An automatic core photograph system for a nuclear reactor core after fueling

Abstract

The application discloses an automatic core photographing system for a nuclear power core after loading, comprising: a separate movable platform configured to move and stop along a first horizontal direction above a core pool independently of a loading and unloading machine; a position adjusting device arranged on the separate movable platform and used for providing movement adjustment in a second horizontal direction perpendicular to the first horizontal direction and height adjustment in a vertical direction; a rigid extension arm fixedly installed at an output end of the position adjusting device and extending towards the core; and a core photographing device installed at a distal end of the rigid extension arm away from the position adjusting device and used for collecting images of fuel assemblies. The application completely gets rid of the dependence on the loading and unloading machine, avoids the risk of equipment collision, can be installed in advance, shortens the occupation of a core photographing work on a key path of a major repair, and greatly improves the efficiency of the core photographing.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant refueling and maintenance technology, and in particular to an automatic core photography system for nuclear power reactors after refueling. Background Technology

[0002] Core photography is a crucial part of nuclear power plant safety monitoring. After fuel loading is completed, core photography equipment is used to verify whether the fuel assemblies are correctly positioned in the core. The traditional method is to judge this by observing the component identification number of the fuel assembly.

[0003] Currently, traditional reactor core photography typically uses underwater cameras to observe fuel assembly identification numbers. This underwater camera is lowered into the core pool via a long mast assembly, which is then suspended from an electric hoist on the refueling machine. The mast assembly is moved by the refueling machine and the electric hoist, allowing the underwater camera to move and rise above the reactor core. Operators must manually perform complex operations such as focusing, zooming, pan-tilt movement, and lighting adjustments to observe and identify the fuel assembly numbers.

[0004] This traditional method has the following significant drawbacks: (1) Reliance on critical path equipment: Core photography operations must rely on the refueling machine for movement and positioning. The movement of the refueling machine requires the cooperation of multiple operators, and its fixed sleeve is at risk of colliding with the core guide column. Since the camera device can only be installed after the refueling is completed, this operation will occupy the critical path time of the overhaul, affecting the overall maintenance efficiency and increasing the operating cost of the nuclear power plant.

[0005] (2) Inefficient and prone to errors: On-site work relies entirely on manual identification of component numbers, which takes a long time and is subject to human error risks such as misreading or missing due to visual fatigue or misjudgment. The confidence of the inventory results is difficult to guarantee. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automatic core photography system for nuclear power reactors after core loading.

[0007] The technical solution adopted by this invention to solve its technical problem is: to construct an automatic core photography system for nuclear power reactor cores after fuel loading, comprising: An independent mobile platform, configured to move and stop independently of the loading and unloading machine along the first horizontal direction above the core pool; A position adjustment device is provided on the independent mobile platform to provide movement adjustment in a second horizontal direction perpendicular to the first horizontal direction, and height adjustment in the vertical direction. A rigid extension arm is fixedly installed at the output end of the position adjustment device and extends toward the core. A core photography device is installed at the far end of the rigid extension arm, away from the position adjustment device, for acquiring images of fuel assemblies.

[0008] Furthermore, the independent mobile platform includes a platform body and at least two longitudinal drive mechanisms, with the two longitudinal drive mechanisms respectively located at opposite ends of the platform body; The longitudinal drive mechanism is configured to drive the platform body to move along the first horizontal direction.

[0009] Furthermore, the longitudinal drive mechanism includes a drive wheel and an anti-slip mechanism, the anti-slip mechanism being configured to apply a positive pressure perpendicular to its plane of travel to the drive wheel.

[0010] Furthermore, the anti-slip mechanism is an elastic pressing mechanism, which includes: An adjustment component is rotatably mounted on the platform body; An elastic element, the first end of which is linked to the adjusting component; A clamping element is connected to the second end of the elastic element; Rotating the adjusting component changes the compression of the elastic element, thereby driving the clamping component to press the drive wheel against its traveling plane.

[0011] Furthermore, the position adjustment device includes a lateral drive mechanism and a lifting device. The lateral drive mechanism is fixedly connected to the independent mobile platform and is used to provide movement adjustment in the second horizontal direction. The lifting device is fixedly connected to the output end of the lateral drive mechanism and is used to provide height adjustment in the vertical direction.

