CN114972969A - Intelligent nuclear reactor inspection device based on augmented reality - Google Patents
Intelligent nuclear reactor inspection device based on augmented reality Download PDFInfo
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- CN114972969A CN114972969A CN202210572131.1A CN202210572131A CN114972969A CN 114972969 A CN114972969 A CN 114972969A CN 202210572131 A CN202210572131 A CN 202210572131A CN 114972969 A CN114972969 A CN 114972969A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21D—NUCLEAR POWER PLANT
- G21D3/00—Control of nuclear power plant
- G21D3/08—Regulation of any parameters in the plant
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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- Y02E30/30—Nuclear fission reactors
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Abstract
The invention provides an intelligent inspection device of a nuclear energy reactor based on augmented reality, which comprises a server, a database and a mobile robot, wherein the inspection device comprises a display module, a mobile module, a control module and an acquisition module; the acquisition module is used for acquiring image data of the nuclear energy reactor; the control module is used for adjusting the acquisition posture of the acquisition module so as to be matched with the acquisition module to acquire data of different positions of the nuclear energy reactor; the display module displays the data of the acquisition module to a patrol inspector so as to realize real-time check of the nuclear reactor. According to the invention, through the matching of the display module and the acquisition module, an inspector can check the state in the nuclear energy reactor through an enhanced display technology, so that the inspection intensity is reduced, the inspection safety is improved, and meanwhile, the accurate monitoring of a high-radiation area is also considered.
Description
Technical Field
The invention relates to the technical field of nuclear power inspection, in particular to an intelligent inspection device of a nuclear power reactor based on augmented reality.
Background
The nuclear reactor is a very complex system, which has special requirements on safety and reliability, so that an operator must know various operating states of each system of the reactor, and the operator is very familiar with various possible faults and reasons thereof, so that the operator can timely and accurately judge possible reactor operating events or accidents.
For example, CN113887758A prior art discloses a visual inspection system and method for nuclear power plant equipment, which have different online parameters of the nuclear power plant, different equipment operating conditions, different recent maintenance work, different operating states of the equipment in different life spans, and the like, and all of them have a significant influence on the inspection result determination of the offline equipment. In the traditional routing inspection, the collection of routing inspection parameters, the judgment of the state and the judgment of the result are isolated, the relevance between the routing inspection parameters and the system running condition and the recent equipment running and maintenance state is poor, the difficulty in judging the normality/abnormality of the equipment is high in the routing inspection process of personnel, and the condition that the judgment of the running state condition of the equipment lacks basis is avoided.
Another typical system and method for auxiliary diagnosis of main pump failure of nuclear reactor based on gray scale image disclosed in the prior art of CN105097057B, with the application and development of failure diagnosis technology, the state detection and failure diagnosis system with detection, identification, prediction and intervention as core has been widely and deeply applied in the nuclear field, and gradually establishes a corresponding computer-aided system, so that when an emergency failure occurs, the failure can be diagnosed correctly in time and a corresponding countermeasure can be taken.
The invention aims to solve the problems that the inspection method is deficient, the manual inspection cannot be performed with high inspection intensity and cannot enter a high-radiation area, the inspection position cannot be adjusted, the state of a nuclear energy reactor cannot be known in real time, the state of the nuclear energy reactor cannot be checked, the intelligence degree is low, the real-time performance is poor, the interaction performance is poor and the like in the field.
Disclosure of Invention
The invention aims to provide an intelligent nuclear reactor inspection device based on augmented reality aiming at the defects.
The invention adopts the following technical scheme:
an intelligent inspection device of a nuclear reactor based on augmented reality comprises a server, a database and a mobile robot, wherein the inspection device comprises a display module, a mobile module, a control module and an acquisition module, the server is respectively connected with the display module, the mobile module, the control module and the acquisition module,
the mobile module is used for adjusting the position of the robot so as to coordinate with the acquisition module to inspect the nuclear energy reactor;
the acquisition module is used for acquiring image data of the nuclear energy reactor;
the control module is used for adjusting the acquisition posture of the acquisition module so as to be matched with the acquisition module to acquire data of different positions of the nuclear energy reactor;
the display module displays the data of the acquisition module to an inspector so as to realize real-time check of the nuclear energy reactor;
the control module comprises a control unit, a sensing unit and an analysis unit, wherein the sensing unit is used for collecting posture data of the inspector; the analysis unit analyzes the data of the induction unit so as to realize the analysis of the posture of the mobile robot and the acquisition angle of the acquisition module; the control unit executes control over the posture of the mobile robot and the acquisition angle of the acquisition module according to the analysis result of the analysis unit;
the sensing unit comprises a first sensing subunit and a second sensing subunit, and the first sensing subunit is used for sensing the posture of the right hand of the inspector so as to capture the posture data of the right hand; the second sensing subunit is used for sensing the left-hand posture of the inspector so as to capture posture data of the left hand and the right hand;
wherein the posture of the mobile robot is controlled according to the posture data of the first induction subunit; the gesture data of the second sensor subunit controls the acquisition angle of the acquisition module;
