CN105128032B - Snake-shaped robot with nuclear equipment pipe detection function - Google Patents
Snake-shaped robot with nuclear equipment pipe detection function Download PDFInfo
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- CN105128032B CN105128032B CN201510606108.XA CN201510606108A CN105128032B CN 105128032 B CN105128032 B CN 105128032B CN 201510606108 A CN201510606108 A CN 201510606108A CN 105128032 B CN105128032 B CN 105128032B
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Abstract
The invention discloses a kind of snake-shaped robot with nuclear equipment pipe detection function, it includes the snake body being interconnected to constitute by least two joint modules, the snakehead and ophiruid of snake body are together constituted with snake body, joint driver in joint module, for driving it to change the anglec of rotation, and detecting system, alignment system, communication system, host computer, control system and electric power system.Reasonable in design, snake body compact of the invention, simple operation, sensitivity height, monitoring positioning are accurate, can be successfully applied in nuclear equipment pipeline and other each detection fields, and therefore, the present invention is suitable for popularization and application.
Description
Technical field
The present invention relates to a kind of snake-shaped robot, and in particular to be a kind of snakelike with nuclear equipment pipe detection function
Robot.
Background technology
As the capital equipment of nuclear power station, each loop jet chimney and cooling water waste-solution line are the cores in nuclear facilities
Can part, the power of radioactive pollution, distributing position and high precision test be realized in quick obtaining pipeline in the retired processing of core
It is the retired middle crucial part for reducing radiation hazradial bundle of core.The retired processing of core is carried out in the preliminary stage of retired implementation, by moving back
Labour facility and radioactivity and poisonous radioactive source in site are analyzed, monitored, and are collected into relevant information and are thought retired scheme
Selection and optimization are referred to.
And greatly developing with electronic technology, especially embedded technology, robot obtained it is extensive development with should
With.Snake-shaped robot is a kind of novel robot of mimic biology snake motion, it can complete well as snake body without limb
Motion, can especially be moved freely on the larger ground of surface roughness.Snake-shaped robot is because body is elongated, cross section
The advantages of small, motion state is stable, flexibility is strong and accommodative ability of environment adapts to strong can be applied to have radiation, dark, earthquake
It is not suitable for the field of human work with pipeline etc..
The characteristics of based on snake-shaped robot, if in terms of applying it to the retired processing of core, it will be preferable selection.So
And, the research currently for snake-shaped robot is at the early-stage at home, and many technologies are ripe not enough, still can not neatly apply
In every field, equally also it is difficult to apply in core detection field.
The content of the invention
For the deficiency of above-mentioned technology, the invention provides a kind of snakelike machine with nuclear equipment pipe detection function
People, it can be flexibly in and out of in nuclear equipment and pipeline, and gathers its internal image and Monitoring Data in real time, so that very well
In terms of ground is applied to nuclear equipment pipe detection field.
To achieve these goals, the technical solution adopted by the present invention is as follows：
Snake-shaped robot with nuclear equipment pipe detection function, including be interconnected to constitute by least two joint modules
Snake body, together constitute with the snakehead and ophiruid of snake body with snake body, and in joint module, for driving its to change rotation
The joint driver of angle；Also include detecting system, alignment system, communication system, host computer, control system and electric power system,
Wherein：
The detecting system is including the camera being installed in snakehead, nuclear radiation detector and for monitoring nuclear equipment
Internal temperature, humidity, the sensor group of pressure and barrier；
Alignment system, the real time position for monitoring and feeding back snake body；
Communication system, for realizing the communication between detecting system, alignment system, host computer and control system；The communication
System includes the remote control that is connected with host computer and control system simultaneously, and in snakehead and simultaneously with host computer, take the photograph
As head, nuclear radiation detector, sensor group and the radio receiving transmitting module of track and localization device connection；
Host computer, for receiving the data of detecting system and Oriented Systems Transport and being handled, then according to processing
Data, are sent to control system by communication system and instructed；
Control system, for the instruction sent according to host computer, controls one or more joint drivers to drive right with it
The joint module answered changes the anglec of rotation, snake body is changed motion gait；The control system includes the master control being arranged in snakehead
Chip, and have in each joint module installation from control chip；The main control chip simultaneously with remote control and all
It is connected from control chip, and homogeneously being connected from control chip and joint driver in each joint module；Meanwhile, it is adjacent
Joint module between using orthogonal manner connection, and each joint module includes joint body, the first mounting groove, the second peace
Tankage, first connecting portion and second connecting portion, wherein：
First mounting groove, is arranged on inside joint body, for installing joint driver；
Second mounting groove, is arranged on joint body front portion, for installing from control chip；
First connecting portion, is arranged on joint body right part, the joint module for connecting rear end, and can make joint body around
The joint module for rear end does -90 °~90 ° of rotation in the horizontal direction；
Second connecting portion, is arranged on joint body left part, the joint module for connecting front end, and can make the joint of front end
Module does -90 °~90 ° of rotation around joint body in the vertical direction；
Electric power system, for providing driving force to all joint drivers.
