CN113953288A - Underwater cleaning system for nuclear environment - Google Patents
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- CN113953288A CN113953288A CN202111246714.7A CN202111246714A CN113953288A CN 113953288 A CN113953288 A CN 113953288A CN 202111246714 A CN202111246714 A CN 202111246714A CN 113953288 A CN113953288 A CN 113953288A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 42
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 11
- 239000002131 composite material Substances 0.000 claims description 9
- 230000005855 radiation Effects 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 4
- 230000005358 geomagnetic field Effects 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 239000002699 waste material Substances 0.000 abstract description 4
- 239000000126 substance Substances 0.000 abstract description 3
- 238000003904 radioactive pollution Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000002285 radioactive effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 235000015429 Mirabilis expansa Nutrition 0.000 description 2
- 244000294411 Mirabilis expansa Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 235000013536 miso Nutrition 0.000 description 2
- 238000004506 ultrasonic cleaning Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 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
- 239000000835 fiber Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
- G08C19/30—Electric signal transmission systems in which transmission is by selection of one or more conductors or channels from a plurality of conductors or channels
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C13/00—Pressure vessels; Containment vessels; Containment in general
- G21C13/02—Details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater cleaning system for a nuclear environment, which comprises a remote control terminal and an underwater robot; the invention sends motion and work instructions to the underwater robot through the remote control terminal, the underwater robot makes set actions after receiving the instructions, the set actions comprise cleaning operation on the inner wall of the pressure volume, moving in all directions under water, cleaning operation on substances falling from the bottom of the pressure container and returning information data inside the pressure container through the carried camera, the sensor module and the sonar module, the cleaning and detecting operation of the pressure container can be carried out, the problems that the traditional cleaning mode is easy to be radiated by radioactivity and low in cleaning efficiency are solved, the cleaning problem of the pressure container can be effectively solved, meanwhile, the radioactive pollution to the environment can be reduced, the generation of secondary waste and the generation amount of three wastes are controlled, and the cleaning operation of the pressure container is of great significance.
Description
Technical Field
The invention relates to the technical field of underwater cleaning systems, in particular to an underwater cleaning system for a nuclear environment.
Background
Nuclear energy is used as a clean and economic energy source, the application of the nuclear energy in the fields of military, medical treatment, industry and the like is more and more extensive, the nuclear reactor inevitably enters the maintenance, refueling or decommissioning stages while being used and developed, the risk of radioactive contamination exists during the treatment of the stages, at present, a large number of reactors such as experimental research reactors, military reactors, power generation reactors and the like in China need to be maintained, refueled or decommissioned, and in the technology of maintenance, refueling and decommissioning of the nuclear reactor, the key point is to eliminate the radioactive contamination on the surfaces of related facility equipment and materials so as to ensure the safety of the external environment and personnel;
the pressure vessel is used as a radioactive substance barrier for containing a reactor core and bearing irradiation, and the structural integrity of the pressure vessel has important significance for the safe operation of the reactor, so that in the process of repairing, reloading and decommissioning of a nuclear device, the pressure vessel needs to be cleaned, decontaminated and other process flows, and then whether cracks, defects and other problems exist is judged through visual inspection so as to ensure the integrity of the pressure vessel;
the manual use of ultrasonic cleaning has the following problems: firstly, a large amount of radioactive nuclides are contained in the pressure container, and a large amount of radiation is bound to be irradiated by manual cleaning or manual cleaning; secondly, the pressure container is large in size and has a certain height, and if corrosion products, screws and other falling substances exist at the bottom, the pressure container is difficult to clean; thirdly, the pressure container has particularity and complexity, so that the common tool is difficult to achieve an ideal cleaning effect; fourthly, the ultrasonic cleaning system is large, the preparation and use processes are complicated, and the cleaning efficiency is low, so that the invention provides the nuclear environment underwater cleaning system to solve the problems in the prior art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an underwater cleaning system for nuclear environments, which sends motion and work instructions to an underwater robot through a remote control terminal, and the underwater robot makes a predetermined motion after receiving the instructions, so that the system not only can perform cleaning and detection of a pressure vessel, but also solves the problems that the conventional cleaning method is easily subjected to radioactive radiation and the cleaning efficiency is low.
