CN105761766A - Nuclear containment high-resolution image acquisition system - Google Patents
Nuclear containment high-resolution image acquisition system Download PDFInfo
- Publication number
- CN105761766A CN105761766A CN201610149928.5A CN201610149928A CN105761766A CN 105761766 A CN105761766 A CN 105761766A CN 201610149928 A CN201610149928 A CN 201610149928A CN 105761766 A CN105761766 A CN 105761766A
- Authority
- CN
- China
- Prior art keywords
- platform
- containment
- framework
- acquisition
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/007—Inspection of the outer surfaces of vessels
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention provides a nuclear containment high-resolution image acquisition system, comprising a moving platform, an acquisition platform and a control center.The moving platform comprises a frame, a motor assembly to control a vertical position of the acquisition platform and bear a counterweight, a sliding bar device to control a distance from the acquisition platform to a wall of a containment, rail wheels mounted at the bottom of the frame and used to control a horizontal position of the acquisition platform and moving platform, a control box, a wireless bridge, and a rail rope to control and limit vertical movement of the acquisition platform; the acquisition platform comprises a frame, cameras fixed on two sides of the frame and used to take photos along the wall of the containment, a central control box fixed in the middle of the frame, a light controlled lamp fixed to the upper edge of the frame, and a distance sensor fixed to a lower edge of the frame and used to control an attitude and position of the frame.Field observation efficiency can be improved, outdoor manual observation can be avoided, safety of operators can be ensured, outdoor operation time can be decreased, and operation strength can be reduced.
Description
Technical field
The present invention relates to a kind of image acquisition device, especially relate to a kind of Nuclear containment high resolution image acquisition system.
Background technology
Containment is that the last of nuclear reactor ensures together, can prevent radioactive substance entered environment, play important leverage effect in nuclear power station safety full protection.Therefore, during containment carries out bulge test, the detection of containment open defect is one piece of important content of containment structure safety detection.And initial appearance detecting method, mainly take the most direct visual examination, set up safety hanging cradle and scaffold, paint mark defective locations, determine fracture width with clearance gauge.Such method also exist detection not comprehensively, subjectivity is too strong, activity duration limited etc. shortcoming.Along with the increase of China's nuclear power station quantity, such detection method, inefficiency, time and effort consuming, and the method relying primarily on testing staff's subjective judgment, it is impossible to meet the requirement of the rapidity of nuclear reactor safety shell detection, accuracy and safety.
Summary of the invention
The present invention mainly solves existing artificial visual and checks existing technical problem；Provide a kind of system and device achieving the collection of nuclear reactor safety shell high resolution image, it may be achieved obtain continuously image clearly, improve fieldwork observation efficiency, avoid outdoor manual observation, while guaranteeing operating personnel's safety, decrease the outdoor work time, reduce operation intensity.
The above-mentioned technical problem of the present invention is addressed mainly by following technical proposals:
A kind of Nuclear containment high resolution image acquisition system, including mobile platform, acquisition platform and control centre, mobile platform is arranged on the dome of Nuclear containment,
Described control centre includes wireless bridge a and work station,
Described mobile platform includes framework, for controlling acquisition platform vertical position and undertaking the motor assembly of counterweight, for controlling the push-pull bar device of acquisition platform distance containment shell wall distance, it is installed on base of frame for controlling acquisition platform and the rail wheel of mobile platform horizontal level, for controlling the control chamber of whole each assembly of mobile platform, it is placed in the wireless bridge b of safe roof and control centre's intervisibility, it is placed on mobile platform framework and the wireless bridge c of acquisition platform intervisibility, and moves up and down, for acquisition platform, the track rope that restriction controls；
Described acquisition platform includes framework, it is fixed on framework both sides for gathering the camera of photo along containment wall, it is fixed on the centralized control cabinet in framework centre position, the light control lighting lamp being fixed on framework edge, and the range sensor for control framework posture position being fixed under framework edge, described centralized control cabinet includes the wireless router d of wireless bridge intervisibility on computer, single-chip microcomputer and mobile platform framework, and is located at bottom centralized control cabinet for preventing the range sensor of the born risk of acquisition platform；
Wherein, wireless bridge a, b, c and wireless router d constitutes wireless network.
And, the motor assembly of described mobile platform includes direct current generator, active force steel wire rope, wound by steel wires wheel shaft, double thread bobbin winoler and swing offset encoder.
