for locating a helium leakage source and detecting radioactivity, comprising: a mobile trolley configured to remotely and remotely walk; a shielding platform arranged on the mobile trolley and capable of tilting and rotating relative to the mobile trolley; a detection assembly arranged on the shielding platform for obtaining detection data of helium leakage and radioactivity intensity, the detection assembly comprising a gas detector and two radiation detectors, wherein the detection directions of the two radiation detectors and the detection direction of the gas detector are orthogonally arranged in three-dimensional space, and the detection direction of the gas detector is directed to the length direction or the width direction of the shielding platform; A controller is arranged inside the mobile trolley and connected with the radiation detector, the gas detector and the mobile trolley, used for calculating the position data of the leakage source according to the acquired detection data and a built-in positioning algorithm based on three-dimensional dose field inverse problem analysis; A remote monitoring terminal is in communication connection with the mobile trolley and the controller, used for receiving the detection data and the position data in real time and sending control instructions.

[0007] The helium leakage source positioning and radioactivity detection device of the application sends a mobile control instruction through the remote monitoring terminal, controls the mobile trolley to walk along a preset path, and at the same time, opens the detection assembly to scan along the way during the movement, breaks through the safety limit of manual inspection, realizes the operation without personnel intervention in the high-risk area, completely solves the problems of unreachability and high radiation risk, and improves the intelligent operation and maintenance level of the nuclear power plant.

[0008] By controlling the rotation of the shielding platform relative to the mobile trolley, and at the same time, the shielding platform has a certain inclination angle relative to the mobile trolley, the pitch direction of the detection assembly is changed, a three-dimensional inclined detection cone is formed to cover the space outside the horizontal plane, and the rotation state is adjusted to drive the inclined detection assembly to realize circumferential scanning, so as to reduce the detection dead angle of hidden areas such as narrow gaps and the bottom of the pipeline. The controller receives the detection data transmitted by the radiation detector and the gas detector, calls the built-in positioning algorithm based on three-dimensional dose field inverse problem analysis, processes the detection data, and reverses the point with the maximum radiation intensity by solving the spatial gradient of the radiation field intensity, to generate the position data of the leakage source corresponding to the point. The remote monitoring terminal is in communication connection with the mobile trolley and the controller, receives the radioactivity intensity detection data, the helium concentration detection data and the leakage source position data in real time, provides data support for intelligent nuclear power, and operation and maintenance personnel can develop a detailed maintenance plan according to the positioning information, greatly shortens the troubleshooting and maintenance time, and effectively controls the radiation leakage. Therefore, the scheme can not only screen a large range and perform a radioactivity detection task, but also finely position the leakage source position. This design not only solves the limitation that the fixed detection system can only realize regional alarm and cannot accurately lock the specific leakage point, but also effectively overcomes the problems of inaccurate positioning and poor accessibility in the process of manual inspection.

[0009] In addition, the helium leakage source positioning and radioactivity detection device according to the above application can have the following additional technical features: Specifically, three independent and separate shielding chambers are arranged on the shielding platform, and two radiation detectors and the gas detector are arranged in the corresponding shielding chambers, respectively, for shielding and separating the radiation detectors and the gas detector from each other.

[0010] Specifically, the shielding platform comprises a support table, two lead blocks and two L-shaped lead plates; Two of the lead plates are arranged side by side on the support table, and an L-shaped mounting cavity is formed between the two lead plates and the support table. Two of the lead blocks are arranged in the mounting cavity, and the two lead blocks are arranged orthogonally near the corners of the mounting cavity to divide the mounting cavity into three independent shielding chambers.

[0011] Specifically, the mobile trolley comprises a four-wheel omnidirectional mobile chassis and a battery module. The four-wheel omnidirectional mobile chassis is internally provided with a containing cavity, and the four-wheel omnidirectional mobile chassis is configured to be able to remotely and remotely walk. The battery module and the controller are arranged in the containing cavity, and the battery module is configured to supply power to the controller, the four-wheel omnidirectional mobile chassis, the ray detector and the gas detector, respectively.

[0012] Specifically, it further comprises a first driving base, the first driving base is arranged on the mobile trolley, the first driving base is connected with the shielding platform, and the support table is arranged obliquely relative to the first driving base, and the first driving base is configured to drive the shielding platform to rotate.