the first induction subunit comprises an induction sleeve, a plurality of first attitude sensors and a first pairing device, and the first pairing device is used for pairing the induction sleeve and the mobile robot to form a control link of the mobile robot;
each first attitude sensor is used for detecting the posture and the action of the right hand of the inspector; each first attitude sensor is arranged on the induction sleeve; the sensing sleeves are nested on the wrist, the forearm and the big arm of the right hand of the inspector, and the sensing sleeves on the wrist, the forearm and the big arm are mutually matched for use; the sensing sleeves on the wrist, the small arm and the large arm of the right hand of the inspector respectively correspond to joints of the mobile robot;
the analysis unit acquires acceleration components of each first attitude sensor on the induction sleeve in the direction X, Y, Z, calculates the moving amount of the inspector in the direction, and calculates a spatial control index Transfer according to the following formula:
wherein tau is a space moving distance adjusting coefficient, and the value of tau is related to the posture adjusting distance of the mobile robot according to the moving distance of the arm of the inspector; lambda [ alpha ] 1 、λ 2 、λ 3 Is a weight; t is the total sampling time;
Displacement_ x the movement amount of the induction sleeve along the x direction is obtained; display (u) \ y Is that it isThe movement amount of the sensing sleeve along the y direction; display (u) \ z The amount of movement of the induction sleeve along the z direction; wherein, the x direction, the y direction and the z direction are mutually vertical in pairs;
if the space control index exceeds a set monitoring threshold value, establishing a mapping relation between the induction sleeve and the mobile robot, and displaying according to the movement amount of the induction sleeve along the x direction x Displacement of induction sleeve along y direction y And Displacement of the sensing sleeve in the z-direction z Attitude control is performed for each mobile robot.
Optionally, Displacement of the sensing sleeve along the x direction x Satisfies the following conditions:
in the formula, V x_0 The initial speed of the inspector moving along the x direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; x is the number of i (t) is the acceleration component of the ith sample data in the direction right in front of the horizontal plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
displacement for Displacement of the sensing sleeve in the y-direction y Satisfies the following conditions:
in the formula, V y_0 The initial speed of the inspector moving along the y direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; y (t) is an acceleration component of the ith sample data vertical to the x direction on the horizontal plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
for the Displacement _ z of the sensing sleeve along the z direction, the following conditions are satisfied:
in the formula, V z_0 The initial speed of the inspector moving along the z direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; z is a radical of i (t) is the acceleration component of the ith sample data on the vertical plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is the sampling time.
Optionally, the acquisition module includes an acquisition unit and a posture adjustment unit, and the acquisition unit is configured to acquire image data of the nuclear energy reactor; the posture adjusting unit is used for adjusting the acquisition angle of the acquisition unit;
the acquisition unit comprises an acquisition probe, a data memory, a data transmitter and a shielding case, wherein the shielding case is used for protecting the acquisition probe, the data memory and the data transmitter so as to shield external high-intensity radiation;
the acquisition probe acquires an image of the nuclear energy reactor; the data memory is used for storing the image data acquired by the acquisition probe; the data transmitter is used for transmitting the image data in the data storage to the central control center and the server.
Optionally, the moving module includes a moving unit and a supporting unit, and the moving unit is configured to adjust a position of the supporting unit; the supporting unit is used for supporting the mobile robot;
the moving unit comprises a traction member, a moving track and a moving seat, and the moving seat is connected with the moving track in a sliding mode and slides along the direction of the moving track; the traction member is used for drawing the movable seat so as to adjust the position of the movable seat; the moving track is arranged at a frame of the nuclear energy reactor pool and is coaxial with the nuclear energy reactor pool.
Optionally, the display module includes a transmission unit and a display unit, and the transmission unit transmits image data to the display unit according to the image data of the acquisition module, so as to cooperate with the display unit to display the state of the nuclear energy reactor;
the display unit displays the real-time state of the nuclear energy reactor to the inspector according to the data of the acquisition module;
the display unit comprises AR glasses, a data receiver and an adjusting submodule, and the AR glasses display real-time data of the nuclear energy reactor according to the data of the acquisition module; the data receiver receives the image data transmitted by the acquisition unit so as to display the image data on the AR glasses; the adjusting subunit is used for adjusting the display range and the display angle of the AR glasses.
Optionally, the transmission unit includes a transmission cable and a data storage, and two ends of the transmission cable are respectively connected to the acquisition module and the data storage;
the data storage is used for storing the image data of the acquisition module so as to be matched with the AR glasses for displaying.
Optionally, the traction member includes a group of traction ropes, a plurality of turning wheels, a range detection component, a recovery rod and a recovery driving mechanism, the group of traction ropes are symmetrically arranged on two sides of the moving seat, one end of each group of traction ropes is connected with the moving seat, and the other end of each group of traction ropes is connected with the rod body of the recovery rod; the group of recovery rods are respectively in driving connection with the group of recovery driving mechanisms to form a recovery part; the range detection piece detects the range of the traction rope recovered by the recovery part;
wherein, each recovery wheel along the equidistant setting of the inner wall of removal track, and the outer wall of recovery wheel with the surface contact of haulage rope.
