METHOD OF DETERMINING LEAKAGE COORDINATES OF A NUCLEAR POWER PLANT POOL WITH A PRONOUNCED ACOUSTIC SIGNATURE AND A ROBOTIC SYSTEM FOR ITS IMPLEMENTATION Russian patent published in 2019 - IPC G01M3/24 B25J5/02 

FIELD: robotics.

SUBSTANCE: invention relates to robotic systems and methods for use thereof and can be used to determine coordinates of leaks of nuclear power plant pool. Essence: system comprises mounted on rail track (1) movable vehicle (2), submersible device, device (3) for delivery of submersible device into holding pool, fixer (6) of vertical position of submersible device, remote panel equipped with computer for programmed control of robotic systems operation, backup control panel (9), two-channel analyzer of spectra of electric signals of submersible device. Submersible device is a hollow cylindrical body consisting of movable and fixed modules. Fixed module comprises gyro motor mounted on elastomer, power converter of gyro motor, rotary drive of movable module, controller with switch unit. Movable module includes a highly directional and background hydrophones placed into a foam-like absorber of natural vibrations of the housing. Both hydrophones are connected to two-channel analyzer of spectra of electric signals connected to computer of remote control panel. Submersible device is suspended on flexible cable-rope (24), which is spread over rotating on support (25) unit (26) and wound on rotating drive drum, mounted on support platform of delivery mechanism (3). On rotating unit (26) there are sensors of weight (30) and immersion (31) of device in water, connected to controller, connected to computer of remote control panel of robotic systems.

EFFECT: simplified design, increased mobility and serviceability.

7 cl, 5 dwg