And, the push-pull bar device of described mobile platform includes electric push rod and slide rail stock.
And, described range sensor adopts ultrasonic distance sensor.
And, wireless bridge a, b, c select the wireless bridge carrying POE function, and two wireless bridges b, c being wherein positioned at containment dome take wired mode UNICOM by surpassing five class netting twines.
And, the a set of IP network telephone system depending on wireless network is set, including the networking telephone one being placed in control centre, it is positioned at one, the IP network phone of containment dome, and it is positioned at one, the IP network road phone of acquisition platform location of personnel, the IP network phone being wherein positioned at control centre and containment dome takes alternating current power supply to power, and the IP network road phone being positioned at acquisition platform location of personnel takes portable power source to power.
Therefore, present invention have the advantage that 1. alternative manual work, effective, efficiency is high, and cost is low；2. system and device integrated level is high, it is simple to install and use；3. can obtaining the high resolution image of containment shell wall clearly continuously, a corresponding actual range of pixel can reach 0.13mm, it is simple to the later stage processes, and can recognize that the crack of 0.1mm width, and along with the upgrading of hardware (camera lens and camera), resolution can be higher；4. strong adaptability, has taken into full account complexity and the diversity of operation field situation.
Accompanying drawing explanation
The machinery that Fig. 1 is the embodiment of the present invention is always schemed with dynamic design.
Fig. 2 is the mobile platform side view of the embodiment of the present invention.
Fig. 3 is the mobile platform top view of the embodiment of the present invention.
Fig. 4 is the acquisition platform frame diagram of the embodiment of the present invention.
Fig. 5 is the overall system design figure of the embodiment of the present invention.
Fig. 6 is the dome mobile platform equipment connection diagram of the embodiment of the present invention.
Fig. 7 is control centre's equipment connection diagram of the embodiment of the present invention.
Fig. 8 is the acquisition platform conspectus of the embodiment of the present invention.
Fig. 9 is the dome mobile platform control chamber panel figure of the embodiment of the present invention.
Detailed description of the invention
By the examples below, and in conjunction with accompanying drawing, technical scheme is described in further detail.
The present invention proposes a kind of Nuclear containment high resolution image acquisition system, and including mobile platform, acquisition platform and control centre, mobile platform is arranged on the dome of Nuclear containment,
Described control centre includes wireless bridge a and work station,
Described mobile platform includes framework, for controlling acquisition platform vertical position and undertaking the motor assembly of counterweight, for controlling the push-pull bar device of acquisition platform distance containment shell wall distance, it is installed on base of frame for controlling acquisition platform and the rail wheel of mobile platform horizontal level, for controlling the control chamber of whole each assembly of mobile platform, it is placed in the wireless bridge b of safe roof and control centre's intervisibility, it is placed on mobile platform framework and the wireless bridge c of acquisition platform intervisibility, and moves up and down, for acquisition platform, the track rope that restriction controls；
Described acquisition platform includes framework, it is fixed on framework both sides for gathering the camera of photo along containment wall, it is fixed on the centralized control cabinet in framework centre position, the light control lighting lamp being fixed on framework edge, and the range sensor for control framework posture position being fixed under framework edge, described centralized control cabinet includes the wireless router d of wireless bridge intervisibility on computer, single-chip microcomputer and mobile platform framework, and is located at bottom centralized control cabinet for preventing the range sensor of the born risk of acquisition platform；
Wherein, wireless bridge a, b, c and wireless router d constitutes wireless network.