Optionally, the posture adjusting unit includes a rotating member and a pitch adjusting member, and the rotating member is used for adjusting the angle of the horizontal direction of the collecting unit; the pitching adjusting component is used for adjusting the pitching acquisition angle of the acquisition unit;
the rotating member comprises a rotating seat, an angle detection piece and a rotating driving mechanism, the rotating seat is used for supporting the pitching adjusting member, and the rotating seat is hinged with one end of the mobile robot; the angle detection piece is used for detecting the rotation angle of the rotating seat; the rotary driving mechanism is configured to drive the rotary seat to rotate along the axis of the rotary seat.
The beneficial effects obtained by the invention are as follows:
1. through the matching of the display module and the acquisition module, an inspector can check the state in the nuclear energy reactor through an enhanced display technology, so that the inspection intensity of workers is reduced, the inspection safety is further improved, and meanwhile, the accurate monitoring of a high-radiation area is also considered;
2. the control module can control the acquisition posture of the acquisition module and can also adjust the position of the mobile module, so that the acquisition module can inspect the nuclear reactor at different positions and in different postures;
3. the movable seat is pulled by a traction member, so that the movable seat can slide along the direction of the movable rail, and the acquisition module can be ensured to inspect all positions of the nuclear energy reactor;
4. the rotating component is matched with the pitching adjusting component, so that the acquisition probe is finely adjusted in the horizontal direction and the pitching angle, and the state of the nuclear energy reactor is accurately monitored;
5. through the mutual matching of the display unit and the transmission unit, an inspector can check the acquired image data through AR glasses of the display unit, so that the real-time monitoring of the nuclear energy reactor is promoted, the acquisition of the image data at different positions of the nuclear energy reactor by the acquisition module is also considered, and the tiny abnormity of the nuclear energy reactor can be detected;
6. through encircleing the control unit and mutually supporting with the mobile unit for the mobile unit drives mobile robot's position and carries out the in-process of adjusting, makes the control mobile robot's that the person of patrolling and examining can be convenient position, promotes the travelling comfort and the convenient degree of the person's operation of patrolling and examining, guarantees entire system's mutual ability in coordination.
For a better understanding of the features and technical content of the present invention, reference is made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is an overall block diagram of the present invention.
Fig. 2 is a schematic cross-sectional view of the mobile robot, the acquisition module and the nuclear power reactor of the present invention.
Fig. 3 is a schematic structural diagram of the mobile robot of the present invention.
Fig. 4 is a schematic structural diagram of the acquisition probe, the pitch adjustment member and the rotating member according to the present invention.
FIG. 5 is a schematic cross-sectional view of a pulley and a pull cord of the present invention.
FIG. 6 is a schematic view of the structure of the rotary wheel, the pulling rope and the moving seat of the present invention.
Fig. 7 is a schematic view of a traction member of the present invention.
Fig. 8 is a left-side view schematic diagram of the inspector and the chair according to the present invention.
Fig. 9 is a top view of the control panel and the rotation sensing plate of the present invention.
Fig. 10 is a right-side view schematically illustrating the inspector and the chair according to the present invention.
The reference numbers illustrate: 1. a nuclear power reactor; 2. a mobile robot; 3. a moving track; 4. a shield ring; 5. a sampling module; 6. a connecting plate; 7. a rotation driving mechanism; 8. a rotating seat; 9. sampling a probe; 10. a pitch adjustment member; 11. a rotary wheel; 12. a hauling rope; 13. a traction member; 14. a recovery rod; 15. an induction loop; 16. a patrolling person; 17. a handle; 18. rotating the seat plate; 19. a chair; 20. a control key; 21. rotating the induction plate; 22. an induction sleeve; 23. and a movable seat.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
According to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, the embodiment provides an augmented reality-based intelligent inspection device for a nuclear reactor, the inspection device comprises a server, a database and a mobile robot 2, the inspection device comprises a display module, a mobile module, a control module and a collection module, the server is respectively connected with the display module, the mobile module, the control module and the collection module,
the mobile module is used for adjusting the position of the robot so as to coordinate with the acquisition module to inspect the nuclear energy reactor;
the acquisition module is used for acquiring image data of the nuclear energy reactor 1;
the control module is used for adjusting the acquisition posture of the acquisition module so as to be matched with the acquisition module to acquire data of different positions of the nuclear energy reactor;
the display module displays the data of the acquisition module to an inspector 16 so as to realize real-time checking of the nuclear energy reactor 1;
the inspection device further comprises a processor, the processor is respectively in control connection with the mobile robot 2, the display module, the mobile module, the control module and the acquisition module, and the mobile robot 2, the display module, the mobile module, the control module and the acquisition module are controlled in a centralized manner based on the processor, so that the cooperative matching capability of the whole system is improved;