Preferably, the joint driver is steering wheel.
Yet further, the alignment system is track and localization device.
Preferably, the model nRF24L01 of the radio receiving transmitting module.
Preferably, the main control chip and from control chip be AVR single chip.
Compared with prior art, the invention has the advantages that：
(1) present invention by setting detecting system, alignment system, communication system, host computer and control system, with by snake
After the snake body of head, snake body and ophiruid composition coordinates, in the way of software and hardware is effectively combined, the real-time of snake body can be accurately fed back
Position, and control it to complete the new gait after the gait such as sidesway, sinuous, wriggling and the combination of several gaits, realize
The accurate gait control of snake-shaped robot, so as to flexibly be in and out of the position of each in nuclear equipment and pipeline, is completed in nuclear equipment
The monitoring in portion and the detection of relevant parameter (nuclear radiation concentration, pipe temperature, humidity and pressure etc.), and then it is retired to smoothly complete core
Work is handled, the selection and optimization for the retired scheme of nuclear equipment provide meaningful, valuable reference.
(2) adjacent segment module is connected using orthogonal manner in the present invention, can conveniently realize in two joint modules one
In the horizontal direction, another in the vertical direction does -90 °~90 ° of rotation, so that the rotation of snake body is more flexible.
(3) joint driver in the present invention uses steering wheel, its have volume compact, be easily installed, output torque is big, steady
Qualitative good, the simple advantage of control, after the master and slave control chip of AVR single chip is coordinated, can better control over joint module
Rotation, improves the response speed of its rotation.
(4) alignment system in the present invention uses track and localization device, not only snake body can be positioned, and work as snake body
When itself breaks down in detection process, the location of snake body can also be accurately positioned out.
(5) present invention is using nRF24L01 radio receiving transmitting modules as data transmission devices, and its interface generality is very strong,
And current drain is extremely low, it can send snake body well while coherent detection data are transmitted to main control chip and move gait
Instruction.
(6) present invention rationally devises the structure of single joint module, makes it can not only be on horizontal or vertical direction
Rotate, and the equipment that other systems can be installed well, make snake body and parameter detecting and gait be obtained between performing equipment
It is perfect to combine, so as to ensure that the comprehensive and accuracy that snake-shaped robot is detected to nuclear equipment and pipeline internal environment, enter
One step improves the value of reference.
(7) reasonable in design, snake body compact of the invention, it is flexible, convenient to control, and sensitivity is high, and monitoring positioning is accurate, stable
Property and it is highly reliable, therefore, it has very high practical value and promotional value.
Brief description of the drawings
Fig. 1 constitutes framework schematic diagram for the system of the present invention.
Fig. 2 is the connection diagram of snakehead, snake body and ophiruid in the present invention.
Fig. 3 is the assembling schematic diagram of two neighboring joint module.
Wherein, the corresponding parts title of reference is：
1- snakeheads, 11- grooves, 12- She Zui, 13- snake eyes, 2- snake bodies, 31- joint bodies, the mounting grooves of 32- first, 33-
Two mounting grooves, 34- first connecting portions, 35- second connecting portions, 4- ophiruids.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include but is not limited to
The following example.