A kind of Nuclear containment high resolution image acquisition system device that the embodiment of the present invention provides, photo is gathered by the camera being arranged on acquisition platform along containment wall including at containment place, and utilize the motor being arranged on the mobile platform of containment dome and rail wheel to control the vertically and horizontally position of acquisition platform, utilize the control centre being arranged on containment periphery by wireless network and radio network telephone, complete equipment and operator to be controlled simultaneously.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described acquisition platform includes structure aluminum section material framework one secondary (can be designated as the first framework), two cameras being fixed on framework both sides can be selected model voluntarily by those skilled in the art, such as high-resolution Nikon D800 slr camera, embodiment adopts and is equipped with two Nikon D800 silent frame cameras of Nikon AF Nikkor 28mmF/2.8D tight shot, it is fixed on the centralized control cabinet in framework centre position, the light control lighting lamp (LED lamp tube bar can be adopted) being fixed on framework edge, and the range sensor for accurate control framework posture position being fixed under framework edge, ultrasonic distance sensor 2 can be included, distance at both sides difference Monitoring framework to containment wall.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described acquisition platform centralized control cabinet (workbox) includes one, computer (panel computer can meet use), collection control single-chip microcomputer one, wireless router one (i.e. d), and for preventing the range sensor one of the born risk of acquisition platform bottom centralized control cabinet, it is possible to adopt ultrasonic distance sensor.When being embodied as, also can be arranged to the portable power source 2 pieces powered to the equipment such as fluorescent tube, route.At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described mobile platform includes structure aluminium framework one secondary (can be designated as the second framework), for controlling acquisition platform vertical position and to undertake counterweight motor assembly a set of, push-pull bar device for controlling acquisition platform distance containment wall distance is a set of, it is installed on base of frame for controlling the rail wheel (embodiment is provided with 4) of acquisition platform and mobile platform horizontal level, for controlling the control chamber one of whole mobile platform, two (b of AP for communication function, c), and move up and down two, the track rope of control for acquisition platform and (steel wire rope can be adopted, catching device can be set below).
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described mobile platform motor assembly includes one, direct current generator, one, active force steel wire rope, wound by steel wires wheel shaft, the double thread bobbin winoler that can do horizontal back and forth movement is a set of, and some for the gear train of transmission, the swing offset encoder for controlling acquisition platform up and down motion distance and direction is a set of.Direct current generator drives wound by steel wires wheel shaft, and active force steel wire rope is wound on wound by steel wires wheel shaft, through double thread bobbin winoler.Driven by motor steel wire rope moves back and forth on winding wheel shaft, drives encoder to rotate.When the effect of gear train is exactly mainly the rotation of steel wire rope winding wheel shaft, driven the reciprocating motion of double thread bobbin winoler by gear, it is achieved automatic wire arrangement simultaneously.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described mobile platform push-pull bar device includes the electric push rod one of rise 60cm, and is placed in the slide rail stock two on mobile platform framework.
When being embodied as, it is possible to adopt external 220v power supply, then after rectification, give direct current generator and electric pushrod.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described control centre includes the AP mono-(a) for communication function, and the high-performance DELL work station for controlling whole system is a set of.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described wireless network includes the wireless bridge (AP) (a) being placed in control centre, it is placed in the wireless bridge (AP) (b) of safe roof and control centre's intervisibility, it is placed on mobile platform framework and the wireless bridge (AP) (c) of acquisition platform intervisibility, and it is positioned on acquisition platform centralized control cabinet and mobile platform framework the wireless router one (d) of wireless bridge (AP) intervisibility, all of AP(a, b, c) wireless bridge carrying POE function is all selected, wherein it is positioned at two AP(b of containment dome, c) pass through to surpass five class netting twines and take wired mode UNICOM.
At above-mentioned a kind of Nuclear containment high resolution image acquisition system device, described radio network telephone (IP network phone) refers to a set of network phone system depending on above-mentioned wireless network, including the networking telephone one being placed in control centre, it is positioned at the networking telephone one of containment dome, and it is positioned at the network telephone one of acquisition platform location of personnel, the networking telephone being wherein positioned at control centre and containment dome takes alternating current power supply to power, and the IP network road phone being positioned at acquisition platform location of personnel takes portable power source to power for convenience of mobile.
Described structure aluminum section bar refers to the industrial structure aluminium section bar of 400x800mm.
As it is shown in figure 1, hanging basket is moved up and down and play the guiding role by steel wire rope A, C of the right and left, in the shooting process of air strips, steel wire rope B controls moving up and down of hanging basket, and hanging basket moves to the position of regulation and stops.The motion of steel wire rope B is by step motor control.
As shown in Figure 2,3, the parapet of containment is provided with two circle tracks, mobile platform divides upper and lower two-layer, lower floor's (i.e. the second framework) by 4 wheels with on parapet inside and outside two circle tracks be connected (often enclose track on two pulleys), in lower floor, plane (is alternatively referred to as upper strata guide rail containing guide rail, the slide rail stock two being placed on mobile platform framework can be adopted when being embodied as), upper platform can radially be perpendicular on parapet track on guide rail and slide, and sliding scale is not less than 600mm；The slip of upper platform is provided power by electric pushrod.So, moving horizontally with under the drive of motor by dome mobile platform, acquisition platform just can arrive each position of Nuclear containment wall surface.
