CN106773849A - Radiation source processing system - Google Patents
Radiation source processing system Download PDFInfo
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- CN106773849A CN106773849A CN201611160474.8A CN201611160474A CN106773849A CN 106773849 A CN106773849 A CN 106773849A CN 201611160474 A CN201611160474 A CN 201611160474A CN 106773849 A CN106773849 A CN 106773849A
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- radiation source
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- controller
- drive component
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The present invention relates to a kind of radiation source processing system, including：Radiation source treatment vehicle body, grasping mechanism, survey meter, camera head, drive component, the controller being connected with drive component, radiation source detecting instrument and camera head in vehicle body and the control device with display device being connected with controller；Control device is used to be instructed to controller sending action, and controller sends control signal according to action command to drive component, and drive component drives grasping mechanism action according to control signal；Control device includes wearable device, and wearable device is provided with sensor, the action command for gathering human body, and action command is sent to controller.Due to can according to wearable device detect human action Synchronization Control grasping mechanism action, so that operation is closer than the natural action of people, the movement range of grasping mechanism can be accurately controlled, so as to quickly pick up radiation source, reduce the accumulative exposure dose that disposal personnel is subject to.
Description
Technical field
The present invention relates to intelligent distant control technical field, more particularly to a kind of radiation source processing system.
Background technology
Radiation source is with transmitting for purposes such as food, industry, the energy, health care, scientific research, weaponrys
The material or device of ionising radiation.Normal conditions ionising radiation is also referred to as nuclear radiation.Radiation emergency disposal operation primarily directed to
Disposal operations and nuclear emergency disposal training that the search of the radiation source under emergency rating, pickup, transfer are reclaimed.Due to radiation source tool
There is the radiation intensity of varying strength, different degrees of radiation hazradial bundle can be produced for the people close to radiation source or object.It is existing
Nuclear emergency disposal method is mainly disposed using artificial disposal and Wagon for medical treatment.
Artificial disposal is to use the instruments such as scoop, pliers after disposal personnel wears the protective gears such as protective garment, protective gloves
The disposal of radiation source or radioactive source is carried out, is operated including searching, picking up, transferring shielding collection box etc..Artificial disposal options instrument
It is simple and crude, although to have certain protection, but disposal personnel is too near apart from radiation source or radioactive source distance, and Deal with Time is too long so that
Disposal personnel is subject to excessive accumulative exposure dose, grievous injury disposal personnel it is healthy.
Wagon for medical treatment is the vehicle-mounted disposal system for disposing radiation source or radioactive source, although treatment car can make disposal personnel
Apart from radiation source certain distance, but operating personnel are needed to control Wagon for medical treatment search and pickup radiation source, due to searching for and picking up spoke
Penetrating source needs to take some time, thus the accumulative exposure dose that disposal personnel is subject to do not reduce.
The content of the invention
Based on this, it is necessary to which providing one kind being capable of quick pick-up radiation source, the accumulative irradiation agent that reduction disposal personnel is subject to
The radiation source processing system of amount.
A kind of radiation source processing system, including：
Radiation source processes vehicle body, installed in the grasping mechanism of the body structure, the radiation source on the vehicle body
Survey meter, the camera head on the vehicle body, the drive component being connected with the grasping mechanism in the vehicle body,
The controller being connected with the drive component, the radiation source detecting instrument and the camera head in the vehicle body, and
The control device with display device being connected with the controller；
The control device be used for the controller sending action instruct, the controller according to the action command to
The drive component sends control signal, and the drive component drives the grasping mechanism action according to the control signal；
The control device includes wearable device, and the wearable device is provided with sensor, for gathering human body
Action command, and the action command is sent to the controller.
Wherein in a kind of implementation method, the camera head is located at the side of the grasping mechanism.
Wherein in a kind of implementation method, the radiation source processing system also includes being arranged on the vehicle body and the drive
The rotating mechanism of dynamic component connection, the camera head and the radiation source detecting instrument are arranged on the rotating mechanism；It is described
Drive component drives the rotating mechanism action always according to the control signal.
Wherein in a kind of implementation method, the wearable device is helmet, and controller is according to the helmet
The headwork of collection is instructed and sends turn signal to the drive component, and the drive component drives according to the turn signal
The rotating mechanism action.
