Inspection robot for nuclear power plant

Abstract

The utility model discloses a nuclear power plant inspection robot which comprises a vehicle body, a plurality of moving wheels are arranged on the vehicle body, a main controller is further arranged in the vehicle body, a cradle head and at least one cradle head camera installed on the cradle head are arranged on the vehicle body, and the at least one cradle head camera is connected with the main controller. A laser sensor connected with the main controller is further arranged on the vehicle body, a plurality of first distance measuring sensors are arranged on the front side and the rear side of the vehicle body in the moving direction, a plurality of second distance measuring sensors are arranged on the left side and the right side of the vehicle body in the moving direction, and the first distance measuring sensors and the second distance measuring sensors are connected with the main controller. According to the inspection robot for the nuclear power plant, multi-directional and multi-angle position detection can be achieved, the anti-collision capacity can be improved, position detection can be conducted when the inspection robot moves forwards, backwards and even turns, the anti-falling capacity can be improved, the risk of falling caused by position blind areas such as grooves and / or steps can be avoided, the inspection robot for the nuclear power plant can be better protected, and the inspection robot for the nuclear power plant can be widely applied to the field of nuclear power plant inspection. And the inspection work of the nuclear power plant can be smoothly carried out.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear power plant robot technical field especially relates to a nuclear power plant inspection robot. BACKGROUND

[0002] In nuclear power plant, some areas are not very convenient to carry out inspection operation through staff because of many pipelines and narrow space, therefore, nuclear power plant adopts inspection robot to carry out inspection, current inspection robot mostly adopts a laser sensor to carry out position detection, its detection range is limited, there are relatively more grooves and / or steps in nuclear power plant, when the inspection robot does not detect groove and / or step, often causes falling risk, is easy to cause inspection robot car body damage, and multiple falls are also easy to cause inspection robot internal device connection loose or damage, lead to the service life of inspection robot to be affected, also can delay the inspection work of nuclear power plant. SUMMARY

[0003] The utility model solves the technical problem in at, provide a kind of nuclear power plant inspection robot.

[0004] The utility model discloses a kind of nuclear power plant inspection robots, including car body, the car body is equipped with several mobile wheels, the car body is also equipped with main control unit, the car body is equipped with holder and at least one holder camera installed on the holder, at least one holder camera is connected with the main control unit;

[0005] The car body is also equipped with laser sensor connected with the main control unit, the car body is equipped with several first distance measuring sensors on the front and rear sides along moving direction, the car body is equipped with several second distance measuring sensors on the left and right sides along moving direction, the first distance measuring sensor and the second distance measuring sensor are connected with the main control unit.

[0006] In some embodiments, the car body is equipped with anti-collision assembly on the front and rear sides along moving direction.

[0007] In some embodiments, the anti-collision assembly includes mounting bracket and anti-collision strip, the mounting bracket is connected with the car body, and the anti-collision strip is clamped on the mounting bracket.

[0008] In some embodiments, the car body is also equipped with gas sensor connected with the main control unit.

[0009] In some embodiments, the car body is equipped with lifting device connected with the holder.

[0010] In some embodiments, the car body is also equipped with several antennas connected with the main control unit.

[0011] In some embodiments, the number of antennas is at least four.

[0012] In some embodiments, the vehicle body is further provided with a warning device connected to the main controller.

[0013] In some embodiments, at least one of the gimbal cameras includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

[0014] In some embodiments, the first ranging sensor and the second ranging sensor include an ultrasonic sensor or an infrared sensor.

[0015] The implementation of this utility model has the following beneficial effects: By equipping the outer periphery of the vehicle body with a first ranging sensor and a second ranging sensor, the nuclear power plant inspection robot can achieve multi-directional and multi-angle position detection, which can improve the anti-collision capability. Moreover, the inspection robot 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 blind spots such as ditches and / or steps. This can better protect the nuclear power plant inspection robot and ensure the smooth progress of nuclear power plant inspection work. 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 inspection robot in some embodiments of this utility model;

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

[0019] Figure 3 This is the third of the structural schematic diagrams of the nuclear power plant inspection robot in some embodiments of this utility model;

[0020] Figure 4 This is a schematic diagram of the anti-collision component in some embodiments of this utility model;

[0021] Figure 5 This is an exploded view of the anti-collision component in some embodiments of this utility model;

[0022] Figure 6This is one of the structural schematic diagrams of the gimbal, gimbal camera and lifting device in some embodiments of this utility model;

[0023] Figure 7 This is the second schematic diagram of the structure of the gimbal, gimbal camera and lifting device in some embodiments of this utility model. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] Please see Figures 1 to 3This utility model discloses a nuclear power plant inspection robot, which may include a vehicle body 10, which may be generally cuboid in structure. The vehicle body 10 may be made of metal materials, including but not limited to stainless steel or aluminum alloy. Since nuclear power plants are often located near the sea, stainless steel may be used for the vehicle body 10 to improve durability. Of course, in some other embodiments, the vehicle body 10 may also be made of high-strength plastic materials, which is not specifically limited here.

