Navigation and positioning device for inspection robot of nuclear power station

Abstract

The utility model relates to the technical field of nuclear power station intelligent inspection, and discloses a nuclear power station inspection robot navigation positioning device, which comprises a core positioning sensing module, an environment characteristic identification module, a multi-source data fusion processing module, an anti-radiation enhanced positioning module and an autonomous navigation decision module, the core positioning sensing module comprises a laser radar scanning unit, an inertial measurement unit and a speedometer unit, the laser radar scanning unit adopts a multi-line laser radar, and the speedometer unit obtains the rotating speed of a driving wheel through an encoder and calculates the relative displacement of the robot, so that the robot can be positioned in an environment without GPS signals; a core positioning sensing module, an environment feature recognition module, a multi-source data fusion processing module, an anti-radiation enhanced positioning module and an autonomous navigation decision module are integrated, so that the nuclear power station inspection robot navigation positioning device realizes a high-precision and high-robustness navigation positioning function; and the navigation positioning problem in the complex environment of the nuclear power station is effectively solved.

Description

Technical Field

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

[0002] Nuclear power plants are complex in structure and operate in harsh environments (radiation, high temperatures, strong electromagnetic interference, and confined spaces). Traditional manual inspections face challenges such as low efficiency, high risk, and poor accessibility. Intelligent inspection robots, due to their ability to penetrate high-risk areas and operate continuously, have become a key technological direction for improving the safety and intelligence of nuclear facility operation and maintenance. Existing robot navigation technologies (such as GPS, conventional laser SLAM, visual odometry, and inertial navigation) face significant challenges inside nuclear power plants, and their reliable operation highly depends on accurate and robust navigation and positioning systems.

[0003] Traditional nuclear power plant inspection robots suffer from complete GPS signal failure underground and in enclosed buildings. Dense metal structures make laser SLAM susceptible to multipath interference, resulting in point cloud feature degradation. The performance of vision systems drops sharply in low light, steam-filled, and high-irradiation areas. Inertial navigation accumulates significant errors, making it difficult to work independently for extended periods. Furthermore, the nuclear environment places stringent requirements on the radiation resistance, explosion protection, electromagnetic compatibility, and absolute safety of equipment, making ordinary commercial solutions unsuitable.

[0004] Therefore, we propose a navigation and positioning device for nuclear power plant inspection robots. Utility Model Content

[0005] The present invention aims to solve the technical problems existing in the prior art and provide a navigation and positioning device for a nuclear power plant inspection robot.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a navigation and positioning device for a nuclear power plant inspection robot, comprising a core positioning and perception module, an environmental feature recognition module, a multi-source data fusion processing module, a radiation-resistant enhanced positioning module, and an autonomous navigation decision-making module. These modules are connected via electrical signals. The core positioning and perception module includes a lidar scanning unit, an inertial measurement unit, and an odometer unit. The lidar scanning unit uses a multi-line lidar to construct a real-time 3D point cloud map of the nuclear power plant's pipelines and equipment, enabling the robot to accurately perceive its own position and surrounding environment. The inertial measurement unit integrates a gyroscope and an accelerometer to monitor the robot's attitude angle and acceleration, allowing the robot to adjust its position and direction in real time. The odometer unit obtains the drive wheel speed through an encoder and calculates the robot's relative displacement, enabling the robot to perform positioning even in environments without GPS signals.

[0007] Preferably, the environmental feature recognition module includes a multi-line laser feature extraction unit, a visual reference point detection unit, and an ultrasonic near-range obstacle avoidance unit. The multi-line laser feature extraction unit uses fixed structures that identify pipe welds, valves, and support frames as positioning anchor points, enabling the robot to accurately identify its position even in complex environments. The visual reference point detection unit captures specific marks and signs in the environment through a high-definition camera, further enhancing positioning accuracy. The ultrasonic near-range obstacle avoidance unit uses ultrasonic sensors to detect surrounding obstacles and triggers emergency positioning corrections, ensuring that the robot can navigate safely even in narrow and obstacle-dense areas.

