CN113156488B - Permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device - Google Patents
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- CN113156488B CN113156488B CN202110254630.1A CN202110254630A CN113156488B CN 113156488 B CN113156488 B CN 113156488B CN 202110254630 A CN202110254630 A CN 202110254630A CN 113156488 B CN113156488 B CN 113156488B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/16—Measuring radiation intensity
- G01T1/169—Exploration, location of contaminated surface areas
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/30—Assessment of water resources
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Abstract
The invention relates to a permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device which comprises a frame unit, a detector array, a connecting support connected between the frame unit and the detector array, a driving unit arranged on one side of the frame unit and a driven wheel set connected with the frame unit, wherein the detector array is hinged with the connecting support, the detector array is folded and unfolded relative to the frame unit through the connecting support, and a detector auxiliary permanent magnet is arranged on the side surface of the detector array; the bottom of the frame unit and the driving unit is provided with a vehicle body permanent magnet. The invention can stably crawl and turn on a vertical metal wall surface of 90 degrees, adopts a large-area array type pollution detector, and has the characteristics of high detection efficiency, low detection lower limit and small measurement error. The device can be applied to nuclear emergency, quickly measure the pollution of a large-area metal wall surface in an area where personnel are not easy to reach, give pollution distribution, and provide basis for making a protection action strategy of emergency response personnel.
Description
Technical Field
The invention relates to the field of nuclear emergency radiation protection, in particular to a permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device.
Background
When nuclear emergency radiation measurement is carried out, the traditional metal wall surface pollution measurement is usually completed by manual operation, and the method has the following defects: (1) the worker is at risk of contamination. Because the measured wall surface has large-area radioactive pollution, personnel can be infected with radioactive substances when contacting the wall surface, and internal irradiation damage caused by the inhalation of the radioactive substances and external irradiation damage to a certain degree can be caused; (2) there is a job safety risk. Under the condition of a higher wall surface, potential safety hazards exist when operators work high above the ground for a long time; (3) the measurement efficiency is low, manual measurement is limited by professional level and physical factors of operators on one hand, and is also limited by the moving mode of the operators on the wall surface on the other hand, and in addition, the effective measurement area of the manual measurement detector is small; (4) the drawing of a full-wall pollution distribution map is difficult to realize, and people in some areas cannot reach the full-wall pollution distribution map.
Because there is the region that personnel are difficult for arriving, be difficult to measure metal wall pollution problem, for confirming pollution distribution and degree, provide the basis for protective measures's establishment, consequently, need establish remote pollution measurement means, at present, some remote pollution measuring device mainly adopt the travelling car structure, the travelling car structure carries permanent magnetism absorption unit and nuclear radiation detector, adsorb the metal wall that awaits measuring through permanent magnetism absorption unit, nuclear radiation detector is along with the travelling car structure carries out the pollution measurement, however, in the actual use, there are following defects: 1. the permanent magnet adsorption units on the traditional moving trolley structure are divided into a flat plate type and a crawler type, a magnet needs to be installed on a moving device in the crawler type, the magnet is easy to scratch the wall surface due to the fact that the magnet is in contact with the wall surface, the magnet is easy to damage, the flat plate type magnetic block is large, and the magnetic energy utilization rate is low; 2. the nuclear radiation detector has a small detection range, and the detection efficiency is greatly reduced. Therefore, it is very important to design a permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measurement device.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device comprises a frame unit, a detector array, a connecting support connected between the frame unit and the detector array, a driving unit arranged on one side of the frame unit and a driven wheel set connected with the frame unit, wherein the detector array is hinged with the connecting support, the detector array is folded and unfolded relative to the frame unit through the connecting support, and a detector auxiliary permanent magnet is arranged on the side surface of the detector array; and vehicle body permanent magnets are arranged at the bottoms of the frame unit and the driving unit.
Further, the frame unit comprises an integrated control box body, a camera, a laser radar, an antenna, a photoelectric sensor, a radar support, a detector folding fixing seat and a handle;
the radar support sets up the one side at the control box, antenna and handle are located the control box respectively on the curb plate of controlling, and camera and laser radar fixed mounting are on the radar support, photoelectric sensor and detector receipts receive the fixing base and install in control box rear side, and detector receipts receive the fixing base and be used for fixing the detector when detector array receipts are received.
