CN207833336U - A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell - Google Patents
A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell Download PDFInfo
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- CN207833336U CN207833336U CN201820066822.3U CN201820066822U CN207833336U CN 207833336 U CN207833336 U CN 207833336U CN 201820066822 U CN201820066822 U CN 201820066822U CN 207833336 U CN207833336 U CN 207833336U
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- 230000007613 environmental effect Effects 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000008054 signal transmission Effects 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
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- 238000009877 rendering Methods 0.000 description 1
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Abstract
The utility model provides a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell, specifically includes：Flying platform, detection system, control system and external system；The flying platform specifically includes motion, driving mechanism and ultrasonic distance measuring module；The detection system specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes power module, main control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module；The utility model utilizes unmanned air vehicle technique, can enter in the unapproachable nuclear power plant containment shell of technical staff and detect, and Quick Acquisition needs the relevant information in the region monitored, and is transferred in host computer.The monitoring to safety in containment and early warning can be effectively realized, nuclear power system safety in operation is further increased.
Description
Technical field
The utility model is related to unmanned air vehicle technique more particularly to it is a kind of in nuclear power plant containment shell environmental monitoring nobody
Machine.
Background technology
Support of the development dependent on the energy, nuclear energy are just receiving favor in future source of energy structure.In 2016, countries in the world
It signs《It reaches an agreement in Paris》, this also becomes the promoting factor that nuclear energy further develops.Future, nuclear energy probably become in the world very
The energy development of multinational family selects.
In January, 2017, National Energy Board and National Development and Reform Committee's publication《Energy technology innovation " 13 planning》With《The energy
Develop " 13 " planning》, and " wisdom nuclear power operation system is studied and demonstrative project " is included in planning scope." wisdom nuclear power
Operation system is studied and demonstrative project " it is divided into nuclear power high risk zone operation intelligent detecting robot system, nuclear power maintenance period
Seven research topics such as examining system are dodged in Intelligent Radiation protecting, monitoring system, the operation inspection of portable intelligent nuclear power.This indicates core
The operation of electric system is strided forward towards intelligent direction.
Due to the limitation of current technology, while to realize that the intelligence of nuclear power operating system, various correlation projects start
It is paid close attention to by researcher.In April, 2015, Xu Wenfu et al. are proposed《For in nuclear power plant containment shell environmental monitoring it is small
Type climbing robot》.The it is proposed of this technology monitors environment in containment with small-sized wall-climbing robot, realizes unmanned probing, favorably
It is run in nuclear power intelligence.But meanwhile there is also relevant issues for this technology.For example, depending on robot technology, cause to have very
More place robots can not reach；The shortcomings of robot probe's efficiency is not high, and movement speed is slow.
Utility model content
In order to solve shortcoming in the prior art, the utility model provides a kind of for nuclear power plant containment shell inner ring
The unmanned plane of border monitoring, the unmanned plane utilize unmanned air vehicle technique, flexibly can promptly realize the environmental monitoring in containment, real
Now to the monitoring and early warning of safety in containment, the safety of nuclear power system operation is further improved.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell, including：Flying platform, detection system, control system
System and external system.The flying platform specifically includes motion, driving mechanism and ultrasonic distance measuring module；The detection
System specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes power module, master
Control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module.
The main control module and driving mechanism, ultrasonic distance measuring module, ultra wide band locating module, detecting module, camera shooting mould
Block and signal transmitting apparatus connection.
The signal transmitting apparatus is connect with host computer.
The host computer is connect with human-computer interaction module.
The driving mechanism is connect with motion.
The power module is connect with flying platform, detection system, control system.
Further, the flying platform realizes the flight of unmanned plane by motion and driving mechanism, lands and hang
Stop acting, and carry out the detection of barrier by ultrasonic distance measuring module in flight course, avoids and setting in containment
It is standby to collide.
Further, the ultra wide band locating module of the detection system is accurate in containment for positioning unmanned plane
Position.The detecting module of the detection system, for detecting the temperature in containment, humidity and dosage rate.The detection system
The photographing module of system, acquisition and transmission for video in containment.
