Remote inspection device
Remote inspection of the reactor top cover of a nuclear power plant is achieved through a remote inspection device, which solves the problems of long inspection time and safety hazards, reduces the risk of radiation to personnel, and improves inspection efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2026-03-24
AI Technical Summary
During nuclear power plant overhauls, personnel need to visually inspect the reactor top cover, which takes a long time and results in a high ambient dose rate, increasing safety hazards.
Design a remote inspection device, including a vehicle body, a walking mechanism, and a camera module, which uses a camera to acquire image information of the top cover and displays it through a terminal device to achieve remote inspection.
This reduces the radiation dose to personnel, improves the safety of inspections, reduces the risk in high-dose areas, and improves detection efficiency and accuracy.
Smart Images
Figure CN224036091U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of nuclear power plant inspection, and particularly relates to a remote inspection device. BACKGROUND
[0002] Nuclear power plants need to be overhauled regularly to ensure safe operation of the nuclear power plants, and in some overhaul processes, it is found that the C ring of the reactor top cover is off and the drive rod is bent due to insufficient centering of the drive rod; therefore, in the subsequent overhaul process, the top cover centering inspection and the top cover C ring inspection requirement are added to the inspection content, but in the actual detection process, personnel need to visually inspect the top cover, the inspection process is long and the environment dose rate is high, which increases the safety hazard of personnel.
[0003] The above statements are only used to provide background technical information related to the application, and do not necessarily constitute prior art. CONTENT OF THE UTILITY MODEL
[0004] The purpose of the application is to provide a remote inspection device that can reduce the radiation dose of personnel and improve the safety of personnel inspection.
[0005] To achieve the above purpose, the technical solution adopted by the application is: a remote inspection device for inspecting the top cover of the reactor of a nuclear power plant, the remote inspection device comprising a vehicle body, a walking mechanism and a camera module; the walking mechanism comprising a driving member and walking wheels, the driving member being arranged on the vehicle body, the driving member being connected with the walking wheels, the driving member being used to drive the walking wheels to rotate; the camera module comprising a camera, the camera being arranged on the vehicle body, the camera being used to acquire image information of the top cover, the camera being used to be connected with a terminal device, so that the terminal device can receive the image information acquired by the camera.
[0006] Optionally, the camera module further comprises a damping mechanism connected between the vehicle body and the camera.
[0007] Optionally, the damping mechanism comprises a first mounting plate, a second mounting plate and an elastic member, the first mounting plate being mounted on the vehicle body, the first mounting plate and the second mounting plate being arranged in a spaced manner, the second mounting plate being located on the side of the first mounting plate away from the vehicle body; the elastic member being located between the first mounting plate and the second mounting plate, the camera being mounted on the second mounting plate.
[0008] Optionally, the elastic member is a spring, and the axis of the spring is parallel to the first mounting plate.
[0009] Optionally, the number of driving members is four, and the number of walking wheels is four, the four driving members being connected with the four walking wheels respectively.
[0010] Optionally, the vehicle body comprises a suspension mechanism, a first bottom plate and a second bottom plate, the first bottom plate and the second bottom plate are arranged in a spaced manner, wherein two walking wheels are installed on opposite sides of the first bottom plate, and the other two walking wheels are installed on opposite sides of the second bottom plate; the suspension mechanism is connected between the first bottom plate and the second bottom plate.
[0011] Optionally, the suspension mechanism is a swing suspension.
[0012] Optionally, the remote inspection device further comprises a control device, the control device is electrically connected with the driving member and the camera, and the control device is used for being communicatively connected with a terminal device.
[0013] Optionally, the control device comprises a wireless transmitting unit, the wireless transmitting unit is electrically connected with the camera, and the wireless transmitting unit is used for sending image information captured by the camera to the terminal device.
[0014] And / or, the control device comprises a wireless receiving unit, the wireless receiving unit is electrically connected with the driving member and the camera, and the wireless receiving unit is used for receiving information sent by the terminal device to control the driving member and the camera.
[0015] Optionally, the camera is provided with a lighting lamp, and / or the camera is an infrared camera.