Further, the drive unit comprises a drive box cover plate, a drive box main box body, a drive motor, a speed reducer, a transition shaft sleeve and rubber wheels, the drive box main box body is of an L-shaped structure, the drive motor and the speed reducer are hermetically installed in the drive box main box body, the drive motor is connected with the transition shaft sleeve through the speed reducer, and the end part of the transition shaft sleeve is connected with the rubber wheels.
Furthermore, two sides of the detector array are movably connected with the detector array side wings.
Furthermore, the number of the detector auxiliary permanent magnets is two, and the two detector auxiliary permanent magnets are connected to one side of the detector array and are flush with the bottom of the detector array.
Furthermore, the number of the vehicle body permanent magnets is three, wherein two vehicle body permanent magnets are arranged at the bottom of the main box body of the driving box, and one vehicle body permanent magnet is arranged at the bottom of the box body of the control box.
Furthermore, the connecting bracket is T-shaped.
Furthermore, the detector array is formed by arranging 4X10 nuclear radiation detectors, and the detector array carries a high-voltage module and a signal acquisition module.
Furthermore, the measuring device is provided with a double-screen ground terminal with a rocker, the double screens respectively display the measuring result and the device state, the double-screen ground terminal controls the moving speed and the moving direction of the driving motor, and the double-screen ground terminal exchanges information with the signal acquisition module of the detector array. The camera is in signal connection with the double-screen ground terminal, and the double-screen ground terminal receives video information in real time.
Furthermore, anti-falling sensors are installed around the frame unit.
The invention has the beneficial effects that: 1. the device replaces manual wall surface pollution measurement operation, so that on one hand, irradiation damage of surface radioactive pollution to measurement personnel is avoided, and on the other hand, the risk of personnel falling due to wall surface operation is avoided; 2. acquiring a wall surface pollution measurement result in real time, giving a two-dimensional map and hotspot information, and assisting in decision making in real time; 3. the two sides of the detector array are movably connected with the detector array side wings, so that the detection efficiency is improved, the robot has high moving speed, the response speed of the detector is high, and the execution speed of the measurement task is improved; 4. the bottom of the robot is additionally provided with the magnet, the magnet is not in contact with a metal wall surface, and meanwhile, the magnet is moved by using a rubber tire, so that the device has high wall climbing reliability and does not damage the wall surface; 5. the device has lighter overall weight, and the design that the detector array can be folded is adopted, so that the volume is smaller in the folded state, and the transportation is convenient.
In conclusion, the measuring device can stably crawl and turn on a vertical metal wall surface of 90 degrees, adopts a large-area array type pollution (nuclear radiation) detector, has the characteristics of high detection efficiency, low detection lower limit and small measurement error, can be remotely and wirelessly controlled, and can return and display pollution measurement data and video monitoring information in real time and give dynamic pollution distribution. The device can be applied to nuclear emergency, quickly measure the pollution of a large-area metal wall surface in an area where personnel are not easy to reach, give pollution distribution, and provide basis for making a protection action strategy of emergency response personnel.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an expanded view of the present invention;
FIG. 3 is a schematic bottom view of the present invention shown in an expanded position;
FIG. 4 is a schematic structural view of the frame unit of the present invention;
fig. 5 is a schematic structural diagram of a driving unit according to the present invention.
Detailed Description
As shown in fig. 1 to 3, a permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device includes a frame unit 1, a detector array 4, a connecting bracket 2 connected between the frame unit 1 and the detector array 4, a driving unit 3 arranged at one side of the frame unit 1, and a driven wheel set 6 connected with the frame unit 1, wherein the detector array 4 is hinged to the connecting bracket 2, the detector array 4 is folded and unfolded relative to the frame unit 1 through the connecting bracket 2, in order to increase the detection area, two sides of the detector array 4 are movably connected with detector array side wings 41, and the detector array side wings 41 can be folded and folded relative to the detector array 4;
the side surface of the detector array 4 is provided with a detector auxiliary permanent magnet 5; the bottom parts of the frame unit 1 and the driving unit 3 are provided with a vehicle body permanent magnet 7.