As shown in Figure 4, acquisition platform is provided with two the Nikon D800+26mm tight shot digital single-lens reflex cameras in left and right, and the panel computer in difference fastening means case, the collected by camera control software design on panel computer can control camera exposure shooting photograph and by communications system transmission to the work station of control centre.When being embodied as, those skilled in the art can select specifically used camera lens model voluntarily, and collected by camera control software design is arranged according to concrete model.
Acquisition platform adds up to towards the bottom in the direction and workbox of Nuclear containment shell wall three ultrasonic distance sensors, and the sensor being wherein positioned at bottom controls the acquisition platform distance to ground, it is prevented that falling of acquisition platform；It is positioned at two, the left and right sensor processing controls acquisition platform on the downside of camera outside the distance of shell wall, also bear the effect controlling acquisition platform attitude simultaneously, the difference of the object distance of camera about the moment taken pictures is made within acceptable scope, to keep endlap and the sidelapping of adjacent photograph.
In addition, at acquisition platform towards the framework of Nuclear containment shell wall is also equipped with the illuminator with automatic light-operated function, when natural lighting is not enough, automatically turns on floor light and be automatically adjusted intensity of illumination, being guaranteed in the normal operation of system when night or illumination deficiency.
As shown in Figure 5, it is the locus distribution situation of each platform of whole Nuclear containment high resolution image acquisition system, the effect of acquisition platform is to carry camera and control camera and take pictures, then passes photo back storage and control centre's (being called for short control centre) by communication link.The effect of mobile platform is the movement controlling acquisition platform, is rested on predetermined position, then is sent to photographing instruction, and feeds back the coordinate of photo.Storage and control centre are responsible for the traffic control of whole system, and are stored on the work station of control centre by the photo that acquisition platform transmission returns.Communications portion sets up at a high speed communication link reliably between mobile platform, acquisition platform and storage and control centre, it is ensured that the data transmission between each several part, utilizes the networking telephone carried on the communication link to realize the contact of each working platform personnel simultaneously.It is placed in the wireless bridge b of safe roof and control centre's intervisibility and is located in Fig. 5 intervisibility point place.
Herein below is once the process description of complete Nuclear containment high resolution image data collection task.
First be hardware device connect, the layout shown in Fig. 6, Fig. 7, Fig. 8 by acquisition platform, mobile platform, control centre all parts couple together, connect respective power supply, whole system assembled.
English symbol in Fig. 6, Fig. 7, Fig. 8 illustrates:
AP:AccessPoint, i.e. wireless bridge；
Main: primary network interface；
Secondary: secondary network interface；
AP/BRADGE:AP network power supply interface；
Network:POE charger network interface；
DC:POE power interface/SIP network telephone power interface/wireless routing power interface；
PC:SIP network telephone signal input cable interface；
WAN:SIP network telephone signal output cable interface；
DCOUT: portable power source DC power supply interface；
USB(portable power source): portable power source USB power supply interface；
USB(panel computer): USB (universal serial bus), data-interface；
USB(camera): camera usb data output interface；
MINIUSB: small-sized usb data interface；
LAN: wireless router LAN cable interface.
Such as Fig. 6, the control chamber of mobile platform connect respectively motor assembly, push-pull bar device, mobile platform displacement transducer (i.e. swing offset encoder), through wan interface connect SIP network phone PC interface, the wan interface of SIP network phone connects the Main interface of AP towards acquisition platform through POE charger, and the secondary interface of the AP of acquisition platform connects the Main interface of AP towards control centre through another POE charger.
Such as Fig. 7, the wan interface of control centre's DELL work station connects the PC interface of SIP network phone, and the wan interface of SIP network phone connects the Main interface of AP towards roof mobile platform through a POE charger.
Such as Fig. 8, one portable power source connects panel computer and turns the 4 LAN mouths connecting the USB port of 2 cameras, wireless routing respectively through USBHUB1, another portable power source connects single-chip microcomputer and the DC interface of illuminating lamp bar, wireless routing respectively, and single-chip microcomputer connects 10 needle interfaces of two cameras respectively to control another LAN mouth of camera exposure shooting, wireless routing.When being embodied as, can by the distance of two camera distance metopes of Single-chip Controlling, symbol just issues computer information after requiring, computer sends shooting order.