[0012] Furthermore, the lateral drive mechanism is a synchronous belt linear module, and / or the lifting device is a ball screw lifting module.

[0013] Furthermore, the automatic core photography system for nuclear power reactor core loading also includes a control system. The control system is communicatively connected to the independent mobile platform and the position adjustment device. It is used to plan a movement path according to a preset core coordinate system and fuel assembly layout, and to control the independent mobile platform and the position adjustment device to move automatically along the planned path to traverse all fuel assemblies to be inspected.

[0014] Furthermore, the control system is communicatively connected to the core imaging device, and is used to receive image data collected by the core imaging device, and automatically identify and compare the fuel assembly numbers in the images.

[0015] Furthermore, the automated core photography system for nuclear power reactor core loading also includes a visual positioning device, which is installed on the independent mobile platform and is used to obtain positioning reference information of the independent mobile platform.

[0016] Furthermore, the longitudinal drive mechanism and the lateral drive mechanism are respectively configured as electric drive and emergency manual drive, and the lifting device is configured as manual drive.

[0017] By implementing this invention, the following beneficial effects are achieved: The automated core photography system of this invention, used after fuel loading in nuclear power reactors, utilizes an independent mobile platform to carry the entire system, completely eliminating reliance on fuel loading / unloading machines and fundamentally removing the risk of collision between the fixed sleeve of the fuel loading / unloading machine and the core guide pillars. The system can be pre-installed and tested before fuel loading during major overhauls and can be put into operation immediately after loading is completed, reducing the time core photography work occupies the critical path of the overhaul and significantly shortening the overhaul period. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a schematic diagram of an automatic core photography system for nuclear power reactor core loading according to an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the integrated structure of the independent mobile platform and the position adjustment device; Figure 3 for Figure 2 A schematic diagram of the longitudinal drive mechanism in the diagram; Figure 4 for Figure 3 A schematic diagram of the anti-slip mechanism in the middle; Figure 5 for Figure 4 A schematic diagram of the anti-slip mechanism from another perspective; Figure 6 for Figure 2 A schematic diagram of the position adjustment device is shown, in which the lateral drive mechanism is not fully displayed; Figure 7 for Figure 6 A schematic diagram of the transverse drive mechanism in the diagram; Figure 8 for Figure 6 A schematic diagram of the lifting device in the diagram. Detailed Implementation

[0019] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] In the description of the invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention 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 the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or a chemical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] See Figures 1 to 8 One embodiment of the present invention discloses an automated core photography system for nuclear power reactors after fuel loading. The system is mounted above the core pool and is used to perform core photography and nuclear power reactor core inspection. The nuclear power reactor core inspection system includes an independent mobile platform 1, a position adjustment device 2, and a rigid extension arm 3.

[0023] The independent mobile platform 1 is configured to move and stop independently of the loading and unloading machine along a first horizontal direction above the core pool. A position adjustment device 2 is mounted on the independent mobile platform 1 to provide movement adjustment in a second horizontal direction perpendicular to the first horizontal direction, as well as vertical height adjustment. A rigid extension arm 3 is fixedly mounted on the output end of the position adjustment device 2 and extends towards the core. A core imaging device 4 is mounted at the far end of the rigid extension arm 3 away from the position adjustment device 2 to acquire images of the fuel assemblies. The core imaging device 4 and the rigid extension arm 3 are prior art and will not be described in detail here.