Further, as shown in fig. 4, the frame unit 1 includes an integrated control box 101, a camera 102, a laser radar 103, an antenna 104, a photoelectric sensor 105, a radar bracket 106, a detector folding fixing seat 107 and a handle 108, and the whole is a rectangular parallelepiped combined structure. The integrated control box body 101 is composed of a whole U-shaped alloy plate, a left side plate, a right side plate and a top cover, a sealed space for installing a control unit, a lithium battery and a motor driver is formed in the middle, water vapor and salt mist erosion is prevented, and electromechanical connection is carried out between a socket fixed on the box body and the outside. The radar support 106 is located at the middle position of the rear side of the control box body 101, and the camera 102 and the laser radar 103 are fixed on the radar support 106. Two sets of photoelectric sensors 105 and detector folding fixing seats 107 are installed at the rear side of the control box body 101 and at two sides of the radar support 106, wherein the detector folding fixing seats 107 are used for fixing the detector array 4 when the detector array 4 is folded. The two groups of antennas 104 and the handle 108 are respectively positioned on the left side plate and the right side plate of the control box body 101;
further, as shown in fig. 5, the driving unit 3 includes a driving box cover plate 301, a driving box main box 302, a driving motor and reducer 303, a transition bushing 304, and a rubber wheel 305. The driving box main box body 302 is integrally of an L-shaped structure, wherein a vertical edge is rigidly fixed with the front side of the control box body 101 to play a bearing role, and meanwhile, a falling protector mounting bracket is mounted for hanging a falling protector. The driving box cover plate 301 is arc-shaped and is arranged on the driving box main box body 302, and a sealed space for installing the motor and the speed reducer is formed by the driving box cover plate and the driving box main box body 302, so that the corrosion of water vapor and salt mist is prevented. The transition bushing 304 is used for sealing and transmitting between the driving motor and the rubber wheel 305.
In this embodiment, the number of the probe auxiliary permanent magnets 5 is two, and the two probe auxiliary permanent magnets 5 are connected to one side of the probe array 4 and flush with the bottom of the probe array 4 to assist in providing suction to maintain the attitude of the mobile platform. The number of the vehicle body permanent magnets 7 is three, wherein two vehicle body permanent magnets 7 are arranged at the bottom of the main box body 302 of the drive box, and one vehicle body permanent magnet 7 is arranged at the bottom of the box body 101 of the control box.
Furthermore, the connecting support 2 is T-shaped, has enough structural strength, and can rapidly realize the unfolding and the folding of the detector array 4 and the fixation under the corresponding posture.
Further, the detector array 4 is formed by arranging 4X10 nuclear radiation detectors, and the detector array 4 carries a high-voltage module and a signal acquisition module.
Furthermore, the measuring device is provided with a double-screen ground terminal with a rocker, the double screens respectively display the measuring result and the device state, the double-screen ground terminal controls the moving speed and the moving direction of the driving motor, and the double-screen ground terminal exchanges information with the signal acquisition module of the detector array 4. The camera is in signal connection with the double-screen ground terminal, and the double-screen ground terminal receives video information in real time.
The driving unit 3 uses rubber tires to ensure that the robot has enough friction force under different working conditions and protects the wall surface; the driving unit uses two driving wheels and two corresponding servo driving motors, the two driving motors respectively drive the two driving wheels, and universal wheels are used for steering in a matching way; the driving unit 3 is designed by a primary speed reducer, so that the space is saved and the transmission efficiency is improved. Preferably, the drive unit uses a transition bushing; the two driving motors are respectively fixed at two ends of the bracket.
The frame unit 1 is designed integrally, and the requirements of heat dissipation, water resistance and salt mist resistance are met simultaneously by processing a heat dissipation wing plate; the camera and the laser radar are fixed at the rear part of the frame unit 1 by using a bracket, the radar bracket 106 can be quickly disassembled and assembled, a cable passes through the radar bracket 106, and a quick electromechanical connector is used; four anti-falling sensors are arranged on the periphery of the frame unit; the frame unit is provided with communication antennas which are arranged on two sides of the platform; the lower part of the frame unit is provided with a vehicle body permanent magnet 7 which provides wall adsorption force in a non-contact way.
The permanent magnet adsorption unit formed by the detector auxiliary permanent magnet 5 and the vehicle body permanent magnet 7 adopts an integral permanent magnet array structure, and is superior to a split type magnetic wheel structure and an integral magnetic block structure in adsorption capacity.