[0013] Specifically, the first driving base comprises a first housing, a first supporting rod and a first driving component. The first housing is arranged on the mobile trolley. The first supporting rod is rotationally connected with the first housing, one end of the first supporting rod is arranged in the interior of the first housing and connected with the first driving component arranged in the first housing, the other end of the first supporting rod extends to the outside of the first housing and is connected with the support table, the support table is arranged obliquely relative to the first supporting rod, the first driving component is configured to drive the first supporting rod to rotate circumferentially, and the first driving component is connected with the controller and the battery module, respectively.

[0014] Specifically, it further comprises a second driving base, the second driving base is arranged on the mobile trolley, the second driving base is connected with the shielding platform, and the support table is arranged parallel or obliquely relative to the second driving base, and the second driving base is configured to drive the support table to rotate obliquely or circumferentially relative to the mobile trolley.

[0015] Specifically, the second driving base comprises a second housing, a second supporting rod, a base, a supporting frame, a gear transmission mechanism and two second driving components. The second shell is arranged on the moving trolley, and an opening is arranged on the second shell. The base is arranged in the second shell, and the base extends two reinforcing plates in the height direction of the second shell. The support frame is rotatably connected between the two reinforcing plates, the second support rod is fixedly connected with the support frame, one end of the second support rod is connected with the gear transmission mechanism, and the other end of the second support rod is arranged out through the opening and fixedly connected with the support table. The two second driving components are arranged on the base respectively, and the output shafts of the two second driving components penetrate through the corresponding reinforcing plates, the output shaft of one second driving component is fixedly connected with the support frame, and the output shaft of the other second driving component is rotatably connected with the support frame and connected with the gear transmission mechanism through the support frame, and the second driving components are connected with the controller and the battery module respectively.

[0016] Specifically, the moving trolley is provided with a touch display screen and a camera, the touch display screen is connected with the camera and the controller respectively, and the touch display screen and the camera are also connected with the battery module respectively.

[0017] The second aspect of the application provides a detection method for helium leakage source positioning and radioactivity detection, which is applied to the device of the first aspect and includes the following steps: The moving trolley is remotely controlled to move along a preset path; The detection data is collected by starting the detection assembly to scan along the path, and the detection data is sent to the controller; The controller processes the obtained detection data and sends the detection data to the remote monitoring terminal; If the operation and maintenance personnel find that the radiation level displayed on the remote monitoring terminal is increased, the moving trolley is remotely controlled to drive to the target position of the heat source radiation point; The controller obtains high-precision detection data at the target position in real time, and combines a positioning algorithm based on three-dimensional dose field inverse problem analysis to calculate the position data of the leakage source and send the position data to the remote monitoring terminal. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are incorporated into the specification and form a part of the specification, show embodiments consistent with the application, and together with the specification, serve to explain the principles of the application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, for those skilled in the field, other drawings can also be obtained based on these drawings without any creative effort.

[0020] Figure 1 A structural schematic diagram of a helium leakage source positioning and radioactivity detection device according to an embodiment of the present application; Figure 2 A structural schematic diagram of a helium leakage source positioning and radioactivity detection device according to an embodiment of the present application; Figure 3 A structural schematic diagram of a helium leakage source positioning and radioactivity detection device according to another embodiment of the present application; Figure 4 A partial structural schematic diagram of a second driving base according to an embodiment of the present application; Figure 5 A structural schematic diagram of a support frame according to an embodiment of the present application.

[0021] As shown in the figure: 1, mobile trolley; 11, four-wheel omnidirectional mobile chassis; 12, touch display screen; 13, camera; 2, shielding platform; 20, support table; 21, lead block; 22, lead plate; 210, cavity; 3, detection assembly; 30, radiation detector; 31, gas detector; 40, first driving base; 400, first shell; 401, first support rod; 41, second driving base; 410, second shell; 411, second support rod; 412, base; 413, support frame; 414, gear transmission mechanism; 415, second driving component; 4100, opening; 4121, reinforcing plate. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the following will further describe the solutions of the present application. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0023] In the following description, many specific details are set forth in order to fully understand the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the description are only some of the embodiments of the present application, not all the embodiments.

[0024] The device for helium leakage source positioning and radioactivity detection according to the embodiment of the present application is described below in combination with the accompanying drawings.

