Nuclear power station inspection device based on visual positioning

Abstract

The utility model discloses a nuclear power station inspection device body with a visual positioning function, which comprises a guide rail, an inspection device body arranged on the guide rail and an inspection device upper computer system used for monitoring and controlling the inspection device body, the inspection device body is driven by a power driving system, and the inspection device upper computer system is used for monitoring and controlling the inspection device body. The inspection device body is enabled to walk on the guide rail; the whole inspection device body is made of a lightweight material and has a certain anti-seismic property. The inspection device body further comprises a control device. According to the utility model, the camera shooting height and angle are freely adjusted through the manipulator to inspect in-station equipment, and the condition of the in-station equipment is monitored in combination with the multi-mode sensing device, so that the inspection device body with the functions of gas detection, visual positioning, automatic control, sound-light alarm and the like is established. The inspection efficiency and reliability of the nuclear power station are improved, and the risk and workload of manual inspection are reduced.

Description

Technical Field

[0001] The utility model belongs to the field of automatic inspection equipment, and more specifically relates to a nuclear power plant inspection device based on visual positioning. Background Art

[0002] In today's society, nuclear power plants are an important part of clean energy, and their safety and stability are of vital importance to social development. During operation, the equipment in nuclear power plants needs to be inspected and maintained.

[0003] However, due to the complex internal environment and high radiation intensity of nuclear power plants,

[0004] Traditional nuclear power plant inspection methods mainly rely on manual visual inspections. During inspections, workers need to enter high-radiation areas for inspections, which poses a high safety risk. In addition, manual inspections are inefficient, workers are prone to fatigue and negligence, and missed inspections and false inspections occur frequently, resulting in low inspection accuracy.

[0005] Therefore, developing a nuclear power plant inspection device based on machine vision has become an important issue that needs to be solved urgently. Utility Model Content

[0006] The purpose of the utility model is to provide a nuclear power plant inspection device body to solve the problem that the traditional nuclear power plant inspection method proposed in the above background technology mainly relies on manual visual inspection. During the inspection, the staff needs to enter the high radiation area for inspection, which has a high safety risk. In addition, the efficiency of manual inspection is low, the staff is prone to fatigue and negligence, and missed inspections and false inspections occur frequently, resulting in low inspection accuracy.

[0007] In view of the problems existing in the background technology, the utility model provides a nuclear power plant inspection device body with a visual positioning function, comprising:

[0008] guide;

[0009] The inspection device body is arranged on the guide rail, and

[0010] Driven by the power drive system,

[0011] A patrol inspection device host computer system for monitoring and controlling the patrol inspection device body;

[0012] A control device is provided on the inspection device body, and

[0013] The control device includes a patrol device central control system, a multi-modal perception system and a visual positioning system.

[0014] Preferably, a moving system is provided on the guide rail.

[0015] A control device is fixedly mounted on one end of the moving system away from the guide rail.

[0016] Preferably, a guide rod is provided on the control device on the side away from the mobile system, and

[0017] The guide rod is connected to the rotating slider.

[0018] The rotating slider is connected to the free shaft by a fixed connection, and

[0019] The actuator is connected via the free shaft.

[0020] The execution device is provided with a camera device.

[0021] Preferably, the inspection device body includes an infrared obstacle avoidance sensor.

[0022] Preferably, the control device has a built-in industrial computer.

[0023] A gas detection sensor and a temperature and humidity sensor are arranged on the right side of the industrial computer located in the control device;

[0024] An audible and visual alarm device is arranged on the left side of the industrial computer of the control device.

[0025] Preferably, a gas detection sensor, a temperature and humidity sensor, an infrared obstacle avoidance sensor and an acoustic and optical alarm device are integrated into a multi-modal sensing device through multi-sensor fusion, and

[0026] The infrared obstacle avoidance sensors are located at the front and rear ends of the multimodal sensing device body, so that a detection area is formed in front and behind the inspection device body respectively.

[0027] Preferably, the infrared obstacle avoidance sensor has a horizontal viewing angle of 100 to 180°, a vertical viewing angle of 6 to 10°, and a measuring range of 10 to 900 cm.

