CN111355903A - Distributed camera structure based on linear array - Google Patents
Distributed camera structure based on linear array Download PDFInfo
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- CN111355903A CN111355903A CN201811563015.3A CN201811563015A CN111355903A CN 111355903 A CN111355903 A CN 111355903A CN 201811563015 A CN201811563015 A CN 201811563015A CN 111355903 A CN111355903 A CN 111355903A
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- vehicle body
- camera
- linear array
- cameras
- camera structure
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- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 13
- 239000004917 carbon fiber Substances 0.000 claims abstract description 13
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 229910000838 Al alloy Inorganic materials 0.000 claims description 9
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 21
- 230000009193 crawling Effects 0.000 abstract description 8
- 238000004458 analytical method Methods 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003758 nuclear fuel Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
Images
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention relates to the technical field of nuclear power station containment vessel video inspection, and particularly discloses a distributed camera structure based on a linear array. The structure comprises a vehicle body, a support frame, a magnetic sucker and a plurality of cameras, wherein wheels comprising a driving wheel and a driven wheel are mounted on the vehicle body, and the whole vehicle body is adsorbed on a containment steel lining through the magnetic sucker mounted at the bottom of the vehicle body; the front end of the vehicle body is provided with a carbon fiber rod which is vertical to the advancing direction of the vehicle body through a support frame, and the carbon fiber rod is provided with a plurality of cameras with overlapped visual fields. The shell of the crawling trolley in the linear array distributed camera structure is not in direct contact with the inner wall, so that the inner wall of the containment vessel is not damaged; meanwhile, by utilizing the linear array type distributed camera structure, the structure can realize wide-range scanning, has high inspection efficiency and can also consider the surrounding environment. The image splicing display mode of the multiple cameras is strong in intuition, improves the accuracy of video analysis, and meets the high requirement of video inspection.
Description
Technical Field
The invention belongs to the technical field of nuclear power station containment vessel video inspection, and particularly relates to a distributed camera structure based on a linear array.
Background
The containment vessel of the nuclear power station is an important safety facility of the nuclear reactor, has the function of containing the radioactivity generated by the reactor in the containment vessel under the accident condition, is a third safety barrier behind a nuclear fuel cladding and a primary circuit pressure boundary, is also a last safety barrier in the nuclear safety accident, and plays an extremely important role in daily operation and safety of the nuclear power station. The containment shell is a steel-lined reinforced concrete structure. As the operation time of the nuclear power unit is advanced, the containment vessel is easy to generate defects such as cracks, corrosion, surface coating falling off and the like. In order to ensure that the safety barrier of the nuclear power plant is not damaged, a video inspection technology is adopted to carry out periodic inspection on the steel lining of the containment vessel.
The steel lining of the containment vessel consists of three parts, wherein the upper part is hemispherical, the middle part is a cylindrical barrel, the lower part is hemispherical, the diameter of the barrel is 50 meters, the fall is 50 meters, the area is huge, the inspection working time window is limited, and the inspection efficiency is the key point of the inspection work. At present, a single camera is adopted in the video inspection technology to carry a corresponding video acquisition system, the visual field range is small, the accessibility is poor, the equipment structure is unstable, the efficiency is low, and the inspection requirement of a containment steel lining is difficult to meet.
Disclosure of Invention
The invention aims to provide a distributed camera structure based on a linear array, which solves the problem of video inspection efficiency of the steel lining of the containment vessel of the conventional nuclear power station.
The technical scheme of the invention is as follows: a distributed camera structure based on a linear array comprises a vehicle body, a support frame, a magnetic sucker and a plurality of cameras, wherein wheels comprising a driving wheel and a driven wheel are mounted on the vehicle body, and the whole vehicle body is adsorbed on a containment steel liner through the magnetic sucker mounted at the bottom of the vehicle body; the front end of the vehicle body is provided with a carbon fiber rod which is vertical to the advancing direction of the vehicle body through a support frame, and the carbon fiber rod is provided with a plurality of cameras with overlapped visual fields.
The carbon fiber rod is provided with 4 front cameras at equal intervals, and the visual field of each front camera forms a 60-degree direction.
The visual fields of adjacent front cameras on the carbon fiber rod are overlapped by 5-15%, and the surface condition of the front camera in the range of 2.5 meters can be scanned.
The car body frame is an aluminum alloy covering part and an ultra-hard aluminum alloy chassis.