[0025] As shown in Figure 1 and Figure 2 , the device for helium leakage source positioning and radioactivity detection according to the first aspect of the embodiment of the present application can include a mobile trolley 1, a shielding platform 2, a detection assembly 3, a controller (not shown in the figure), and a remote monitoring terminal (not shown in the figure).

[0026] The mobile trolley 1 is configured to be able to remotely and remotely walk, which means that the detection assembly 3 can be driven by the mobile trolley 1 to enter a high-risk area for operation through remote control. Compared with manual inspection, it can not only break through the personnel safety limit to enter the high-risk environment, but also effectively make up for the limitations of manual inspection in terms of coverage range, operation time, and data acquisition accuracy in dangerous scenes, greatly improving the inspection efficiency and safety of high-risk areas, and making the accessibility better.

[0027] The shielding platform 2 is arranged on the mobile trolley 1 and can be tilted and rotated relative to the mobile trolley 1. The detection assembly 3 is arranged on the shielding platform 2 and is used to obtain detection data of helium leakage and radioactivity intensity.

[0028] It can be understood that, since the shielding platform 2 is tilted relative to the mobile trolley 1, the detection pitch angle of the detection assembly 3 is changed. At this time, the detection direction of the detection assembly 3 will form an inclined cone in the three-dimensional space, and the cone will have a projection component in the vertical direction, so that the detection range can be expanded to the three-dimensional space outside the horizontal plane. When the shielding platform 2 is rotated relative to the mobile trolley 1, the detection assembly 3 in the tilted state can be driven to rotate circumferentially. During the rotation, the inclined beam has a slanting scanning characteristic, which can effectively cover narrow gaps, areas under pipes and other hidden areas that are difficult to reach by horizontal scanning, greatly expanding the spatial coverage range of the detection system and effectively reducing the existence of dead angles.

[0029] The detection assembly 3 includes a gas detector 31 and two radiation detectors 30. The gas detector 31 is used to detect helium, and the radiation detector 30 is used to detect the intensity of radioactive substances. The radioactivity intensity is represented by the count rate (the number of pulses of γ rays received in a unit of time), and the helium concentration is represented by the dose rate (the radiation dose in a unit of time, which is positively correlated with the count rate). Preferably, the radiation detector 30 is a lanthanum bromide or cerium chloride scintillator detector, which has high energy resolution, high detection efficiency and radiation resistance, can better distinguish different radioactive nuclides, and is suitable for long-term work in a strong radiation field.

[0030] The detection directions of the two ray detectors 30 and the detection direction of the gas detector 31 are arranged orthogonally in pairs in a three-dimensional space, and the detection direction of the gas detector 31 is directed towards the length direction or the width direction of the shielding platform 2, that is, the two ray detectors 30 and the gas detector 31 jointly construct a three-dimensional (covering X-axis, Y-axis and Z-axis) detection array, and the detection direction of the gas detector 31 is directed towards the length direction (X-axis) or the width direction (Y-axis) of the shielding platform 2, which means that one ray detector 30 is distributed in the height (Z-axis) direction, and the other ray detector 30 is distributed in the width direction or the length direction different from the gas detector 31.

[0031] The controller is arranged in the mobile trolley 1 and is connected with the ray detector 30, the gas detector 31 and the mobile trolley 1, and is used for calculating the position data of the leakage source according to the acquired detection data and the built-in positioning algorithm based on three-dimensional dose field inverse problem analysis, wherein the controller can be connected with the ray detector 30, the gas detector 31 and the mobile trolley 1 in a wired or wireless manner, for example, a communication wire is used to realize stable data transmission, or a wireless communication technology such as Bluetooth connection is used to break away from the cable bondage and improve the flexibility of system layout. Reasonable selection can be made according to actual application scene and demand.

[0032] Specifically, the controller is built-in with a positioning algorithm based on three-dimensional dose field inverse problem analysis, and combines with real-time received detection data (count rate or dose rate data) to inversely deduce the point with the maximum radiation intensity, that is, the most possible position of the leakage source, by solving the spatial gradient of the radiation field intensity, so as to realize the localization of the leakage point.

