CN221056312U - Nuclear power station reactor pit concrete structure aging state detection device - Google Patents

Abstract

The utility model discloses a nuclear power station pit concrete structure aging state detection device which comprises a mobile carrier, a control box, a camera module and an operation host, wherein the camera module is connected with the control box, the control box is connected with the top of the mobile carrier, the camera module comprises a first camera part positioned at the top of the control box, a second camera part positioned at the rear side of the control box and a range finder positioned at the front side of the control box, the first camera part is rotationally connected with the control box, the mobile carrier is used for driving the control box and the camera module to move, and the control box is used for respectively sending instructions sent by the operation host to the mobile carrier and the camera module. The device for detecting the aging state of the concrete structure of the nuclear power station reactor pit can enter a nuclear island reactor pit area for detection under the condition that the nuclear power station is not stopped; the device can replace manual work to enter the radiation environment for remote inspection, reduce the irradiated dose of personnel, effectively ensure the safety of the personnel, effectively identify and detect the defects of the concrete structure, and has good detection effect.

Description

Nuclear power station reactor pit concrete structure aging state detection device

Technical Field

The utility model belongs to the technical field of nuclear power, and particularly relates to a device for detecting an aging state of a concrete structure of a nuclear power station pit.

Background

The nuclear power station has a large number of concrete structures such as a containment vessel, a factory wall surface, a pit and the like, which are nuclear power station safety barriers, and if the surface of the structures has defects such as cracks, pits, cracks and the like, the nuclear power station safety is potentially at great risk. Among these concrete structures, the pit concrete structure is the only part in the nuclear power plant that may receive high radiation doses to cause concrete cracking, but due to high radiation doses and space structure limitations, the problem of undetectable and evaluation at the operation stage is caused.

The conventional inspection method is that during the shutdown maintenance of the nuclear power station, a long rod tool is adopted to carry a camera for inspection, the working mode needs to be matched by a plurality of persons, one person lifts the rod, the rod is lifted gradually according to the height, one person observes the image condition of the camera, finds out defects in a visual mode, and manually records and confirms information such as positions. Each time an area is checked, the area moves to the next area and is repeatedly checked by lifting from bottom to top, the working mode is low in efficiency, the personnel are easy to fatigue, and a plurality of groups of personnel are required to cooperate; and because personnel are adopted for visual recognition, detection omission is easy. Meanwhile, the whole inspection process is high in operation difficulty, low in automation degree, long in period occupied by inspection operation and unfavorable for lean management of the nuclear power station. Meanwhile, for the high-radioactive-dose environment area of the red orange area, workers cannot perform area work for a long time according to the requirements of related laws and regulations so as to avoid excessive radioactive irradiation. Thus, a remote inspection device is needed to replace the worker to perform the related work.

Disclosure of utility model

In order to overcome the defects in the prior art, the utility model provides the device for detecting the aging state of the concrete structure of the nuclear power station pit, which has high degree of automation and simple operation, and can effectively solve the problems of missed detection and radiated personnel caused by the defects of manual visual identification.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

The utility model provides a nuclear power station piles ageing state detection device of hole concrete structure, includes removes carrier, control box, makes a video recording module and operation host computer, make a video recording the module and be connected with the control box, the control box with the top of removing the carrier is connected, make a video recording the module including being located first portion of making a video recording at control box top, be located the second portion of making a video recording of control box rear side and be located the range finder of control box front side, first portion of making a video recording rotates with the control box to be connected, remove the carrier and be used for driving control box and make a video recording the module and remove, the control box is used for with the instruction that the operation host computer sent is sent respectively to remove the carrier and is made a video recording the module.

The first image pickup part is used for collecting images and videos of the concrete structures of the nuclear power station pit, and a worker can accurately detect defects in the concrete structures by only carrying out image processing and identification on the collected images and videos, so that the aging state of the concrete structures can be judged and evaluated. The second image pickup part is used for monitoring environment information and cable winding state of the rear part of the detection device, and can provide video images of the rear part of the detection device when the detection device is retreated. The second portion of making a video recording adopts cylindrical shell design, adopts simulation Gao Qingcheng video camera core component, and the shell includes two-layer casing, and the outer material of shell is the stainless steel, and the inlayer material of shell is plumbous metal, and inside core component parcel tinfoil to guarantee the at utmost absorption radiation, the internal component of protection second portion of making a video recording is not receive radiation damage. The lens glass of the second image pickup part adopts lead glass, so that the browning phenomenon is avoided when the lens glass is irradiated by radiation.