In order to achieve the purpose of the invention, the invention is realized by the following technical scheme: a nuclear environment underwater cleaning system comprises a remote control terminal and an underwater robot, wherein the remote control terminal is connected with the underwater robot through a photoelectric composite cable combined with an optical fiber and a cable, the remote control terminal adopts an independent control box design, a video display screen, a sonar display screen and a work control area are arranged on the remote control terminal, a control chip, a sensing module, a sonar module, a camera, a multifunctional platform and a main relay are arranged on the underwater robot, the control chip is connected with the camera through an AV signal and shoots a real-time image of the underwater environment through the camera, the control chip is connected with the sensing module through a sensing signal and is connected with the main relay through a control signal and controls the multifunctional platform to work, the control chip is connected with the sonar module through a sonar signal and is used for navigation and distance measurement through the sonar module, and the multifunctional platform is also provided with a saw disc, an electric drill and a mechanical arm.
The further improvement lies in that: the video display screen is used for displaying real-time images transmitted by the camera when the underwater robot works, and the sonar display screen is used for displaying data information detected by the underwater robot through the sonar module and the sensing module when the underwater robot works.
The further improvement lies in that: the underwater robot control system is characterized in that a rocker and an operating switch for controlling the underwater robot are arranged on the work control area, and a spare operating switch and a control line channel are reserved on the work control area.
The further improvement lies in that: the control chip integrates a CAN/485 communication interface and two RS232 serial interfaces, and receives instructions and signals of a remote control terminal through a photoelectric composite cable.
The further improvement lies in that: the sensing module comprises a depth sensor for detecting the submergence depth of the underwater robot, a temperature sensor for detecting the ambient temperature of the underwater robot and a radiation sensor for detecting the intensity of radiation around the underwater robot.
The further improvement lies in that: the multifunctional platform comprises a vertical push propeller motor for driving the underwater robot to move vertically, a horizontal push propeller motor for driving the underwater robot to move horizontally, an underwater spotlight for lighting and a cleaning grinding disc for cleaning, and the mechanical arm comprises a saw disc and an electric drill.
The further improvement lies in that: the underwater robot is also provided with an attitude sensor, the attitude sensor adopts a high-precision inertial guidance module, and a high-precision gyroscope, an accelerometer and a geomagnetic field sensor are integrated on the high-precision inertial guidance module and adopt a high-performance microprocessor.
The invention has the beneficial effects that: the invention sends motion and work instructions to the underwater robot through the remote control terminal, the underwater robot makes set actions after receiving the instructions, the set actions comprise cleaning operation on the inner wall of the pressure volume, moving in all directions under water, cleaning operation on substances falling from the bottom of the pressure container and returning information data inside the pressure container through the carried camera, the sensor module and the sonar module, the cleaning and detecting operation of the pressure container can be carried out, the problems that the traditional cleaning mode is easy to be radiated by radioactivity and low in cleaning efficiency are solved, the cleaning problem of the pressure container can be effectively solved, meanwhile, the radioactive pollution to the environment can be reduced, the generation of secondary waste and the generation amount of three wastes are controlled, and the cleaning operation of the pressure container is of great significance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a system according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of an internal structure of an SPI according to the second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 1, the embodiment provides a nuclear environment underwater cleaning system, which comprises a remote control terminal and an underwater robot, wherein the remote control terminal is connected with the underwater robot through a photoelectric composite cable combining an optical fiber and a cable for power supply and information communication, the remote control terminal is designed by adopting an independent control box, the remote control terminal is provided with a video display screen, a sonar display screen and a work control area, the independent control box is designed to be opened and closed and is divided into an upper part and a lower part, the video display screen and the sonar display screen are arranged at the upper part, the work control area is arranged at the lower part, compared with the traditional computer control, the design and manufacture of computer software and the signal interface conversion problem of the photoelectric composite cable between the underwater robot and a computer are avoided, the design of the independent control box is simpler and more efficient for the transmission of control signals and image information, be equipped with control chip, sensing module, sonar module, camera, multifunctional platform and main relay on the underwater robot, control chip passes through AV signal and camera connection and shoots the real-time image of environment under water through the camera, control chip passes through sensing signal and is connected with sensing module, control chip passes through control signal and is connected with main relay and control multifunctional platform work, control chip is connected through sonar signal and sonar module and navigates and range finding through the sonar module, last saw disc, electric drill and the arm of still installing of multifunctional platform.