[0008] Preferably, the multi-source data fusion processing module includes a SLAM engine unit, a dynamic error compensation unit, and a temperature drift suppression unit. The SLAM engine unit fuses laser, visual, and IMU data based on a graph optimization algorithm to generate real-time positioning coordinates, making the positioning more accurate and stable. The dynamic error compensation unit automatically adjusts the sensor weights according to the radiation intensity, weakens visual data in high-radiation areas, so that the robot can still maintain high-precision positioning in high-radiation environments. The temperature drift suppression unit monitors the temperature through thermocouples and calibrates the IMU zero bias error in real time.

[0009] Preferably, the radiation-resistant enhanced positioning module includes a lead-shielded sensor cabin unit, a redundant communication unit, and a reflective positioning marker unit. The lead-shielded sensor cabin unit places key sensors inside a lead alloy cabin to reduce gamma-ray interference, enabling the sensors to function normally in the high-radiation environment of a nuclear power plant. The redundant communication unit uses dual-channel transmission of fiber optic and wireless to prevent data loss caused by electromagnetic pulses, allowing the robot to maintain stable communication even in extreme environments. The reflective positioning marker unit uses radiation-resistant prism reflectors placed at corridor corners to assist laser positioning, enabling the robot to quickly and accurately locate itself in complex environments.

[0010] Preferably, the autonomous navigation decision module includes a path planning unit, a motion control unit, and an anomaly reset unit. The path planning unit generates the radiation-optimal path based on the BIM model, dynamically avoiding high-dose areas, enabling the robot to complete the inspection task efficiently and safely. The motion control unit converts the positioning coordinates into servo control commands to achieve centimeter-level trajectory tracking, allowing the robot to maintain a high-precision trajectory during the inspection process. The anomaly reset unit is used to automatically call the nearest feature point for re-initialization when the positioning deviation is >10cm, ensuring that the robot's positioning deviation is corrected in a timely manner.

[0011] This utility model provides a navigation and positioning device for a nuclear power plant inspection robot. It has the following beneficial effects:

[0012] 1. This nuclear power plant inspection robot navigation and positioning device integrates a core positioning perception module, an environmental feature recognition module, a multi-source data fusion processing module, a radiation-resistant enhanced positioning module, and an autonomous navigation decision-making module, enabling the nuclear power plant inspection robot navigation and positioning device to achieve high-precision and high-robustness navigation and positioning functions, effectively overcoming the navigation and positioning difficulties in the complex environment of nuclear power plants.

[0013] 2. This navigation and positioning device for a nuclear power plant inspection robot is equipped with a core positioning perception module and an environmental feature recognition module. The core positioning perception module utilizes multi-line lidar, inertial measurement unit, and odometer unit to achieve accurate positioning in environments without GPS signals, solving the challenges faced by traditional navigation technology inside nuclear power plants. The environmental feature recognition module enhances the robot's position recognition capability and safety in complex environments through multi-line lidar feature extraction, visual reference point detection, and ultrasonic near-range obstacle avoidance.

[0014] 3. This nuclear power plant inspection robot navigation and positioning device incorporates a multi-source data fusion processing module and a radiation-resistant enhanced positioning module. The multi-source data fusion processing module integrates data from multiple sensors, improving the accuracy and stability of positioning, especially maintaining high-precision positioning even in high-radiation environments. The radiation-resistant enhanced positioning module ensures the normal operation and stable communication of sensors in high-radiation environments through lead-shielded sensor chambers, redundant communication, and reflective positioning markers. Furthermore, the autonomous navigation decision module performs path planning based on a BIM model, achieving efficient and safe inspection tasks while ensuring high-precision trajectory tracking and timely correction of positioning deviations during the inspection process. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the device module of this utility model. Detailed Implementation