[0028] Preferably, the inspection device body is provided with a path information collection device.

[0029] The path information collection device includes at least one set of infrared detection sensors, and

[0030] The path information collection device is installed on the right side of the inspection device body.

[0031] The infrared detection sensor includes an infrared detection transmitter,

[0032] The infrared detection sensor also includes an infrared detection receiver.

[0033] Preferably, the visual positioning system includes image processing modules of convolutional neural networks and recurrent neural networks;

[0034] The central control system of the inspection device with built-in embedded control algorithm includes a communication module, a data processing module and an image processing module.

[0035] Preferably, the host computer system of the inspection device includes a wireless base station and a processor.

[0036] In summary, the beneficial effects of the present invention are:

[0037] (1) The utility model has a patrol device body with a visual positioning system, a multi-modal sensing system, and a control system, which improves the efficiency, safety, and stability of nuclear power plant inspections and is convenient for practical use. The camera height and angle can be freely adjusted by the manipulator to conduct in-station equipment inspections, and the multi-modal sensing device is combined to monitor the status of the in-station equipment, thereby establishing a patrol device body with gas detection, visual positioning, automatic control, sound and light alarm and other functions. The efficiency and reliability of nuclear power plant inspections are improved, while reducing the risks and workload of manual inspections.

[0038] (2) The overall structure of the utility model is compact and stable, with moderate dimensions, which is convenient for free movement between nuclear power plant equipment. The inspection device body is made of lightweight materials, which makes it have certain seismic resistance and can achieve flexible motion control to meet the special requirements of the nuclear power plant environment.

[0039] (3) The utility model adds a multi-modal sensing device, so that the inspection device can realize functions such as autonomous cruising and fixed-point shooting. The navigation system of the inspection device adopts multi-sensor fusion technology to integrate multiple sets of sensor data in real time. The inspection device can achieve high-precision positioning and navigation to ensure autonomous movement in various areas of the nuclear power plant. It can update map information in real time and plan the optimal path to improve inspection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a three-dimensional structural schematic diagram of a nuclear power plant inspection device based on visual positioning according to the utility model;

[0041] Figure 2 It is a schematic diagram of the planar structure of the utility model;

[0042] Figure 3 This is a schematic diagram of the infrared detection and obstacle avoidance of the inspection device of the utility model;

[0043] Figure 4 It is a structural block diagram of the utility model.

[0044] Reference numerals:

[0045] The names corresponding to the reference numerals are:

[0046] 1. Guide rail; 2. Moving system; 3. Control device; 4. Multimodal sensing device; 5. Sound and light alarm device; 6. Free axis; 7. Camera device; 8. Rotating slider; 9. Actuator; 10. Guide rod; 11. Infrared detection transmitter; 12. Infrared detection receiver; 13. Obstacle; 14. Inspection device host system; 15. Inspection device body; 16. Control system; 17. Multimodal sensing system; 18. Visual positioning system; 19. Power drive system. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with the accompanying drawings and embodiments. The present invention includes but is not limited to the following embodiments.

[0048] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Although exemplary embodiments are disclosed in the accompanying drawings, it should be understood that the utility model can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to facilitate a thorough understanding of the utility model and to fully convey the concept of the utility model to those skilled in the art.

[0049] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0051] The utility model is mainly used for the inspection of hanging rails in nuclear power plants.

[0052] like Figures 1 to 4 As shown, this embodiment provides a nuclear power plant inspection device based on visual positioning, including a guide rail 1, and an inspection device body 15 arranged on the guide rail 1, and an inspection device host computer system 14 for monitoring and controlling the inspection device body 15.

[0053] The inspection device body 15 is driven by a power drive system 19 so that the inspection device body 15 moves on the guide rail 1 ; the inspection device body 15 is made of lightweight materials as a whole and has certain anti-seismic performance.

[0054] Furthermore, the inspection device body 5 also includes a control device 3, which uses an X58-I7-8260U industrial computer and a Core I7-10610U processor for data transmission between the manipulator control and the inspection device host computer system.