Wherein in a kind of implementation method, the helmet has display device, the vision signal of the camera head
Export to the display device of the helmet.
Wherein in a kind of implementation method, the grasping mechanism includes mechanical arm and is arranged on the folder of the mechanical arm front end
Tool.
Wherein in a kind of implementation method, the wearable device is arm wearable device, and the controller is according to
The arm action instruction of arm wearable device collection and palm action are instructed and send mechanical arm actuating signal to the drive component
With fixture actuating signal, the drive component is according to the mechanical arm actuating signal and fixture actuating signal accordingly drive
Mechanical arm and fixture are acted.
Wherein in a kind of implementation method, the control device and the controller wireless communication connection.
Wherein in a kind of implementation method, the controller also includes video process apparatus, and the video process apparatus melt
The video data of the dose of radiation data and camera head collection of closing the radiation source detecting instrument collection is obtained with radiation
The video image of dose data；The video image is exported to the display device of the control device.
Wherein in a kind of implementation method, the control device also includes the operation equipment being connected with the controller, institute
State any one that operation equipment is button, handle and multiple joint operating bar.
The wearable device of the radiation source processing system is provided with sensor, gathers the action command of human body, controller root
Control signal is sent to drive component according to action command, drive component drives grasping mechanism action according to control signal, so that real
The action of grasping mechanism is now controlled by wearable device.Because the human action that can be detected according to wearable device is synchronously controlled
The action of grasping mechanism processed so that operation is closer than the natural action of people, can accurately control the movement range of grasping mechanism,
So as to quickly pick up radiation source, the accumulative exposure dose that disposal personnel is subject to is reduced.
Brief description of the drawings
Fig. 1 is the radiation source processing system structural representation of one embodiment；
Fig. 2 is the radiation source processing system structural representation of another embodiment.
Specific embodiment
Fig. 1 is the structural representation of the radiation source processing system of one embodiment.As shown in figure 1, radiation source processing system
Including：Radiation source processes vehicle body 10, installed in the grasping mechanism 20 of body structure, the radiation source detecting instrument on vehicle body
30, the camera head 40 on vehicle body, the drive component 50 being connected with grasping mechanism 20 in vehicle body 10, positioned at vehicle body
The controller 60 being connected with drive component 50, radiation source detecting instrument 30 and camera head 40 in 10, and be connected with controller 60
The control device 70 with display device.
Control device 70 is used to be instructed to the sending action of controller 60, and controller 60 is according to action command to drive component 50
Control signal is sent, drive component 50 drives grasping mechanism 20 to act according to control signal.
Control device 70 includes wearable device, and wearable device is provided with sensor, and the action for gathering human body refers to
Order, and action command is sent to controller 60.
Radiation source detecting instrument 30 be to radiate close rate detected to integral dose rate, positional information record and it is related
Processing unit, by measures such as shielding and signal transactings, can improve the directive property detection of radiation dose rate.Control device 70 has
Display device, control device 70 is connected with controller 60, radiation source detecting instrument 30 in detection process, the dose of radiation of collection
Data are sent to display device by controller 60 and shown.Data according to dose of radiation enter line search, can determine radiation source
The position of survey meter.
The video data of the collection of camera head 40 is sent to display device by controller 60 and shown.Adopted by camera head
The video data of collection, operating personnel are without near radiation source, can at a distance control vehicle body 10 and grasping mechanism 20 to act to pick up
Take radiation source.
When radiation source is detected, picked up using grasping mechanism 20.Grasping mechanism 20 be possess hydraulic pressure, it is pneumatic, electronic or
The multi-joint head of its combination, drive component 50 is specifically as follows motor, gripper can be made by motor
Structure 20 is stretched, polyaxial and multi-angle freely activity and crawl activity.Grasping mechanism 20 is by wearable device control.
Operating personnel dress wearable device and are controlled and send control instruction, and wearable device is provided with sensor, gathers and knows
Action command is sent control signal by the action command of others' body, controller 60 to drive component 50, and drive component 50 is according to control
Signal processed drives grasping mechanism 20 to act, and shielding collection box is transferred to pick up the radiation source for detecting.