[0016] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0017] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] In the description of the embodiments of this utility model, it should be noted that the terms "center," "upper," "lower," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1: A navigation and positioning device for a nuclear power plant inspection robot, such as Figure 1As shown, the system includes a core positioning and perception module, an environmental feature recognition module, a multi-source data fusion processing module, a radiation-resistant enhanced positioning module, and an autonomous navigation decision-making module. These modules are connected via electrical signals. The core positioning and perception module includes a lidar scanning unit, an inertial measurement unit, and an odometer unit. The lidar scanning unit uses a multi-line lidar to construct a 3D point cloud map of the nuclear power plant's pipelines and equipment in real time, enabling the robot to accurately perceive its own position and surrounding environment. The inertial measurement unit integrates a gyroscope and an accelerometer to monitor the robot's attitude angle and motion acceleration, allowing the robot to adjust its position and orientation in real time. The odometer unit obtains the drive wheel speed through an encoder and calculates the robot's relative displacement, enabling the robot to perform positioning even in environments without GPS signals. The environmental feature recognition module includes a multi-line laser feature extraction unit, a visual reference point detection unit, and an ultrasonic near-range obstacle avoidance unit. The multi-line laser feature extraction unit uses fixed structures such as pipe welds, valves, and support frames as positioning anchor points, enabling the robot to accurately identify its position even in complex environments. The visual reference point detection unit captures specific marks and signs in the environment through a high-definition camera, further enhancing positioning accuracy. The ultrasonic near-range obstacle avoidance unit uses ultrasonic sensors to detect surrounding obstacles and triggers emergency positioning corrections, ensuring the robot can navigate safely in narrow and obstacle-dense areas. The multi-source data fusion processing module includes a SLAM engine unit, a dynamic error compensation unit, and a temperature drift suppression unit. The SLAM engine unit fuses laser, visual, and IMU data based on a graph optimization algorithm to generate real-time positioning coordinates, making positioning more accurate and stable. The dynamic error compensation unit automatically adjusts sensor weights according to radiation intensity, weakening visual data in high-radiation areas, allowing the robot to maintain high-precision positioning even in high-radiation environments. The temperature drift suppression unit monitors temperature through thermocouples and calibrates the IMU zero-bias error in real time. The radiation-resistant enhanced positioning module includes a lead-shielded sensor cabin unit, a redundant communication unit, and a reflective positioning marker unit. The lead-shielded sensor cabin unit places key sensors inside a lead alloy cabin to reduce gamma-ray interference, enabling the sensors to operate normally in the high-radiation environment of a nuclear power plant. The redundant communication unit uses dual-channel transmission of fiber optics and wireless to prevent data loss caused by electromagnetic pulses, allowing the robot to maintain stable communication even in extreme environments. The reflective positioning marker unit uses radiation-resistant prism reflectors placed at corridor corners to assist laser positioning, enabling the robot to quickly and accurately locate itself in complex environments.The autonomous navigation decision-making module includes a path planning unit, a motion control unit, and an anomaly reset unit. The path planning unit generates the radiation-optimal path based on the BIM model, dynamically avoiding high-dose areas, enabling the robot to complete inspection tasks efficiently and safely. The motion control unit converts positioning coordinates into servo control commands, achieving centimeter-level trajectory tracking, ensuring the robot maintains a high-precision trajectory during inspection. The anomaly reset unit automatically calls the nearest feature point for re-initialization when the positioning deviation exceeds 10cm, ensuring timely correction of the robot's positioning deviation. By integrating a core positioning perception module, an environmental feature recognition module, a multi-source data fusion processing module, a radiation-resistant enhanced positioning module, and an autonomous navigation decision-making module, the nuclear power plant inspection robot's navigation and positioning device achieves high-precision and highly robust navigation and positioning functions, effectively overcoming the navigation and positioning challenges in the complex environment of a nuclear power plant.