through the matching of the display module and the acquisition module, the inspector 16 checks the state in the nuclear energy reactor through an enhanced display technology (AR) so as to reduce the inspection intensity of workers, improve the inspection safety and simultaneously accurately monitor a high-radiation area;
the mobile module is matched with the acquisition module and the mobile robot 2 in a coordinated manner, so that the position of the mobile robot 2 is adjusted to match the acquisition module to acquire image data of nuclear energy reactors at different angles;
in addition, the control module is matched with the mobile robot 2 and the acquisition module, so that the acquisition position and the acquisition posture of the acquisition module can be adjusted, multi-angle image data acquisition can be performed on nuclear energy reactors at different angles, and the accurate monitoring on the state of the nuclear energy reactor is improved;
in addition, the mobile robot 2 adopts a three-degree-of-freedom manipulator, and each degree of freedom is controlled by the control module, so that the efficiency and accuracy of adjustment of each angle are improved; the acquisition module is arranged at one end of the manipulator, and the acquisition posture of the acquisition module is adjusted through the manipulator;
meanwhile, the control module can control the acquisition posture of the acquisition module and can also adjust the position of the moving module, so that the acquisition module acquires image data of the nuclear energy reactor at different positions and in different postures;
the mobile module comprises a mobile unit and a supporting unit, and the mobile unit is used for adjusting the position of the supporting unit; the supporting unit is used for supporting the mobile robot 2;
the moving unit comprises a traction member 13, a moving track 3 and a moving seat, wherein the moving seat is connected with the moving track 3 in a sliding manner and slides along the orientation of the moving track 3; the traction member 13 is used for drawing the movable seat to adjust the position of the movable seat; the moving track 3 is arranged at the frame of the nuclear energy reactor pool and is coaxial with the nuclear energy reactor pool; the mobile robot 2 is arranged on the mobile seat and moves along with the movement of the mobile seat;
the mobile seat is dragged by the dragging means 13 so that it can slide in a direction along the mobile track 3;
the traction member 13 comprises a group of traction ropes 12, a plurality of rotating wheels 11, a range detection piece, a recovery rod 14 and a recovery driving mechanism, wherein the group of traction ropes 12 are symmetrically arranged on two sides of the moving seat to be matched with each other to adjust the position of the moving seat, one end of each group of traction ropes 12 is connected with the moving seat, and the other end of each group of traction ropes 12 is connected with a rod body of the recovery rod 14; the group of recovery rods 14 are respectively in driving connection with the group of recovery driving mechanisms to form a recovery part; the range detection piece detects the range of the traction rope 12 recovered by the recovery part; wherein each of the recovery wheels is arranged along the inner wall of the moving track 3 at equal intervals, and the outer wall of the recovery wheel is in contact with the outer surface of the traction rope 12;
each of the turning wheels 11 enables a group of traction ropes 12 to slide along the moving rail 3 during the traction of the moving seat; meanwhile, the traction rope 12 can be wound on the recovery rod 14 in the recovery process so as to realize the adjustment of the movable seat;
the movable seat is pulled by the pulling member 13, so that the movable seat can slide along the direction of the movable rail 3, and the collection module can be ensured to inspect all positions of the nuclear energy reactor;
the support unit comprises a support plate and a shield ring 4, the support plate being arranged on the shield ring 4 to provide support for the mobile unit and the mobile robot 2; the shielding ring 4 is used for plugging the moving track 3 to prevent radiation rays from interfering with a moving unit so as to influence the control module to control the moving module;
optionally, the acquisition module is arranged on the connecting plate 6 to form an acquisition part, the acquisition part is connected with the tail end of the mobile robot 2, and the acquisition part adjusts the extension posture and position acquired by the mobile robot 2 and the mobile unit; the acquisition module comprises an acquisition unit and a posture adjustment unit, and the acquisition unit is used for acquiring image data of the nuclear energy reactor 1; the posture adjusting unit is used for adjusting the acquisition angle of the acquisition unit;
the acquisition unit comprises an acquisition probe, a data memory, a data transmitter and a shielding case, wherein the shielding case is used for protecting the acquisition probe, the data memory and the data transmitter so as to shield external high-intensity radiation;
the acquisition probe acquires an image of the nuclear energy reactor 1; the data memory is used for storing the image data acquired by the acquisition probe; the data transmitter is used for transmitting the image data in the data storage to the central control center and the server;
optionally, the posture adjusting unit includes a rotating member and a pitch adjusting member 10, and the rotating member is used for adjusting the angle of the horizontal direction of the collecting unit; the pitch adjusting component 10 is used for adjusting the pitch collecting angle of the collecting unit;
the rotating member comprises a rotating seat 8, an angle detection piece and a rotating driving mechanism 7, the rotating seat 8 is used for supporting the pitching adjusting member 10, and the rotating seat 8 is hinged with one end of the mobile robot 2; the angle detection piece is used for detecting the rotation angle of the rotating seat 8; the rotary drive mechanism 7 is configured to drive the rotary seat 8 to rotate along its own axis;