The detector array 4 can be deployed and stowed, making full use of the transport box space when stowed. The detector array 4 itself can be folded and unfolded, with an increase in detection area of 67% when unfolded. The detector array 4 is an array design, meeting the higher resolution requirement.
In conclusion, the frame unit 1, the driving unit 3, the detector auxiliary permanent magnet 5, the driven wheel set 6 and the vehicle body permanent magnet 7 of the device jointly form a permanent magnetic adsorption type wall-climbing robot platform. Although not shown, it is within the scope of the present apparatus to implement a dual-screen ground terminal and its software design. The frame unit 1 is located at the rear part of the vehicle body, and is provided with a controller, a motor driver, a battery, an antenna, a camera, a radar and other devices, and is also a main body of the moving platform, the driving unit 3 is installed at the front side of the frame unit 1, a rubber tire is respectively arranged at the left side and the right side, the driving unit is driven by a servo direct current motor respectively arranged at the left side and the right side, and the driving unit is moved by a driven wheel set 6 auxiliary device installed at the rear side of the frame unit 1. The bearing parts of the connecting bracket 2, the frame unit 1 and the driving unit 3 are rigidly connected together, a detector array 4 is arranged on the connecting bracket 2, and the detector array is provided with two loose-leaf side wings which can be opened to increase the detection area and can be folded by means of the connecting bracket 2. The wall adsorption force of the whole device is provided by the two detector auxiliary permanent magnets 5 and the three vehicle body permanent magnets 7, and the structures of all the permanent magnets are optimized through simulation, so that the optimal adsorption force can be provided.
The measuring device is battery powered, preferably using a lithium battery. The power management system is used for completing alarm mechanisms such as high temperature, over discharge, over charge, over current and paragraph, and can be used for manually, remotely and alarm to cut off power, thereby efficiently protecting the safety of the battery.
The device replaces manual wall surface pollution measurement operation, so that on one hand, irradiation damage of surface radioactive pollution to measurement personnel is avoided, and on the other hand, the risk of personnel falling due to wall surface operation is avoided; acquiring a wall surface pollution measurement result in real time, giving a two-dimensional map and hotspot information, and assisting in decision making in real time; the two sides of the detector array 4 are movably connected with the detector array side wings 41, so that the detection efficiency is improved, the robot has high moving speed, the response speed of the detector is high, and the execution speed of the measurement task is improved; the bottom of the robot is additionally provided with the magnet, the magnet is not in contact with a metal wall surface, and meanwhile, the magnet is moved by using a rubber tire, so that the device has high wall climbing reliability and does not damage the wall surface; the device has lighter overall weight, and the design that the detector array can be folded is adopted, so that the volume is smaller in the folded state, and the transportation is convenient.
The measuring device can stably crawl and turn on a vertical metal wall surface of 90 degrees, adopts a large-area array type pollution (nuclear radiation) detector, has the characteristics of high detection efficiency, low detection lower limit and small measurement error, can be remotely and wirelessly controlled, and can return and display pollution measurement data and video monitoring information in real time and give dynamic pollution distribution. The device can be applied to nuclear emergency, quickly measure the pollution of a large-area metal wall surface in an area where personnel are not easy to reach, give pollution distribution, and provide basis for making a protection action strategy of emergency response personnel.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device comprises a frame unit, a detector array, a connecting support connected between the frame unit and the detector array, a driving unit arranged on one side of the frame unit and a driven wheel set connected with the frame unit, and is characterized in that the detector array is hinged with the connecting support, the detector array is folded and unfolded relative to the frame unit through the connecting support, and a detector auxiliary permanent magnet is arranged on the side surface of the detector array; and vehicle body permanent magnets are arranged at the bottoms of the frame unit and the driving unit.
2. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 1, wherein the frame unit comprises an integrated control box body, a camera, a laser radar, an antenna, a photoelectric sensor, a radar support, a detector folding fixing seat and a handle;
the radar support sets up the one side at the control box, antenna and handle are located the control box respectively on the curb plate of controlling, and camera and laser radar fixed mounting are on the radar support, photoelectric sensor and detector receipts receive the fixing base and install in control box rear side, and detector receipts receive the fixing base and be used for fixing the detector when detector array receipts are received.