[0028] The vehicle body 10 is equipped with several movable wheels 11. The number of movable wheels 11 can be four, meaning two movable wheels 11 are arranged on each of the left and right sides of the vehicle body 10 along the direction of movement. The vehicle body 10 may contain drive motors connected to the movable wheels 11. These drive motors can be connected to the main controller. The drive motors include, but are not limited to, servo motors, which offer higher precision. Of course, the number, location, and specifications of the movable wheels 11 can be selected according to actual needs and are not specifically limited here.

[0029] Combination Figure 4 and Figure 5 As shown, the vehicle body 10 is equipped with anti-collision components 12 on both the front and rear sides along the direction of movement. Each anti-collision component 12 includes a mounting bracket 121 and an anti-collision strip 122. The mounting bracket 121 is connected to the vehicle body 10, and the anti-collision strip 122 is snapped onto the mounting bracket 121. Specifically, the mounting bracket 121 may be generally elongated. The mounting bracket 121 is connected to the vehicle body 10, for example, by fasteners, including but not limited to screws or bolts. The anti-collision strip 122 may have an elongated slot for engaging with the mounting bracket 121. This snap-fit ​​method facilitates the disassembly and replacement of the anti-collision strip 122. Preferably, the anti-collision strip 122 may be a rubber strip.

[0030] Of course, in some embodiments, anti-collision components 12 may also be provided on the left and right sides of the vehicle body 10 along the direction of movement. In other embodiments, rubber anti-collision strips or anti-collision blocks may be directly provided on the outer periphery of the vehicle body 10. The rubber anti-collision strips or anti-collision blocks may be fixed by adhesive or by bolts or screws, as long as the anti-collision requirements are met, no specific limitation is made here.

[0031] In some embodiments, the vehicle body 10 also includes a main controller, a gimbal 20, and at least one gimbal camera 21 mounted on the gimbal 20. The at least one gimbal camera 21 is connected to the main controller. The at least one gimbal camera 21 includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera. Preferably, the gimbal camera 21 may include an optical zoom visible light gimbal camera and a fixed-focus infrared dual-spectrum gimbal camera to acquire complete image or video information. Of course, the type of gimbal camera 21 can be selected and set according to actual needs, and no specific limitation is made here.

[0032] Combination Figure 6 and Figure 7 In some embodiments, the vehicle body 10 is provided with a lifting device 22 connected to the gimbal 20. The lifting device 22 may be, but is not limited to, a hydraulic cylinder, a pneumatic cylinder, or a transmission mechanism such as a motor and a screw. The lifting device 22 can increase the detection height of the gimbal camera 21.

[0033] like Figures 1 to 3 The vehicle body 10 is also equipped with a laser sensor 30 connected to the main controller. Several first ranging sensors 40 are provided on the front and rear sides of the vehicle body 10 along the direction of movement, and several second ranging sensors 50 are provided on the left and right sides of the vehicle body 10 along the direction of movement. Both the first ranging sensors 40 and the second ranging sensors 50 are connected to the main controller.

[0034] Preferably, two or more first ranging sensors 40 may be configured on the front side of the vehicle body 10 along the direction of movement, two or more first ranging sensors 40 may be configured on the rear side of the vehicle body 10 along the direction of movement, two or more second ranging sensors 50 may be configured on the left side of the vehicle body 10 along the direction of movement, and two or more second ranging sensors 50 may be configured on the right side of the vehicle body 10 along the direction of movement, so as to realize multi-directional distance detection and better obstacle avoidance. In addition, the detection direction of the first ranging sensors 40 and the second ranging sensors 50 can be downward in the horizontal direction, and the detection directions of multiple first ranging sensors 40 on the same side can be staggered, and the detection directions of multiple second ranging sensors 50 on the same side can be staggered, so as to realize multi-angle and multi-directional detection.

[0035] Preferably, the first ranging sensor 40 and the second ranging sensor 50 include an ultrasonic sensor or an infrared sensor. For example, an ultrasonic sensor can be selected. Of course, the first ranging sensor 40 and the second ranging sensor 50 can also be selected from other types of ranging sensors according to actual needs, which are not specifically limited here.

[0036] In some embodiments, obstacle avoidance sensors 90 may be provided on the front and / or rear sides of the vehicle body along the direction of movement. These obstacle avoidance sensors 90 may be connected to the main controller. The obstacle avoidance sensor 90 may be an ultrasonic sensor, an infrared sensor, or other sensors. The sensor type of the obstacle avoidance sensor 90 may be the same as or different from that of the first ranging sensor 40; no specific limitation is made here. Preferably, the obstacle avoidance sensor 90 is positioned below the first ranging sensor 40 to better achieve distance-based obstacle avoidance. Of course, the obstacle avoidance sensor 90 may not be provided.