the pitching adjusting component 10 comprises a plurality of adjusting rods, an adjusting gear and an adjusting driving mechanism, wherein one end of each adjusting rod is hinged with each other to form an adjusting part, and one end of each adjusting part is connected with one side end face of the rotating seat 8; the other end of the adjusting part is connected with the acquisition probe; the adjusting gear and the adjusting driving mechanism are mutually in driving connection to form a driving part; the driving part is arranged at the hinged position of each adjusting rod so as to adjust the pitch angle of the acquisition probe;
in the present embodiment, the adjustment portion is provided with three degrees of freedom; namely an adjusting part formed by hinging one ends of three adjusting rods;
wherein, the rotating component is matched with the pitching adjusting component 10, so that the acquisition probe is finely adjusted in the horizontal direction and the pitching angle, and the state of the nuclear energy reactor 1 is accurately monitored;
in addition, the rotating member and the pitch adjustment member 10 are controlled by the control module;
the control module comprises a control unit, a sensing unit and an analysis unit, wherein the sensing unit is used for collecting posture data of the inspector 16; the analysis unit analyzes the data of the induction unit so as to realize the analysis of the posture of the mobile robot 2 and the acquisition angle of the acquisition module; the control unit executes control over the posture of the mobile robot 2 and the acquisition angle of the acquisition module according to the analysis result of the analysis unit;
the sensing unit comprises a first sensing subunit and a second sensing subunit, and the first sensing subunit is used for sensing the posture of the right hand of the inspector 16 so as to capture the posture data of the right hand; the second sensing subunit is used for sensing the left-hand posture of the inspector 16 so as to capture posture data of the left hand and the right hand;
wherein the posture of the mobile robot 2 is controlled according to the posture data of the first sensing subunit; the gesture data of the second sensor subunit controls the acquisition angle of the acquisition module;
the first sensing subunit comprises a sensing sleeve 22, a plurality of first attitude sensors and a first pairing device, and the first pairing device is used for pairing the sensing sleeve 22 and the mobile robot 2 to form a control link for the mobile robot 2;
each of the first posture sensors is configured to detect a posture and a motion of the inspector 16; wherein each of the first attitude sensors is disposed on the sensing sleeve 22; the induction sleeves 22 are nested on the wrist, the forearm and the big arm of the right hand of the inspector 16, and the induction sleeves 22 on the wrist, the forearm and the big arm are mutually matched for use; wherein, the induction sleeves 22 on the wrist, the small arm and the large arm of the right hand of the inspector 16 respectively correspond to the joints of the mobile robot 2;
the analysis unit acquires acceleration components of each first attitude sensor on the induction sleeve in the direction X, Y, Z, calculates the moving amount of the inspector in the direction, and calculates a spatial control index Transfer according to the following formula:
wherein τ is a spatial movement distance adjustment coefficient, and the value thereof is related to the posture adjustment distance of the mobile robot according to the movement distance of the arms of the inspector; lambda [ alpha ] 1 、λ 2 、λ 3 Is a weight; t is the total sampling time;
Displacement_ x the movement amount of the induction sleeve along the x direction is obtained; display (u) \ y The movement amount of the induction sleeve along the y direction; display (u) \ z The amount of movement of the induction sleeve along the z direction; wherein, the x direction, the y direction and the z direction are mutually vertical in pairs;
if the space control index exceeds a set monitoring threshold value, establishing a mapping relation between the induction sleeve and the mobile robot, and displaying according to the movement amount of the induction sleeve along the x direction x Displacement of induction sleeve along y direction y And Displacement of the sensing sleeve in the z-direction z Carrying out posture control on each mobile robot;
optionally, Displacement of the sensing sleeve along the x direction x And satisfies the following conditions:
in the formula, V x_0 The initial speed of the inspector moving along the x direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; x is a radical of a fluorine atom i (t) is the acceleration component of the ith sample data in the direction right in front of the horizontal plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
displacement for Displacement of the sensing sleeve in the y-direction y Satisfies the following conditions:
in the formula, V y_0 The initial speed of the inspector moving along the y direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; y (t) is an acceleration component of the ith sample data vertical to the x direction on the horizontal plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
displacement for z-direction Displacement of sensing sleeve z And satisfies the following conditions:
in the formula, V z_0 For the first time that the inspector moves in the z-directionA speed, the value of which is related to the moving speed of the inspector's arm; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; z is a radical of i (t) is the acceleration component of the ith sample data on the vertical plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
the second sensor subunit is used for controlling the acquisition angle of the acquisition module; specifically, the second sensor subunit adjusts the rotating member and the pitch adjustment member;
