核电厂海水泵房水下清淤机器人探索研究

Exploration and Study on the Underwater Desilting Robot in the Seawater Pump Room of Nuclear Power Plant

海水泵房主要为核电机组安全可靠运行提供冷源。机组运行期间在海水泵房鼓网腔室等区域滋生的海生物和淤泥是威胁机组冷源安全的重要因素,目前福清核电海水泵房清淤工作采用人工方式,存在工作环境恶劣,作业风险高,工作效率低下,劳动强度大等问题。为提升水下清淤安全管理水平及工作效率,清淤机器人结合现场工作实际,采用智能化、自动化手段,开发了一种具备远程监控和控制功能的水下清淤机器人,该机器人硬件系统包含控制模块、动力模块及视觉模块,并通过软件系统实现通信传输、导航定位、远程控制等功能,实现了清淤过程的远程自动化操作,大大提高了清淤机器人的工作效率,降低了工业安全风险,从而保证海水泵房的稳定运行,提高机组冷源可靠性,在核电领域值得广泛应用和推广。

The seawater pump house mainly provides the cold source for the safe and reliable operation of nuclear power plant.During the operation of nuclear power plant,the marine organisms and silt that breed in the areas such as the drum net chamber of the seawater pump house are important factors that threaten the safety of the cold source of the plant.At present,the dredging work of the offshore pump house of Fuqing nuclear power plant adopts the manual method,which has the problems of poor working environment,high operation risk,low work efficiency,high labor intensity and so on.In order to improve the safety management level and work efficiency of underwater dredging,the dredging robot has developed an underwater dredging robot with remote monitoring and control functions by intelligent and automatic means in combination with the actual work on site.The hardware system of the robot includes control module,power module and visual module,and realizes the functions of communication transmission,navigation and positioning,remote control,etc.Through the software system,the remote automatic operation of the desilting process is realized,which greatly improves the working efficiency of the desilting robot and reduces the industrial safety risk,so as to ensure the stable operation of the seawater pump house and improve the reliability of the cold source of the plant.It is worthy of wide application and promotion in the field of nuclear power.