According to some preferred embodiments of the present utility model, the first image capturing unit includes a fixed frame, a camera lens, and a plurality of light supplementing lamps respectively located at upper and lower sides of the camera lens, a rotation shaft is disposed between the fixed frame and the control box, and the fixed frame is rotatably connected with the top of the control box through the rotation shaft. In some embodiments of the present utility model, a plurality of electronic components except for the optical component in the first camera portion are modularly designed according to their inherent radiation resistance, and the radiation-sensitive electronic components are arranged on a core circuit board in a concentrated manner, so as to redesign the circuit; the core circuit board is singly shielded through a shielding body, and a lead shell is adopted as a shielding material; and installing the shielding body and the core circuit board in the irradiation-resistant camera body structure. In addition, the camera lens glass of the first image pickup part also adopts lead glass, so that the browning phenomenon is avoided when the camera lens glass is irradiated by radiation. The first image pickup section is capable of operating in a strong radiation environment and is capable of capturing a high-definition video image. In addition, the fixed frame is rotatably connected with the top of the control box through the rotating shaft, so that the whole first image pickup part can rotate around the rotating shaft within the range of 0-360 degrees. The light supplementing lamp is used as an auxiliary light source, so that clear imaging quality can be ensured in a dark light environment.

Further, the camera lens of the first image pickup part is provided with a high-definition imaging element CMOS (complementary metal oxide semiconductor) movement and is an analog high-definition signal, and the signal system is YPbPr composite analog video signal which has stronger resistance to interference and noise caused by radiation; and the analog signal has very low delay, which is beneficial to the real-time presentation of the field situation.

According to some preferred embodiments of the present utility model, the fixing frame includes a base and side plates located at two sides of the base, the two side plates are perpendicular to the base, the two side plates are fixedly connected with the base, the bottoms of the two side plates are level with the base of the base, the height of the side plates is greater than that of the base, and a groove is formed between the base and the two side plates; one side of the base is provided with a pressurizing interface, and the pressurizing interface is used for connecting inert gas. The groove part is used for accommodating the camera lens and a light supplementing lamp positioned at one side of the camera lens. The setting of pressurizing interface can compress inert gas into the camera organism through pressurizing interface before using to guarantee that the inside gas pressure that has of camera, in order to avoid outside humid environment's steam to soak into the inside of camera, cause formation of image fuzzy or electronic components damage.

According to some preferred embodiments of the present utility model, a motor is disposed inside one of the two side plates, a connection shaft is disposed between the motor and the camera lens, one end of the connection shaft is connected with the motor, the other end of the connection shaft is connected with the camera lens, and the motor is used for driving the camera lens to rotate. The camera lens is connected with the motor through the connecting shaft, so that the camera lens can be driven to rotate under the driving action of the motor, according to some implementation aspects of the utility model, the motor drives the camera lens to rotate at an angle of 0-220 degrees, and then the camera lens is combined with the whole first camera part to rotate at an angle of 0-360 degrees, so that shooting without blind areas is realized.

According to some preferred embodiments of the present utility model, the first image capturing portion further includes a fixing plate, the fixing plate is perpendicular to the base, and the camera lens and the light compensating lamps are fixedly connected to the fixing plate. The camera lens and the light supplementing lamp are fixedly connected with the fixing plate, so that the light supplementing lamp can rotate along with the camera lens when the camera lens rotates, and the imaging definition of the camera lens is guaranteed at any time.

According to some preferred embodiments of the utility model, the camera lens is located in the groove, and the distance between the connecting shaft and both ends of the fixing plate is smaller than the distance between the connecting shaft and the top surface of the base. Such setting can guarantee camera lens, light filling lamp and fixed plate are whole can not blockked by the base of fixed frame when rotatory.

According to some preferred embodiments of the present utility model, the top surface of the camera lens is provided with two laser transmitters, the two laser transmitters are located on the same straight line parallel to the length extending direction of the fixing plate, the two lasers emitted by the two laser transmitters are parallel, and the distance between the two lasers is 8 cm to 12cm. In some embodiments of the present utility model, the first image pickup section has a laser scale design composed of two line laser emitters, wherein two laser lines emitted from the two line laser emitters are kept parallel, and a distance between the two laser lines is kept between 8 cm and 12cm. The laser line is turned on or turned off to realize appearance or hiding in the video image, if the target object is required to be measured, the laser emitter is turned on, at the moment, two parallel laser lines with fixed intervals appear on the image, the physical scale information of a single pixel is obtained by measuring the number of vertical pixels between the two laser lines, then the pixel width or the pixel length of the defect is obtained, and the actual physical size information of the defect can be obtained through conversion.