[0033] The remote monitoring terminal is connected with the mobile trolley 1 and the controller in communication, and is used for receiving detection data and position data and sending control instructions in real time, wherein the remote monitoring terminal can be a computer, a platform, a mobile phone or other terminal processing equipment, and the mobile trolley 1 and the controller are built-in with a communication module, and establish encrypted data communication with the remote monitoring terminal through Wi-Fi6 / 5G wireless network, so that the operator can view the detection data and the position data in real time and send control instructions through the remote monitoring terminal, wherein the control instructions can include instructions such as controlling the mobile trolley 1 to move, and the ray detector 30 and the gas detector 31 to start / stop detection.

[0034] Specifically, the mobile control instruction is sent through the remote monitoring terminal to control the mobile trolley 1 to walk along the preset path, and at the same time in the moving process, the detection assembly 3 is started to scan along the way, which breaks through the safety limit of manual inspection, realizes the non-personnel intervention operation in the high-risk area, and completely solves the problems of unattainable personnel and high radiation risk, and improves the intelligent operation and maintenance level of the nuclear power plant.

[0035] According to the spatial structure of the target area (such as pipeline layout, equipment gap, etc.), by controlling the rotation of the shielding platform 2 relative to the mobile trolley 1, and at the same time the shielding platform 2 has a certain inclination angle relative to the mobile trolley 1, the pitch direction of the detection assembly 3 is changed, a three-dimensional inclined detection cone is formed to cover the space outside the horizontal plane, and the rotation state is adjusted to drive the inclined detection assembly 3 to realize circumferential scanning, thereby reducing the dead angle of detection in narrow gaps, under pipes and other hidden areas.

[0036] The two radiation detectors 30 and one gas detector 31 in the detection synchronously collect the radioactivity intensity detection data (represented by count rate) and the helium concentration detection data (represented by dose rate) on the way to the controller, and send them to the remote monitoring terminal after being processed by the controller. If the remote monitoring terminal shows that the radiation level is rising, then the mobile trolley 1 is controlled to drive towards the heat source radiation point.

[0037] The controller receives the detection data transmitted by the radiation detector 30 and the gas detector 31, calls the built-in positioning algorithm based on the inverse problem analysis of the three-dimensional dose field, processes the detection data, and by solving the spatial gradient of the radiation field intensity, the point with the maximum radiation intensity is deduced, and the corresponding leakage source position data is generated.

[0038] The remote monitoring terminal receives the radioactivity intensity detection data, the helium concentration detection data and the leakage source position data in real time through the communication connection with the mobile trolley and the controller, automatically records the whole process data, which can be used for trend analysis, leakage prediction and power station state evaluation, and provides data support for smart nuclear power; at the same time, according to the received data, the mobile trolley 1 is sent walking adjustment instructions, or the detection assembly 3 is sent start-stop detection instructions, and finally the helium leakage source is confirmed based on the leakage source position data, the positioning and detection process is completed, and the maintenance personnel can formulate detailed maintenance scheme according to the positioning information, which greatly shortens the troubleshooting and maintenance time, and effectively controls the radiation leakage.

[0039] Therefore, the scheme can not only perform radioactivity detection tasks on a large scale, but also finely position the leakage source position. This design not only solves the limitation of the fixed detection system that can only realize regional alarm and cannot accurately lock the specific leakage point, but also effectively overcomes the problems of inaccurate positioning and poor accessibility in manual inspection.

[0040] In an embodiment of the present application, as Figure 2As shown in the figure, three independent shielding chambers 210 are arranged on the shielding platform 2, and two radiation detectors 30 and a gas detector 31 are arranged in the corresponding shielding chambers 210, respectively, so as to shield and separate the radiation detectors 30 and the gas detector 31 from each other, and to make the radiation detectors 30 and the gas detector 31 independent of each other during operation, thereby improving the accuracy of detection.

[0041] Specifically, as shown in the figure, Figure 2 The shielding platform 2 includes a support table 20, two lead blocks 21 and two L-shaped lead plates 22, wherein the two lead plates 22 are arranged side by side on the support table 20, and an L-shaped mounting cavity is formed between the two lead plates 22 and the support table 20, and the two lead blocks 21 are arranged in the mounting cavity, and the two lead blocks 21 are arranged orthogonally near the corners of the mounting cavity, so as to divide the mounting cavity into three independent shielding chambers 210.