[0037] Understandably, by configuring the first ranging sensor 40 and the second ranging sensor 50 on the outer periphery of the vehicle body 10, multi-directional and multi-angle position detection can be achieved, which can improve the anti-collision capability. Moreover, the inspection robot 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 blind spots such as ditches and / or steps. This can better protect the nuclear power plant inspection robot and ensure the smooth progress of nuclear power plant inspection work.

[0038] In some embodiments, the vehicle body 10 is further provided with a gas sensor 60 connected to the main controller, which can be used to detect gas parameters in the nuclear power plant building. The gas sensor 60 may be located on the left and / or right side of the vehicle body 10 along the direction of movement, and the gas sensor 60 includes, but is not limited to, a carbon monoxide gas sensor and / or a carbon dioxide gas sensor. In some embodiments, the vehicle body 10 is further provided with a multi-parameter gas detector 100 connected to the main controller, which can also be used to detect gas parameters. Of course, the multi-parameter gas detector 100 may not be provided, and no specific limitation is made here.

[0039] In some embodiments, the vehicle body 10 is further provided with a plurality of antennas 70 connected to the main controller, which can receive and transmit signals. In some embodiments, the number of antennas 70 is at least four.

[0040] In some embodiments, the vehicle body 10 is further provided with a warning device 80 connected to the main controller. The warning device 80 may include, but is not limited to, an acoustic warning device (such as a buzzer or a voice player), an optical warning device (such as an LED light), or a sound and light warning device. When there is an anomaly in the information collected by the gimbal camera 21, the warning device 80 can be used to issue a warning to remind the staff.

[0041] In some embodiments, the main 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 main control MCUs or other control solutions, or be improved or innovatively designed according to requirements; details will not be elaborated here. The relevant data processing in this application is mainly performed by the main controller. Alternatively, in other embodiments, the main controller may be, but is not limited to, a robot computer (robot computer), and no specific limitations are imposed here.

[0042] like Figure 3 As shown, in some embodiments, the vehicle body 10 may also be equipped with a power supply battery, which is connected to the main controller and is mainly used to provide operating power for electrical devices. The bottom of the vehicle body 10 may be equipped with a charging connector 13 that connects to the power supply battery.

[0043] 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 nuclear power plant inspection robot, characterized in that, Includes a vehicle body (10), which is provided with a number of moving wheels (11), and a main controller is also provided inside the vehicle body (10). The vehicle body (10) is provided with a gimbal (20) and at least one gimbal camera (21) installed on the gimbal (20). At least one gimbal camera (21) is connected to the main controller. The vehicle body (10) is also provided with a laser sensor (30) connected to the main controller, and the vehicle body (10) is provided with a number of first ranging sensors (40) on both the front and rear sides along the moving direction. The vehicle body (10) is provided with a plurality of second ranging sensors (50) on both the left and right sides along the direction of movement. The first ranging sensor (40) and the second ranging sensor (50) are both connected to the main controller. The front side of the vehicle body (10) along the direction of movement is provided with two or more first ranging sensors (40), the rear side of the vehicle body (10) along the direction of movement is provided with two or more first ranging sensors (40), the left side of the vehicle body (10) along the direction of movement is provided with two or more second ranging sensors (50), and the right side of the vehicle body (10) along the direction of movement is provided with two or more second ranging sensors (50). The detection direction of the first ranging sensor (40) and the second ranging sensor (50) is oriented towards the lower side of the horizontal direction. The detection directions of the plurality of first ranging sensors (40) on the same side are staggered. The detection directions of the plurality of second ranging sensors (50) on the same side are staggered. The vehicle body (10) is provided with anti-collision components (12) on both the front and rear sides along the direction of movement; the anti-collision components (12) include mounting brackets (121) and anti-collision strips (122), the mounting brackets (121) are connected to the vehicle body (10), and the anti-collision strips (122) are snapped onto the mounting brackets (121); The vehicle body (10) is also equipped with a gas sensor (60) connected to the main controller.

2. The nuclear power plant inspection robot according to claim 1, characterized in that, The vehicle body (10) is equipped with a lifting device (22) connected to the gimbal (20).

3. The nuclear power plant inspection robot according to claim 1, characterized in that, The vehicle body (10) is also provided with several antennas (70) connected to the main controller.

4. The nuclear power plant inspection robot according to claim 3, characterized in that, The number of antennas (70) is at least four.

5. The nuclear power plant inspection robot according to claim 1, characterized in that, The vehicle body (10) is also equipped with a warning device (80) connected to the main controller.

6. The nuclear power plant inspection robot according to claim 1, characterized in that, At least one of the gimbal cameras (21) includes an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera.

7. The nuclear power plant inspection robot according to claim 1, characterized in that, The first ranging sensor (40) and the second ranging sensor (50) include ultrasonic sensors or infrared sensors.

Images