[0023] Example 2: Based on Example 1, as follows Figure 1As shown, the environmental feature recognition module includes a multi-line laser feature extraction unit, a visual reference point detection unit, and an ultrasonic near-range obstacle avoidance unit. The multi-line laser feature extraction unit uses fixed structures such as pipe welds, valves, and support frames as positioning anchor points, enabling the robot to accurately identify its position even in complex environments. The visual reference point detection unit captures specific marks and signs in the environment through a high-definition camera, further enhancing positioning accuracy. The ultrasonic near-range obstacle avoidance unit uses ultrasonic sensors to detect surrounding obstacles and triggers emergency positioning corrections, ensuring the robot can navigate safely in narrow and obstacle-dense areas. The multi-source data fusion processing module includes a SLAM engine unit, a dynamic error compensation unit, and a temperature drift suppression unit. The SLAM engine unit fuses laser, visual, and IMU data based on a graph optimization algorithm to generate real-time positioning coordinates, making positioning more accurate and stable. The dynamic error compensation unit automatically adjusts sensor weights according to radiation intensity, weakening visual data in high-radiation areas, allowing the robot to maintain high-precision positioning even in high-radiation environments. The temperature drift suppression unit monitors temperature through thermocouples and calibrates the IMU zero-bias error in real time. The radiation-resistant enhanced positioning module includes a lead-shielded sensor chamber unit, a redundant communication unit, and a reflective positioning marker unit. The lead-shielded sensor chamber unit houses key sensors within a lead alloy chamber, reducing gamma-ray interference and enabling the sensors to function normally in the high-radiation environment of a nuclear power plant. The redundant communication unit employs dual-channel transmission via fiber optics and wireless to prevent data loss due to electromagnetic pulses, ensuring stable communication even in extreme environments. The reflective positioning marker unit uses radiation-resistant prism reflectors placed at corridor corners to assist laser positioning, enabling the robot to quickly and accurately locate itself in complex environments. The autonomous navigation decision-making module includes a path planning unit, a motion control unit, and an anomaly reset unit. The path planning unit generates the optimal radiation path based on the BIM model, dynamically avoiding high-dose areas, allowing the robot to complete inspection tasks efficiently and safely. The motion control unit converts positioning coordinates into servo control commands, achieving centimeter-level trajectory tracking, ensuring the robot maintains a high-precision trajectory during inspections. The anomaly reset unit automatically calls the nearest feature point for re-initialization when the positioning deviation exceeds 10cm, ensuring timely correction of the robot's positioning deviation. By setting up a core positioning and perception module and an environmental feature recognition module, the core positioning and perception module uses multi-line LiDAR, inertial measurement unit and odometry unit to achieve accurate positioning in environments without GPS signals, solving the challenges faced by traditional navigation technology inside nuclear power plants. The environmental feature recognition module enhances the robot's position recognition ability and safety in complex environments through multi-line LiDAR feature extraction, visual reference point detection and ultrasonic near-range obstacle avoidance.

[0024] Example 3: Based on Examples 1 and 2, as follows... Figure 1As shown, the multi-source data fusion processing module includes a SLAM engine unit, a dynamic error compensation unit, and a temperature drift suppression unit. The SLAM engine unit fuses laser, visual, and IMU data based on a graph optimization algorithm to generate real-time positioning coordinates, making positioning more accurate and stable. The dynamic error compensation unit automatically adjusts sensor weights according to radiation intensity, weakening visual data in high-radiation areas, enabling the robot to maintain high-precision positioning even in high-radiation environments. The temperature drift suppression unit monitors temperature through thermocouples and calibrates the IMU zero-bias error in real time. The radiation-resistant enhanced positioning module includes a lead-shielded sensor cabin unit, a redundant communication unit, and a reflective positioning marker unit. The lead-shielded sensor cabin unit places key sensors within a lead alloy cabin to reduce gamma-ray interference, allowing the sensors to function normally in the high-radiation environment of a nuclear power plant. The redundant communication unit uses dual-channel transmission of fiber optics and wireless to prevent data loss due to electromagnetic pulses, ensuring stable communication for the robot even in extreme environments. The reflective positioning marker unit uses radiation-resistant prism reflectors placed at corridor corners to assist laser positioning, enabling the robot to locate quickly and accurately in complex environments. The autonomous navigation decision-making module includes a path planning unit, a motion control unit, and an anomaly reset unit. The path planning unit generates the radiation-optimal path based on the BIM model, dynamically avoiding high-dose areas, enabling the robot to complete inspection tasks efficiently and safely. The motion control unit converts positioning coordinates into servo control commands, achieving centimeter-level trajectory tracking, ensuring the robot maintains a high-precision trajectory during inspection. The anomaly reset unit automatically calls the nearest feature point for re-initialization when the positioning deviation exceeds 10cm, ensuring timely correction of the robot's positioning deviation. By incorporating a multi-source data fusion processing module and a radiation-resistant enhanced positioning module, the multi-source data fusion processing module integrates data from multiple sensors, improving positioning accuracy and stability, especially maintaining high-precision positioning even in high-radiation environments. The radiation-resistant enhanced positioning module ensures normal operation and stable communication of sensors in high-radiation environments through lead-shielded sensor chambers, redundant communication, and reflective positioning markers. Furthermore, the autonomous navigation decision-making module, based on the BIM model, performs path planning, achieving efficient and safe inspection tasks while ensuring high-precision trajectory tracking and timely correction of positioning deviations during the inspection process.