[0055] In this embodiment, the control device 3 coordinates and processes the information collected by each device, and feeds back to the host computer system.

[0056] Furthermore, the guide rail 1 is preferably a linear or annular aluminum alloy coated anti-corrosion rail. Furthermore, the inspection device body 15 is provided with a control system 16 , a multi-modal sensing system 17 , a visual positioning system 18 , and a power drive system 19 .

[0057] Furthermore, the guide rail 1 is provided with two mobile systems 2 which are clamped on both sides of the guide rail 1 and move along the guide rail 1, and are driven by the power drive system 19 so that the mobile system 2 moves on the guide rail 1; the power drive system 19 includes a drive motor and an embedded controller, the uphill speed can reach 0.6m / s, the curve angle can reach 90° and supports photoelectric limit, which is used to realize motion control and fixed-point patrol of the inspection device.

[0058] Furthermore, one end of the mobile system 2 away from the control device 3 is fixedly provided with a running wheel by a fixed connection method such as fastening screws, so that the running wheel can run on the guide rail 1, and the running wheel is preferably a roller.

[0059] Furthermore, the control device 3 has a built-in micro industrial computer, and the micro industrial computer is preferably a UF series small embedded micro industrial computer. The industrial computer is mainly used to input inspection routes and set inspection tasks, and intuitively display battery operation status data.

[0060] See also Figure 1 , Figure 2As shown, the control device 3 is connected to the multimodal sensing device 4, the sound and light alarm device 5, the camera device 7, and the execution device 9 in sequence through wired communication.

[0061] Furthermore, a multimodal sensing device 4 is arranged on the right side of the industrial computer located at the control device 3, and the multimodal sensing device 4 includes a gas detection sensor and a temperature and humidity sensor. The temperature and humidity sensor is preferably a DHT11 temperature and humidity sensor, and the gas detection sensor is preferably a ZE07-H2 hydrogen sensor, which is used to sense the internal environmental information of the nuclear power plant; the operating environment: the temperature is -30-90°C, the humidity is: 15%-90%RH, and the gas sensitivity range is 0-30000ppm.

[0062] An audible and visual alarm device 5 is arranged on the left side of the industrial computer of the control device 3 .

[0063] During the inspection process, the gas detection sensor can detect the toxic gas content in real time to ensure environmental and personal safety.

[0064] Furthermore, the multimodal sensing device 4 also includes an infrared obstacle avoidance sensor, and the infrared obstacle avoidance sensor is installed at the front end and the rear end of the body of the multimodal sensing device 4, and the infrared obstacle avoidance sensor is fixedly installed on the body of the multimodal sensing device 4 by a fixed connection method such as fastening screws.

[0065] Furthermore, the infrared obstacle avoidance sensor is preferably a UTi384H infrared obstacle avoidance sensor device and an integrated sound and light alarm device. The central control system of the inspection device used to monitor obstacles and gas concentrations and automatically upload to the control device 3 is used for safety monitoring within the station.

[0066] Furthermore, by arranging the infrared obstacle avoidance sensor at the front and rear ends of the multimodal sensing device 4, a detection area is formed in front of and behind the inspection device body 15. The detection area covers the area passed by the inspection device body 15 when moving forward and backward, and reserves space for the inspection device body 15 to pass through.

[0067] Furthermore, the infrared obstacle avoidance sensor and the walking wheel of the mobile system 2 are electrically connected to the industrial computer, and obstacles are identified through the infrared obstacle avoidance sensor.

[0068] In this embodiment, when the infrared obstacle avoidance sensor detects an obstacle 13 in the forward direction, it is sent to the control system, and then the industrial computer controls the walking wheel part of the mobile system 2 to slow down or stop.

[0069] Furthermore, the infrared obstacle avoidance sensor has a horizontal viewing angle of 100 to 180°, a vertical viewing angle of 6 to 10°, and a measuring range of 10 to 900 cm.