[0024] The independent mobile platform 1 serves as the foundation for the entire automated core photography system, enabling independent operation of the core photography space. The independent mobile platform 1 is set parallel to tracks laid on both sides of the water tank; this is the first horizontal direction, i.e., longitudinal movement and parking. The second horizontal direction refers to the lateral direction perpendicular to the first horizontal direction (longitudinal). Based on the coarse positioning in the first horizontal direction (longitudinal) by the independent mobile platform 1, the position adjustment device 2 is responsible for achieving precise displacement of the core photography device 4 in another orthogonal direction within the horizontal plane, i.e., the second horizontal direction (lateral), as well as its height adjustment in the vertical direction. The position adjustment device 2 and the independent mobile platform 1 together constitute a complete three-dimensional (X, Y, Z) motion system, where X refers to the first horizontal direction (longitudinal), Y refers to the second horizontal direction (lateral), and Z refers to the vertical direction. By separating the large-range movement (longitudinal) and precise positioning (lateral and vertical directions) functions into different modules, the optimization of motion accuracy and the modularization of the system structure are achieved. This enables the automated core photography system to quickly and stably align the core photography device 4 with each designated coordinate point in the fuel matrix of the core with high repeatability, providing a fundamental guarantee for high-quality image acquisition. The rigid extension arm 3 transmits and supports the precise positioning coordinates achieved by the position adjustment device 2 from the platform edge to the working end located in the core pool. The core photography device 4 is the core component that directly faces the fuel assemblies, responsible for acquiring high-quality optical images containing the component identification information of the fuel assemblies at designated locations.

[0025] This invention uses an independent mobile platform 1 to carry the entire automated core photography system, fundamentally eliminating the dependence on the loading and unloading machine, a critical path device. This allows core photography operations to be prepared in advance and carried out in parallel, shortening the time occupied by core photography work on the critical path of overhaul, significantly saving overhaul time, and completely avoiding the safety risk of collision between the loading and unloading machine's fixed sleeve and the core guide column.

[0026] Furthermore, such as Figure 2 As shown, in some embodiments, the independent mobile platform 1 includes a platform body 11 and at least two longitudinal drive mechanisms 12, which are respectively located at opposite ends of the platform body 11. The longitudinal drive mechanisms 12 are configured to drive the platform body 11 to move along a first horizontal direction. Each longitudinal drive mechanism 12 includes a drive wheel 121 and an anti-slip mechanism 122, which is configured to apply a normal force perpendicular to its plane of travel to the drive wheel 121.

[0027] The platform body 11 provides structural support. The longitudinal drive mechanism 12 provides longitudinal movement power. The anti-slip mechanism 122 ensures sufficient and stable friction between the drive wheel 121 and the track. Understandably, the longitudinal drive mechanism 12 can be configured for either electric or manual drive. For example, as... Figure 4 As shown, the motor 123 is connected to the drive wheel 121. Alternatively, in some other embodiments, a handwheel 223 is connected to the drive wheel 121 for driving, or a handrail can be provided for pushing.

[0028] Optionally, the anti-slip mechanism 122 is an elastic pressing mechanism, which includes an adjusting component, an elastic element, and a pressing element. The adjusting component is rotatably mounted on the platform body 11, the first end of the elastic element is linked to the adjusting component, and the pressing element is connected to the second end of the elastic element. Rotating the adjusting component changes the compression of the elastic element, thereby driving the pressing element to press the drive wheel 121 against its traveling plane.

[0029] In a preferred embodiment, such as Figures 3 to 5 As shown, the specific implementation of the elastic clamping mechanism is as follows, which is used to explain the adjusting component, elastic component and clamping component mentioned above: The elastic clamping mechanism includes a connecting plate 1221, a base 1222, an adjusting handle 1223, a fixing pin 1224, a spring 1225, a fixing frame 1226 and a clamping plate 1227.

[0030] In this embodiment, the adjustment component specifically comprises an adjustment handle 1223 and a fixing pin 1224 fixedly connected thereto. A connecting plate 1221 is fixedly connected to the platform body 11, and a base 1222 is fixedly mounted on the connecting plate 1221. The fixing pin 1224 is slidably inserted into a guide hole in the base 1222, and one end is fixedly connected to the adjustment handle 1223 via a thread. By manually rotating the adjustment handle 1223, the axial displacement of the fixing pin 1224 relative to the base 1222 can be precisely controlled. The adjustment component provides an intuitive and reliable manual operation interface for precisely setting and adjusting the downward pressure on the drive wheel 121.

[0031] The elastic element is specifically a spring 1225. This spring 1225 is sleeved on the fixing pin 1224 and located between the base 1222 and the fixing frame 1226. One end of the spring 1225 abuts against the inner surface of the base 1222, and the other end abuts against the fixing frame 1226. As the core component for storing and transmitting pressure, the elastic element converts the rotational displacement of the adjusting handle 1223 into an adjustable, elastic positive pressure.