[0016] The remote inspection device provided in the application has at least one of the following technical effects: when in use, the remote inspection device is placed at the bottom of the reactor pool; then, the driving member is started, the driving member drives the walking wheels to rotate, the walking wheels rotate to drive the remote inspection device to move, at the same time, the camera records image information of the top cover and feeds back to the terminal device, personnel check the condition of the top cover through the terminal device, thereby completing the inspection of the top cover; after the inspection is completed, the trolley can be taken out by using the bridge lifting device. The remote inspection device of the application can realize remote detection of the top cover by cooperation of the camera and the walking mechanism, and can replace personnel inspection by using the device, thereby reducing the radiation dose of personnel, effectively controlling high-dose area high-risk inspection, and improving the safety of inspection.
[0017] The above description is only a summary of the technical solutions of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.
[0019] Figure 1 Structure diagram of remote inspection device provided by some embodiments of the present application Figure 1 .
[0020] Figure 2 Structure diagram of remote inspection device provided by some embodiments of the present application Figure 1 . Figure 2
[0021] Figure 3 Exploded diagram of remote inspection device provided by some embodiments of the present application Figure 1 .
[0022] Figure 4 Structure diagram of remote inspection device provided by some embodiments of the present application Figure 1 .
[0023] In the drawings, various reference signs represent:
[0024] 100, remote inspection device; 10, vehicle body; 11, first bottom plate; 12, second bottom plate; 13, suspension mechanism; 131, swing suspension; 14, upper cover; 15, profiled material; 20, walking mechanism; 21, driving member; 22, walking wheel; 30, camera module; 31, camera; 311, illuminating lamp; 32, damping mechanism; 321, first mounting plate; 322, second mounting plate; 323, elastic member; 40, control device; 41, circuit board; 42, wireless transmitting unit; 43, wireless receiving unit; 50, switch unit. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.
[0026] In the description of the embodiments of the present application, the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features.
[0027] In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.
[0028] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.
[0029] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.
[0030] In the description of the present application, it should be understood that the terms "in", "out", "side", "up", "bottom", "front", "back" and the like indicate the orientation or positional relationship only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.
[0031] In the description of the present application, it should be noted that the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone.
[0032] It should also be noted that the same reference signs in the embodiments of the present application represent the same parts or the same components, and for the same components in the embodiments of the present application, only one of the components or parts may, for example, be labeled with a reference sign in the drawing, and it should be understood that the reference signs are also applicable to other identical components or parts.
[0033] The remote inspection device of the embodiment of the present application can realize remote detection of the top cover, reduce the risk of personnel being exposed to nuclear radiation, and in addition, the remote inspection device 100 can realize mechanical detection of the top cover, which is beneficial to improve the detection efficiency and detection effect. The remote inspection device can realize C-ring inspection and centering inspection of the top cover, and of course, the remote inspection device can also be applied to component inspection in other engineering fields. The remote inspection device can be applied to underwater environments such as the reactor coolant system reactor pool, fuel reloading pool, and spent fuel pool of a nuclear power plant.
[0034] The remote inspection device 100 of the embodiment of the present application will be described below with reference to the accompanying drawings. Figures 1-4
[0035] As shown in Figures 1-2 In some embodiments, the remote inspection device 100 is used for inspecting the top cover of the reactor of a nuclear power plant, and the remote inspection device 100 comprises a vehicle body 10, a traveling mechanism 20, and a camera module 30. The traveling mechanism 20 comprises a driving member 21 and traveling wheels 22. The driving member 21 is arranged on the vehicle body 10 and is connected with the traveling wheels 22. The driving member 21 is used for driving the traveling wheels 22 to rotate. The camera module 30 comprises a camera 31. The camera 31 is arranged on the vehicle body 10 and is used for acquiring image information of the top cover. The camera 31 is used for being connected with a terminal device, so that the terminal device can receive the image information acquired by the camera 31.
[0036] The remote inspection device 100 is used for inspecting the top cover of the reactor of a nuclear power plant. The remote inspection device 100 feeds back the image information of the top cover to a terminal device. Personnel can complete the inspection of the top cover by watching the image information displayed by the terminal device.
[0037] The vehicle body 10 can be a shell structure of the remote inspection device 100. The vehicle body 10 can provide an installation base for the traveling mechanism 20 and the camera module 30, and plays a role of supporting and fixing the traveling mechanism 20 and the camera module 30. The material of the vehicle body 10 can be various, for example, plastic, metal, etc.