3. The permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 2, wherein the driving unit comprises a driving box cover plate, a driving box main box body, a driving motor, a speed reducer, a transition shaft sleeve and a rubber wheel, the driving box main box body is of an L-shaped structure, the driving motor and the speed reducer are hermetically installed in the driving box main box body, the driving motor is connected with the transition shaft sleeve through the speed reducer, and the end part of the transition shaft sleeve is connected with the rubber wheel.
4. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 2 or 3, wherein two sides of the detector array are movably connected with lateral wings of the detector array.
5. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 4, wherein the number of the detector auxiliary permanent magnets is two, and the two detector auxiliary permanent magnets are connected to one side of the detector array and are flush with the bottom of the detector array.
6. The permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device as claimed in claim 3, wherein the number of the vehicle body permanent magnets is three, two vehicle body permanent magnets are installed at the bottom of the main box body of the driving box, and one vehicle body permanent magnet is installed at the bottom of the box body of the control box.
7. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 6, wherein the connecting bracket is T-shaped.
8. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 6, wherein the detector array is formed by arranging 4X10 nuclear radiation detectors, and the detector array carries a high-voltage module and a signal acquisition module.
9. The permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device as claimed in claim 8, wherein the measuring device is provided with a double-screen ground terminal with a rocker, the double screens respectively display the measuring result and the device state, the double-screen ground terminal controls the moving speed and the moving direction of the driving motor, and the double-screen ground terminal exchanges information with a signal acquisition module of the detector array.
10. The permanent magnetic adsorption type nuclear emergency large-area wall surface pollution rapid measuring device according to claim 9, characterized in that anti-drop sensors are installed around the frame unit.
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| CN202110254630.1A CN113156488B (en) | 2021-03-09 | 2021-03-09 | Permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device |
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| CN202110254630.1A CN113156488B (en) | 2021-03-09 | 2021-03-09 | Permanent magnet adsorption type nuclear emergency large-area wall surface pollution rapid measuring device |
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| CN113156488B true CN113156488B (en) | 2022-05-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU82871U1 (en) * | 2008-11-05 | 2009-05-10 | Государственное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | REMOTE CONTROLLED ROBOT OF RADIATION EXPLORATION |
| CN201867496U (en) * | 2010-11-30 | 2011-06-15 | 中国辐射防护研究院 | Movable measuring device for generating alpha and beta surface contamination distribution graphs in real time |
| KR101337653B1 (en) * | 2011-09-30 | 2013-12-05 | 삼성중공업 주식회사 | Driving Apparatus |
| CN202624434U (en) * | 2012-06-07 | 2012-12-26 | 中国东方电气集团有限公司 | Full driving magnetic attraction type multifunctional wall climbing robot with small-folding-size mechanical arm |
| JP6079997B2 (en) * | 2012-11-08 | 2017-02-15 | 国立大学法人東京工業大学 | Group moving body of magnetic adsorption vehicle |
| JP6113524B2 (en) * | 2013-02-21 | 2017-04-12 | 株式会社日立製作所 | Monitoring cart |
| JP2016065720A (en) * | 2014-09-22 | 2016-04-28 | 清水建設株式会社 | Decontamination system, decontamination work vehicle, and decontamination method |
| NL2014104B1 (en) * | 2015-01-09 | 2016-09-30 | Stichting Quick Docking | Vehicle forced against a magnetizable wall by magnetic forces. |
| CN106741267A (en) * | 2015-11-25 | 2017-05-31 | 上海新松机器人自动化有限公司 | Curved surface operation climbing robot |
| JP6427533B2 (en) * | 2016-05-27 | 2018-11-21 | 日本原子力発電株式会社 | Radioactive surface contamination density measuring device and radioactive surface contamination density measuring method using the measuring device |
| CN107176223B (en) * | 2017-07-10 | 2023-06-09 | 河北工业大学 | Cambered surface self-attaching magnetic adsorption wall climbing detection robot |
| CN110000758A (en) * | 2019-04-09 | 2019-07-12 | 重庆文理学院 | The climbing robot with maintenance can be detected automatically |
| CN111999756A (en) * | 2020-08-28 | 2020-11-27 | 中国工程物理研究院核物理与化学研究所 | Full-automatic tritium surface pollution patrol detection system and application method |
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