The hub of the wheel on the vehicle body is made of aluminum alloy materials, and the tire is made of polyurethane materials.
And two sides of the vehicle body are respectively provided with a lateral camera.
The tail part of the vehicle body is provided with two rear cameras.
The camera adopts a movable joint piece to carry a high-definition camera, and each camera joint can realize positive and negative 90 pitching of the camera; the bracket joint shell realizes that the camera rotates by 180 degrees from left to right; the height adjustment of the camera can be realized by adjusting the rod joint.
The car body is also provided with an anti-falling hook.
The invention has the following remarkable effects: the distributed camera structure based on the linear array has the following advantages that: (1) the shell of the crawling trolley in the linear array distributed camera structure is not in direct contact with the inner wall, the inner wall of the containment vessel is not damaged, meanwhile, the self load is small, the crawling flexibility is improved, and the overall safety coefficient is high by matching with the anti-falling hook; (2) by utilizing the linear array type distributed camera structure, the structure can realize wide-range scanning, has high inspection efficiency and can also consider the surrounding environment. The multi-camera image splicing display mode is strong in intuition, improves the accuracy of video analysis, and meets the high requirement of video inspection; (3) a movable joint part is adopted to carry a high-definition camera. The three movable joints are matched and adjusted, so that the multi-direction video signal acquisition can be realized, and the super-strong adaptability is provided for the field video inspection conditions.
Drawings
Fig. 1 is a schematic structural diagram of a distributed camera based on a linear array according to the present invention;
FIG. 2 is a bottom view of a distributed camera configuration based on linear arrays according to the present invention;
FIG. 3 is a schematic diagram of a linear array structure in a distributed camera structure based on a linear array according to the present invention;
in the figure: 1. a vehicle body; 2. a wheel; 3. a carbon fiber rod; 4. a support frame; 5. a front camera; 6. a lateral camera; 7. a rear camera; 8. a magnetic chuck; 9. an anti-falling hook.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1 to 3, a distributed camera structure based on a linear array comprises a vehicle body 1, a support frame 4, a magnetic chuck 8 and a plurality of cameras, wherein a frame of the vehicle body 1 is formed by an aluminum alloy covering part and a super-hard aluminum alloy chassis, the magnetic chuck 8 is mounted at the bottom end of the vehicle body 1, the magnetic chuck 8 comprises an electromagnet and a permanent magnet, and the vehicle body 1 can be adsorbed on a containment steel liner through the magnetic chuck 8; a chassis of a vehicle body 1 is provided with wheels 2, each wheel 2 comprises two driving wheels and two driven wheels, a hub of each wheel is made of aluminum alloy, and a tire is made of polyurethane; the carbon fiber rod 3 vertical to the advancing direction of the vehicle body 1 is arranged at the front end of the vehicle body 1 through a support frame 4, 4 front cameras 5 are arranged on the carbon fiber rod 3 at equal intervals, the visual field of each front camera 5 forms a 60-degree direction, 5% -15% of visual fields between two adjacent front cameras 5 are overlapped, and the surface condition in the range with the front width of 2.5 meters can be scanned; two sides of the vehicle body 1 are respectively provided with a lateral camera 6 for observing the surrounding environment of the vehicle body 1 and ensuring the safe crawling of the trolley; two rear cameras 7 are mounted at the tail of the vehicle body 1, and leakage detection and gap filling can be performed on an inspection area; the front camera 5, the side camera 6 and the rear camera 7 are all provided with high-definition cameras by adopting movable joint pieces, and each camera joint can realize positive and negative 90 pitching of the camera; the bracket joint shell realizes that the camera rotates by 180 degrees from left to right; the camera height adjustment can be realized to the regulation pole joint, adjusts through the cooperation of three movable joint, can realize the diversified video signal collection of far and near, provides superstrong adaptability for on-the-spot video inspection condition. The anti-falling hook 9 is further arranged on the vehicle body 1, so that the vehicle body can be prevented from falling off the containment vessel after the magnetic suction disc (8) fails.
The specific working process of the distributed camera structure based on the linear array is as follows: connecting all parts of the crawling trolley through bolts, and checking the state of each fastener; the crawling trolley is connected with a control cable, the whole set of equipment is suspended and adsorbed on a crawling surface in the vertical direction, an anti-falling device is connected, and an anti-falling steel wire rope is kept in an unstressed state; accessing a video acquisition system, and starting data acquisition; after all preparations are ensured to be well prepared, the crawling trolley is controlled to advance and retreat to crawl by controlling the handheld remote controller, and video inspection and inspection of the steel lining of the containment vessel are implemented. If the visual angle is found to have deviation in the inspection process, the inspection requirement can be met by adjusting the movable joint of the camera.