[0038] The walking mechanism 20 can refer to a component for driving the vehicle body 10 to move, and the walking mechanism 20 includes a driving member 21 and walking wheels 22. The driving member 21 is installed on the vehicle body 10, and the driving member 21 is connected with the walking wheels 22. The driving member 21 drives the walking wheels 22 to rotate, thereby driving the vehicle body 10 to move, and realizing the walking of the remote inspection device 100. The walking of the remote inspection device 100 can expand the detection range of the camera module 30, and improve the comprehensiveness and accuracy of the detection of the remote inspection device 100. The driving member 21 can be a motor or the like. The number of the driving member 21 and the number of the walking wheels 22 can be the same or different. The number of the walking wheels 22 can be multiple, for example, two, three, four, etc. One driving member 21 can drive one walking wheel 22 to rotate, or multiple walking wheels 22 to move. The specific number can be selected according to actual needs.
[0039] The camera module 30 can refer to a camera module 30 for acquiring image information of the top cover. The camera 31 can be a CCD camera, a CMOS camera, or the like. The image information captured by the camera 31 can be transmitted to a terminal device and displayed through the terminal device, so as to facilitate personnel to remotely view the condition of the top cover and realize the inspection of the top cover. The terminal device can be a mobile phone, a tablet computer, a computer, a control box, or the like. The camera module 30 can be installed on the top, side, or the like of the vehicle body 10. The specific position can be set according to actual needs.
[0040] The remote inspection device 100 of the embodiment of the present application is used by being placed at the bottom of the reactor pool. Then, the driving member 21 is started, the driving member 21 drives the walking wheels 22 to rotate, the walking wheels 22 rotate to drive the remote inspection device 100 to move, at the same time, the camera 31 records the image information of the top cover and feeds back to the terminal device. Personnel view the condition of the top cover through the terminal device, thereby completing the inspection of the top cover. After the inspection is completed, the trolley can be taken out by using the bridge lifting device. The remote inspection device 100 of the embodiment of the present application realizes the remote detection of the top cover by the cooperation of the camera 31 and the walking mechanism 20. The device is used to replace personnel to inspect, which can reduce the dose received by personnel and effectively control the high-risk inspection in the high-dose area, and improve the safety of the inspection.
[0041] For example, the remote inspection device 100 can be lowered to the bottom of the reactor pool by the bridge lifting device.
[0042] The remote inspection device 100 of the embodiment of the present application can be applied to the conventional inspection of the sealing surface and the top cover C ring in the case of core exposure, which reduces the risk of instantaneous high-dose irradiation of the operating personnel. In the actual use process, the collective dose can be reduced by about 300 μSv per hoisting of the top cover, and 1 mSv per overhaul, which effectively reduces the risk of instantaneous high-dose irradiation.
[0043] In some embodiments, the wheels are Mecanum wheels, and the movement of the Mecanum wheels is more flexible, so that the movement flexibility of the remote inspection device 100 is improved.
[0044] In some embodiments, the wheels are provided with anti-skid structures, for example, grooves are arranged on the walking surfaces of the wheels or anti-skid coatings are applied, etc. The anti-skid structures can reduce the risk of slippage of the remote inspection device 100, and facilitate accurate control of the remote inspection device 100, so that the remote inspection device 100 can walk to the specified position of the reactor pool.
[0045] In some embodiments, the driving member 21 and the walking wheels 22 are detachably connected, so that different sizes of the walking wheels 22 can be replaced, and the remote inspection device 100 can be applied to more functional scenarios.
[0046] In some embodiments, the camera module 30 further comprises a damping mechanism 32 connected between the vehicle body 10 and the camera 31.
[0047] The damping mechanism 32 has elasticity and can absorb vibrations during the walking of the remote inspection device 100. The damping mechanism 32 can be a rubber damping pad, a spring damper, a hydraulic damping device, etc.
[0048] During the walking of the remote inspection device 100, vibrations will inevitably occur, which will cause the pictures taken by the camera 31 to be blurred and jittered. The damping mechanism 32 can effectively isolate the vibration of the vehicle body 10, so that the camera 31 works in a relatively stable state, improves the quality of the obtained images, and improves the accuracy of the inspection results.
[0049] In some embodiments, the damping mechanism 32 comprises a first mounting plate 321, a second mounting plate 322 and an elastic member 323. The first mounting plate 321 is mounted to the vehicle body 10. The first mounting plate 321 and the second mounting plate 322 are arranged in a spaced manner, and the second mounting plate 322 is located on the side of the first mounting plate 321 away from the vehicle body 10. The elastic member 323 is located between the first mounting plate 321 and the second mounting plate 322, and the camera 31 is mounted to the second mounting plate 322.