Embodiment
The invention provides it is a kind of may apply to nuclear equipment and pipe detection in terms of snake-shaped robot, its system composition
Framework is as shown in figure 1, including snake body, detecting system, alignment system, communication system, host computer, control system and electric power system.
As shown in Fig. 2 described snake body includes snakehead 1, snake body 2 and ophiruid 4, wherein, snake body 2 is mutually interconnected by least two joint modules
Connect in composition, each joint module and be mounted on joint driver, and described snakehead 1 is flexibly connected with the front end of snake body 2, it is described
Ophiruid 4 be connected with the back end activity of snake body 2.Again as shown in Figure 2,3, in the present embodiment, described snakehead 1 include groove 11,
Snake mouth 12 and snake eye 13, described joint module include joint body 31, the first mounting groove 32, the second mounting groove 33, first and connected
In socket part 34 and second connecting portion 35, Fig. 3, two adjacent joint modules are connected using orthogonal manner, its specific connection side
Formula：Above the first connecting portion 34 of a joint body right part is punched, then the second of snapping latter one joint body left part
Connecting portion 35.Consequently, it is possible to which joint body above can do -90 °~90 ° in the horizontal direction around joint body below
Rotation；And joint body below can then do -90 °~90 ° of turn around joint body in the vertical direction further below
It is dynamic.Described joint driver is steering wheel, has installation in the first mounting groove 32 inside each joint body 31, for changing
Become the anglec of rotation of corresponding joint module.
Described detecting system is used to gather nuclear equipment internal image, and detect the nuclear radiation concentration in it, pipe temperature,
Humidity, pressure and barrier.The detecting system includes camera, nuclear radiation detector and sensor group, wherein, camera is used
In the internal image of collection nuclear equipment, nuclear radiation detector is used to detect the nuclear radiation concentration in nuclear equipment, and sensor group is included
There are multiple sensors, such as temperature sensor, infrared sensor, humidity sensor and pressure sensor etc. can monitor core
Temperature, humidity, pressure and barrier in equipment.In the present embodiment, detecting system is placed in the groove 11 of snakehead 1.
Described alignment system is arranged on snake body position, and it is used to monitor and feeds back the real time position of snake body, the present embodiment
Using alignment system of the track and localization device as snake body, it is intended to accurately reflect the position of snake body and be likely to occur the position of problem.
Described communication system is used to realize the communication between detecting system, alignment system, host computer and control system；Institute
The host computer stated is for receiving the data of detecting system and Oriented Systems Transport and being handled, then according to the data of processing,
Sent and instructed to control system by communication system；Described control system is then used for the instruction sent according to host computer, control
One or more joint drivers drive corresponding joint module to change the anglec of rotation, snake body is changed motion gait.
Specifically, described communication system includes remote control and radio receiving transmitting module, and described control system includes master
Control chip and from control chip, wherein, remote control is connected with host computer and main control chip simultaneously；Radio receiving transmitting module is arranged on She Zui
In 12, it is connected with host computer, camera, nuclear radiation detector, sensor group and track and localization device simultaneously；From control chip every
Have installation in the second anterior mounting groove 33 of individual joint body 31, its simultaneously with the pass in main control chip and same joint module
Save driver connection.In the present embodiment, main control chip and from control chip respectively from Atmega128AVR controllers and
Atmega8AVR controllers；And radio receiving transmitting module then selects nRF24L01 radio receiving transmitting modules.
Described electric power system is used to provide driving force to all joint drivers, and it includes battery module and voltage stabilizing electricity
Road.Battery module is connected with ophiruid, and its voltage is 5-10V, can discharge and recharge at any time；And mu balanced circuit can then play burning voltage
Effect, it is ensured that the normal of electric power system is used.
