CSNS independently developed tunnel walking test vehicle successfully completed the test

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[ China Instrument Network Instrument Development ] Recently, the remote control machine walking detection vehicle independently developed by China Spallation Neutron Source (CSNS) was successfully put into use in the ring tunnel. The inspection vehicle is designed for automatic inspection when the tunnel cannot enter, similar to the robot. The robotic arm and related measuring equipment are equipped for automatic installation and alignment. The walking test vehicle can carry a robot, a collimating measuring instrument, and a vibration measuring instrument to work in the tunnel. The maximum load of the vehicle is 50kg, and the built-in elevation adjustment device can lift the platform by 500mm.

The moving car is in the tunnel for vibration measurement of the vacuum box
The walking detection vehicle is equipped with a visual vibration measuring instrument, and the task of detecting the ring magnet and the vacuum box is completed during the summer maintenance period. Since the ring ceramic vacuum box is located in the AC magnet, it is affected by the vibration of the magnet, and the conventional sensor cannot detect the vibration of the vacuum box under the strong magnetic field environment. During the summer maintenance period, the power supply unit is energized with the magnet, and the walking detection vehicle is equipped with optics. The camera vision measuring device and the laser vibrometer complete the vibration detection of the ceramic vacuum box for the first time. During the detection process, the vacuum box with a large amplitude is carefully inspected, and the position of the vacuum box is changed, and the vacuum box is in time. Straight adjustment to avoid damage to the vacuum box due to vibration.

Walking vehicle performs collimation measurement in tunnel
The walking detection vehicle is equipped with a collimated photogrammetric camera to achieve collimation measurement of magnets and Other equipment . In order to ensure that the photogrammetric camera is in a horizontal position, a six-axis platform is mounted on the walking detection vehicle, and the platform can automatically adjust the horizontal position of the camera with a horizontal adjustment accuracy of 0.001 degrees.
In addition, the walking detection vehicle can pass the "walking two-dimensional code" pasted on the tunnel ground to realize the automatic guiding and walking function of the trolley in the tunnel. It is the first CSNS to use the advanced two-dimensional code technology to execute the motion command to complete the vibration acquisition in the accelerator. A variety of inspection machine carts. During the summer maintenance period, the mechanical group and the calculation center successfully completed the connection between the RCS ring wireless network and the inspection vehicle, and the connection with the visual vibration acquisition instrument to realize the remote control of the detection vehicle in the central control room; at the same time, under the remote control, Remote vibration measurement of the ring device.
(Original title: The tunnel walking detection vehicle independently developed by CSNS is put into use in the completion test of the ring tunnel)

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