According to some preferred embodiments of the present utility model, the rangefinder comprises a plurality of spaced apart laser probes and a plurality of signal lights; the plurality of signal lamps comprise a first state and a second state, and when the signal lamps are in the first state, the distance between the detection device and an obstacle positioned in front of the detection device is more than 100cm; when the signal lamp is in the second state, the distance between the detection device and an obstacle positioned in front of the detection device is less than 50cm. The distance meter is arranged at the front part of the control box, the communication protocol adopts a CAN (controller area network bus) 2.0A/B protocol, and distance data is uploaded to an upper computer software interface for display in real time through the CAN bus. In some implementation aspects of the utility model, the laser probes support the output of detection distance through the CAN port, the effective detection distance is 1-400 cm, when the distance between any one of the plurality of laser probes and a front obstacle is less than 100cm, an obstacle signal is triggered, and the moving speed of the detection device is reduced to 0.5m/s; when the distance between any one of the plurality of laser probes and the obstacle in front is smaller than 50cm, triggering an emergency stop signal, reducing the moving speed of the detection device to 0m/s, stopping the movement of the detection device, and preventing the detection device from continuing to advance and collide with the obstacle. In addition, the plurality of signal lamps are arranged to prevent that one signal lamp can also prompt the obstacle in front through other signal lamps when the signal lamp fails. In some embodiments of the present utility model, when the signal lamp is in the first state, the signal lamp blinks, which indicates that the distance between the detection device and the front obstacle is within a normal range; when the signal lamp is in the second state, the signal lamp is normally on, the distance between the front obstacle and the detection device is short, and a protection mechanism needs to be triggered to brake the detection device.

According to some preferred embodiments of the utility model, the rear side of the control box is further provided with a cable interface, a cable is connected to the cable interface, and the other end of the cable is used for connecting an operation host. The control box is provided with a cable interface for connecting the cable, and the detection device is connected with the operation host in a wired way. In some embodiments of the present utility model, a camera controller, a video encoder, a power conversion module, wiring terminals, and the like are disposed within the control box.

According to some preferred embodiments of the present utility model, the mobile carrier includes a chassis, a cover plate and driving wheels, the cover plate covers the top of the chassis, the control box is connected with the cover plate, and two driving wheels are respectively disposed on two sides of the bottom of the chassis. The chassis is provided with a battery compartment for placing batteries and a control and communication compartment positioned at the upper part of the battery compartment. The battery compartment is positioned below the gravity center of the detection device and in the weight distribution range of the whole detection device, so that the detection device has good stability during running and steering and does not generate excessive gravity center deviation during running and steering; the battery compartment has sufficient strength to withstand the weight of the battery pack and the impact generated when the detecting device is driven. And 1 MCU (micro control unit), 1 wireless transceiver, 2 power conversion modules, 1 breaker and a plurality of deconcentrators are arranged in the control and communication cabin. The MCU is used for controlling the actions and functions of the detection device, integrates the components such as a processor, a memory, a clock, a timer, a sensor, a communication interface and the like, and can control, manage and monitor each part of the detection device, so that the functions of advancing, retreating, steering, power management and the like of the detection device are realized. The MCU integrates the CAN communication interface, and CAN send and receive data packets through a CAN bus to communicate with an upper computer. In the CAN bus system, the MCU is used as a sender, data is required to be packaged into data packets, the data packets are sent to the upper computer through the CAN bus, the upper computer decodes the data packets through the CAN bus and sends the data packets to the MCU, and the MCU analyzes the data after receiving the data packets. The wireless transceiver is used for receiving a control signal of the wireless remote control handle and converting the control signal into instruction data which can be analyzed by the MCU, so that wireless control of the detection device is realized. The power conversion module converts 24V input into 5V output and 12V output which are respectively used for power supply of the MCU and the wireless transceiver. Circuit breakers are used to protect the electrical system of a detection device from faults or accidents. The splitter is used to split multiple circuits from different sections for better management and control of the circuits. In addition, the cover plate covers the top of the chassis, so that the chassis can be blocked when the detection device is flushed. The design of the driving wheels is faster and more flexible than the movement of the caterpillar tracks, in some implementation aspects of the utility model, the double-motor four-drive driving is adopted, 1 400W direct current brushless motors are respectively arranged on the front side and the rear side of the bottom of the chassis, the double-motor four-drive driving can realize independent driving of four driving wheels, and each driving wheel can obtain independent driving force, so that the driving force of the whole detection device is improved. Because each direct current brushless motor can be independently controlled, accurate steering and control of the detection device can be realized, and therefore stability and operability of the whole detection device are improved.