[0042] In the above scheme, high-purity lead plates 22 and lead blocks 21 are embedded between the radiation detectors 30 and the gas detector 31. Lead can effectively absorb gamma photons, thereby greatly reducing the crosstalk between the detectors. When one detector faces the radiation source, the other detectors mainly receive the radiation that has been shielded and scattered, which ensures the independence of each detector reading and provides reliable data for accurate calculation of spatial gradients, thereby greatly reducing the crosstalk between the detectors.

[0043] In one embodiment of the present application, as shown in the figure, Figure 1 The mobile trolley 1 includes a four-wheel omnidirectional mobile chassis 11 and a battery module, wherein the four-wheel omnidirectional mobile chassis 11 is internally provided with a containing cavity, and is configured to be able to remotely and remotely walk, the battery module and the controller are arranged in the containing cavity, respectively, and the battery module is configured to supply power to the controller, the four-wheel omnidirectional mobile chassis 11, the radiation detector 30 and the gas detector 31, respectively.

[0044] It should be noted that the four-wheel omnidirectional mobile chassis 11 includes a drive system, a bearing and protection structure, a control and communication system, and each module cooperates to realize the walking and function integration of the chassis, wherein the drive system includes: 4 groups of omnidirectional wheels, each group of wheels adopts a Mcmaster wheel or an Omi wheel structure. 4 groups of wheels are arranged in a diagonal line, and through the forward and reverse rotation combination of different wheels (such as forward rotation of left front / right rear wheels and reverse rotation of right front / left rear wheels), four omnidirectional motion modes of straight line, lateral movement, oblique line and 360° rotation in place can be realized, which is suitable for flexible movement in narrow space (such as equipment gap), and each group of wheels corresponds to an independent drive unit, which includes a "DC servo motor / stepper motor + planetary reduction mechanism + encoder". The motor provides power, the reduction mechanism reduces the speed and increases the torque, and the encoder collects the wheel speed and angle data in real time and feeds back to the control system to accurately control the moving speed and position.

[0045] The bearing and protection structure comprises a chassis body frame, which is designed with corrosion resistance, and an accommodating cavity is arranged inside the chassis body frame.

[0046] The control and communication system comprises an industrial-grade MCU (such as an STM32 series) or a PLC as a core control unit, integrates a Wi-Fi6 or 5G communication module (matching a remote monitoring terminal), supports encrypted data transmission (to avoid interference or theft of instructions), receives instructions such as "walking direction, speed, and stop" sent by the remote terminal and transmits them to the chassis main control module, and simultaneously transmits real-time state data (such as power and motor temperature) of the chassis to the remote terminal to realize two-way communication.

[0047] In addition, the battery module is configured to supply power to the controller, the four-wheel omnidirectional mobile chassis 11, the ray detector 30, and the gas detector 31 respectively, so as to ensure the continuous and long-time operation of the electrical components and avoid the disconnection caused by connecting the mains power supply with wires.

[0048] In the above scheme, the operation and maintenance personnel can send control instructions (forward, backward, rotate, or walk according to a preset path) to the four-wheel omnidirectional mobile chassis 11 through the remote monitoring terminal to control the four-wheel omnidirectional mobile chassis 11 to drive the detection assembly 3 to move and walk, thereby replacing the operation and maintenance personnel to enter the high-risk area (an area with high radiation) to perform detection.

[0049] In one embodiment of the present application, as shown in Figure 1 The device for positioning a helium leakage source and detecting radioactivity further comprises a first driving base 40 arranged on the mobile trolley 1, the first driving base 40 is connected with the shielding platform 2, and the supporting table 20 is arranged obliquely relative to the first driving base 40, and the first driving base 40 is configured to drive the shielding platform 2 to rotate.

[0050] In the above scheme, since the supporting table 20 is arranged obliquely relative to the first driving base 40, the detection assembly 3 is also arranged obliquely, and the first driving base 40 is controlled to drive the shielding platform 2 to rotate, so as to realize 360° rotation scanning detection of the detection assembly 3 and improve the detection range.