[0050] The first mounting plate 321 is used for connection with the vehicle body 10, and the second mounting plate 322 is used for mounting the camera 31. The first mounting plate 321 and the second mounting plate 322 are arranged in a spaced manner, and the elastic member 323 is mounted between the first mounting plate 321 and the second mounting plate 322. The vibration is absorbed by the deformation of the elastic member 323, so that the damping of the camera 31 is realized. The elastic member 323 can be a spring, rubber, etc.
[0051] By adopting the technical scheme of the embodiment, the damping mechanism 32 adopts the structural form of the first mounting plate 321, the second mounting plate 322 and the elastic piece 323, the second mounting plate 322 can provide a larger mounting area for the camera 31, and the stability of the camera 31 is improved; in addition, the damping mechanism 32 has a simple structure and is convenient to assemble.
[0052] In some embodiments, the elastic piece 323 is a spring, and the axial direction of the spring is parallel to the first mounting plate 321.
[0053] The elastic piece 323 adopts the structure of a spring, which has a simple structure, and in addition, the axial direction of the spring is parallel to the first mounting plate 321, that is, the spring is installed horizontally between the first mounting plate 321 and the second mounting plate 322, and when vibrating, the spring is pressed in the radial direction, and the radial direction of the spring has a certain elasticity and a certain rigidity, which can improve the stability of the camera 31 and also absorb the vibration transmitted by the vehicle body 10. The number of springs can be one or more, and multiple springs are arranged horizontally and spaced apart between the first mounting plate 321 and the second mounting plate 322, and the specific number can be set according to actual needs.
[0054] As shown in Figure 3 or Figure 4 In some embodiments, the number of driving pieces 21 is four, and the number of walking wheels 22 is four, and the four driving pieces 21 are respectively connected with the four walking wheels 22.
[0055] Among the four walking wheels 22, two walking wheels 22 are installed at the front of the vehicle body 10, and the other two walking wheels 22 are installed at the rear of the vehicle body 10, and the front and rear can be determined according to the shape and direction of the remote inspection device 100.
[0056] By adopting the technical scheme of the embodiment, the four driving pieces 21 respectively drive the four walking wheels 22, which can realize four-wheel drive of the remote inspection device 100, and the walking of the remote inspection device 100 is more flexible, and can also adapt to more complex terrain environments. In addition, by changing the output speed of the four driving pieces 21, four-wheel differential control can also be realized, so that the walking of the remote inspection device 100 is more flexible.
[0057] In some embodiments, the vehicle body 10 includes a suspension mechanism 13, a first bottom plate 11 and a second bottom plate 12, and the first bottom plate 11 and the second bottom plate 12 are spaced apart, two walking wheels 22 are installed on opposite sides of the first bottom plate 11, and the other two walking wheels 22 are installed on opposite sides of the second bottom plate 12; the suspension mechanism 13 is connected between the first bottom plate 11 and the second bottom plate 12.
[0058] The bottom plate of the vehicle body 10 is in a split structure, and the bottom plate includes two disconnected parts, one of which is a first bottom plate 11 and the other of which is a second bottom plate 12. The first bottom plate 11 and the second bottom plate 12 are arranged in a spaced manner, and the four walking wheels 22 are arranged in a spaced manner. Among the four walking wheels 22, two walking wheels 22 are arranged on the first bottom plate 11, and the other two walking wheels 22 are arranged on the second bottom plate 12.
[0059] For example, the first bottom plate 11 and the second bottom plate 12 are arranged in a spaced manner from front to back, and the two walking wheels 22 on the front side are arranged on the opposite sides of the first bottom plate 11, and the two walking wheels 22 on the rear side are arranged on the opposite sides of the second bottom plate 12.
[0060] By adopting the technical scheme of this embodiment, the suspension mechanism 13 has a certain elasticity, can absorb the vibration of the first bottom plate 11 and the second bottom plate 12, reduce the vibration transmission between the first bottom plate 11 and the second bottom plate 12, improve the stability of the camera 31, improve the image quality of the camera 31, and improve the accuracy of the inspection result. In addition, the structure of the first bottom plate 11, the second bottom plate 12 and the suspension mechanism 13 is simple, and also facilitates the processing and manufacturing of the remote inspection device 100.