Accompanying drawing 9 is shown in by control chamber panel, and including " switch I " and " switch II ", switch I is responsible for controlling push rod, switchs II switch DC motor.When being embodied as, can adopting double-color display screen, collection result of the present invention may be used for subsequent treatment, it is achieved crack is detected automatically, for instance " nuclear reactor safety shell shake seam automatic checkout system NASSCADS ".
For the sake of ease of implementation, it is provided that specifically comprising the following steps that of data acquisition operations
Just data collection task can be started after the connection preparation of each platform and Three Party Communication are put up.Data acquisition is the operation of a continuous repetition, namely at 24m platform, 0m platform or what other position operation was just as, when being embodied as, Nuclear containment surface needs the height of the exposed parts of detection to be probably different, 24m platform refers to and up can detect from height 24m, 24m position below then has attachment building, is in the position can't see.Namely tell about the collection of air strips for 24m platform herein and once switch the concrete operation step of air strips.
1) 60m nylon rope one end of double headed roller safety buckle is fixed on dome, the other end is put into 24m platform slowly, safety buckle is suspended on the hook circular hole of catching device steel wire rope (A and the C of Fig. 1) one end, after learning that acquisition platform locks safety buckle, at the uniform velocity lift nylon rope, when the hook of catching device steel wire rope is moved to dome time, catching device hook is buckled in the safety buckle bottom mobile platform, confirmation can unclamp nylon rope safety buckle after registering, and repeats this step and is placed into position by another catching device.
2) after catching device hangs, one end safety buckle of nylon rope is buckled on the active force steel wire rope (B of Fig. 1) of engine assembly, the other end is slowly put to 24m platform, after nylon rope tension, dome is opened control chamber and " switch II " is pushed "-" position, then dome sends " putting rope " instruction to control centre, control centre clicks " putting rope " button, by main rope (B of Fig. 1) traction to 24m platform, acquisition platform notes in time steel wire rope height being reported to control centre, cry out stopping in time, in order to avoid excessively putting rope.Dome mobile platform control chamber panel is as shown in Figure 2.
3) safety buckle on acquisition platform is buckled on the safety hook of active force steel wire rope (B in Fig. 1), and the hasp of acquisition platform both sides opened catching device steel wire rope is buckled into respectively, compress hasp, hang up properly the fixing bar of catching device, be then acquired the preparation of platform.
4) tripartite determine ready after, control centre clicks " rope closing " button, starts rope closing, " switch I " of dome control chamber is adjusted to simultaneously "=" position releases push rod.When the white marking on steel wire rope (B in Fig. 1) arrives metal wheel encoder time, dome notice control centre's click " stopping ", make white marking stop to precalculated position.
5) setting position is offered control centre according to GON form by dome staff, and control centre arranges correct air strips number, row number accordingly, arranges nucleocapsid height, then clicks on " zero setting " button, set encoder ratio.Click " descending " button, start to gather data.
6) dome staff notes observing control chamber display screen, until noting during display " X=0240.00 " observing, immediately stirring " switch II " and manually stopping, namely stopping immediately when X-coordinate continues after the dwell and beats descending after camera is taken pictures on this position.Stirring " switch I " and, to "-" position, regain push rod, control centre now clicks " time-out " button after learning the message that dome suspends, and now will highly change to " 0305.00 ", after push rod is regained, " switch II " pushes "-" position, clicking " descending ", gatherer process continues.
7) descending gatherer process is until during setting height, when namely acquisition platform drops to setting height, this air strips gatherer process terminates.
8) air strips operation is changed.Obtain control centre change air strips order after, the staff of dome promotes mobile platform according to the distance of the direction set and setting, clockwise counterclockwise all can, the distance of promotion is generally decided to be 5GON and 1.5M.After dome has worked, acquisition platform starts to move catching device to new laser spot position, changes air strips and has worked.
9) step 48 is repeated until completing the collecting work of 24m platform.
10) after last air strips of 24m platform complete, unload acquisition platform, 60m nylon rope is hung on active force steel wire rope hook, control centre clicks " rope closing " button, by dome on nylon rope band while being regained by active force steel wire rope, then at twice catching device steel wire rope is put back into 24m platform with this nylon rope.
