Intelligent detection method for non-destructive testing robot

Abstract

The invention discloses an intelligent detection method implemented by a nondestructive detection robot. The intelligent detection method includes steps of (1), mounting the nondestructive detection robot for carrying out nondestructive detection at a preset position in a to-be-detected reactor pressure vessel; (2), determining source coordinates of various degree-of-freedom movement axes in a coordinate system when probes on the various degree-of-freedom movement axes of the nondestructive detection robot carry out nondestructive detection; (3), determining target coordinates of the various degree-of-freedom movement axes in the coordinate system when the probes on the various degree-of-freedom movement axes of the nondestructive detection robot carry out nondestructive detection; (4), determining a running track by the aid of movement quantities and movement modes of the various degree-of-freedom movement axes when the nondestructive detection robot carries out nondestructive detection; (5), enabling the nondestructive detection robot to carry out nondestructive detection along the running track according to detection instructions. The intelligent detection method has the advantages that detection processes can be effectively simplified, the detection precision can be improved, the detection speed can be increased, and irradiation dose levels of detection personnel in service can be lowered.

Description

Technical field [0001] The invention belongs to the technical field of surface detection, and specifically relates to a method for intelligent detection by a non-destructive detection robot in a reactor pressure vessel of a nuclear power plant. Background technique [0002] At present, in the field of nuclear power testing, non-destructive testing is generally used in order to reduce the impact on the inspectors and the tested objects. Non-destructive testing is to use the sound, light, magnetic and electrical properties of the material to detect whether there are defects or inhomogeneities in the inspected object without damaging or affecting the performance of the inspected object, giving the size and location of the defect , Nature and quantity. Non-destructive testing mainly includes radiographic testing (RT), ultrasonic testing (UT), magnetic particle testing (MT) and liquid penetrating testing (PT). Other non-destructive testing methods include eddy current testing (ET), ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose a method for intelligent detection by a non-destructive testing robot, which solves the problem that in the prior art, the non-destructive testing robot performs non-destructive testing through manual mode control, which cannot be performed according to the target position, current position, objective constraints and specific positions. Completion of motion control to meet requirements, low efficiency of non-destructive testing, frequent adjustment of testing based on experience and other technical problems

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