The wearable device of the radiation source processing system is provided with sensor, gathers the action command of human body, controller root
Control signal is sent to drive component according to action command, drive component drives grasping mechanism action according to control signal, so that real
The action of grasping mechanism is now controlled by wearable device.Because the human action that can be detected according to wearable device is synchronously controlled
The action of grasping mechanism processed so that operation is closer than the natural action of people, can accurately control the movement range of grasping mechanism,
So as to quickly pick up radiation source, the accumulative exposure dose that disposal personnel is subject to is reduced.
In another embodiment, camera head 40 is independently disposed to outside grasping mechanism 20 and positioned at the one of grasping mechanism 20
Side, grasping mechanism is overall in the image pickup scope of camera head 40.Image pickup scope in this implementation refers to the shooting of camera head
Range size.Specifically, there is certain distance between camera head 40 and grasping mechanism 20, between the two with angle so that
Camera head 40 can intactly photograph the overall attitude of grasping mechanism 20, and grasping mechanism 20 is integrally placed into camera head
In 40 coverage.Camera head 40 is imaged and auxiliary including camera, zoom lens, secondary light source, infrared auxiliary light source etc.
Equipment is helped, for clear photographic subjects object in a variety of contexts.The video data that operating personnel are gathered by camera head 40,
The entirety of grasping mechanism 20 and the attitude of part can be observed, so that assist operators are accurately controlled grasping mechanism
20 action.Because grasping mechanism is in the coverage of camera head 40, the video data gathered by camera head 40, energy
Enough see the spatial relationship of grasping mechanism and target object and surrounding environment so as to the operation of grasping mechanism for crawl target
Object is more effectively, more flexible quick.
In another embodiment, radiation source processing system also includes what is be connected with drive component 50 on vehicle body 10
Rotating mechanism 80, camera head 40 and radiation source detecting instrument 30 are arranged on rotating mechanism 80.Drive component 50 is always according to control
Signal drives rotating mechanism 80 to act.
Camera head 40 and radiation source detecting instrument 30 are arranged on rotating mechanism 80, and rotating mechanism 80 drives camera head 40
Rotated with radiation source detecting instrument 30, so that the image pickup scope of camera head is consistent with the investigative range of radiation source detecting instrument, be easy to
Operating personnel search and operate.Rotating mechanism 80 according to control signal, can up, down, left and right rotation, make camera head 40 and
The adjustment direction of radiation source detecting instrument 30 searches radiation source.Drive component 50 drives rotating mechanism 80 to act according to control signal.
In another embodiment, wearable device is helmet, the head that controller 60 is gathered according to helmet
Action command sends turn signal to drive component 50, and drive component 50 drives rotating mechanism 80 to act according to turn signal.
Specifically, helmet is provided with sensor, helmet is worn over head by operating personnel, is worn by detection and set
Standby motion, can obtain the upper, lower, left, or right action of operating personnel's head.Helmet is connected with controller 60, works as detection
During to actuating signal, corresponding action command is sent to controller 60, controller 60 is sent out according to action command to drive component 50
Turn signal, drive component 50 is sent to drive rotating mechanism 80 to act according to turn signal.
In the present embodiment, the headwork of operating personnel is detected by helmet, be converted to corresponding control signal.Example
Such as, obtain operating personnel's head to act to the left, to the right, up or down, the information such as speed and amplitude of action.These information are led to
Cross controller 60 and be converted to corresponding turn signal, turn signal includes rotation direction, velocity of rotation and rotation amplitude, drive
Component 50 drives rotating mechanism 80 to rotate corresponding amplitude to corresponding direction with corresponding velocity of rotation according to control signal.From
And operating personnel operate when, the rotation of head, come back and bow action it is consistent with the rotation of rotating mechanism 80, operating personnel see
Image change it is consistent with head movement, meet the mankind normally operation and use habit, this will reduce operating personnel use
Difficulty simultaneously obtains good man-machine interaction impression, while also accelerating the speed that search of the operating personnel to radiation source is operated.
Reset, locking association, unblock associated key are provided with the present embodiment on helmet, for realizing the behaviour that resets
Make, lock operation associated and unlock operation associated.Reset operation refers to operating personnel due to when a variety of causes causes operating difficulties, making
Helmet and rotating mechanism 80 automatically restore to the operation of predetermined state and position.Locking association refers to that head movement will be tested
Survey, head movement will be with the synchronization action of rotating mechanism 80.Unblock association refers to that head movement will not synchronized with rotating mechanism 80
Action, this can make, and operating personnel adjust posture and state is easy to control.