Further, the power module of the control system, for providing different voltage for various devices.The control
The main control module of system, the action behavior for controlling unmanned plane.The signal transmission module of the control system, for overcoming peace
The shielding action of full shell, that realizes signal stablizes transmission.
Further, the host computer of the external system realizes containment for receiving the information detected and being handled
Interior environmental monitoring.The human-computer interaction module of the external system realizes information for facilitating user to manipulate system
It is effectively treated.
Further, the motion of the flying platform is specifically included by two right-handed screw paddles and two counterpropeller groups
At quadrotor；The driving mechanism of the flying platform specifically includes four electron speed regulators and four motors, electron speed regulator
It is connected with main control module, for receiving control signal, motor is connected with electron speed regulator, and electron speed regulator regulation motor turns
Speed；There are one propellers for installation on each motor；The ultrasonic distance measuring module specifically includes ultrasonic distance-measuring sensor.
Further, the ultra wide band locating module in the detection system includes positioning label, locating base station, engine of positioning
And device is presented, positioning method is specially：
The positioning label is carried for emitting super short-time pulse by unmanned plane during flying platform, realizes unmanned machine equipment
Positioning；
The locating base station is transmitted for receiving the pulse signal emitted by positioning label, and by signal transmission apparatus
To engine of positioning；
The engine of positioning, for carrying out location Calculation, location Calculation uses TDOA algorithms；
The presentation device, the location information that engine of positioning is handled for rendering.
Further, the detecting module in the detection system specifically includes temperature sensor, humidity sensor and with GM
Gamma radiation detector based on counting tube.
Further, the photographing module in the detection system specifically include image collecting device and image information conversion and
Transmitting device.
Further, the power module in the control system specifically includes battery and DC/DC increasing apparatus.
Further, the main control module in the control system specifically includes flight main control chip.
Further, the signal transmission module in the control system specifically includes radio transmitting device and wire transmission dress
It sets.Flying platform and the information of detection system detection are transferred to the signal in nuclear power plant containment shell by radio transmitting device and receive
Device, signal receiving device are transferred to host computer by wired transmission device again, overcome the shielding action of containment, realize letter
Number stablize transmission.
The utility model compared with the prior art, has advantageous effect below：
1, the utility model utilizes Detection Techniques, can realize to humidity in containment, temperature and radiation dose rate
It measures, and is real-time transmitted to host computer；
2, the utility model utilizes unmanned air vehicle technique, can realize to rapid flexible the environment prison in nuclear power plant containment shell
It surveys；
3, the utility model uses video joint control technology, can understand unmanned plane local environment, easy to operation and prison in real time
Control；
4, the utility model uses ultra wide band (UWB) location technology, and the technological orientation precision is high, penetration capacity is strong, anti-more
Diameter interference, at low cost, energy consumption is small；
5, the utility model uses ultrasonic listening technology, can collide, subtract to avoid with the equipment in containment
The workload of light unmanned plane operating personnel.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for the unmanned plane of environmental monitoring in nuclear power plant containment shell of the utility model；
Fig. 2 is a kind of system composition figure for the unmanned plane of environmental monitoring in nuclear power plant containment shell of the utility model；
Fig. 3 is ultra wide band (UWB) locating module schematic diagram in the utility model.
Specific implementation mode
Further detailed description, but the protection of the utility model are done to the utility model with embodiment below in conjunction with the accompanying drawings
Range is not limited to this.
It is a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell as shown in Figure 1, specifically includes：Quadrotor, machine
Body, supporting rack and picture pick-up device；Fuselage interior includes：Ultrasonic distance measuring module, ultra wide band locating module, detecting module, electricity
Source module, main control module, wireless transport module and photographing module.
It is illustrated in figure 2 a kind of system composition figure for the unmanned plane of environmental monitoring in nuclear power plant containment shell, it is specific to wrap
It includes：Flying platform, detection system, control system and external system.The flying platform specifically includes motion, driving machine
Structure and ultrasonic distance measuring module.The detection system specifically includes ultra wide band locating module, detecting module and photographing module.It is described
Control system specifically includes power module, main control module and signal transmission module.The external module specifically include host computer and
Human-computer interaction module.
