CN115727793A - Open channel inspection system of seawater system of nuclear power plant - Google Patents
Open channel inspection system of seawater system of nuclear power plant Download PDFInfo
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- CN115727793A CN115727793A CN202110992677.8A CN202110992677A CN115727793A CN 115727793 A CN115727793 A CN 115727793A CN 202110992677 A CN202110992677 A CN 202110992677A CN 115727793 A CN115727793 A CN 115727793A
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- 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
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Abstract
The invention discloses an open channel inspection system of a seawater system of a nuclear power plant, which comprises an open channel sludge measuring unmanned ship body and a barrier net observation underwater robot body, wherein a satellite positioning system is arranged on the open channel sludge measuring unmanned ship body, an acoustic processing unit is arranged at the lower part of the open channel sludge measuring unmanned ship body, a sludge measuring instrument is arranged at the bottom of the open channel sludge measuring unmanned ship body, the bottom of the open channel sludge measuring unmanned ship body is connected with the barrier net observation underwater robot body through an umbilical cable, and a transponder and a camera are arranged on the barrier net observation underwater robot body. The beneficial effects are that: 2 sets of inspection devices are simultaneously placed into an open channel of a nuclear power plant, and the open channel silt measurement unmanned ship is used for measuring the thickness of silt at the bottom of the open channel; the barrier observation underwater robot is used for video inspection of the barrier. Through the cooperation of the 2 types of inspection devices, the umbilical cable can be very short, and meanwhile, the calculated underwater coordinates are more accurate.
Description
Technical Field
The invention belongs to an inspection device, and particularly relates to an inspection system for an open channel of a seawater system of a nuclear power plant, which is mainly used for measuring the thickness of sludge at the bottom of the open channel of the seawater system of the nuclear power plant and performing video inspection on a barrier net.
Background
Nuclear power plants require a large amount of cooling water during operation, and most nuclear power plants take cooling water through open channels or open channels and tunnels. The marine environment can constantly produce silt and marine life, and these can deposit in the bottom of open channel, for preventing these debris entering nuclear power plant cooling system, can set up a plurality of barriers on the open channel, carry out the interception to debris and filter. Along with the increase of the operating time of the nuclear power plant, the bottom sundries of the open channel are more and more, and meanwhile, the blocking net also has the risk of damage. These factors can have a significant impact on the safe operation of the nuclear power plant. Therefore, the bottom silt and the barrage of the open channel must be periodically inspected and measured to provide valid data for further processing.
At present, most of the measurement of the sludge at the bottom of the open channel is carried out by measuring individual detection points of the open channel by a simple measuring tool for an inspector sitting on a ship body and then drawing a sludge thickness map of the whole open channel bottom. The method has the advantages of few test points, low precision of the measuring tool, low checking efficiency, high labor intensity of personnel and certain risk of falling into water. For the measurement of the barrier net, the whole barrier net is subjected to video inspection through the launching of a diver, the working strength of personnel is very high, meanwhile, the method has great safety risks, and meanwhile, the traceability of inspection data is poor.
Disclosure of Invention
The invention aims to provide an open channel inspection system of a seawater system of a nuclear power plant, which can effectively improve the measurement precision and the inspection efficiency.
The technical scheme of the invention is as follows: the utility model provides a nuclear power plant sea water system open channel inspection system, surveys silt unmanned ship body and block including the open channel and observes underwater robot body, the open channel survey be equipped with satellite positioning system on the silt unmanned ship body, the lower part of surveying the silt unmanned ship body of open channel is provided with the acoustic treatment unit, the bottom of surveying the silt unmanned ship body of open channel is provided with silt measuring instrument, the bottom of surveying the silt unmanned ship body of open channel is through umbilical cable and block observation underwater robot body coupling, the block survey underwater robot body on be provided with transponder and camera.
The unmanned open channel silt-measuring ship body is provided with a power system, a thrust system and a steering system.
The satellite positioning system is arranged on the upper part of the unmanned ship body, can receive satellite signals and is used for positioning the unmanned direction.
The satellite positioning system is a GPS positioning system or a Beidou positioning system.
The acoustic processing unit is arranged at the bottom of the unmanned ship and used for sending a positioning signal to the transponder on the barrier observation underwater robot and receiving a feedback signal of the transponder to convert the underwater position of the transponder.
The sludge measuring instrument is installed at the bottom of the unmanned direction and is used for measuring the thickness of sludge at the bottom of the open channel.
The sludge measuring instrument is a shallow profile instrument or a multi-beam thickness gauge.
The underwater robot for observing the blocking net of the silt measuring instrument adopts a floating type underwater robot for video inspection of the blocking net.