Due to the adoption of the technical scheme, compared with the prior art, the utility model has the following advantages: the device for detecting the aging state of the concrete structure of the nuclear power station reactor pit can enter a nuclear island reactor pit area for detection under the condition that the nuclear power station is not stopped; the remote inspection can be performed instead of manual access to the radiation environment, the irradiated dose of personnel is reduced, and the personnel safety can be effectively ensured; the detection device has high degree of automation, high efficiency and good stability; the defect of the concrete wall surface can be effectively identified and detected, and the detection effect is good.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a first view of a detecting device according to a preferred embodiment of the present utility model;

FIG. 2 is a schematic perspective view of a second view of the detecting device according to the preferred embodiment of the present utility model;

Wherein, the reference numerals are as follows: the device comprises a first camera part 110, a base 11, a pressurizing interface 111, a side plate 12, a groove 13, a camera lens 14, a light supplementing lamp 15, a rotating shaft 16, a fixed plate 17, a laser transmitter 18, a second camera part 120, a range finder 130, a control box 2, a cable interface 21, a movable carrier 3, a chassis 31, a cover plate 32, a power button 321, a brake button 322 and a driving wheel 33.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

Referring to fig. 1 and 2, the present embodiment provides a device for detecting an aging state of a concrete structure in a nuclear power station pit, which includes a mobile carrier 3, a control box 2, a camera module and an operation host. Wherein, the module of making a video recording is connected with control box 2, and control box 2 is connected with the top of removing carrier 3, and the front side of control box 2 is provided with distancer 130, and the rear side of control box 2 still is provided with cable interface 21, and this cable interface 21 is connected with the cable, through cable connection operation host computer. The mobile carrier 3 is used for driving the control box 2 and the camera module to move, and a camera controller, a video encoder, a power conversion module, a wiring terminal and the like are arranged in the control box 2, so that instructions sent by the operation host are respectively sent to the mobile carrier 3 and the camera module.

Further, the camera module includes a first camera part 100 located at the top of the control box 2, and a second camera part 120 located at the rear side of the control box 2. The first image pickup section 100 includes a fixed frame, a camera lens 14, a light supplement lamp 15, and a fixed plate 17. The fixed frame comprises a base 11 and side plates 12 positioned on two sides of the base 11, wherein the two side plates 12 are perpendicular to the base 11, and the two side plates 12 are fixedly connected with the base 11. A rotating shaft 16 is arranged between the base 11 of the fixed frame and the control box 2, so that the fixed frame is rotationally connected with the top of the control box 2 through the rotating shaft 16; the inside of one of the two curb plates 12 of fixed frame is provided with the motor, is provided with the connecting axle between motor and the camera lens 14, and the one end and the motor of connecting axle are connected, and the other end and the camera lens 14 of connecting axle are connected, and the motor is used for driving camera lens 14 rotation. The fixed frame can realize 0-360 DEG rotation through the rotary connection between the fixed frame and the rotary shaft 16, and the camera lens 14 can also realize 0-360 DEG rotation due to the connection between the side plate 12 of the fixed frame and the camera lens 14 through the connecting shaft; the camera lens 14 is connected with the motor through the connecting shaft, and can drive the camera lens 14 to rotate under the driving action of the motor, the rotating angle is 0-220 degrees, and the arrangement of the two rotating angles is beneficial to ensuring that the shooting range of the camera lens 14 is larger and wider. Specifically, the fixing plate 17 is perpendicular to the base 11, in this embodiment, the camera lens 14 is located at a central position of one side of the fixing plate 17, two light supplementing lamps 15 are respectively disposed on the upper and lower sides of the camera lens 14, and the camera lens 14 and the light supplementing lamps 15 are fixedly connected with the fixing plate 17, so that when the camera lens 14 rotates, the light supplementing lamps 15 can rotate along with the camera lens 14, and therefore clear imaging of the camera lens 14 is ensured at any time. In addition, the bottoms of the two side plates 12 of the fixed frame are also flush with the base 11 of the base 11, the height of the side plates 12 is larger than that of the base 11, so that a groove part 13 is formed between the base 11 and the two side plates 12, the groove part 13 is used for accommodating the camera lens 14 and the two light supplementing lamps 15 positioned on one side of the camera lens 14, and in order to ensure that the camera lens 14, the light supplementing lamps 15 and the fixed plate 17 are not blocked by the base 11 of the fixed frame when rotating as a whole, the distance from the connecting shaft to the two ends of the fixed plate 17 is smaller than the distance from the connecting shaft to the top surface of the base 11.