[0032] The clamping component specifically comprises a fixed frame 1226 and a clamping plate 1227 linked thereto. The first end of the fixed frame 1226 is hinged to the base 1222 via a pin, allowing it to swing within a certain angle around the hinge point. The drive wheel 121 is mounted to the second end of the fixed frame 1226 via a bearing. The end of the fixing pin 1224 away from the adjusting handle 1223 is connected to the clamping plate 1227, providing an outer limit to prevent it from dislodging. The free end of the clamping plate 1227 is located above or in contact with the fixed frame 1226. As the final force transmission and actuation component, the clamping component converts the elastic force of the spring 1225 into a vertical normal force exerted by the drive wheel 121 on the traveling plane.

[0033] When it is necessary to increase the friction between the drive wheel 121 and the traveling surface, the operator rotates the adjusting handle 1223 clockwise. The adjusting handle 1223 drives the fixing pin 1224 to rotate inward into the base 1222, which in turn drives the clamping plate 1227 to move closer to the base 1222. The lower part of the clamping plate 1227 presses against the upper part of the fixing frame 1226, pushing the fixing frame 1226 to swing downward. Ultimately, the lower end of the fixing frame 1226, where the drive wheel 121 is installed, is pressed downward more forcefully, thereby significantly increasing the normal pressure between the drive wheel 121 and the traveling surface below, effectively preventing slippage. Conversely, rotating the adjusting handle 1223 counterclockwise releases the pressure.

[0034] Furthermore, such as Figure 6 As shown, the position adjustment device 2 includes a lateral drive mechanism 21 and a lifting device 22. The lateral drive mechanism 21 is fixedly connected to the independent movable platform 1 and is used to provide movement adjustment in the second horizontal direction. The lifting device 22 is fixedly connected to the output end of the lateral drive mechanism 21 and is used to provide height adjustment in the vertical direction. Understandably, the lateral drive mechanism 21 can be configured to be electrically driven or manually driven, and the same applies to the lifting device 22.

[0035] Optionally, the lateral drive mechanism 21 is a synchronous belt linear module, and / or the lifting device 22 is a ball screw 222 lifting module.

[0036] In a preferred embodiment, such as Figure 7As shown, the transverse drive mechanism 21 is a synchronous belt linear module. Specifically, the synchronous belt linear module consists of a slide plate 211, a guide rail slider module 212, a drive motor module 213, a synchronous belt 214, a tensioning wheel 215, a synchronous pulley 216, a stop block 217, and a pressure block 218. The slide plate 211 is fixed to the slide of the guide rail slider module 212 by screws. The guide rail slider module 212 is fixed to the platform body 11 by screws. The drive motor module 213 is fixed to the platform body 11 by screws. The synchronous belt 214 is installed between the drive motor module 213 and the tensioning wheel 215. The lifting device 22 is welded to the slide plate 211 by reinforcing ribs. The tensioning wheel 215 is installed on the platform body 11 by screws. The synchronous wheel 216 and the drive motor module 213 are provided with bearings to ensure their relative positional relationship. The stop block 217 is welded to the guide rail slider module 212 for mechanical limiting of the slide. The pressure block 218 presses the synchronous belt 214 tightly by screws and is connected to the slide plate 211 by screws. The drive motor module 213 drives the synchronous wheel 216 to rotate, thereby driving the synchronous belt 214 to rotate. The synchronous belt 214 drives the pressure block 218 to move, thereby realizing the lateral movement of the slide plate 211, and thus realizing the lateral movement of the core photography device 4.