[0051] Specifically, as shown in Figure 1As shown, the first driving base 40 comprises a first housing 400, a first supporting rod 401 and a first driving component (not shown in the figure), wherein the first housing 400 is arranged on the mobile trolley 1; the first supporting rod 401 is rotationally connected with the first housing 400, one end of the first supporting rod 401 is arranged inside the first housing 400 and connected with the first driving component arranged inside the first housing 400, the other end of the first supporting rod 401 extends to the outside of the first housing 400 and is connected with the supporting table 20, the supporting table 20 is arranged obliquely relative to the first supporting rod 401, the first driving component is configured to drive the first supporting rod 401 to rotate circumferentially, and the first driving component is connected with the controller and the battery module respectively, wherein the first driving component can be a combination mechanism of a motor or a pneumatic cylinder and a gear, etc., as long as it can drive the first supporting rod 401 to rotate, which is not limited here and can be set according to actual conditions.

[0052] Specifically, the operation and maintenance personnel can send a control instruction to the controller through the remote monitoring terminal, and then the controller controls the first driving component to start running, and the first driving component drives the first supporting rod 401 to rotate circumferentially, so as to drive the detection assembly 3 to rotate through the supporting table 20 and perform 360° scanning detection.

[0053] In another embodiment of the present application, as shown in Figure 3 and Figure 4 , the device for locating helium leakage source and detecting radioactivity further comprises a second driving base 41, the second driving base 41 is arranged on the mobile trolley 1, the second driving base 41 is connected with the shielding platform 2, and the supporting table 20 is arranged parallel or obliquely relative to the second driving base 41, the second driving base 41 is configured to drive the supporting table 20 to rotate obliquely or circumferentially relative to the mobile trolley 1, wherein the oblique rotation refers to the front and back and left and right deviation swing, so as to change the pitch angle of the supporting table 20, that is, to change the detection angle of the detection assembly 3, and the circumferential rotation refers to the rotation around the Z axis, the second driving base 41 can drive the supporting table 20 to rotate obliquely or circumferentially relative to the mobile trolley 1, compared with the first driving base 40, the pitch angle of the detection assembly 3 can be actively adjusted, so that the detection angle range of the detection assembly 3 is larger.

[0054] Specifically, as shown in Figure 3 , Figure 4 and Figure 5As shown, the second driving base 41 comprises a second housing 410, a second supporting rod 411, a base 412, a supporting frame 413, a gear transmission mechanism 414 and two second driving components 415, wherein the second housing 410 is arranged on the mobile trolley 1, and the second housing 410 is provided with an opening 4100, the base 412 is arranged in the second housing 410, and the base 412 extends out two reinforcing plates 4121 in the height direction of the second housing 410, and the reinforcing plates 4121 can be designed in one piece with the base 412.

[0055] The supporting frame 413 is rotationally connected between the two reinforcing plates 4121, the second supporting rod 411 is fixedly connected with the supporting frame 413, one end of the second supporting rod 411 is connected with the gear transmission mechanism 414, and the other end of the second supporting rod 411 is arranged out through the opening 4100 and is fixedly connected with the supporting table 20.

[0056] The two second driving components 415 are arranged on the base 412 respectively, and the output shafts of the two second driving components 415 penetrate through the corresponding reinforcing plates 4121, the output shaft of one second driving component 415 is fixedly connected with the supporting frame 413, and the output shaft of the other second driving component 415 is rotationally connected with the supporting frame 413 and penetrates through the supporting frame 413 to be connected with the gear transmission mechanism 414, and the second driving components 415 are connected with the controller and the battery module respectively. Figure 5 The supporting frame 413 is composed of three fixed rings and two fixed frames, and one fixed frame is arranged between every two fixed rings, so that the fixed rings are arranged to facilitate the connection with the output shafts of the second driving components 415.

[0057] Specifically, the operation and maintenance personnel can send control instructions to the controller by means of the remote monitoring terminal, and the controller will independently control the two second driving components 415 after receiving the instructions. When the second driving component 415 fixedly connected with the supporting frame 413 is controlled to operate, the second driving component 415 will cooperate with the supporting frame 413 to drive the second supporting rod 411 to tilt and rotate, so as to actively adjust the pitch angle. When the second driving component 415 connected with the gear transmission mechanism 414 is controlled to operate, the second driving component 415 will cooperate with the gear transmission mechanism 414 to drive the second supporting rod 411 to rotate circumferentially. In this way, the pitch angle and the rotation angle of the detection assembly 3 can be flexibly adjusted, and the detection range is further expanded.