wherein the second sensing subunit comprises a rotation sensing plate 21, a plurality of pressure sensors, a sensing ring 15, a second attitude sensor and a second pair of devices for pairing the sensing sleeve 22 with the rotation member and the pitch adjustment member 10 to form a control link to the rotation member and the pitch adjustment member 10;
the rotation induction plate 21 is used for inducing the elbow supporting force of the left hand of the inspector 16 and acquiring pressing signals in different directions to control the steering of the rotating member; wherein each pressure sensor is arranged around along the plane direction of the sensing plate to form control of different rotation directions of the rotating member;
each of the second posture sensors is configured to detect a posture and a motion of the left hand of the inspector 16; wherein each of the second attitude sensors is provided on the induction ring 15; the induction ring 15 is nested on the wrist, the small arm and the large arm of the left hand of the inspector 16 to form three degrees of freedom and is used for controlling the pitch angle of the pitch adjustment member 10; wherein, the induction sleeves 22 on the wrist, the small arm and the large arm of the left hand of the inspector 16 respectively correspond to the joints of the mobile robot 2;
the control of the pitch angle of the pitch adjustment member 10 by the second sensor subunit is similar to the attitude control of the mobile robot 2 by the first sensor subunit, and a person skilled in the art can analogically know the control method of the pitch adjustment member 10 by the second sensor subunit, and therefore details are not repeated herein;
wherein each of the pressure sensors is provided at one side of the rotation sensing plate 21 to form a rotation sensing portion, when the elbow of the inspector 16 abuts against the rotation sensing plate 21; when the elbow of the left hand abuts against the rotation sensing plate 21 and is pressed in any direction on the rotation sensing plate 21 through the elbow, the rotation driving mechanism 7 rotates in the pressing direction;
meanwhile, when the elbow of the inspector 16 presses along different directions, the rotary driving mechanism 7 drives the movable seat to move towards the direction of the pressed position step by step from the current position; it should be noted that the positions of the pressure sensors on the rotary induction plate 21 are arranged according to the position of the nuclear reactor 1 viewed from above, as shown in fig. 9;
optionally, the display module includes a transmission unit and a display unit, and the transmission unit transmits image data to the display unit according to the image data of the acquisition module, so as to cooperate with the display unit to display the state of the nuclear energy reactor 1;
the display unit displays the real-time state of the nuclear energy reactor to the inspector 16 according to the data of the acquisition module;
the display unit comprises AR glasses, a data receiver and an adjusting submodule, and the AR glasses display real-time data of the nuclear energy reactor according to the data of the acquisition module; the data receiver receives the image data transmitted by the acquisition unit so as to display the image data on the AR glasses; the adjusting subunit is used for adjusting the display range and the display angle of the AR glasses;
the image data acquired by the acquisition module is displayed on the AR glasses, which is a technical means known to those skilled in the art, and those skilled in the art can query a relevant technical manual to obtain the technology, so that details are not repeated in this embodiment; the method comprises the following steps that an inspector wears AR glasses in the process of inspecting the nuclear energy reactor, a first induction subunit and a second induction subunit are respectively worn on the right hand and the left hand of the inspector, and the postures of an acquisition module and a mobile robot are adjusted through mutual matching of the left hand and the right hand, so that each position of the nuclear energy reactor can be checked;
in addition, when the adjusting submodule is used for adjusting the image data, the display angle and the resolution of the image data can be adjusted to obtain different viewing angles, so that the inspection precision of the inspector 16 on the nuclear energy reactor 1 is improved; meanwhile, any position in the image can be checked through the adjusting submodule so as to obtain the detail condition of the position;
optionally, the transmission unit includes a transmission cable and a data storage, and two ends of the transmission cable are respectively connected to the acquisition module and the data storage;
the data storage is used for storing the image data of the acquisition module so as to be matched with the AR glasses for display;
the transmission unit transmits the image data captured by the acquisition probe to the display unit, so that the inspector 16 can inquire the state of the nuclear energy reactor 1 through the image data captured by the acquisition probe in real time;
it is worth noting that the transmission cable, the acquisition probe and the mobile robot are all high-radiation-resistant components or devices, so that the nuclear energy reactor is not affected by nuclear radiation rays in the process of remote monitoring;
through the mutual matching of the display unit and the transmission unit, the inspector 16 can check the acquired image data through AR glasses of the display unit, so that the real-time monitoring of the nuclear energy reactor is promoted, the acquisition module can acquire the image data at different positions of the nuclear energy reactor, and the tiny abnormity of the nuclear energy reactor 1 can be detected;
in this embodiment, after the acquisition module acquires the image data of the nuclear reactor 1, the abnormal state of the nuclear reactor 1 may be analyzed by an image processing technique; the image processing, analyzing, and identifying the abnormality in the image is a technical means known to those skilled in the art, and those skilled in the art can query a relevant technical manual to obtain the technology, so that details are not repeated in this embodiment.
Example two.