The motion includes：The quadrotor being made of two right-handed screw paddles and two counterpropellers；The driving machine
Structure includes：Four electron speed regulators and four motors；The ultrasonic distance measuring module includes：Ultrasonic distance-measuring sensor；It is described
Detecting module includes：Temperature sensor, humidity sensor and the gamma radiation detector based on GM counting tubes；The photographing module
Including：Image collecting device, image information conversion and transmitting device；The power module includes：Battery and DC/DC boosting dresses
It sets；The main control module is aircraft main control chip；The signal transmission module includes：Radio transmitting device and wire transmission dress
It sets.
It is illustrated in figure 3 ultra wide band locating module schematic diagram, the ultra wide band locating module specifically includes：Positioning label,
Locating base station, engine of positioning and presentation device.The ultra wide band locating module realization method is specially：It is attached on unmanned plane
Positioning label emit super short-time pulse, the locating base station reception pulse signal, by signal transmission apparatus by pulse signal
It is transferred to engine of positioning, engine of positioning carries out location Calculation by using TDOA algorithms again, and gained finally is presented by presentation device
The location information arrived.Ultra wide band locating module can realize the positioning accuracy of Centimeter Level.
The above, only the utility model patent preferred embodiment, but the protection domain of the utility model patent is simultaneously
It is not limited only to this, any one skilled in the art is in the range disclosed in the utility model patent, according to this
Technical solution and its utility model design of utility model patent are subject to equivalent substitution or change, belong to the utility model patent
Protection domain.
Claims (7)
1. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell, it is characterised in that：Including flying platform, detection system
System, control system and external system；The flying platform specifically includes motion, driving mechanism and ultrasonic ranging mould
Block；The detection system specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes
Power module, main control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module；
The main control module respectively with driving mechanism, ultrasonic distance measuring module, ultra wide band locating module, detecting module, camera shooting mould
Block and signal transmission module connection；
The signal transmission module is connect with host computer；
The host computer is connect with human-computer interaction module；
The driving mechanism is connect with motion；
The power module is connect with flying platform, detection system, control system.
2. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It includes the quadrotor being made of two right-handed screw paddles and two counterpropellers to state motion；The driving mechanism includes four electricity
Sub- governor and four motors, electron speed regulator are connected with main control module, electron speed regulator regulation motor rotating speed, each motor
One propeller of corresponding control.
3. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states ultra wide band locating module to include positioning label, locating base station, engine of positioning and device is presented, positioning label is fixed on unmanned plane
On flying platform, emit super short-time pulse, locating base station setting receives the pulse signal emitted by positioning label on ground, fixed
Position base station and presentation device are connected with engine of positioning respectively.
4. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the detecting module in detection system and specifically includes temperature sensor, humidity sensor and the γ radiation spies based on GM counting tubes
Survey device.
5. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the photographing module in detection system and specifically includes image collecting device and image information conversion and transmitting device.
6. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the power module in control system and specifically includes battery and DC/DC increasing apparatus.
7. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the signal transmission module in control system and specifically includes radio transmitting device and wired transmission device, flying platform and detection are
The information of system detection is transferred to the signal receiving device in nuclear power plant containment shell by radio transmitting device, and signal receiving device is again
The host computer being transferred to by wired transmission device outside containment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820066822.3U CN207833336U (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820066822.3U CN207833336U (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207833336U true CN207833336U (en) | 2018-09-07 |
Family
ID=63393047
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820066822.3U Expired - Fee Related CN207833336U (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207833336U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112433000A (en) * | 2020-11-12 | 2021-03-02 | 中广核工程有限公司 | Method and device for determining bulge boundary of steel lining of containment vessel of nuclear power station |
-
2018
- 2018-01-12 CN CN201820066822.3U patent/CN207833336U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112433000A (en) * | 2020-11-12 | 2021-03-02 | 中广核工程有限公司 | Method and device for determining bulge boundary of steel lining of containment vessel of nuclear power station |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180907 |
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| CF01 | Termination of patent right due to non-payment of annual fee |