Further, a pressurizing port 111 is provided on one side of the base 11 of the fixing frame, and inert gas can be compressed into the camera body through the pressurizing port 111 before the detection device is used, so that certain gas pressure inside the camera is ensured, and water vapor in an external humid environment is prevented from immersing into the camera, so that imaging is fuzzy or electronic components are prevented from being damaged. In addition, the upper and lower parts of the top surface of the camera lens 14 are respectively provided with a laser emitter 18, the two laser emitters 18 are positioned on the same straight line parallel to the length extending direction of the fixed plate 17, the two laser emitted by the two laser emitters 18 are parallel and the distance between the two laser is 8 cm to 12cm. The laser transmitters 18 in this embodiment are line laser transmitters 18, and the spacing between the two laser lines transmitted by the two laser transmitters 18 is preferably 10cm. The laser emitter 18 is configured to measure a target object, two parallel laser lines with a fixed distance appear on an image captured by the first image capturing unit 100 by turning on the laser emitter 18, the number of vertical pixels between the two laser lines is measured, physical dimension information of a single pixel is obtained, and then the pixel width or the pixel length of a defect is obtained, so that actual physical dimension information of the defect can be obtained through conversion.

The second image pickup unit 120 is used for monitoring environment information and a cable winding state of the rear part of the detection device, and provides a video image of the rear part of the detection device when the detection device is retreated. The second camera part 120 comprises a cylindrical shell, the shell comprises two layers of shells, the outer layer of the shell is made of stainless steel, the inner layer of the shell is made of lead metal, and the inner core element wraps the tinfoil to ensure that radiation is absorbed to the greatest extent, and the inner element of the second camera part 120 is protected from radiation damage. In this embodiment, the lens glass of the camera lens 14 of the first image pickup unit 100 and the lens glass of the second image pickup unit 120 are made of lead glass, so as to avoid browning phenomenon when irradiated; for the first image pickup section 100, the radiation-sensitive electronic components inside the camera lens 14 are arranged in a lump on a core circuit board, which is individually shielded by a lead housing.

Further, the mobile carrier 3 comprises a chassis 31, a cover plate 32 and four driving wheels 33, the control box 2 is located on top of the cover plate 32 and the bottom area of the control box is smaller than the top area of the cover plate. The cover plate 32 is covered on the top of the chassis 31, and can play a role in retaining water on the chassis 31 when the detection device is flushed; the cover plate 32 is further provided with a power button 321 and a brake button 322, and the detection device can be turned on by pressing the power button 321, and the movement of the detection device can be stopped by pressing the brake button 322. Two driving wheels 33 are respectively arranged on two sides of the bottom of the chassis 31; the chassis 31 is provided with a battery compartment for placing a battery, and a control and communication compartment located at an upper portion of the battery compartment. And 1 MCU, 1 wireless transceiver, 2 power conversion modules, 1 breaker and a plurality of deconcentrators are arranged in the control and communication cabin. The wireless transceiver is used for receiving a control signal of the wireless remote control handle, so that the detection device can realize wireless control. The moving carrier 3 of the embodiment adopts double-motor four-drive driving, and 1 400W direct current brushless motors are respectively arranged on the front side and the rear side of the bottom of the chassis 31, so that the four driving wheels 33 are independently driven, each driving wheel 33 can obtain independent driving force, and the driving force, stability and operability of the whole detection device are improved.