[0058] In an embodiment of the present application, as shown in Figure 1 The mobile trolley 1 is provided with a touch display screen 12 and a camera 13, the touch display screen 12 is connected with the camera 13 and the controller respectively, and the touch display screen 12 and the camera 13 are also connected with the battery module respectively.

[0059] In the above scheme, the touch display screen 12 can be selected as an anti-glare, anti-radiation industrial touch display screen, the touch display screen 12 can be used as a human-computer interaction interface to issue control instructions to the controller, and can also display three-dimensional coordinate graphs, radiation intensity curves, and mobile trolley 1 state (power, speed, position) information in real time, and can also display the picture taken by the camera 13.

[0060] In addition, the camera 13 can also send data to the controller, and send real-time shooting data to the remote monitoring terminal through the communication module in the controller, and the operator can receive real-time video on the remote monitoring terminal and view.

[0061] The detection method for positioning a helium leakage source and detecting radioactivity in the second aspect of the embodiment of the present application is applied to the device described in the first aspect, and includes the following steps: The remote control mobile trolley 1 walks along the preset path. Specifically, the operation and maintenance personnel can demarcate the preset path through the digital map of the plant, and control the mobile trolley 1 to walk along the preset path through the remote monitoring terminal.

[0062] The detection data including the dose rate of the helium concentration and the count rate of the radioactivity intensity are collected and sent to the controller by starting the scanning of the detection assembly 3 along the way, and in the process of scanning along the way, the detection range can be expanded by controlling the shielding platform 2 in the inclined state to drive the detection assembly 3 to rotate relative to the mobile trolley 1, and the dose rate can be obtained by detecting the gas detector 31, and the count rate can be obtained by detecting the radiation detector 30.

[0063] The controller processes the obtained detection data and sends it to the remote monitoring terminal, which is convenient for the operation and maintenance personnel to view the on-site detection data through the remote monitoring terminal.

[0064] If the radiation level displayed on the remote monitoring terminal of the operation and maintenance personnel is increased, the remote control mobile trolley 1 is driven to the target position of the heat source radiation point, so as to more accurately obtain the detection data.

[0065] The controller obtains high-precision detection data at the target position in real time, and combines the built-in positioning algorithm based on three-dimensional dose field inverse problem analysis to calculate the position data of the leakage source and send it to the remote monitoring terminal, wherein the controller combines the received detection data and the built-in positioning algorithm based on three-dimensional dose field inverse problem analysis, and the position of the point with the maximum radiation intensity is back calculated by solving the spatial gradient of the radiation field intensity, and the position data of the leakage source corresponding to the point is generated, so as to generate the specific position of the leakage point, and the operation and maintenance personnel can formulate a detailed maintenance scheme according to the positioning information, greatly shorten the troubleshooting and maintenance time, and effectively control the radiation leakage.

[0066] Therefore, the scheme can not only perform radioactive detection task through wide range screening, but also finely position the leakage source position. The design not only solves the limitation of fixed detection system that can only realize regional alarm and cannot accurately lock specific leakage point, but also effectively overcomes the defects of inaccurate positioning and poor accessibility in manual inspection process.

[0067] It should be noted that, in this document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0068] The above description is merely that of the specific embodiments of the present application, making it possible for those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for locating and detecting radioactivity of a source of helium leakage, characterized in that, include: The mobile vehicle is configured to move remotely. A shielding platform is arranged on the mobile trolley and is capable of tilting and rotating relative to the mobile trolley; A detection component, mounted on the shielding platform, is used to acquire detection data on helium leakage and radioactivity intensity. The detection component includes a gas detector and two radiation detectors, wherein the detection directions of the two radiation detectors and the detection direction of the gas detectors are orthogonal to each other in three-dimensional space, and the detection direction of the gas detectors is oriented towards the length or width direction of the shielding platform. The controller, located inside the mobile vehicle and connected to the ray detector, the gas detector and the mobile vehicle, is used to calculate the location data of the leakage source based on the acquired detection data and the built-in positioning algorithm based on the three-dimensional dose field inverse problem analysis. The remote monitoring terminal is communicatively connected to the mobile vehicle and the controller, and is used to receive the detection data and the location data in real time and send control commands.