11) changing platform, repeat the above steps, until the collecting work of whole nuclear reactor safety shell wall surface high resolution image completes.
Specific embodiment described herein is only to present invention spirit explanation for example.Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount the scope that appended claims is defined.
Claims (6)
1. a Nuclear containment high resolution image acquisition system, it is characterised in that: including mobile platform, acquisition platform and control centre, mobile platform is arranged on the dome of Nuclear containment,
Described control centre includes wireless bridge a and work station,
Described mobile platform includes framework, for controlling acquisition platform vertical position and undertaking the motor assembly of counterweight, for controlling the push-pull bar device of acquisition platform distance containment shell wall distance, it is installed on base of frame for controlling acquisition platform and the rail wheel of mobile platform horizontal level, for controlling the control chamber of whole each assembly of mobile platform, it is placed in the wireless bridge b of safe roof and control centre's intervisibility, it is placed on mobile platform framework and the wireless bridge c of acquisition platform intervisibility, and moves up and down, for acquisition platform, the track rope that restriction controls；
Described acquisition platform includes framework, it is fixed on framework both sides for gathering the camera of photo along containment wall, it is fixed on the centralized control cabinet in framework centre position, the light control lighting lamp being fixed on framework edge, and the range sensor for control framework posture position being fixed under framework edge, described centralized control cabinet includes the wireless router d of wireless bridge intervisibility on computer, single-chip microcomputer and mobile platform framework, and is located at bottom centralized control cabinet for preventing the range sensor of the born risk of acquisition platform；
Wherein, wireless bridge a, b, c and wireless router d constitutes wireless network.
2. Nuclear containment high resolution image acquisition system according to claim 1, it is characterised in that: the motor assembly of described mobile platform includes direct current generator, active force steel wire rope, wound by steel wires wheel shaft, double thread bobbin winoler and swing offset encoder.
3. Nuclear containment high resolution image acquisition system according to claim 1, it is characterised in that: the push-pull bar device of described mobile platform includes electric push rod and slide rail stock.
4. Nuclear containment high resolution image acquisition system according to claim 1 or 2 or 3, it is characterised in that: described range sensor adopts ultrasonic distance sensor.
5. Nuclear containment high resolution image acquisition system according to claim 1 or 2 or 3, it is characterized in that: wireless bridge a, b, c select the wireless bridge carrying POE function, two wireless bridges b, c being wherein positioned at containment dome take wired mode UNICOM by surpassing five class netting twines.
6. Nuclear containment high resolution image acquisition system according to claim 1 or 2 or 3, it is characterized in that: a set of IP network telephone system depending on wireless network is set, including the networking telephone one being placed in control centre, it is positioned at one, the IP network phone of containment dome, and it is positioned at one, the IP network road phone of acquisition platform location of personnel, the IP network phone being wherein positioned at control centre and containment dome takes alternating current power supply to power, and the IP network road phone being positioned at acquisition platform location of personnel takes portable power source to power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610149928.5A CN105761766B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment high resolution image acquisition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610149928.5A CN105761766B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment high resolution image acquisition system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105761766A true CN105761766A (en) | 2016-07-13 |
| CN105761766B CN105761766B (en) | 2017-07-11 |
Family
ID=56333332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610149928.5A Expired - Fee Related CN105761766B (en) | 2016-03-16 | 2016-03-16 | Nuclear containment high resolution image acquisition system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105761766B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106254830A (en) * | 2016-08-26 | 2016-12-21 | 上海建工集团股份有限公司 | The accessible video wireless transmission device of a kind of full angle rotation and method |