Further, as shown in fig. 2, the rangefinder 130 at the front of the control box 2 includes a plurality of laser probes arranged at intervals and a plurality of signal lamps. The laser probe supports the output of the detection distance through the CAN port, and the effective detection distance is 1-400 cm; the plurality of signal lights includes a first state and a second state. In the embodiment, five paths of laser probes are arranged, when one of the laser probes detects that the distance between the laser probes and a front obstacle is smaller than 100cm, an obstacle signal is triggered, and the moving speed of the detection device is reduced to 0.5m/s; when the distance between one of the laser probes and the obstacle in front is smaller than 50cm, the signal lamp is kept normally on, the signal lamp is in the second state at the moment and used for prompting dangerous signals, the detection device is required to be pushed to trigger the emergency stop signal by pushing the brake button 322 at the moment, the moving speed of the detection device is reduced to 0m/s, and the detection device is stopped from moving and is prevented from continuing to collide with the obstacle. When the distance between the plurality of laser probes and the front obstacle is detected to be greater than 100cm, the plurality of signal lamps keep flashing, the signal lamps at the moment are in a first state, the distance between the detection device at the moment and the front obstacle is in a normal range, and collision risks are avoided.

The above embodiments are provided to illustrate the technical concept and features of the present utility model and are intended to enable those skilled in the art to understand the content of the present utility model and implement the same, and are not intended to limit the scope of the present utility model. All equivalent changes or modifications made in accordance with the spirit of the present utility model should be construed to be included in the scope of the present utility model.

Claims (10)

1. The utility model provides a nuclear power station piles pit concrete structure ageing state detection device, its characterized in that, including removing carrier, control box, module and operation host computer of making a video recording, the module of making a video recording is connected with the control box, the control box with the top of removing the carrier is connected, the module of making a video recording is including being located first the portion of making a video recording at control box top, be located the second of control box rear side makes a video recording the portion and be located the range finder of control box front side, first the portion of making a video recording rotates with the control box and is connected, the removal carrier is used for driving control box and the module of making a video recording remove, the control box is used for with the instruction that the operation host computer sent is sent respectively to remove carrier and the module of making a video recording.

2. The detecting device according to claim 1, wherein the first image pickup section includes a fixed frame, a camera lens, and a plurality of light compensating lamps respectively located at upper and lower sides of the camera lens, a rotation shaft is provided between the fixed frame and the control box, and the fixed frame is rotatably connected with the top of the control box through the rotation shaft.

3. The detection device according to claim 2, wherein the fixing frame comprises a base and side plates positioned at two sides of the base, the two side plates are perpendicular to the base, the two side plates are fixedly connected with the base, the bottoms of the two side plates are flush with the base of the base, the height of the side plates is larger than that of the base, and a groove part is formed between the base and the two side plates; one side of the base is provided with a pressurizing interface, and the pressurizing interface is used for connecting inert gas.

4. A detection device according to claim 3, wherein a motor is provided in one of the two side plates, a connecting shaft is provided between the motor and the camera lens, one end of the connecting shaft is connected to the motor, the other end of the connecting shaft is connected to the camera lens, and the motor is used for driving the camera lens to rotate.

5. The apparatus according to claim 4, wherein the first image capturing portion further comprises a fixing plate, the fixing plate is perpendicular to the base, and the camera lens and the plurality of light compensating lamps are fixedly connected to the fixing plate.

6. The inspection apparatus according to claim 5, wherein the camera lens is located in the groove portion, and the distance from the connecting shaft to both ends of the fixing plate is smaller than the distance from the connecting shaft to the top surface of the base.

7. The detecting device according to claim 5, wherein the top surface of the camera lens is provided with two laser transmitters, the two laser transmitters are positioned on the same straight line parallel to the length extending direction of the fixing plate, the two lasers emitted by the two laser transmitters are parallel, and the distance between the two lasers is 8 cm to 12cm.

8. The detection device according to claim 1, wherein the range finder comprises a plurality of spaced apart laser probes and a plurality of signal lights; the plurality of signal lamps comprise a first state and a second state, and when the signal lamps are in the first state, the distance between the detection device and an obstacle positioned in front of the detection device is more than 100cm; when the signal lamp is in the second state, the distance between the detection device and an obstacle positioned in front of the detection device is less than 50cm.

9. The detecting device according to claim 1, wherein a cable interface is further provided at a rear side of the control box, a cable is connected to the cable interface, and the other end of the cable is used for connecting with an operation host.

10. The detecting device according to claim 1, wherein the movable carrier comprises a chassis, a cover plate and driving wheels, the cover plate covers the top of the chassis, the control box is connected with the cover plate, and two driving wheels are respectively arranged on two sides of the bottom of the chassis.