The present invention is that this theory is opened based on " motion of biological snake is the frictional force forward-reverse by scale and ground "
Exhibition design.The motion control process of whole snake body is generally：Testing staff utilizes upper according to the external environment condition of pipeline first
Machine sets the motion gait of snake-shaped robot, and controls it to enter nuclear equipment pipeline.Then, host computer is according to detecting system and determines
The data (nuclear equipment internal image, pipe temperature, humidity, pressure, barrier, snake body position etc.) of position system transmission, Ran Houtong
Cross remote control and send corresponding snake body motion gait (move left and right such as snake body, front and rear wriggle, come back, acting sidesway) instruction
To main control chip, after the main control chip has parsed motor program, the motion conditions done are needed to be conveyed to phase in each joint
Answer in joint module needs the angle rotated to convey to therewith itself from control chip, and by this from control chip analysis program
Corresponding joint driver.Control signal is sent to steering wheel from control chip by signal wire, the cycle of control signal is 20ms's
PWM ripples, preceding 2.5ms is necessary for low level in 20ms, because steering wheel needs parsing current goal position in this time,
The actual pulse high level only 0.5ms-2.0ms worked in 20ms.
After joint driver reception instruction, control PWM ripple change dutycycles, -90 ° of realization completion corresponding joint module~
90 ° rotate freely, makes snake body complete corresponding motion gait.And work as and run into barrier or need to detect other positions or pipeline
Relevant parameter when, also can by host computer according to detecting system and the data of Oriented Systems Transport, make a change snake body motion step
The instruction of state, makes snake body change current motion gait in real time.Consequently, it is possible to by controlling one or more joint drivers
The anglec of rotation changes, and just snake-shaped robot can be made flexibly to pass in and out inside nuclear equipment and its pipeline, and is finally completed required detection
Work.
The present invention is by the technological improvement to snake-shaped robot, and can flexibly come in and go out various detection environment, and follow-up
Based on the multi-functional, low-power consumption developed on the basis of the present invention, high-adaptability and high-resolution quick detection equipment, then may be used
To contribute to staff to carry out effective monitoring to nuclear equipment, environmental pollution is reduced, mitigates the body to being engaged in core staff
Body endangers, and improves detection efficiency.Compared with prior art, technological progress substantially, realizes innovation to the present invention well, therefore,
It has prominent substantive distinguishing features and significant progress.
Above-described embodiment is only the preferred embodiments of the present invention, is not construed as limiting the scope of the present invention, as long as adopting
With the design principle of the present invention, and the change for carrying out non-creativeness work on this basis and making, the present invention all should be belonged to
Protection domain within.
Claims (5)
1. the snake-shaped robot with nuclear equipment pipe detection function, including be interconnected to constitute by least two joint modules
Snake body, the snakehead and ophiruid of snake body are together constituted with snake body, and in joint module, for driving it to change the anglec of rotation
The joint driver of degree；Characterized in that, also include detecting system, alignment system, communication system, host computer, control system and
Electric power system, wherein：
The detecting system is including the camera being installed in snakehead, nuclear radiation detector and for monitoring inside nuclear equipment
Temperature, humidity, the sensor group of pressure and barrier；
Alignment system, the real time position for monitoring and feeding back snake body；
Communication system, for realizing the communication between detecting system, alignment system, host computer and control system；The communication system
Including the remote control that be connected with host computer and control system simultaneously, and in snakehead and simultaneously with host computer, image
Head, nuclear radiation detector, sensor group and the radio receiving transmitting module of track and localization device connection；
Host computer, for receiving the data of detecting system and Oriented Systems Transport and being handled, then according to the data of processing,
Sent and instructed to control system by communication system；
Control system, for the instruction sent according to host computer, controls one or more joint drivers to drive corresponding
Joint module changes the anglec of rotation, snake body is changed motion gait；The control system includes the main control chip being arranged in snakehead,
And have in each joint module installation from control chip；The main control chip simultaneously with remote control and it is all from control core
Piece is connected, and homogeneously being connected from control chip and joint driver in each joint module；Meanwhile, adjacent joint
Connected between module using orthogonal manner, and each joint module include joint body, the first mounting groove, the second mounting groove,
First connecting portion and second connecting portion, wherein：
First mounting groove, is arranged on inside joint body, for installing joint driver；
Second mounting groove, is arranged on joint body front portion, for installing from control chip；
First connecting portion, is arranged on joint body right part, the joint module for connecting rear end, and can make joint body around rear
The joint module at end does -90 °~90 ° of rotation in the horizontal direction；
Second connecting portion, is arranged on joint body left part, the joint module for connecting front end, and can make the joint module of front end
- 90 °~90 ° of rotation is done around joint body in the vertical direction；
Electric power system, for providing driving force to all joint drivers.