The video display screen is used for displaying real-time images transmitted by the camera of the underwater robot during working, and the sonar display screen is used for displaying data information detected by the sonar module and the sensing module during working, so that a user can know the working process of the underwater robot more intuitively.
The underwater robot control system is characterized in that a rocker and an operating switch for operating the underwater robot are arranged on the work control area, and a spare operating switch and a control circuit channel are reserved on the work control area so as to ensure that the subsequent upgrading and reconstruction of the underwater robot are not influenced.
The control chip integrates a CAN/485 communication interface and two RS232 serial interfaces, and receives instructions and signals of a remote control terminal through a photoelectric composite cable.
The sensing module comprises a depth sensor for detecting the submergence depth of the underwater robot, a temperature sensor for detecting the ambient temperature of the underwater robot and a radiation sensor for detecting the ambient radiation intensity of the underwater robot, and the sensing module is used for detecting the water depth, the temperature and the radiation intensity around the underwater robot, so that a user can know the working environment of the underwater robot in real time.
The multifunctional platform comprises a vertical push propeller motor for driving the underwater robot to move vertically, a horizontal push propeller motor for driving the underwater robot to move horizontally, an underwater spotlight for lighting and a cleaning grinding disc for cleaning, wherein the mechanical arm comprises a saw disc and an electric drill, and the water flow velocity of the two sides of the underwater robot is controlled by matching the vertical push propeller motor and the horizontal push propeller motor through driving so as to drive the underwater robot to move.
The underwater robot is also provided with an attitude sensor, the attitude sensor adopts a high-precision inertial guidance module, and a high-precision gyroscope, an accelerometer and a geomagnetic field sensor are integrated on the high-precision inertial guidance module and adopt a high-performance microprocessor.
Example two
The control chip of the underwater robot uses an STM32F407 controller manufactured by ST company 90nm technology, the controller integrates a CAN/485 communication interface and two paths of RS232 serial interfaces, and is beneficial to debugging a communication system, an STM32F407 controller board is loaded with a gyroscope and an acceleration sensor chip and provides more than ten interfaces, so that the underwater robot CAN conveniently add and debug various modules;
the STM32F407 chip of adoption is 32 bit processors, 144 GPIO mouths altogether, these IO mouths can regard as ordinary IO mouth to use, also can multiplex to the serial ports to use, for example PA9 mouth can regard as ordinary IO mouth to use with PA 10 mouth, also can multiplex to the transmission and reception pin of serial ports 1, this chip has abundant communication function, for example IIC, SPI, the RS232 serial ports, RS485 serial ports etc. underwater robot adopts NRF24L01 communication module, adopt SPI and host computer STM32F407 to communicate, its data transmission speed can reach 10MHz the most, SPI is full duplex, synchronous communication bus, use four lines and controller to communicate, do respectively: MISO, master data input and slave data output; MOSI, host data output and slave data input; SCLK, a clock signal, generated by the host; CS, slave chip selection signal, mainly controlled by host, SPI internal structure as shown in figure 2;
the SPI has four lines in total, the host and the slave have a serial shift register, the SPI communication is in a full duplex mode, the data of the underwater robot and the remote control terminal are transmitted simultaneously, firstly, the remote control terminal sends a clock signal, the underwater robot communicated with the remote control terminal is confirmed through a chip selection signal line, and the remote control terminal sends a byte: the remote control terminal sends the content in the shift register to the underwater robot by using an MOSI signal line, and simultaneously, the underwater robot also sends the data of the shift register to the remote control terminal by using an MISO signal line.
