核电站安全壳缺陷检测系统研究设计

Research and Design of Nuclear Power Plant Containment Defect Detection System

摘要:

借助于可平稳移动于垂直墙面的负压吸附式爬壁机器人平台,将两台分辨率不同的摄像机固定于机器人前端支架上；通过两组相互独立的无线通信网络,分别实现控制爬壁机器人移动和回传摄像机所拍摄到的安全壳外壁视频信息；无线回传的视频信息在本地上位机监控平台上经过前期处理后进行实时播放显示,同时视频处理软件中的缺陷检测算法模块在后台进行图像缺陷检测,检测到缺陷后,软件平台发送停止信号给机器人,同时视频流切换到高清摄像机进行高清照片拍摄,并将包含缺陷信息的高清照片发送至缺陷测量模块,利用在缺陷测量模块中所开发的测量工具进行安全壳外壁缺陷测量,最终测量所得到的缺陷参数会存入后台数据库进行存储管理,方便后期浏览历史数据,监测安全壳外壁缺陷的动态变化情况。

Abstract:

With the help of the negative pressure adsorption climbing robot platform which can move on the vertical wall smoothly, two cameras of different resolution are fixed on the front holder of the robot. Two independent wireless communication networks are designed for the defect detection system, one is used for robot movement controlling, and the other one is used for transmitting video information of the wall. The video information of the nuclear plant containment is sent back to the software monitoring platform installed on local PC, the video is pre-processed by the monitoring platform for real-time playing, and meanwhile the video information is transferred to the defect detection algorithm module. Once defect is detected, a stop signal is sent to the robot by the software monitoring platform wirelessly, and the input video stream is switched to the high definition camera, and a high definition picture which contains the defect information is snapped and sent to the defect measure module. Using the measure tools in the measure module, defect data of the containment will be measured and then stored into the backend database. The backend defect database is very helpful for browsing history data and monitoring dynamic change of the containment defect. 