| CN110225230A (en) * | 2019-05-29 | 2019-09-10 | 河海大学 | A kind of automatically controlled itinerant monitor system device of the underwater panel crack of rock-fill dams and its application method |
| CN112582085A (en) * | 2020-12-07 | 2021-03-30 | 中广核核电运营有限公司 | Double-layer safety shell surface defect detection equipment and detection method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
| CN101427173A (en) * | 2007-03-28 | 2009-05-06 | 株式会社Snu精密 | Vision inspection system and method for inspecting workpiece using the same |
| CN103003887A (en) * | 2009-05-27 | 2013-03-27 | R.布鲁克斯合伙人公司 | Steam generator upper bundle inspection tools |
| US20140211902A1 (en) * | 2013-01-31 | 2014-07-31 | Korea Plant Service & Engineering Co., Ltd. | Inspection apparatus for penetration pipe of nuclear reactor head |
| CN105445272A (en) * | 2015-12-08 | 2016-03-30 | 苏州索力旺新能源科技有限公司 | High-precision automatic detection device |
-
2016
- 2016-03-16 CN CN201610149928.5A patent/CN105761766B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101162617A (en) * | 2006-10-13 | 2008-04-16 | 核动力运行研究所 | Nuclear boiler water indoor surface television set automatic checking device |
| CN101427173A (en) * | 2007-03-28 | 2009-05-06 | 株式会社Snu精密 | Vision inspection system and method for inspecting workpiece using the same |
| CN103003887A (en) * | 2009-05-27 | 2013-03-27 | R.布鲁克斯合伙人公司 | Steam generator upper bundle inspection tools |
| US20140211902A1 (en) * | 2013-01-31 | 2014-07-31 | Korea Plant Service & Engineering Co., Ltd. | Inspection apparatus for penetration pipe of nuclear reactor head |
| CN105445272A (en) * | 2015-12-08 | 2016-03-30 | 苏州索力旺新能源科技有限公司 | High-precision automatic detection device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106254830A (en) * | 2016-08-26 | 2016-12-21 | 上海建工集团股份有限公司 | The accessible video wireless transmission device of a kind of full angle rotation and method |
| CN110225230A (en) * | 2019-05-29 | 2019-09-10 | 河海大学 | A kind of automatically controlled itinerant monitor system device of the underwater panel crack of rock-fill dams and its application method |
| CN110225230B (en) * | 2019-05-29 | 2020-10-27 | 河海大学 | Rock-fill dam underwater panel crack electronic control itinerant monitoring device and using method thereof |
| CN112582085A (en) * | 2020-12-07 | 2021-03-30 | 中广核核电运营有限公司 | Double-layer safety shell surface defect detection equipment and detection method |
| CN112582085B (en) * | 2020-12-07 | 2024-03-19 | 中广核核电运营有限公司 | Double-layer containment surface defect detection equipment and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105761766B (en) | 2017-07-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105761766A (en) | Nuclear containment high-resolution image acquisition system | |
| CN111510640B (en) | Inspection system for vertical shaft of traffic tunnel | |
| CN109038353A (en) | A kind of mobile inspecting rebot of variable distributing apparatus | |
| CN108382551A (en) | A kind of robot system detected under water for bridge pier | |
| CN106347592A (en) | Salvage ship for water surface garbage through remote control, garbage salvage system and working method | |
| CN101209791A (en) | Elevator long distance point detection system | |
| CN101251033A (en) | Tunnel detecting robot | |
| CN207830927U (en) | A kind of lifting gear for hanging rail intelligent inspection robot | |
| KR20120109954A (en) | Monitoring apparatus of building exrerior wall | |
| CN202304746U (en) | Electric energy meter detection apparatus based on machine vision | |
| CN210198993U (en) | Glass curtain wall detection device | |
| CN208248468U (en) | A kind of robot system detected under water for bridge pier | |
| CN109940570A (en) | A kind of gate robot for overhauling | |
| CN105803936B (en) | Bridge machinery structure and its detection method | |
| CN211815580U (en) | Rising and falling type detection vehicle for avoiding side obstacle of bridge | |
| CN108529377A (en) | A kind of elevator real time execution maintenance examination and repair system | |
| CN107884416A (en) | Facade detection means and detection method based on machine vision | |
| CN108537114A (en) | A kind of comprehensive face identification device of feature extraction with anti-interference ability | |
| CN215066221U (en) | Inside detection device of fan tower section of thick bamboo | |
| CN209136420U (en) | A kind of high altitude operation robot | |
| AU2017415527B2 (en) | Safety readiness monitoring device and method for auxiliary shaft cage of shaft winder | |
| CN207298266U (en) | A kind of intelligent elevator for detection inside bridge main tower | |
| CN209618734U (en) | It is a kind of to can measure the high assembled architecture hanging apparatus of highly stable performance | |
| CN114572845A (en) | Intelligent auxiliary robot for detecting working condition of intelligent tower crane and control method thereof | |
| CN208880706U (en) | A kind of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 Termination date: 20200316 |