This embodiment should be understood to include at least all the features of any one of the embodiments described above and further improved on the basis thereof, as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, and in that the control module further includes a surrounding control unit for controlling the moving direction and speed of the moving module; wherein, the surrounding control unit comprises a chair 19, a rotating seat 8 plate, a rotating collector, a signal transmission cable and a control panel; the rotary seat plate 18 is used for controlling the rotation direction of the inspector 16; the inspector 16 sits on the rotary seat plate 18, rotates on the horizontal plane of the rotary seat plate 18, collects the rotation direction of the rotary seat plate 18 by the rotation collector, and transmits the rotation direction to the traction member 13 through the signal transmission cable, so that the traction rope 12 in the corresponding direction can move the movable seat under the recovery action of the recovery part;
when the movable seat moves, the movable robot 2 is driven to move along with the movable seat, so that the movable robot 2 adjusts the acquisition angle of the acquisition module, the movable robot 2 can adjust different postures, and the pitch adjusting component 10 and the rotating component adjust the acquisition angle of the acquisition probe;
meanwhile, the control panel is used for adjusting the response sensitivity and the rotation proportionality coefficient of the rotary seat plate 18, so that when the rotary seat plate 18 rotates for an angle, the recovery part can trigger the rotation speed which is multiple of the rotation proportionality coefficient, and different rotation response sensitivities are realized;
in addition, the control panel is provided with a plurality of control keys 20, and meanwhile, the control panel is arranged on the handle 17 of the chair 19, so that the inspector 16 can adjust the response sensitivity and the rotation proportionality coefficient more conveniently; notably, the rotation induction plate 21 is provided on the handle 17 of the chair 19;
through the matching of the control panel and the rotary seat plate 18, when the inspector 16 adjusts the position of the movable seat, the inspector can obtain more comfortable rotation experience and more conveniently control the position of the movable unit on the mobile robot 2;
when the control panel adjusts the rotation proportionality coefficient, the recovery amount of the rotating seat plate 18 and the recovery part is calculated according to the following formula:
the rotation collector obtains an initial position (X) of the rotation seat plate 0 ，Y 0 ，Z 0 ) And final position (X) of the pivoting seat i ，Y i ，Z i ) Then, the rotational distance Roll _ back between the initial position and the final position is calculated according to the following equation:
if the distance D exceeds the set normal distance threshold value D min If the current position of the movable seat is not adjusted, the movable seat is determined to be controlled by the rotary seat plate; wherein, the adjusting distance Turn of the moving seat satisfies:
wherein ζ is the response sensitivity of the swivel plate; delta is a rotation proportionality coefficient, and the value of delta is equal to the ratio of the adjustable range of the rotary seat plate to the slidable range of the movable seat sliding along the movable track; delta s is the rotation distance error value of the rotary seat plate;
through surround the control unit with the mobile unit is mutually supported, makes the mobile unit drives the in-process that mobile robot's position was adjusted makes patrol and examine the control mobile robot's that the person can be convenient position promotes the travelling comfort and the convenient degree of patrolling and examining the operation of person, guarantees entire system's mutual ability in coordination.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (8)
1. An intelligent inspection device of a nuclear reactor based on augmented reality comprises a server, a database and a mobile robot, and is characterized in that the inspection device comprises a display module, a mobile module, a control module and an acquisition module, the server is respectively connected with the display module, the mobile module, the control module and the acquisition module,
the mobile module is used for adjusting the position of the robot so as to coordinate with the acquisition module to inspect the nuclear energy reactor;
the acquisition module is used for acquiring image data of the nuclear energy reactor;
the control module is used for adjusting the acquisition posture of the acquisition module so as to be matched with the acquisition module to acquire data of different positions of the nuclear energy reactor;
the display module displays the data of the acquisition module to an inspector so as to realize real-time check of the nuclear energy reactor;
the control module comprises a control unit, a sensing unit and an analysis unit, wherein the sensing unit is used for collecting posture data of the inspector; the analysis unit analyzes the data of the induction unit so as to realize the analysis of the posture of the mobile robot and the acquisition angle of the acquisition module; the control unit executes control over the posture of the mobile robot and the acquisition angle of the acquisition module according to the analysis result of the analysis unit;
the sensing unit comprises a first sensing subunit and a second sensing subunit, and the first sensing subunit is used for sensing the posture of the right hand of the inspector so as to capture the posture data of the right hand; the second sensing subunit is used for sensing the left-hand posture of the inspector so as to capture posture data of the left hand and the right hand;
wherein the posture of the mobile robot is controlled according to the posture data of the first sensing subunit; the gesture data of the second sensor subunit controls the acquisition angle of the acquisition module;
the first induction subunit comprises an induction sleeve, a plurality of first attitude sensors and a first pairing device, and the first pairing device is used for pairing the induction sleeve and the mobile robot to form a control link of the mobile robot;
each first attitude sensor is used for detecting the posture and the action of the right hand of the inspector; each first attitude sensor is arranged on the induction sleeve; the sensing sleeves are nested on the wrist, the forearm and the big arm of the right hand of the inspector, and the sensing sleeves on the wrist, the forearm and the big arm are mutually matched for use; the sensing sleeves on the wrist, the small arm and the large arm of the right hand of the inspector respectively correspond to joints of the mobile robot;
the analysis unit acquires acceleration components of each first attitude sensor on the induction sleeve in the direction X, Y, Z, calculates the moving amount of the inspector in the direction, and calculates a spatial control index Transfer according to the following formula:
wherein tau is a space moving distance adjusting coefficient, and the value of tau is related to the posture adjusting distance of the mobile robot according to the moving distance of the arm of the inspector; lambda [ alpha ] 1 、λ 2 、λ 3 Is a weight; t is the total sampling time;
Displacement_ x the movement amount of the induction sleeve along the x direction is obtained; display (u) \ y The movement amount of the induction sleeve along the y direction; dispacement_ z The amount of movement of the induction sleeve along the z direction; wherein, the x direction, the y direction and the z direction are mutually vertical in pairs;
if the space control index exceeds a set monitoring threshold value, establishing a mapping relation between the induction sleeve and the mobile robot, and displaying according to the movement amount of the induction sleeve along the x direction x Displacement of induction sleeve along y direction y And Displacement of the sensing sleeve in the z-direction z Attitude control is performed for each mobile robot.
