Lifting type inspection device for nuclear power plant

Abstract

The utility model discloses a nuclear power plant lifting type inspection device which comprises a device body and a pan-tilt camera mechanism, and the device body is provided with moving wheels. A controller is arranged in the device body, and an obstacle avoidance sensor connected with the controller is further arranged on the device body; the pan-tilt camera mechanism comprises a lifting support, a pan-tilt base and a pan-tilt camera, the lifting support is installed on the device body, the pan-tilt base is connected with the upper end of the lifting support, the pan-tilt camera is installed on the pan-tilt base, and a distance measuring sensor connected with the controller is further arranged on the upper surface of the pan-tilt base. The lifting type inspection device for the nuclear power plant can replace workers to inspect the nuclear power plant, the inspection efficiency is improved, the device body is provided with an obstacle avoidance sensor, the holder camera mechanism is provided with a distance measuring sensor, and space information around the lifting type inspection device for the nuclear power plant can be detected in multiple directions; the nuclear power plant lifting type inspection device is prevented from colliding with nuclear power plant equipment, and the nuclear power plant lifting type inspection device and the nuclear power plant equipment can be effectively protected.

Description

Technical Field

[0001] This utility model relates to the field of nuclear power technology, and in particular to a lifting inspection device for nuclear power plants. Background Technology

[0002] In some nuclear power plant buildings, the space is relatively small and there are many pipes and valves. If staff conduct manual inspections, some areas cannot be reached. It is often necessary to use long poles or other equipment to attach camera devices to record images and then check the images later. This operation is inconvenient, and it is easy for people to get tired by holding long poles or other equipment for a long time. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a lifting inspection device for nuclear power plants.

[0004] The technical solution adopted by this utility model to solve its technical problem is: to construct a lifting inspection device for nuclear power plants, including a device body and a gimbal camera mechanism, wherein the device body is provided with a number of moving wheels; a controller is provided inside the device body, and an obstacle avoidance sensor connected to the controller is also provided on the device body.

[0005] The gimbal camera mechanism includes a lifting support, a gimbal base, and several gimbal cameras. The lifting support is mounted on the main body of the device. The gimbal base is connected to the upper end of the lifting support. Several gimbal cameras are mounted on the gimbal base. The upper surface of the gimbal base is also provided with several ranging sensors connected to the controller.

[0006] In some embodiments, the number of ranging sensors is four.

[0007] In some embodiments, the ranging sensor includes an ultrasonic sensor and / or an infrared sensor.

[0008] In some embodiments, the obstacle avoidance sensor includes at least one laser sensor.

[0009] In some embodiments, the lifting support includes a hydraulic cylinder lifting support, a pneumatic cylinder lifting support, or a motor lifting support.

[0010] In some embodiments, the gimbal camera includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

[0011] In some embodiments, the device body is further provided with a plurality of antennas connected to the controller.

[0012] In some embodiments, the outer periphery of the device body is further provided with several anti-collision structures.

[0013] In some embodiments, the device body is further provided with an alerter connected to the controller.

[0014] In some embodiments, the number of the moving wheels is four.

[0015] The present invention offers the following advantages: The nuclear power plant lifting inspection device comprises a device body and a gimbal camera mechanism. The device body is equipped with several moving wheels. A controller is located within the device body, and obstacle avoidance sensors connected to the controller are also mounted on the device body. The gimbal camera mechanism includes a lifting support, a gimbal base, and several gimbal cameras. The lifting support is mounted on the device body, and the upper end of the gimbal base is connected to the lifting support. Several gimbal cameras are mounted on the gimbal base, and several distance measuring sensors connected to the controller are also mounted on the upper surface of the gimbal base. This nuclear power plant lifting inspection device can replace personnel in performing nuclear power plant inspections, improving inspection efficiency. Furthermore, the device is equipped with obstacle avoidance sensors, and the gimbal camera mechanism is equipped with distance measuring sensors, enabling multi-directional detection of the spatial information surrounding the device, preventing collisions between the device and nuclear power plant equipment, and effectively protecting both the device and the plant equipment. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0017] Figure 1 This is one of the structural schematic diagrams of the nuclear power plant lifting inspection device in some embodiments of this utility model;