In another embodiment, helmet has a display device, and the vision signal of camera head 40 is exported to wearing
The display device of equipment.So as to the eyes of the display device equivalent to operating personnel of operating personnel's helmet, by observing
Field condition, accurately by head movement control rotating mechanism action, be favorably improved search speed.
In another embodiment, grasping mechanism 20 includes mechanical arm and is arranged on the fixture of mechanical arm front end.Wherein, machine
Tool arm can realize flexible, polyaxial and multi-angle freely activity according to control signal, and fixture can be according to control signal reality
Now rotate freely, grip or grasping manipulation.
In another embodiment, wearable device is the arm wearable device with controller wireless connection, controller root
According to arm wearable device gather arm action instruction and palm action instruct to drive component send mechanical arm actuating signal and
Fixture actuating signal, drive component accordingly drives mechanical arm and fixture dynamic according to mechanical arm actuating signal and fixture actuating signal
Make.
In the present embodiment, wearable device is arm wearable device, and arm wearable device is worn on arm by operating personnel
On palm, the action message of arm and palm is obtained, these information are converted to corresponding mechanical arm and act letter by controller
Number and fixture actuating signal.Mechanical arm actuating signal and fixture actuating signal include direction of action, responsiveness and action width
Degree, drive component 50 drives mechanical arm and fixture with corresponding speed to right according to mechanical arm actuating signal and fixture actuating signal
The direction answered acts corresponding amplitude.So as to operating personnel operate when, action and the mechanical arm of arm are kept strokes, palm move
Work is kept strokes with fixture.The cooperation of arm wearable device and picture pick-up device simulates the Visual Observations Observations and hand of the mankind well
Action, the operating habit of the operating process closely mankind so that the action process of mechanical arm and fixture becomes accurate and fast
Speed.
Arm wearable device is provided with reset, locking association, unblock associated key, for realizing that reset operation, locking are closed
Connection is operated and unlocked operation associated.Reset operation refers to operating personnel due to when a variety of causes causes operating difficulties, dressing arm
Equipment, mechanical arm and fixture automatically restore to the operation of predetermined state and position.Locking association refers to that arm and palm motion are tested
Survey, arm and palm motion will be with mechanical arm and fixture synchronization actions.Unblock association refers to that arm and palm motion will be with mechanical arms
Action is not synchronized with fixture, this can make, and operating personnel adjust posture and state is easy to control.
In another embodiment, as shown in Fig. 2 control device 70 and the wireless communication connection of controller 60.Thus, vehicle body
10th, grasping mechanism 20, radiation source detecting instrument 30, camera head 40, drive component 50 and controller 60 are located near radiation source
Near-end, control device 70 is located near the distal end of radiation source, controller 60 and the wireless communication connection of control device 70, control device
With display device, the video image of camera head collection can be shown, grasping mechanism is checked by the video image of camera head
60 and field condition, operating personnel with the place apart from radiation source farther out, the He of grasping mechanism 60 is controlled by control device 70
Rotating mechanism enters line search and pickup radiation source.So as to operating personnel can be away from radiation source, and it is tired that reduction operating personnel are subject to
Meter exposure dose.
In another embodiment, controller 60 also includes video process apparatus, and video process apparatus fusion radiation source is visited
The video data of the dose of radiation data and camera head collection of surveying instrument collection obtains the video image with dose of radiation data,
Video image is exported to the display device of control device.
Specifically, camera head 40 and radiation source detecting instrument 30 are arranged on rotating mechanism 80, by radiation source detecting instrument
The detection of dose of radiation is carried out to disposal scene, the relation of dose of radiation and position is obtained, i.e., the different positions on the basis of measurement point
The radiation dose rate and corresponding relation put.Each angular image that can be obtained on the basis of shooting datum mark by video capture is believed
Breath, radiation dose rate datum mark is spatially consistent with video capture datum mark, is all rotating mechanism 80.By spoke
Penetrate close rate, locus and video image calculating fusion, synthesis one with radiation dose rate mark and information it is real-time
Video image, radiation dose rate information is distinguished or the symbol mark such as circle, point, line, arrow by video pictures with different colours
The combination of note or both carries out the mark of close rate height, and indicates the data message of correlation in correct position.The reality of the synthesis
When image information send display device positioned at control device for no reason by Wireless Data Transmission, operating personnel can be by figure in real time
As upper radiation dose rate marks fast searching to the position of radiation source.By the Monitoring Data and real-time video figure of radiation intensity
It is that disposal personnel fast searching radiation source or radioactive source provide facility as being combined, when can effectively shorten search operation disposal
Between.