2. the snake-shaped robot according to claim 1 with nuclear equipment pipe detection function, it is characterised in that the pass
Section driver is steering wheel.
3. the snake-shaped robot according to claim 2 with nuclear equipment pipe detection function, it is characterised in that described fixed
Position system is track and localization device.
4. the snake-shaped robot according to claim 3 with nuclear equipment pipe detection function, it is characterised in that the nothing
The model nRF24L01 of line transceiver module.
5. the snake-shaped robot according to claim 4 with nuclear equipment pipe detection function, it is characterised in that the master
Control chip and from control chip be AVR single chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510606108.XA CN105128032B (en) | 2015-09-22 | 2015-09-22 | Snake-shaped robot with nuclear equipment pipe detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510606108.XA CN105128032B (en) | 2015-09-22 | 2015-09-22 | Snake-shaped robot with nuclear equipment pipe detection function |
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| Publication Number | Publication Date |
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| CN105128032A CN105128032A (en) | 2015-12-09 |
| CN105128032B true CN105128032B (en) | 2017-11-07 |
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| CN201510606108.XA Expired - Fee Related CN105128032B (en) | 2015-09-22 | 2015-09-22 | Snake-shaped robot with nuclear equipment pipe detection function |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN105945926B (en) * | 2016-07-05 | 2018-06-15 | 成都理工大学 | The restructural snake-shaped robot of the retired pipeline of one seed nucleus |
| CN106193268B (en) * | 2016-07-13 | 2019-02-05 | 长安大学 | Amphibious multiple-unit wheeled pipe robot examination and repair system |
| CN107433580A (en) * | 2017-09-15 | 2017-12-05 | 中山大学 | A kind of modularization orthohormbic structure snake-shaped robot |
| TWI639988B (en) * | 2017-10-05 | 2018-11-01 | 行政院原子能委員會核能研究所 | Map creation system and method using movable robot |
| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
| CN110864187A (en) * | 2019-06-17 | 2020-03-06 | 北京建筑大学 | Pipeline detection snake-shaped robot and control device thereof |
| CN114035240B (en) * | 2021-09-29 | 2022-08-23 | 中南大学 | Detection device and method for filling non-roof-connected empty area based on snake-shaped robot |
| CN116379258B (en) * | 2023-06-05 | 2024-01-26 | 德阳市生产力促进中心 | Serpentine robot with nuclear equipment pipeline detection function |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1291821C (en) * | 2003-09-04 | 2006-12-27 | 中国科学院沈阳自动化研究所 | Snake shaped robot possessing ground adaptability |
| CN2649273Y (en) * | 2003-09-04 | 2004-10-20 | 中国科学院沈阳自动化研究所 | Snake type robot with automatic-changing motion mode |
| CN101265813B (en) * | 2008-05-14 | 2010-04-14 | 哈尔滨工业大学 | Mine searching multi-robot system based on wireless sensor network |
| CN103358305B (en) * | 2013-06-17 | 2015-05-20 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN203293193U (en) * | 2013-06-17 | 2013-11-20 | 西安电子科技大学 | Snake robot device in water |
| CN204076245U (en) * | 2014-05-20 | 2015-01-07 | 郑天江 | A kind of snake-shaped robot |
| CN105150203B (en) * | 2015-09-22 | 2017-08-25 | 成都理工大学 | A kind of method that utilization snake-shaped robot detects nuclear equipment pipeline internal environment |
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Inventor after: Liu Mingzhe Inventor after: Xiao Tingting Inventor after: Liu Bingqi Inventor after: Tuo Xianguo Inventor after: Cheng Yi Inventor after: Wang Lei Inventor after: Yang Jianbo Inventor before: Xiao Tingting Inventor before: Liu Mingzhe Inventor before: Liu Bingqi Inventor before: Tuo Xianguo Inventor before: Cheng Yi Inventor before: Wang Lei Inventor before: Yang Jianbo |
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