Intelligent detection robot for nuclear industry equipment defects

Abstract

The utility model discloses a nuclear industry equipment defect intelligent detection robot which comprises a moving main body, a transverse moving module arranged on the moving main body, a lifting module arranged on the transverse moving module, a first rotating module arranged on the lifting module, and a second rotating module arranged on the first rotating module. A camera for intelligent defect detection is arranged on the second rotating module, and the camera is electrically connected with the control processing system and the display screen; according to the scheme, the camera can transversely move, ascend and descend and rotate in the vertical direction and the horizontal direction, so that the camera can carry out multi-angle and multi-height omnibearing shooting in a three-dimensional space, and automatic real-time detection on surface defects of nuclear industry equipment is achieved through the control processing system; recording and storing detection results such as defect types, confidence coefficients, defect pictures, geographic positions and the like; the device replaces manual detection of the defects of the nuclear industry equipment, saves time and labor, and guarantees the safety of workers.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to an intelligent detection robot for defects of nuclear industry equipment. Background Art

[0002] As deep learning technology continues to mature, we can now take advantage of high-performance computing to successfully achieve various vision-related tasks such as target detection, multi-label image classification, action recognition, etc.; not only can we train and deploy neural network models on computers, but we can also easily deploy trained models to mobile devices such as smartphones or embedded microcomputers for real-time reasoning applications according to actual needs.

[0003] As an important branch of my country's manufacturing industry, the nuclear industry is a national high-tech strategic enterprise, involving applications such as nuclear power, nuclear weapons and nuclear medicine; however, in the field of surface defect detection of nuclear equipment, the application of computer-aided equipment is still not popular, and a large number of professional staff are required to enter nuclear reactors and high-radiation areas regularly, which not only poses radiation risks to the staff, but also increases the cost of surface defect detection of nuclear equipment. Therefore, the application of artificial intelligence in the nuclear industry is of great significance to promoting the development of my country's nuclear industry, manufacturing industry and economy. Utility Model Content

[0004] In view of the above-mentioned deficiencies in the prior art, the utility model provides an intelligent nuclear industry equipment defect detection robot, which replaces manual nuclear industry equipment defect detection and solves the problem that manual detection has high safety risks and is time-consuming and labor-intensive.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A nuclear industry equipment defect intelligent detection robot is provided, which includes a mobile body, a lateral movement module is arranged on the mobile body, a lifting module is arranged on the lateral movement module, a first rotation module is arranged on the lifting module, a second rotation module is arranged on the first rotation module, and a camera for intelligent defect detection is arranged on the second rotation module, and the camera is electrically connected to a control processing system and a display screen.

[0007] Furthermore, the lifting module is a scissor-type lifting platform, on which a vertical rotating shaft is arranged, the vertical rotating shaft is transmission-connected to the first motor, and the second rotating module is arranged at the top end of the vertical rotating shaft.

[0008] Furthermore, the second rotating module includes a U-shaped bracket with an opening facing upward, and a horizontal rotating shaft drivingly connected to the second motor is provided at the open end of the U-shaped bracket, and the camera is fixedly sleeved on the horizontal rotating shaft.

[0009] Furthermore, worm gears are disposed on the vertical rotating shaft and the horizontal rotating shaft, and worms that cooperate with the corresponding worm gears are disposed on the rotating shafts of the first motor and the second motor.

[0010] Furthermore, a lighting lamp is arranged on the camera.

[0011] Furthermore, the mobile body includes tracked wheels arranged on both sides thereof, two parallel guide rails are arranged on the top of the mobile body, the transverse movement module is slidably arranged on the two guide rails, and the transverse movement module is provided with a plurality of driving wheels that roll with the two guide rails.

[0012] Furthermore, the control processing system includes a controller, a microcomputer equipped with a neural network, and a wireless transmission module.

[0013] The beneficial effects of the utility model are:

[0014] 1. The camera of this solution can be moved sideways, raised and lowered, and rotated in the vertical and horizontal directions, so that the camera can perform all-round shooting at multiple angles and heights in three-dimensional space; at the same time, the worm gear transmission method has a one-way self-locking capability, so that the camera can self-lock after rotating to a preset angle; the setting of the lighting lamp facilitates the camera to detect surface defects of nuclear power equipment in a weak light environment.

[0015] 2. This solution can realize automatic real-time detection of surface defects of nuclear industry equipment through the neural network and high-speed computing power of the microcomputer, and record and store the detection results such as defect type, confidence level, defect image, geographic location, etc., and finally display them on the display screen; after the robot drives out of the radiation area, the staff can view the detection results through the display screen; at the same time, the staff can also view the detection results through the terminal remotely connected to the wireless transmission module; so that the staff no longer need to enter the nuclear reactor or high radiation area for inspection in person, and can quickly obtain defect category information, which reduces the human resource consumption of defect assessment and ensures the safety of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the intelligent detection robot for defects in nuclear industry equipment.

[0017] Figure 2 for Figure 1 Front view of the scissor lift when extended.

[0018] Figure 3 It is a structural schematic diagram of the cooperation between the worm wheel and the worm.