[0061] In some embodiments, the suspension mechanism 13 is a pendulum suspension 131.
[0062] One end of the pendulum suspension 131 is fixed to the first bottom plate 11, and the other end is fixed to the second bottom plate 12.
[0063] By adopting the technical scheme of this embodiment, the pendulum suspension 131 allows the first bottom plate 11 and the second bottom plate 12 to swing within a certain angle range, which is similar to the movement mode of a pendulum, thereby effectively dealing with the bumps and undulations of the road and improving the stability of the camera 31.
[0064] In some embodiments, the remote inspection device 100 further comprises a control device 40, which is electrically connected with the driving member 21 and the camera 31, and is used for communication connection with a terminal equipment.
[0065] The control device 40 can be used to control the operation of the camera 31 and the driving member 21. The control device 40 can feed back the image information obtained by the camera 31 to the terminal equipment, and the control device 40 and the terminal equipment can be connected in a wired or wireless manner. The control device 40 can be a PLC controller or the like.
[0066] In some examples, the driving member 21 is a motor, and the control device 40 controls the rotating speed of the motor, so as to realize the forward movement, backward movement, turning and the like of the remote inspection device 100.
[0067] In some examples, the camera 31 is a 360° panoramic camera, and the control device 40 can control the 360° panoramic camera to perform pitching or rotating movement to expand the shooting field of view and improve the accuracy of the inspection.
[0068] By adopting the technical solution of this embodiment, the control device 40 can be conveniently controlled by a terminal device to remotely control the remote inspection device 100.
[0069] In some examples, the control device 40 comprises a wireless transmitting unit 42 electrically connected to the camera 31, and the wireless transmitting unit 42 is configured to send the image information captured by the camera 31 to the terminal device; and / or the control device 40 comprises a wireless receiving unit 43 electrically connected to the driving member 21 and the camera 31, and the wireless receiving unit 43 is configured to receive the information sent by the terminal device to control the driving member 21 and the camera 31.
[0070] The wireless transmitting unit 42 can be a component capable of sending the image information captured by the camera 31 to the terminal device, and the wireless transmitting unit 42 and the terminal device can send information through Bluetooth or WIFI transmission technology. Of course, the wireless transmitting unit 42 can also send the movement information of the camera 31 and the movement information of the remote inspection device 100 to the terminal device.
[0071] The wireless receiving unit 43 can be a component capable of receiving the information sent by the terminal device, and the terminal device can send information to the wireless receiving unit 43, and the wireless receiving unit 43 controls the operation of the driving member 21 and the camera 31 after receiving the information, thereby achieving remote control of the remote inspection device 100. The wireless receiving unit 43 and the terminal device can send information through Bluetooth or WIFI transmission technology.
[0072] In some examples, the control device 40 comprises a wireless transmitting unit 42 electrically connected to the camera 31, and the wireless transmitting unit 42 is configured to send the image information captured by the camera 31 to the terminal device, which can reduce the connection cable between the terminal device and the remote inspection device 100, reduce the limitation of the cable on the remote inspection device 100, make the movement of the remote inspection device 100 more flexible, improve the inspection effect, achieve remote wireless inspection, and also reduce the pollution spread caused by the cable.
[0073] In some examples, the control device 40 comprises a wireless receiving unit 43 electrically connected with the driving member 21 and the camera 31, and the wireless receiving unit 43 is configured to receive information sent by the terminal device to control the driving member 21 and the camera 31, so as to reduce the connection cable between the terminal device and the remote inspection device 100, reduce the limitation of the cable on the remote inspection device 100, make the movement of the remote inspection device 100 more flexible, and improve the inspection effect.
[0074] In some examples, the control device 40 comprises a wireless transmitting unit 42 electrically connected with the camera 31, and the wireless transmitting unit 42 is configured to send image information captured by the camera 31 to the terminal device; and the control device 40 comprises the wireless receiving unit 43 electrically connected with the driving member 21 and the camera 31, and the wireless receiving unit 43 is configured to receive information sent by the terminal device to control the driving member 21 and the camera 31, so as to realize remote inspection and control.
[0075] In some examples, the control device 40 comprises a circuit board 41, and the wireless receiving unit 43 and the wireless transmitting unit 42 are installed on the circuit board 41 and electrically connected with the camera 31 and the driving member 21 through lines in the circuit board 41, and the specific line connection is a relatively mature technology and will not be described here.