In another embodiment, control device 70 also includes operation equipment, and operation equipment is connected with controller, and operation sets
Standby is any one of button, handle and multiple joint operating bar.Operation equipment is used to be instructed to the sending action of controller 60, control
Device 60 sends control signal according to action command to drive component 50, and the drive component 50 drives institute according to the control signal
State grasping mechanism and rotating mechanism action.After the unblock associated key of arm wearable device and helmet is pressed, operation can be used
Equipment is controlled to grasping mechanism and rotating mechanism.
In another implementation row, in addition to the display device of helmet, control device is additionally provided with fixed display,
Fixed display and the wireless communication connection of controller 60, can be used to show through video process apparatus regarding with dose of radiation data
Frequency image, facilitates other staff outside division operation personnel to check, in order to cooperate.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of radiation source processing system, it is characterised in that including：
Radiation source processes vehicle body, installed in the grasping mechanism of the body structure, the radiation source detecting on the vehicle body
Instrument, the camera head on the vehicle body, the drive component being connected with the grasping mechanism in the vehicle body is located at
The controller being connected with the drive component, the radiation source detecting instrument and the camera head in the vehicle body, and with institute
State the control device with display device of controller connection；
The control device is used to be instructed to the controller sending action, and the controller is according to the action command to described
Drive component sends control signal, and the drive component drives the grasping mechanism action according to the control signal；
The control device includes wearable device, and the wearable device is provided with sensor, the action for gathering human body
Instruction, and the action command is sent to the controller.
2. radiation source processing system according to claim 1, it is characterised in that the camera head is independently disposed to described
Grasping mechanism is outer and positioned at the side of the grasping mechanism, the overall image pickup scope in the camera head of the grasping mechanism
It is interior.
3. radiation source processing system according to claim 1, it is characterised in that the radiation source processing system also includes peace
The rotating mechanism being connected with the drive component on the vehicle body, the camera head and the radiation source detecting instrument are set
On the rotating mechanism；The drive component drives the rotating mechanism action always according to the control signal.
4. radiation source processing system according to claim 3, it is characterised in that the wearable device is helmet,
Controller is instructed according to the headwork that the helmet is gathered and sends turn signal, the driving group to the drive component
Part drives the rotating mechanism action according to the turn signal.
5. radiation source processing system according to claim 4, it is characterised in that the helmet has display device,
The vision signal of the camera head is exported to the display device of the helmet.
6. radiation source processing system according to claim 1, it is characterised in that the grasping mechanism includes mechanical arm and sets
Put the fixture in the mechanical arm front end.
7. radiation source processing system according to claim 6, it is characterised in that the wearable device is that arm wearing sets
Standby, the arm action instruction and palm action that the controller is gathered according to the arm wearable device are instructed to the driving group
Part sends mechanical arm actuating signal and fixture actuating signal, and the drive component is dynamic according to the mechanical arm actuating signal and fixture
Making signal accordingly drives the mechanical arm and fixture to act.
8. radiation source processing system according to claim 1, the control device and the controller wireless communication connection.
9. radiation source processing system according to claim 1, the controller also includes video process apparatus, the video
The video data of dose of radiation data and camera head collection that processing unit merges the radiation source detecting instrument collection is obtained
To the video image with dose of radiation data；The video image is exported to the display device of the control device.
10. radiation source processing system according to claim 1, the control device also includes what is be connected with the controller
Operation equipment, the operation equipment is any one of button, handle and multiple joint operating bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611160474.8A CN106773849A (en) | 2016-12-15 | 2016-12-15 | Radiation source processing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611160474.8A CN106773849A (en) | 2016-12-15 | 2016-12-15 | Radiation source processing system |
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