[0019] Among them, 1. mobile body, 2. transverse movement module, 3. camera, 4. display screen, 5. scissors-type lifting platform, 6. vertical rotation axis, 7. U-shaped bracket, 8. second motor, 9. horizontal rotation axis, 10. worm gear, 11. worm, 12. lighting, 13. crawler wheels, 14. guide rails, and 15. master control switch. DETAILED DESCRIPTION

[0020] The specific implementation methods of the utility model are described below to facilitate technical personnel in this technical field to understand the utility model, but it should be clear that the utility model is not limited to the scope of the specific implementation methods. For ordinary technical personnel in this technical field, as long as various changes are within the spirit and scope of the utility model defined and determined by the attached claims, these changes are obvious, and all utility model creations using the concept of the utility model are protected.

[0021] like Figure 1 and Figure 2 As shown, the nuclear industry equipment defect intelligent detection robot of this scheme includes a mobile body 1, which is in a cube shape. Tracked wheels 13 are arranged on both sides of the mobile body 1, and two parallel guide rails 14 are arranged on the top of the mobile body 1, and the guide rails 14 are parallel to the extension direction of the tracked wheels 13. A transverse movement module 2 is slidably arranged on the two guide rails 14, and the transverse movement module 2 is provided with a plurality of driving wheels that roll with the two guide rails 14.

[0022] A lifting module is arranged on the transverse movement module 2, and the lifting module is preferably a scissors-type lifting platform 5. A vertical rotating shaft 6 is arranged on the scissors-type lifting platform 5, and the vertical rotating shaft 6 is connected to the first motor by transmission, wherein the first motor is installed inside the scissors-type lifting platform 5; a U-shaped bracket 7 is arranged on the top of the vertical rotating shaft 6, and the U-shaped bracket 7 opens upward, and a horizontal rotating shaft 9 is arranged at the open end of the U-shaped bracket 7, and the horizontal rotating shaft 9 is connected to the second motor 8 by transmission, and the second motor 8 is installed inside the U-shaped bracket 7; a camera 3 for intelligent defect detection is mounted on the horizontal rotating shaft 9, and the camera 3 is electrically connected to the control processing system, the display screen 4 and the master control switch 15, wherein the display screen 4 and the master control switch 15 are integrated at the front end of the mobile body 1.

[0023] like Figure 3 As shown, a worm gear 10 is provided on the vertical rotating shaft 6 and the horizontal rotating shaft 9, and a worm 11 which cooperates with the corresponding worm gear 10 is provided on the rotating shaft of the first motor and the second motor 8, and the transmission method of the worm gear 10 and the worm 11 has a one-way self-locking capability, so that the camera 3 can be self-locked after being rotated to a preset angle.

[0024] Preferably, the camera 3 is provided with an illumination lamp 12, so that the camera 3 can detect surface defects of nuclear power equipment in a weak light environment; the control and processing system includes a controller, a microcomputer equipped with a neural network, and a wireless transmission module.

[0025] The camera 3 of this solution can be moved sideways, lifted, and rotated in the vertical and horizontal directions, so that the camera 3 can perform all-round shooting at multiple angles and heights in three-dimensional space; at the same time, through the neural network in the microcomputer and its high-speed computing power, it can realize automatic real-time detection of surface defects of nuclear industry equipment, and record and store the defect type, confidence, defect image, geographical location and other detection results, and finally display them on the display screen 4; after the robot drives out of the radiation area, the staff can view the detection results through the display screen 4; at the same time, the staff can also view the detection results through the terminal remotely connected to the wireless transmission module; so that the staff no longer need to personally enter the nuclear reactor or high radiation area for inspection, and can quickly obtain defect category information, reducing the human resource consumption of defect assessment and ensuring the safety of the staff.

Claims

1. A nuclear industry equipment defect intelligent detection robot, characterized in that: It includes a mobile body, on which a transverse movement module is arranged, on which a lifting module is arranged, on which a first rotating module is arranged, on which a second rotating module is arranged, on which a camera for intelligent defect detection is arranged, and which is electrically connected to a control processing system and a display screen.

2. The intelligent detection robot for nuclear industry equipment defects according to claim 1 is characterized in that: The lifting module is a scissor-type lifting platform, on which a vertical rotating shaft is arranged, the vertical rotating shaft is drivingly connected to the first motor, and the second rotating module is arranged at the top of the vertical rotating shaft.

3. The intelligent detection robot for nuclear industry equipment defects according to claim 2 is characterized in that: The second rotating module comprises a U-shaped bracket opening upward, a horizontal rotating shaft drivingly connected to the second motor is arranged at the open end of the U-shaped bracket, and the camera is fixedly sleeved on the horizontal rotating shaft.

4. The intelligent detection robot for nuclear industry equipment defects according to claim 3 is characterized in that: The vertical rotating shaft and the horizontal rotating shaft are both provided with worm wheels, and the rotating shafts of the first motor and the second motor are both provided with worms matched with the corresponding worm wheels.

5. The intelligent detection robot for nuclear industry equipment defects according to claim 1 is characterized in that: The camera head is provided with an illumination lamp.

6. The intelligent detection robot for nuclear industry equipment defects according to claim 1 is characterized in that: The mobile body includes crawler wheels arranged on both sides thereof, two parallel guide rails are arranged on the top of the mobile body, the transverse movement module is slidably arranged on the two guide rails, and the transverse movement module is provided with a plurality of driving wheels rollingly matched with the two guide rails.

7. The intelligent detection robot for nuclear industry equipment defects according to any one of claims 1 to 6, characterized in that: The control processing system includes a controller, a microcomputer equipped with a neural network, and a wireless transmission module.

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