[0018] Figure 2 This is the second schematic diagram of the structure of the nuclear power plant lifting inspection device in some embodiments of this utility model;

[0019] Figure 3 This is the third structural schematic diagram of the nuclear power plant lifting inspection device in some embodiments of this utility model. Detailed Implementation

[0020] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0021] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0022] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0023] See Figures 1 to 3This utility model discloses a lifting inspection device for nuclear power plants, including a device body 10 and a gimbal camera mechanism 20. The device body 10 is provided with a plurality of moving wheels 11. The number of moving wheels 11 can be four, that is, two moving wheels 11 are provided on the left and right sides of the device body 10 along the moving direction. The device body 10 may have a motor connected to the moving wheels 11 inside, and the motor can be connected to a controller. The motor includes, but is not limited to, a servo motor, which has high precision. Of course, the number, position and specifications of the moving wheels 11 can be selected according to actual needs, and are not specifically limited here. In some embodiments, tracks can also be used as the walking mechanism. The outer periphery of the device body 10 is also provided with a plurality of anti-collision structures 12. The anti-collision structures 12 can be, but are not limited to, anti-collision rubber strips, anti-collision rubber blocks, anti-collision rubber pads or elastic sheets, as long as they meet the anti-collision requirements, and are not specifically limited here.

[0024] The device body 10 contains a controller, and the device body 10 also has an obstacle avoidance sensor 30 connected to the controller. The obstacle avoidance sensor 30 includes at least one laser sensor, which can be disposed on the upper surface of the device body 10. In some embodiments, the obstacle avoidance sensor 30 can also be disposed on the circumferential outer side of the device body 10, such as on the front, back, left, or right sides in the direction of movement of the device body 10, which can realize multi-directional and multi-angle position detection, improve the anti-collision capability, and the nuclear power plant lifting inspection device can perform position detection when moving forward, backward, or even turning, which can improve the anti-fall capability and avoid the risk of falling due to position blind spots such as ditches and / or steps, which can better protect the nuclear power plant lifting inspection device and ensure the smooth operation of nuclear power plant inspection work. In this case, the obstacle avoidance sensor 30 can also be an ultrasonic ranging sensor or a microwave sensor, which is not specifically limited here.

[0025] The device body 10 may also include a power supply module, a communication module, and a storage module, which can be existing power supply modules, communication modules, and storage modules, and no specific limitations are made here.

[0026] In some embodiments, the gimbal camera mechanism 20 includes a lifting support 21, a gimbal base 22, and a plurality of gimbal cameras 23. The lifting support 21 is mounted on the device body 10, and the gimbal base 22 is connected to the upper end of the lifting support 21. The plurality of gimbal cameras 23 are mounted on the gimbal base 22. The upper surface of the gimbal base 22 is also provided with a plurality of ranging sensors 24 connected to the controller, so that when the lifting support 21 is raised or lowered, the ranging sensors 24 can detect the space above the nuclear power plant lifting inspection device, thereby preventing the gimbal camera mechanism 20 from colliding with the equipment (such as pipes or valves) above the nuclear power plant lifting inspection device, which could cause damage to the gimbal camera mechanism 20 and / or the equipment above the nuclear power plant lifting inspection device.

[0027] In some embodiments, the number of ranging sensors 24 is four. Of course, the number of ranging sensors 24 can also be one, two, three, four, or five. Multiple ranging sensors 24 can increase the measurement range. That is, the plurality of ranging sensors 24 in this application may include a single ranging sensor 24.

[0028] In some embodiments, the ranging sensor 24 includes an ultrasonic sensor and / or an infrared sensor. When the number of ranging sensors 24 is greater than two, some of the ranging sensors 24 may be ultrasonic sensors and some may be infrared sensors. Alternatively, all of the ranging sensors 24 may be ultrasonic sensors, or all of the ranging sensors 24 may be infrared sensors; no specific limitation is made here.