[0070] See also Figure 1 , Figure 2 and Figure 3 As shown, the inspection device body 15 is provided with a path information collection device, which includes at least one group of infrared detection sensors, and the path information collection device is fixedly installed on the right side of the inspection device body 15 by fastening screws. The infrared detection sensor includes an infrared detection transmitter 11 and an infrared detection receiver 12, which are used to emit infrared signals and receive reflected signals, and convert the reflected signals into voltage signals for transmission.

[0071] Furthermore, a guide rod 10 is provided on the control device 3 at a side away from the mobile system 2, and the guide rod 10 is connected to the rotating slider 8, the rotating slider 8 is connected to the free axis 6 by a fixed connection, and the actuator 9 is connected to the free axis 6. The actuator 9 is preferably a five-degree-of-freedom manipulator actuator. The opening and closing of the valve of the nuclear power plant is controlled by the actuator.

[0072] Furthermore, a camera device 7 is provided between the third degree of freedom and the fourth degree of freedom of the execution device 9, and a detachable connection is adopted between the execution device 9 and the camera device 7, and the camera device 7 is used to obtain image information and monitor the surrounding environment.

[0073] In this embodiment, the execution device has five degrees of freedom, which can complete multi-scene and multi-angle grasping tasks, and can achieve precise grasping under the positioning of the camera device;

[0074] The utility model can freely adjust the camera height and angle through the manipulator to conduct in-station equipment inspections, and combine the multi-modal sensing device to monitor the equipment conditions in the station, and establish an inspection device body with gas detection, visual positioning, automatic control, sound and light alarm and other functions. It improves the efficiency and reliability of nuclear power plant inspections, while reducing the risks and workload of manual inspections.

[0075] Furthermore, the camera device includes a visual positioning system 18, and the visual positioning system 18 has a built-in visual detection algorithm for controlling the camera device to locate the valve device of the nuclear power plant.

[0076] Furthermore, the camera device 7 is provided with a high-definition camera, and the high-definition camera is preferably a TL-IPC7520E-ADC model camera device, which has 5 million high-definition pixels and a resolution of 2880×1620, supports 20 times optical zoom, and is combined with the 3 degrees of freedom on the upper end of the execution system to achieve a horizontal rotation range of 360° and a vertical rotation range of 90°, which is used to ensure all-round field of view coverage. The camera has a built-in image sensor.

[0077] See also Figure 4 As shown, the control device 3 of the inspection device body 15 is provided with an inspection device central control system 16 , and is sequentially connected to a multimodal perception system 17 , a visual positioning system 18 and a power drive system 19 .

[0078] Furthermore, by combining multiple groups of sensors (infrared obstacle avoidance sensors, gas detection sensors, temperature and humidity sensors, and sound and light alarm devices) to form a multimodal perception device, and then using multi-sensor fusion technology, multiple different types of sensors are integrated and processed with certain algorithms and strategies to collect information, thereby obtaining a multimodal perception system, and then through the multimodal perception system, more accurate and complete environmental perception results are obtained.

[0079] In this embodiment, the camera of the camera device 7 collects visual information of the nuclear power plant equipment in real time through an image sensor, and transmits it to the image processing module of the visual positioning system 17 for processing;

[0080] The image processing module of the visual positioning system 17 uses advanced deep learning algorithms, including convolutional neural networks (CNN) and recurrent neural networks (RNN), for target detection, image recognition and scene analysis. Through the training model, the inspection device body can accurately identify nuclear power plant equipment, including reactors, pipelines, etc., and realize intelligent inspection tasks.

[0081] In this embodiment, the inspection device body is composed of two parts: hardware and software. The hardware part includes a control device 3, a multimodal sensing device 4, etc., which are used to realize the control and data collection of various components of the inspection device body. The software part includes an embedded control algorithm, a communication module, and an image processing module. The embedded control algorithm has the characteristics of high sensitivity and high precision, and can locate and output the current position in one second; the motion control and task execution of the inspection device body are realized through the ROS (Robot Operating System) framework. The control system has good real-time and stability, and can quickly respond to external commands and environmental changes to ensure the safe operation of the inspection device body.