During the use, connect through the photoelectric composite cable who combines optic fibre and cable between remote control terminal and the underwater robot, for power supply and information communication, remote control terminal is responsible for sending motion and work instruction to the underwater robot, the underwater robot receives control end instruction and makes a response fast, drive sensing module, sonar module, the camera, multifunctional platform, the realization of relevant function is realized to arm and main relay, simultaneously the underwater robot is when working in the pressure vessel, still can pass back video image and information data to remote control terminal through photoelectric composite cable, intercommunication between the two has guaranteed underwater robot's normal operating and work.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a clean system under nuclear environment water, includes remote control terminal and underwater robot, its characterized in that: the remote control terminal is connected with the underwater robot through a photoelectric composite cable combining an optical fiber and a cable, the remote control terminal adopts an independent control box design, a video display screen, a sonar display screen and a work control area are arranged on the remote control terminal, the underwater robot is provided with a control chip, a sensing module, a sonar module, a camera, a multifunctional platform and a main relay, the control chip is connected with the camera through an AV signal and shoots a real-time image of the underwater environment through the camera, the control chip is connected with the sensing module through a sensing signal, the control chip is connected with the main relay through a control signal and controls the multifunctional platform to work, the control chip is connected with the sonar module through a sonar signal and navigates and measures distance through the sonar module, and the multifunctional platform is further provided with a saw disc, an electric drill and a mechanical arm.
2. The nuclear environment underwater cleaning system of claim 1, wherein: the video display screen is used for displaying real-time images transmitted by the camera when the underwater robot works, and the sonar display screen is used for displaying data information detected by the underwater robot through the sonar module and the sensing module when the underwater robot works.
3. The nuclear environment underwater cleaning system of claim 1, wherein: the underwater robot control system is characterized in that a rocker and an operating switch for controlling the underwater robot are arranged on the work control area, and a spare operating switch and a control line channel are reserved on the work control area.
4. The nuclear environment underwater cleaning system of claim 1, wherein: the control chip integrates a CAN/485 communication interface and two RS232 serial interfaces, and receives instructions and signals of a remote control terminal through a photoelectric composite cable.
5. The nuclear environment underwater cleaning system of claim 1, wherein: the sensing module comprises a depth sensor for detecting the submergence depth of the underwater robot, a temperature sensor for detecting the ambient temperature of the underwater robot and a radiation sensor for detecting the intensity of radiation around the underwater robot.
6. The nuclear environment underwater cleaning system of claim 1, wherein: the multifunctional platform comprises a vertical push propeller motor for driving the underwater robot to move vertically, a horizontal push propeller motor for driving the underwater robot to move horizontally, an underwater spotlight for lighting and a cleaning grinding disc for cleaning, and the mechanical arm comprises a saw disc and an electric drill.
7. The nuclear environment underwater cleaning system of claim 1, wherein: the underwater robot is also provided with an attitude sensor, the attitude sensor adopts a high-precision inertial guidance module, and a high-precision gyroscope, an accelerometer and a geomagnetic field sensor are integrated on the high-precision inertial guidance module and adopt a high-performance microprocessor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111246714.7A CN113953288A (en) | 2021-10-26 | 2021-10-26 | Underwater cleaning system for nuclear environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111246714.7A CN113953288A (en) | 2021-10-26 | 2021-10-26 | Underwater cleaning system for nuclear environment |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN207292339U (en) * | 2017-09-27 | 2018-05-01 | 百拓益通（天津）科技有限公司 | A kind of underwater Multifunction cleaning machine device people |
-
2021
- 2021-10-26 CN CN202111246714.7A patent/CN113953288A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| JPH0944238A (en) * | 1995-07-31 | 1997-02-14 | Mitsubishi Heavy Ind Ltd | Automatic travel control system for underwater cleaning device |
| JP2001354193A (en) * | 2000-06-14 | 2001-12-25 | Mitsubishi Heavy Ind Ltd | Underwater navigating body system for searching, underwater navigating body, search commanding device for ship, and image processing method |
| CN107953350A (en) * | 2016-10-17 | 2018-04-24 | 江苏舾普泰克自动化科技有限公司 | It is a kind of to be used to detect the underwater robot control system with operation |
| CN207292339U (en) * | 2017-09-27 | 2018-05-01 | 百拓益通（天津）科技有限公司 | A kind of underwater Multifunction cleaning machine device people |
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