[0029] In some embodiments, the lifting support 21 can be raised and lowered to adjust the monitoring height of the pan-tilt camera 23. The lifting support 21 includes a hydraulic cylinder lifting support, a pneumatic cylinder lifting support, or a motor lifting support. The lifting support 21 can be any existing lifting support, and no specific limitation is made here.

[0030] In some embodiments, the gimbal camera 23 includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera to acquire complete inspection image information or inspection video information. Of course, the type of gimbal camera 23 can be selected and set according to actual needs, and no specific limitation is made here.

[0031] In some embodiments, the gimbal camera 23 includes an optical zoom visible light gimbal camera and a fixed-focus infrared dual-spectrum gimbal camera.

[0032] In some embodiments, the device body 10 is further provided with a plurality of antennas 40 connected to the controller to facilitate communication.

[0033] In some embodiments, the device body 10 is further provided with an alert 50 connected to the controller. The alert 50 may include, but is not limited to, an acoustic alert (e.g., a buzzer or voice player), an optical alert (e.g., an LED light), or a sound and light alert. When the information collected by the pan-tilt camera 23 is abnormal, the alert 50 can issue a warning to alert personnel. Alternatively, the nuclear power plant lifting inspection device can use the alert 50 to remind personnel of its location, making it easier for personnel to find or be aware of the device's position.

[0034] In some embodiments, the controller may be, but is not limited to, a microprocessor, microcontroller, digital signal processor, microcomputer, central processing unit, field-programmable gate array, programmable logic device, state device, logic circuit, analog circuit, digital circuit, and / or any device based on operation instructions and operation signals (analog and / or digital). It may employ commercially available control solutions such as mature main control MCUs, or be improved or innovatively designed according to requirements, which will not be detailed here. The relevant data processing in this application can be performed by this controller. Alternatively, in other embodiments, the controller may be, but is not limited to, a robot computer (robot computer), which is not specifically limited here.

[0035] Understandably, the nuclear power plant lifting inspection device can replace personnel in performing nuclear power plant inspections, improving inspection efficiency. Furthermore, the nuclear power plant lifting inspection device is equipped with an obstacle avoidance sensor 30, and the gimbal camera mechanism 20 is equipped with a ranging sensor 24, which can detect the spatial information around the nuclear power plant lifting inspection device from multiple directions, avoiding collisions between the nuclear power plant lifting inspection device and nuclear power plant equipment (including but not limited to pipelines and valves), and effectively protecting the nuclear power plant lifting inspection device and nuclear power plant equipment.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0037] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A lifting-type inspection device for nuclear power plants, characterized in that, The device includes a device body (10) and a gimbal camera mechanism (20). The device body (10) is provided with several moving wheels (11). The device body (10) is provided with a controller and an obstacle avoidance sensor (30) connected to the controller is also provided on the device body (10). The gimbal camera mechanism (20) includes a lifting support (21), a gimbal base (22), and a plurality of gimbal cameras (23). The lifting support (21) is mounted on the device body (10). The gimbal base (22) is connected to the upper end of the lifting support (21). The plurality of gimbal cameras (23) are mounted on the gimbal base (22). The upper surface of the gimbal base (22) is also provided with a plurality of ranging sensors (24) connected to the controller.

2. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The number of ranging sensors (24) is four.

3. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The ranging sensor (24) includes an ultrasonic sensor and / or an infrared sensor.

4. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The obstacle avoidance sensor (30) includes at least one laser sensor.

5. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The lifting support (21) includes a hydraulic cylinder lifting support, a pneumatic cylinder lifting support, or a motor lifting support.

6. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The gimbal camera (23) includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

7. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The device body (10) is also provided with several antennas (40) connected to the controller.

8. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The outer periphery of the device body (10) is also provided with several anti-collision structures (12).

9. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The device body (10) is also provided with a reminder (50) connected to the controller.

10. The nuclear power plant lifting inspection device according to claim 1, characterized in that, The number of the moving wheels (11) is four.

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