[0037] In another preferred embodiment, such as Figure 8 As shown, the lifting device 22 is a ball screw 222 lifting module, specifically implemented as follows: the ball screw 222 lifting module comprises a support plate 221, a ball screw 222, a handwheel 223, an end plate 224, and a locking mechanism 225. The support plate 221 is welded to the platform body 11 on the slide plate 211 of the transverse moving mechanism 21 via ribs. The end plate 224 is fixed to the support plate 221 with screws. The ball screw 222 is positioned between the two end plates 224. The handwheel 223 is fixed to the ball screw 222 with screws, and the locking mechanism 225 is fixed to the ball screw 222 with screws. The operator, standing on the platform body 11, can adjust the position of the slider in the ball screw 222 by rotating the handwheel 223, thereby precisely adjusting the water depth of the rigid extension arm 3 and the core imaging device 4 to adapt to the top height of different fuel assemblies or obtain the optimal shooting focal length.

[0038] Furthermore, in some embodiments, the automated core photography system for nuclear power reactor cores after loading also includes a control system. The control system is communicatively connected to the independent mobile platform 1 and the position adjustment device 2. It plans a movement path according to a preset core coordinate system and fuel assembly layout, and controls the independent mobile platform 1 and the position adjustment device 2 to automatically move along the planned path to traverse all fuel assemblies to be inspected. This transforms the complex process, which originally required multiple operators to coordinate and operate the loading and unloading machines based on experience, into a standardized, programmed operation controlled by a program. This significantly reduces manual intervention, improves operation speed and consistency, and enables automated operation, greatly improving work efficiency and reducing labor costs. The control system is not the focus of this invention and can be implemented using existing technology; therefore, it will not be elaborated upon here.

[0039] Furthermore, in some embodiments, the control system is communicatively connected to the core imaging device 4 to receive image data collected by the core imaging device 4 and automatically identify and compare the fuel assembly numbers in the images. The control system can transform manual visual inspection into automatic machine identification, which is not only extremely fast but also avoids misjudgments and omissions caused by human eye fatigue and distraction, significantly improving the accuracy and confidence of inventory results. It can also automatically generate electronic reports for easy archiving, traceability, and review. The control system runs image processing and recognition software that can preprocess, locate, and extract component identification characters from the fuel assemblies, completing automatic identification. The identified component identification numbers are automatically compared with the theoretical component identification numbers in the preset layout diagram. If there is a discrepancy, the system will issue an alarm to promptly remind personnel, record the comparison results, and generate a final core loading confirmation report. The image processing and recognition software can use existing technology, which will not be elaborated here.

[0040] Furthermore, such as Figure 1 As shown, in some embodiments, the automated core photography system for nuclear power reactors after fuel loading also includes a visual positioning device 5. The visual positioning device 5 is mounted on the independent mobile platform 1 and is used to acquire positioning reference information of the independent mobile platform 1. The visual positioning device 5 provides a visual auxiliary positioning method to help the system or operator establish a global position reference. For example, the visual positioning device 5 may be at least one downward-facing monitoring camera, which can be used to assist operators in observing the approximate position of the independent mobile platform 1 relative to the core edge or a specific reference mark, providing initial positioning reference information for the automated core photography system, and continuously monitoring the position of the core photography device 4. It can communicate with the control system to provide positioning information and assist in positioning.

[0041] When the automated core imaging system is in operation, the control system implements control based on feedback. First, it completes initial positioning based on feedback from the visual positioning device 5 or manual settings. Then, following a preset path algorithm, it sends movement commands to the longitudinal drive mechanism 12, moving the platform approximately above the row containing the target fuel assembly. Next, it controls the lateral drive mechanism 21 to move, precisely positioning the core imaging device 4 to the target row. Finally, at the imaging point, the core imaging device 4 completes image acquisition and uploads it. After the image is automatically identified and compared with the component identification number of the fuel assembly, the result is recorded, and the core imaging device 4 is then moved to the next location until all fuel assemblies have been traversed.

[0042] By implementing this invention, the following beneficial effects are achieved: The automated core photography system of this invention, used after fuel loading in nuclear power reactors, utilizes an independent mobile platform 1 to support the entire system, completely eliminating reliance on fuel loading / unloading machines and fundamentally removing the risk of collision between the fixed sleeve of the fuel loading / unloading machine and the core guide pillars. The system can be pre-installed and tested before fuel loading during major overhauls and can be put into operation immediately after loading is completed, reducing the time core photography work occupies the critical path of the overhaul and significantly shortening the overhaul period. Furthermore, through the control system, which is communicatively connected to the independent mobile platform 1, the position adjustment device 2, the core photography device 4, and the visual positioning device 5, it can preprocess images, locate and extract serial numbers from fuel assemblies, achieving automatic identification and replacing the manual identification of existing technologies, thus improving on-site work efficiency.