The underwater robot body is observed by the sludge measuring instrument barrier net to be positioned in the range limited by the barrier net and the seabed.
The silt measuring instrument is positioned below the seawater level.
The invention has the beneficial effects that: 2 sets of inspection devices are simultaneously placed into an open channel of a nuclear power plant, and the open channel silt measurement unmanned ship is used for measuring the thickness of silt at the bottom of the open channel; the barrier observation underwater robot is used for video inspection of the barrier. Through the cooperation of 2 kinds of inspection devices, the umbilical can be very short, and the underwater coordinate of calculation is more accurate simultaneously.
Drawings
Fig. 1 is a schematic view of an open channel inspection system of a seawater system of a nuclear power plant according to the present invention.
In the figure, 1 an unmanned ship body for measuring silt through an open channel, 2 a satellite positioning system, 3 a seawater plane, 4 acoustic processing units, 5 silt measuring instruments, 6 umbilical cables, 7 a barrier observation underwater robot body, 8 transponders, 9 barriers, 10 cameras and 11 seabed.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
An open channel inspection system for a seawater system of a nuclear power plant, comprising: an unmanned ship for measuring silt in an open channel and a blocking net observation underwater robot. The unmanned open channel silt measurement ship is used for measuring the silt thickness at the bottom of an open channel, is positioned by a GPS or Beidou navigation system, has an autonomous navigation function, and can move on the sea level of the open channel according to a set detection track. And carrying a sludge measuring instrument to detect the sludge at the bottom of the open channel. And (3) forming a distribution map of the sludge at the bottom of the whole open channel by data analysis in cooperation with the motion coordinates of the unmanned ship. The underwater robot for observing the blocking net is provided with a camera and is used for video inspection of the blocking net, the blocking net is connected with the unmanned ship through an umbilical cable, 2 devices are positioned underwater through the USBL, the actual coordinates of the underwater robot are converted through the coordinates of the unmanned ship, and then coordinate correlation is carried out on video information.
As shown in fig. 1, an open channel inspection system for a seawater system of a nuclear power plant includes: the unmanned ship body 1 for measuring the sludge in the open channel and the underwater robot body 7 for observing the blocking net are arranged, a satellite positioning system 2 is arranged on the unmanned ship body 1 for measuring the sludge in the open channel, an acoustic processing unit 4 is arranged on the lower portion of the unmanned ship body 1 for measuring the sludge in the open channel, a sludge measuring instrument 5 is arranged at the bottom of the unmanned ship body 1 for measuring the sludge in the open channel, the sludge measuring instrument 5 is located at a position below a sea water plane 3, the bottom of the unmanned ship body 1 for measuring the sludge in the open channel is connected with the underwater robot body 7 for observing the blocking net through an umbilical cable 6, a transponder 8 and a camera 10 are arranged on the underwater robot body 7 for observing the blocking net, and the underwater robot body 7 for observing the blocking net is located in a range limited by the blocking net 9 and a seabed 11.
The unmanned ship body 1 for measuring the silt through the open channel is a main body of the whole unmanned ship, can stably float on the sea level and is provided with a power system, a thrust system and a steering system. The satellite positioning system 2 is installed on the upper part of the unmanned ship body, can receive satellite signals and is used for positioning the unmanned direction. The acoustic processing unit 4 is installed at the bottom of the unmanned ship and used for sending a positioning signal to the transponder on the barrier observation underwater robot and receiving a feedback signal of the transponder so as to convert the underwater position of the transponder. The silt measuring instrument is installed in unmanned bottom, can use shallow profile appearance or multibeam calibrator, can be to the silt thickness measurement of open channel bottom. And forming a distribution map of the sludge at the bottom of the whole open channel by data analysis in cooperation with the coordinates of a satellite positioning system.
The underwater robot for observing the blocking net adopts a floating type underwater robot and is used for video inspection of the blocking net. Mainly structurally comprises: the block is surveyd underwater robot body, transponder and camera. The block observation underwater robot body is a main body of the whole underwater robot and can flexibly move underwater, and a propulsion system, a sensing system and the like are further arranged on the block observation underwater robot body. The transponder is arranged on the upper part of the underwater robot body and used for receiving the signal sent by the acoustic processing unit and sending a response signal. The camera is installed in the front portion of underwater robot body for the video inspection to the barrier net.
The channel silt-measuring unmanned ship is connected with the block observation underwater robot through an umbilical cable. The block observation underwater robot provides power supply and communication for the channel silt measurement unmanned ship, can calculate relative coordinates between the block observation underwater robot and the channel silt measurement unmanned ship, and converts absolute coordinates of the block observation underwater robot into absolute coordinates of the network observation underwater robot through the absolute coordinates of the block observation underwater robot.