[0076] In some examples, the camera 31 is carried by the vehicle body 10 in a mode, and remote monitoring can be realized through wireless image transmission, and visual inspection and patrol can be realized at a designated location to replace personnel to frequently check and reduce the dose exposure risk of personnel; for example, the maximum image transmission distance can be 50 m.
[0077] In some examples, the vehicle body 10 further comprises an upper cover 14, the control device 40 is installed on the first bottom plate 11, and the upper cover 14 covers the first bottom plate 11 and the second bottom plate 12 to protect the driving member 21 and the control device 40 on the first bottom plate 11 and the second bottom plate 12, the upper cover 14 is connected with the first bottom plate 11 through the profiled material 15 to form a space for accommodating the driving member 21 and the control device 40, and the upper cover 14 is not connected with the second bottom plate 12, so that the first bottom plate 11 can swing relative to the second bottom plate 12.
[0078] In some examples, the upper cover 14 is provided with a mounting structure, the mounting structure can be used for mounting components such as a mechanical hand and an underwater cleaning device, and the remote inspection device 100 can arbitrarily carry other corresponding components (for example, a mechanical hand) to expand the function of the remote inspection device 100. The mounting structure can be a bolt hole, a clamping structure or the like.
[0079] In some embodiments, the upper cover 14 is provided with a battery, which supplies power to the camera 31 and the driving member 21. In actual use, the remote inspection device 100 can maintain a continuous operation of 1.5-2 hours with a full charge. Of course, a battery with a larger or smaller capacity can also be provided to meet different use requirements.
[0080] In some embodiments, the remote inspection device 100 further comprises a switch unit 50, which is installed on the vehicle body 10 and directly controls the opening and closing of the driving member 21 and the camera 31.
[0081] In some embodiments, the terminal device comprises a computer and a hand control box. The computer displays the image captured by the camera 31, thereby realizing remote monitoring and recording. The hand control box remotely controls the movement and switch of the remote inspection device 100. The computer and the hand control box are connected in a wireless manner.
[0082] In some embodiments, the camera 31 is provided with an illuminating lamp 311, and / or the camera 31 is an infrared camera.
[0083] The illuminating lamp 311 can provide illuminating light for the camera 31, so that the camera 31 can capture clearer image information and better adapt to the environment of the reactor pool which is relatively dark.
[0084] The infrared camera can capture images at night or in a low-light environment, thereby better adapting to the environment of the reactor pool which is relatively dark.
[0085] In some embodiments, the camera 31 can monitor in a 360° omnidirectional view, has illumination and infrared modes, can be zoomed by 40 times, and has a certain anti-radiation capability.
[0086] In some embodiments, the bridge lifting device platform comprises a self-locking winch, an upper support and a lower support. The bridge lifting device is stably fixed on the core bridge through the upper support and the lower support. The self-locking winch is fixed on the upper support and connected to the fixed lifting lug at the tail of the remote inspection device 100 through a steel wire rope. The remote inspection device 100 or other tools can be quickly sent to the bottom of the reactor pool through the self-locking winch. The bridge lifting device and the remote inspection device 100 are quickly installed, and the remote inspection device 100 is light in size.
[0087] In actual use, the remote inspection device 100 of the embodiment of the application is first opened by the switch unit 50 of the trolley, and then lowered to the bottom of the reactor pool through the bridge lifting device. The remote computer is connected to the WiFi signal. The camera 31 of the remote inspection device 100 is remotely opened, the view angle of the camera 31 is adjusted, and the remote inspection device 100 is controlled to walk, inspect and record. After the inspection is completed, the remote inspection device 100 is taken out by the bridge lifting device.
[0088] The remote inspection device 100 of the embodiment of the application can realize wireless transmission control, and can further improve the improvement of the on-site intelligent tool. The remote inspection device 100 can be remotely switched on and off and controlled, and can reduce the wired restraint and reduce pollution diffusion. The remote inspection device 100 can also be used for other equipment access, such as a derivative device of a mechanical hand, to improve the diversity of functions of the remote inspection device 100, reduce the personnel frequent access to the pool, and reduce the personnel radiation dose.