[0025] The working principle of this invention is as follows: Firstly, when the nuclear power plant inspection robot navigation and positioning device is in operation, it acquires the robot's own position information and environmental characteristics in real time through the core positioning and perception module. The 3D point cloud map constructed by the lidar scanning unit provides the robot with accurate environmental perception, while the inertial measurement unit and odometry unit ensure the robot's positioning capability in environments without GPS signals. The environmental feature recognition module further enhances the robot's positioning accuracy. The multi-line laser feature extraction unit identifies fixed structures as positioning anchor points, the visual reference point detection unit captures specific markers and labels, and the ultrasonic near-range obstacle avoidance unit ensures safe navigation in narrow and obstacle-dense areas. The multi-source data fusion processing module fuses data from different sensors to generate real-time positioning coordinates. The SLAM engine unit is based on a graph optimization algorithm, the dynamic error compensation unit automatically adjusts sensor weights according to radiation intensity, and the temperature drift suppression unit monitors temperature in real time through thermocouples and calibrates the IMU zero-bias error, thus ensuring high-precision positioning of the robot in high-radiation environments. The radiation-resistant enhanced positioning module further improves the robot's working capability in the high-radiation environment of a nuclear power plant. The lead-shielded sensor compartment reduces gamma-ray interference, the redundant communication unit ensures stable data transmission, and the reflective positioning marker unit assists laser positioning, enabling the robot to locate quickly and accurately even in complex environments. Finally, the autonomous navigation decision module generates the optimal path plan based on real-time positioning coordinates and surrounding environmental information, and controls the robot to perform inspections along the planned path. The motion control unit achieves centimeter-level trajectory tracking, ensuring high-precision trajectory tracking during the inspection process. When the positioning deviation exceeds a set threshold, the anomaly reset unit automatically calls the nearest feature point for re-initialization, ensuring timely correction of the robot's positioning deviation. In summary, this nuclear power plant inspection robot navigation and positioning device, through the collaborative work of multiple modules, achieves high-precision positioning and safe navigation in the high-radiation environment of a nuclear power plant, providing strong technical support for nuclear power plant inspection work.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A navigation and positioning device for a nuclear power plant inspection robot, comprising a core positioning and perception module, an environmental feature recognition module, a multi-source data fusion processing module, a radiation-resistant enhanced positioning module, and an autonomous navigation decision-making module, wherein the core positioning and perception module, the environmental feature recognition module, the multi-source data fusion processing module, the radiation-resistant enhanced positioning module, and the autonomous navigation decision-making module are respectively connected by electrical signals, and the core positioning and perception module includes a lidar scanning unit, an inertial measurement unit, and an odometer unit.

2. The navigation and positioning device for a nuclear power plant inspection robot according to claim 1, characterized in that: The environmental feature recognition module includes a multi-line laser feature extraction unit, a visual reference point detection unit, and an ultrasonic near-range obstacle avoidance unit.

3. The navigation and positioning device for a nuclear power plant inspection robot according to claim 1, characterized in that: The multi-source data fusion processing module includes a SLAM engine unit, a dynamic error compensation unit, and a temperature drift suppression unit.

4. The navigation and positioning device for a nuclear power plant inspection robot according to claim 1, characterized in that: The radiation-resistant enhanced positioning module includes a lead-shielded sensor cabin unit, a redundant communication unit, and a reflective positioning marker unit.

5. The navigation and positioning device for a nuclear power plant inspection robot according to claim 1, characterized in that: The autonomous navigation decision module includes a path planning unit, a motion control unit, and an anomaly reset unit.

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