[0043] The mobile platform 1 of the present invention can also be used to place shoe uppers during loading and to open / close pressure vessel covers, thereby avoiding the need for multiple disciplines to hoist small bridges back and forth.

[0044] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that for those skilled in the art, the above embodiments or technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present invention. These all fall within the protection scope of the present invention. That is, the embodiments described "in some embodiments" can be freely combined with any of the embodiments above and below. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. An automated core photography system for nuclear power reactors after fuel loading, characterized in that, include: An independent mobile platform (1) is configured to move and stop independently of the loading and unloading machine along the first horizontal direction above the core pool; A position adjustment device (2) is provided on the independent mobile platform (1) for providing movement adjustment in a second horizontal direction perpendicular to the first horizontal direction, and height adjustment in the vertical direction; A rigid extension arm (3) is fixedly installed at the output end of the position adjustment device (2) and extends toward the core direction; A core photography device (4) is installed at the far end of the rigid extension arm (3) away from the position adjustment device (2) for acquiring images of fuel assemblies.

2. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 1, characterized in that, The independent mobile platform (1) includes a platform body (11) and at least two longitudinal drive mechanisms (12), with the two longitudinal drive mechanisms (12) respectively located at opposite ends of the platform body (11); The longitudinal drive mechanism (12) is configured to drive the platform body (11) to move along the first horizontal direction.

3. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 2, characterized in that, The longitudinal drive mechanism (12) includes a drive wheel (121) and an anti-slip mechanism (122), the anti-slip mechanism (122) being configured to apply a positive pressure perpendicular to the plane of travel to the drive wheel (121).

4. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 3, characterized in that, The anti-slip mechanism (122) is an elastic pressing mechanism, which includes: An adjustment component is rotatably mounted on the platform body (11); An elastic element, the first end of which is linked to the adjusting component; A clamping element is connected to the second end of the elastic element; Rotating the adjusting component changes the compression of the elastic element, thereby driving the pressing component to press the drive wheel (121) against its traveling plane.

5. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 2, characterized in that, The position adjustment device (2) includes a horizontal drive mechanism (21) and a lifting device (22). The horizontal drive mechanism (21) is fixedly connected to the independent mobile platform (1) and is used to provide movement adjustment in the second horizontal direction. The lifting device (22) is fixedly connected to the output end of the horizontal drive mechanism (21) and is used to provide height adjustment in the vertical direction.

6. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 5, characterized in that, The lateral drive mechanism (21) is a synchronous belt linear module, and / or the lifting device (22) is a ball screw (222) lifting module.

7. The automated core photography system for nuclear power reactors after fuel loading, according to any one of claims 1-6, is characterized in that, The automatic core photography system for nuclear power reactor core loading also includes a control system. The control system is communicatively connected to the independent mobile platform (1) and the position adjustment device (2). It is used to plan the movement path according to the preset core coordinate system and fuel assembly layout, and control the independent mobile platform (1) and the position adjustment device (2) to move automatically along the planned path to traverse all fuel assemblies to be inspected.

8. The automatic core photography system for nuclear power reactor cores after fuel loading according to claim 7, characterized in that, The control system is communicatively connected to the core photography device (4) and is used to receive image data collected by the core photography device (4) and automatically identify and compare the fuel component numbers in the images.

9. The automatic core photography system for nuclear power reactor cores after fuel loading according to any one of claims 1-6, characterized in that, The automatic core photography system for nuclear power reactor core loading also includes a visual positioning device (5), which is installed on the independent mobile platform (1) and is used to obtain the positioning reference information of the independent mobile platform (1).

10. The automated core photography system for nuclear power reactor cores after fuel loading, as described in claim 5 or 6, is characterized in that... The longitudinal drive mechanism (12) and the transverse drive mechanism (21) are respectively configured as electric drive and emergency manual drive, and the lifting device (22) is configured as manual drive.

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