Claims (9)
1. A distributed camera structure based on linear arrays, characterized by: the structure comprises a vehicle body (1), a support frame (4), a magnetic sucker (8) and a plurality of cameras, wherein the vehicle body (1) is provided with wheels (2) comprising a driving wheel and a driven wheel, and the whole vehicle body (1) is adsorbed on a containment steel lining through the magnetic sucker (8) arranged at the bottom of the vehicle body (1); the front end of the vehicle body (1) is provided with a carbon fiber rod (3) which is vertical to the advancing direction of the vehicle body (1) through a support frame (4), and the carbon fiber rod (3) is provided with a plurality of cameras with overlapped visual fields.
2. The linear array based distributed camera structure of claim 1, wherein: the carbon fiber rod (3) is provided with 4 front cameras (5) at equal intervals, and the visual field of each front camera (5) forms a 60-degree direction.
3. The linear array based distributed camera structure of claim 2, wherein: the visual field between adjacent front cameras (5) on the carbon fiber rod (3) is overlapped by 5-15%, and the surface condition of the front part within the range of 2.5 meters can be scanned.
4. The linear array based distributed camera structure of claim 1, wherein: the frame of the car body (1) is an aluminum alloy covering part and an ultra-hard aluminum alloy chassis.
5. The linear array based distributed camera structure of claim 1, wherein: the hub of the wheel (2) on the vehicle body (1) is made of aluminum alloy, and the tire is made of polyurethane.
6. The linear array based distributed camera structure of claim 1, wherein: two sides of the vehicle body (1) are respectively provided with a lateral camera (6).
7. The linear array based distributed camera structure of claim 1, wherein: the tail part of the vehicle body (1) is provided with two rear cameras (7).
8. The linear array based distributed camera structure of claim 1, wherein: the camera adopts a movable joint piece to carry a high-definition camera, and each camera joint can realize positive and negative 90 pitching of the camera; the bracket joint shell realizes that the camera rotates by 180 degrees from left to right; the height adjustment of the camera can be realized by adjusting the rod joint.
9. The linear array based distributed camera structure of claim 1, wherein: the car body (1) is also provided with an anti-falling hook (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563015.3A CN111355903A (en) | 2018-12-20 | 2018-12-20 | Distributed camera structure based on linear array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563015.3A CN111355903A (en) | 2018-12-20 | 2018-12-20 | Distributed camera structure based on linear array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111355903A true CN111355903A (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811563015.3A Pending CN111355903A (en) | 2018-12-20 | 2018-12-20 | Distributed camera structure based on linear array |
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| CN (1) | CN111355903A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101351000B1 (en) * | 2013-04-10 | 2014-01-15 | 주식회사 미루시스템즈 | In-line camera inspection apparatus having plural mode |
| CN205302962U (en) * | 2015-10-21 | 2016-06-08 | 国核华清（北京）核电技术研发中心有限公司 | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof |
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN108270993A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | One kind is used for reactor pressure vessel bolt hole multi-cam video inspection device |
| CN209250757U (en) * | 2018-12-20 | 2019-08-13 | 核动力运行研究所 | One kind being based on linear array distribution camera structure |
-
2018
- 2018-12-20 CN CN201811563015.3A patent/CN111355903A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101351000B1 (en) * | 2013-04-10 | 2014-01-15 | 주식회사 미루시스템즈 | In-line camera inspection apparatus having plural mode |
| CN205302962U (en) * | 2015-10-21 | 2016-06-08 | 国核华清（北京）核电技术研发中心有限公司 | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof |
| CN105966485A (en) * | 2016-05-30 | 2016-09-28 | 哈工大机器人集团有限公司 | Wheel type magnetic adsorption wall-climbing robot |
| CN108270993A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | One kind is used for reactor pressure vessel bolt hole multi-cam video inspection device |
| CN209250757U (en) * | 2018-12-20 | 2019-08-13 | 核动力运行研究所 | One kind being based on linear array distribution camera structure |
Non-Patent Citations (1)
| Title |
|---|
| 高厚秀等: "核电站目视检查爬壁装置设计与研究", 《科技视界》, 25 January 2018 (2018-01-25), pages 233 - 235 * |
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