2. The augmented reality-based intelligent inspection device for nuclear reactors according to claim 1, wherein Displacement for the Displacement of the sensing sleeve in the x direction x And satisfies the following conditions:
in the formula, V x_0 The initial speed of the inspector moving along the x direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; x is the number of i (t) is the acceleration component of the ith sample data in the direction right in front of the horizontal plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
displacement for Displacement of the sensing sleeve in the y-direction y Satisfies the following conditions:
in the formula, V y_0 The initial speed of the inspector moving along the y direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; y (t) is the number of i-th samples in the horizontal plane perpendicular to the x-directionAccording to the acceleration component, the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time;
displacement for z-direction Displacement of sensing sleeve z And satisfies the following conditions:
in the formula, V z_0 The initial speed of the inspector moving along the z direction is related to the moving speed of the arm of the inspector; i is the ith sample data of the first attitude sensor; n is the total number of samples of the first attitude sensor; z is a radical of i (t) is the acceleration component of the ith sample data on the vertical plane, and the data of the acceleration component is obtained by the ith sample data acquired by the first attitude sensor; t is sampling time; .
3. The intelligent inspection device for the nuclear energy reactor based on the augmented reality according to claim 2, wherein the acquisition module comprises an acquisition unit and a posture adjustment unit, and the acquisition unit is used for acquiring image data of the nuclear energy reactor; the posture adjusting unit is used for adjusting the acquisition angle of the acquisition unit;
the acquisition unit comprises an acquisition probe, a data memory, a data transmitter and a shielding case, wherein the shielding case is used for protecting the acquisition probe, the data memory and the data transmitter so as to shield external high-intensity radiation;
the acquisition probe acquires an image of the nuclear energy reactor; the data memory is used for storing the image data acquired by the acquisition probe; the data transmitter is used for transmitting the image data in the data storage to the central control center and the server.
4. The intelligent inspection device for nuclear reactors based on augmented reality according to claim 3, wherein the moving module comprises a moving unit and a supporting unit, and the moving unit is used for adjusting the position of the supporting unit; the supporting unit is used for supporting the mobile robot;
the moving unit comprises a traction member, a moving track and a moving seat, and the moving seat is connected with the moving track in a sliding mode and slides along the direction of the moving track; the traction member is used for drawing the movable seat so as to adjust the position of the movable seat; the moving track is arranged at a frame of the nuclear energy reactor pool and is coaxial with the nuclear energy reactor pool.
5. The intelligent inspection device for nuclear energy reactors based on augmented reality according to claim 4, wherein the display module comprises a transmission unit and a display unit, the transmission unit transmits image data to the display unit according to the image data of the acquisition module so as to cooperate with the display unit to display the state of the nuclear energy reactor;
the display unit displays the real-time state of the nuclear energy reactor to the inspector according to the data of the acquisition module;
the display unit comprises AR glasses, a data receiver and an adjusting submodule, and the AR glasses display real-time data of the nuclear energy reactor according to the data of the acquisition module; the data receiver receives the image data transmitted by the acquisition unit so as to display the image data on the AR glasses; the adjusting subunit is used for adjusting the display range and the display angle of the AR glasses.
6. The intelligent inspection device for nuclear reactors based on augmented reality according to claim 5, wherein the transmission unit comprises a transmission cable and a data memory, and two ends of the transmission cable are respectively connected with the acquisition module and the data memory;
the data storage is used for storing the image data of the acquisition module so as to be matched with the AR glasses for displaying.
7. The intelligent inspection device for the nuclear reactor based on the augmented reality according to claim 6, wherein the traction member comprises a group of traction ropes, a plurality of rotating wheels, a range detection piece, a recovery rod and a recovery driving mechanism, the group of traction ropes are symmetrically arranged on two sides of the movable seat, one end of the group of traction ropes is connected with the movable seat, and the other end of the group of traction ropes is respectively connected with a rod body of the recovery rod; the group of recovery rods are respectively in driving connection with the group of recovery driving mechanisms to form a recovery part; the range detection piece detects the range of the traction rope recovered by the recovery part;
wherein, each recovery wheel is along the equidistant setting of the inner wall of removal track, and the outer wall of recovery wheel with the surface contact of haulage rope.
8. The intelligent inspection device for nuclear reactors based on augmented reality according to claim 7, wherein the posture adjustment unit comprises a rotating member and a pitching adjustment member, and the rotating member is used for adjusting the angle of the acquisition unit in the horizontal direction; the pitching adjusting component is used for adjusting the pitching acquisition angle of the acquisition unit;
the rotating member comprises a rotating seat, an angle detection piece and a rotating driving mechanism, the rotating seat is used for supporting the pitching adjusting member, and the rotating seat is hinged with one end of the mobile robot; the angle detection piece is used for detecting the rotation angle of the rotating seat; the rotary driving mechanism is configured to drive the rotary seat to rotate along the axis of the rotary seat.
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