The invention has the following characteristics:
the unmanned open channel silt measuring ship is used for measuring the thickness of silt at the bottom of an open channel; the barrier observation underwater robot is used for video inspection of the barrier. The inspection of the whole open channel part is completed through the cooperation of 2 inspection devices. Compared with a common underwater robot, the underwater robot control box needs to be placed on the bank of the open channel, so that the umbilical cable is very long, and meanwhile, good underwater positioning cannot be realized. The umbilical cable of the underwater robot for observing the blocking net is short, and meanwhile, the underwater coordinate is obtained accurately.
When the unmanned ship for measuring the silt in the open channel and the blocking net observation underwater robot are hoisted into the open channel through the hoisting tool, the unmanned ship is controlled to move on the whole open channel according to the motion track through the control system on the shore, meanwhile, the silt thickness at the bottom of the open channel is subjected to data acquisition through the silt measuring instrument, the real-time coordinate of the unmanned ship is obtained by combining with the satellite positioning system, and finally, the detected data and the position coordinate are subjected to data superposition to obtain the silt thickness distribution map of the whole open channel.
And moving the unmanned ship to the position near the barrier net and fixing. And then, controlling the barrier to observe the underwater robot, and acquiring video information of the barrier by using a camera. And calculating the actual coordinates of the underwater robot, and performing data superposition on the actual coordinates to obtain the video information of the blocking net near the position. And then, moving the unmanned ship to the next position to obtain the video information of the blocking net nearby the position. In this way, the apparatus is finally suspended out of the open channel for recovery until all the screens have been inspected.
Claims (10)
1. The utility model provides a nuclear power plant sea water system open channel inspection system which characterized in that: survey silt unmanned ship body and block and survey underwater robot body including the open channel, the open channel survey silt unmanned ship body on be equipped with satellite positioning system, the lower part of the unmanned ship body of silt is surveyed to the open channel is provided with acoustic treatment unit, the bottom of the unmanned ship body of silt is surveyed to the open channel is provided with the silt measuring instrument, the bottom of the unmanned ship body of silt is surveyed to the open channel is passed through umbilical cable and block and is surveyed underwater robot body coupling, the block survey underwater robot body on be provided with transponder and camera.
2. The open channel inspection system of a nuclear power plant seawater system of claim 1, wherein: the unmanned open channel silt-measuring ship body is provided with a power system, a thrust system and a steering system.
3. The open channel inspection system of a nuclear power plant seawater system of claim 1, wherein: the satellite positioning system is arranged on the upper part of the unmanned ship body, can receive satellite signals and is used for positioning the unmanned direction.
4. The open channel inspection system of a nuclear power plant seawater system of claim 3, wherein: the satellite positioning system is a GPS positioning system or a Beidou positioning system.
5. The open channel inspection system for a seawater system of a nuclear power plant of claim 1, wherein: the acoustic processing unit is installed at the bottom of the unmanned ship and used for sending positioning signals to the transponder on the barrier observation underwater robot and receiving feedback signals of the transponder to convert the underwater position of the transponder.
6. The open channel inspection system for a seawater system of a nuclear power plant of claim 1, wherein: the sludge measuring instrument is installed at the bottom of the unmanned direction and is used for measuring the thickness of sludge at the bottom of the open channel.
7. The open channel inspection system for a seawater system of a nuclear power plant of claim 6, wherein: the sludge measuring instrument is a shallow profile analyzer or a multi-beam thickness meter.
8. The open channel inspection system for a seawater system of a nuclear power plant of claim 1, wherein: the underwater robot for observing the blocking net of the silt measuring instrument adopts a floating type underwater robot for video inspection of the blocking net.
9. The open channel inspection system of a nuclear power plant seawater system of claim 1, wherein: the underwater robot body is located in a range limited by the blocking net and the seabed.
10. The open channel inspection system of a nuclear power plant seawater system of claim 1, wherein: the silt measuring instrument is positioned at a position below the seawater level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110992677.8A CN115727793A (en) | 2021-08-27 | 2021-08-27 | Open channel inspection system of seawater system of nuclear power plant |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110992677.8A CN115727793A (en) | 2021-08-27 | 2021-08-27 | Open channel inspection system of seawater system of nuclear power plant |
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| Publication Number | Publication Date |
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| CN115727793A true CN115727793A (en) | 2023-03-03 |
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| CN202110992677.8A Pending CN115727793A (en) | 2021-08-27 | 2021-08-27 | Open channel inspection system of seawater system of nuclear power plant |
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2021
- 2021-08-27 CN CN202110992677.8A patent/CN115727793A/en active Pending
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