[0082] The utility model adds a multi-modal sensing device, so that the inspection device can realize functions such as autonomous cruising and fixed-point shooting. The navigation system of the inspection device adopts multi-sensor fusion technology to fuse multiple sets of sensor data in real time. The inspection device can achieve high-precision positioning and navigation to ensure autonomous movement in various areas of the nuclear power plant. It can update map information in real time and plan the optimal path to improve inspection efficiency and accuracy.

[0083] See also Figure 4 As shown, the inspection device central control system 16 of the inspection device body can exchange information and receive instructions with the inspection device host computer system;

[0084] The inspection device host system adopts TL-CPE300D wireless base station and I9-14900k processor, providing 2.4 and 5G dual-segment communications for remote information transmission and network communication.

[0085] In actual application, the central control system of the inspection device processes and stores the collected data in real time through the data processing module (including data screening, feature extraction and data analysis functions); and effectively processes and analyzes the collected data. The generated inspection report includes information such as equipment status, abnormal conditions and maintenance suggestions, providing decision support for operators. At the same time, the inspection device itself also has a remote data transmission function, which can transmit data to the inspection device host system in real time to achieve remote monitoring and guidance.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A nuclear power plant inspection device body with visual positioning function, characterized in that: include: guide; The inspection device body is arranged on the guide rail, and Driven by the power drive system, A patrol inspection device host computer system for monitoring and controlling the patrol inspection device body; A control device is provided on the inspection device body, and The control device includes a patrol device central control system, a multi-modal perception system and a visual positioning system.

2. According to claim 1, the nuclear power plant inspection device body with visual positioning function is characterized in that: A moving system is provided on the guide rail. A control device is fixedly mounted on one end of the moving system away from the guide rail.

3. According to claim 2, the nuclear power plant inspection device body with visual positioning function is characterized in that: A guide rod is provided on the control device at a side away from the moving system, and The guide rod is connected to the rotating slider. The rotating slider is connected to the free shaft by a fixed connection, and The actuator is connected via the free shaft. The execution device is provided with a camera device.

4. According to claim 1, the nuclear power plant inspection device body with visual positioning function is characterized in that: The inspection device body includes an infrared obstacle avoidance sensor.

5. According to claim 2, the nuclear power plant inspection device body with visual positioning function is characterized in that: The control device has an internal industrial computer. A gas detection sensor and a temperature and humidity sensor are arranged on the right side of the industrial computer located in the control device; An audible and visual alarm device is arranged on the left side of the industrial computer of the control device.

6. The nuclear power plant inspection device body with visual positioning function according to claim 5 or 4, characterized in that: Through multi-sensor fusion, gas detection sensors, temperature and humidity sensors, infrared obstacle avoidance sensors and sound and light alarm devices are integrated to form a multi-modal sensing device. The infrared obstacle avoidance sensors are located at the front and rear ends of the multimodal sensing device body, so that a detection area is formed in front and behind the inspection device body respectively.

7. The nuclear power plant inspection device body with visual positioning function according to claim 4 is characterized in that: The infrared obstacle avoidance sensor has a horizontal viewing angle of 100 to 180°, a vertical viewing angle of 6 to 10°, and a measuring range of 10 to 900 cm.

8. The nuclear power plant inspection device body with visual positioning function according to claim 1 is characterized in that: The inspection device body is provided with a path information collection device, The path information collection device includes at least one set of infrared detection sensors, and The path information collection device is installed on the right side of the inspection device body. The infrared detection sensor includes an infrared detection transmitter, The infrared detection sensor also includes an infrared detection receiver.

9. The nuclear power plant inspection device body with visual positioning function according to claim 1, characterized in that: The visual positioning system includes an image processing module of a convolutional neural network and a recurrent neural network; The central control system of the inspection device with built-in embedded control algorithm includes a communication module, a data processing module and an image processing module.

10. The nuclear power plant inspection device body with visual positioning function according to claim 1, characterized in that: The inspection device host computer system includes a wireless base station and a processor.

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