[0089] The remote inspection device 100 of the embodiment of the application is light and easy to operate, and can also remotely inspect the matching condition of the top cover hot sleeve horn mouth when the top cover falls. The vehicle body 10, the walking mechanism 20 and the camera 31 are connected to form an integral whole to ensure that there is no foreign matter. After the inspection is completed, the remote inspection device 100 is directly taken away from the pool to avoid the risk of foreign matter.
[0090] The application of the remote inspection device 100 in the maintenance is an innovation of the device, and provides a reference scheme for the improvement of the design process of the same type of device in the future. Through the on-site application of two overhauls, the advantages of the remote inspection device 100 mainly include the following aspects:
[0091] 1. The device has a small use risk, can be quickly assembled and processed, and meets the on-site demand;
[0092] 2. The personnel radiation dose is reduced, and the high-dose area high-risk inspection is effectively controlled. The device replaces the personnel inspection;
[0093] 3. The remote inspection device 100 is easy to operate and control, and is convenient to maintain and can be reused, which is beneficial to the professional maintenance of the same type of device;
[0094] 4. Wireless control and wireless transmission;
[0095] 5. The remote inspection device 100 is convenient to process, occupies a small space, and is convenient to store and transport;
[0096] 6. The remote inspection device 100 has a low cost and high economy;
[0097] 7. The demand for manpower and working hours is small, and the economic benefit is high;
[0098] 8. The coverage is wide, and the same type of situation can be expanded for use.
[0099] Under normal use of the remote inspection device 100, about 1 hour of travel can be saved, the personnel single-time 300 μSv can be reduced, and valuable experience can be provided for the improvement of the same type of operation.
[0100] The above description of the various embodiments tends to emphasize differences between the various embodiments, and the same or similar parts can be mutually referred to for brevity, which will not be repeated herein.
[0101] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A remote inspection device for inspecting a head of a reactor of a nuclear power plant, characterized in that, The remote inspection device comprises: a vehicle body; a walking mechanism comprising driving members and walking wheels, the driving members being arranged on the vehicle body and connected with the walking wheels, and the driving members being used to drive the walking wheels to rotate; a camera module comprising a camera, the camera being arranged on the vehicle body and used to acquire image information of the roof, and the camera being used to be connected with a terminal device so that the terminal device can receive the image information acquired by the camera.
2. The remote inspection device of claim 1, wherein: The camera module further comprises a damping mechanism connected between the vehicle body and the camera.
3. The remote inspection device of claim 2, wherein: The damping mechanism comprises a first mounting plate, a second mounting plate and an elastic member, the first mounting plate being arranged on the vehicle body, the first mounting plate and the second mounting plate being arranged in a spaced manner, and the second mounting plate being arranged on a side of the first mounting plate away from the vehicle body; the elastic member being arranged between the first mounting plate and the second mounting plate, and the camera being arranged on the second mounting plate.
4. The remote inspection device of claim 3, wherein: The elastic member is a spring, and an axial direction of the spring is parallel to the first mounting plate.
5. The remote checking device according to any one of claims 1 to 4, characterized in that: The number of the driving members is four, and the number of the walking wheels is four, and each of the four driving members is connected with a walking wheel.
6. The remote inspection device of claim 5, wherein: The vehicle body comprises a suspension mechanism, a first bottom plate and a second bottom plate, the first bottom plate and the second bottom plate being arranged in a spaced manner, two of the walking wheels being arranged on opposite sides of the first bottom plate, and the other two of the walking wheels being arranged on opposite sides of the second bottom plate; and the suspension mechanism being connected between the first bottom plate and the second bottom plate.
7. The remote inspection device of claim 6, wherein: The suspension mechanism is a swing type suspension.
8. The remote checking device according to any one of claims 1 to 4, characterized in that: The remote inspection device further comprises a control device, the control device being electrically connected with the driving members and the camera, and the control device being used to be communicatively connected with the terminal device.
9. The remote inspection device of claim 8, wherein: The control device comprises a wireless transmitting unit, the wireless transmitting unit being electrically connected with the camera, and the wireless transmitting unit being used to send the image information captured by the camera to the terminal device; and / or, the control device comprises a wireless receiving unit, the wireless receiving unit being electrically connected with the driving members and the camera, and the wireless receiving unit being used to receive information sent by the terminal device to control the driving members and the camera.
10. The remote checking device according to any one of claims 1 to 4, characterized in that: The camera is provided with a lighting lamp, and / or the camera is an infrared camera.