2. The apparatus for helium leak source localization and radioactivity detection of claim 1, wherein, The shielding platform is provided with three independently separated shielding chambers. The two radiation detectors and the gas detector are respectively installed in the corresponding shielding chambers to independently shield and separate the radiation detectors and the gas detectors.

3. The apparatus for helium leak source localization and radioactivity detection of claim 2, wherein, The shielding platform includes a support platform, two lead blocks, and two L-shaped lead plates; The two lead plates are arranged side by side on the support platform, and the two lead plates and the support platform enclose an L-shaped mounting cavity. Two lead blocks are respectively disposed in the mounting cavity, and the two lead blocks are arranged orthogonally near the corner of the mounting cavity to divide the mounting cavity into three independent shielding chambers.

4. The apparatus for helium leak source localization and radioactivity detection of claim 3, wherein, The mobile vehicle includes a four-wheel omnidirectional mobile chassis and a battery module; The four-wheel omnidirectional mobile chassis has an internal cavity and is configured to be remotely controlled to move. The battery module and the controller are respectively disposed in the receiving cavity, and the battery module is configured to supply power to the controller, the four-wheel omnidirectional chassis, the ray detector and the gas detector respectively.

5. The apparatus for helium leak source localization and radioactivity detection of claim 4, wherein, It also includes a first drive base, which is disposed on the mobile trolley and connected to the shielding platform. The support platform is arranged at an angle relative to the first drive base, and the first drive base is configured to drive the shielding platform to rotate.

6. The apparatus for helium leak source localization and radioactivity detection of claim 5, wherein, The first drive base includes a first housing, a first support rod, and a first drive component; The first housing is disposed on the mobile trolley; The first support rod is rotationally connected with the first shell, one end of the first support rod is arranged inside the first shell and connected with the first driving component arranged in the first shell, the other end of the first support rod extends outside the first shell and is connected with the support table, the support table is arranged obliquely relative to the first support rod, and the first driving component is configured to drive the first support rod to rotate circumferentially, and the first driving component is connected with the controller and the battery module respectively.

7. The apparatus for helium leak source localization and radioactivity detection of claim 4, wherein, The second driving base is further arranged on the moving trolley, the second driving base is connected with the shielding platform, and the support table is arranged parallel or obliquely relative to the second driving base, and the second driving base is configured to drive the support table to rotate obliquely or circumferentially relative to the moving trolley.

8. The apparatus for helium leak source localization and radioactivity detection of claim 7, wherein, The second driving base comprises a second shell, a second support rod, a base, a support frame, a gear transmission mechanism and two second driving components. The second shell is arranged on the moving trolley, and an opening is arranged on the second shell. The base is arranged in the second shell, and the base extends two reinforcing plates in the height direction of the second shell. The support frame is rotationally connected between the two reinforcing plates, the second support rod is fixedly connected with the support frame, one end of the second support rod is connected with the gear transmission mechanism, and the other end of the second support rod extends out through the opening and is fixedly connected with the support table. The two second driving components are arranged on the base respectively, the output shafts of the two second driving components penetrate through the corresponding reinforcing plates, the output shaft of one second driving component is fixedly connected with the support frame, and the output shaft of the other second driving component is rotationally connected with the support frame and connected with the gear transmission mechanism through the support frame, and the second driving components are connected with the controller and the battery module respectively.

9. The apparatus for locating and detecting radioactivity of a helium leak source according to any one of claims 4-8, wherein, A touch display screen and a camera are arranged on the moving trolley, the touch display screen is connected with the camera and the controller respectively, and the touch display screen and the camera are further connected with the battery module respectively.

10. A detection method for helium leak source localization and radioactivity detection, characterized in that, The device of any one of claims 1-9 comprises the following steps: The moving trolley is remotely controlled to move along a preset path; The detection data is collected and sent to the controller by starting the detection assembly to scan along the path; The controller processes the detection data and sends it to the remote monitoring terminal; If the operation and maintenance personnel find that the remote monitoring terminal displays an increased radiation level, the moving trolley is remotely controlled to drive to the target position of the heat source radiation point; The controller obtains high-precision detection data at the target position in real time, and calculates the position data of the leakage source by combining the built-in positioning algorithm based on three-dimensional dose field inverse problem analysis, and sends it to the remote monitoring terminal.

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