CN206426104U - Crawler type nuclear radiation monitoring robot control system - Google Patents
Crawler type nuclear radiation monitoring robot control system Download PDFInfo
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- CN206426104U CN206426104U CN201720101328.1U CN201720101328U CN206426104U CN 206426104 U CN206426104 U CN 206426104U CN 201720101328 U CN201720101328 U CN 201720101328U CN 206426104 U CN206426104 U CN 206426104U
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Abstract
The utility model discloses a kind of crawler type nuclear radiation monitoring robot control system, including remote control terminal and on caterpillar type robot and with the Radiation monitoring front end of remote control terminal radio communication, Radiation monitoring front end includes data handling system, memory, timer, alignment system and avoiding obstacles by supersonic wave module, the input of data handling system is terminated with environmental sensor, radiation detector, audio collection unit and video acquisition unit, the output of data handling system is terminated with for driving the mechanical arm of caterpillar type robot to gather the drive module of experimental sample, video acquisition unit includes high-definition image detector, infrared image detection device and dc source, single-pole double-throw relay is in series with the loop that dc source is powered for high-definition image detector and infrared image detection device.The utility model can realize that remote control robot completes the acquisition function of radiation dose rate, can gather audio/video information, complete function according to actual field environment changing image detector.
Description
Technical field
The utility model belongs to robot nuclear radiation detection technical field, and in particular to a kind of crawler type nuclear radiation monitoring machine
Device people's control system.
Background technology
Nuclear energy has extensive and great influence to military affairs, economy, society, politics etc., and nuclear energy can be used in combination as nuclear weapon
In the power source of aircraft carrier, nuclear submarine etc.；Nuclear energy can be with substitute fossil fuels, for generating electricity；Radioactive source application can be used as
In medical treatment；It can also be city heat supply etc., receive the attention of countries in the world.But the nuclear radiation meeting pair that radioactive element is produced
Human body causes huge injury, or even can directly threaten the life security of relevant staff.Therefore, Radiation monitoring robot
Use have particularly important meaning.Radiation monitoring robot is the widely used robot in nuclear power station.At present mostly
Number Radiation monitoring robot uses wheel or crawler belt, or the walking manner that wheel and crawler belt are combined, only a small number of machines
Device people is using polypody or two sufficient walking manners.Due to radiation, monitoring radiation dose rate closely has certain danger
Property, in order to realize the far distance controlled to radiation detection robot, Radiation monitoring robot is generally equipped with multiple sensors, spoke
Penetrating monitoring robot has various sensor devices.Existing Radiation monitoring robot typically all carries illuminating lamp, takes the photograph
Camera and navigation equipment, and by the one very soft manipulator for being wired to it, arriving at the destination.Radiation monitoring
Robot is to apply the specialized robot under radiation environment, and the task of robot is completed in the assigned position of production line
Task through arranging properly, what it to be completed is the work of the indefinite varied change in position, can make various Gesture operation machineries
Arm and there is fabulous adaptability to changes to hazardous environment, the adverse circumstances of self-adaptive kernel radiation are existing institutes of Radiation monitoring robot
The difficulty to be overcome.
Utility model content
Technical problem to be solved in the utility model is that there is provided a kind of crawler belt for above-mentioned deficiency of the prior art
Formula nuclear radiation monitoring robot control system, it is novel in design rationally, and remote control robot can be achieved and completes radiation dose rate
Acquisition function, and according to actual field environment, actual judgement is made by robot autonomous induction, is adapted to complicated and changeable
Environment, complete function.
In order to solve the above technical problems, the technical solution adopted in the utility model is：Crawler type nuclear radiation monitoring robot
Control system, it is characterised in that：Including the remote control terminal being arranged in Control Room and on caterpillar type robot and
With the Radiation monitoring front end of the remote control terminal radio communication, the Radiation monitoring front end include data handling system and
Memory, timer, alignment system and the avoiding obstacles by supersonic wave module connected with data handling system, the input of data handling system
Be terminated with for the environmental sensor for detecting caterpillar type robot travel zone information, radiation detector, audio collection unit and
Video acquisition unit, the output of data handling system is terminated with for driving the mechanical arm of caterpillar type robot to gather experimental sample
Drive module, the video acquisition unit includes high-definition image detector and infrared image detection device, and respectively high definition
The dc source that image detector and infrared image detection device are powered, dc source is that high-definition image detector and infrared image are visited
Survey the relay being in series with the loop that device is powered for switching high-definition image detector or the work of infrared image detection device, relay
Device is single-pole double-throw relay, and the coil control end of the single-pole double-throw relay is by data handling system control, radiation detection
Device includes α/β detector, gamma detector and neutron detector.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The data handling system passes through
Wireless transport module carries out radio communication with remote control terminal, and wireless transport module is WIFI module or 2.4GHz less radio-frequencies
Module, remote control terminal is mobile phone terminal or terminal.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The environmental sensor includes using
In temperature sensor, the smog sensor of dust concentration for detecting radiation areas visibility of detection radiation areas energy temperature
With the infrared thermal releasing sensor for detecting radiation areas human body vital sign parameter.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The alignment system is fixed including GPS
Position device and BEI-DOU position system.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The alpha detection device, beta rediation detector are
Flow-gas proportional counter, gamma detector is NaI scintillator detectors, and neutron detector is long neutron counter.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The mechanical arm is four-degree-of-freedom
Mechanical arm.
Above-mentioned crawler type nuclear radiation monitoring robot control system, it is characterised in that：The drive module is control institute
State the step motor control module of the lifting of four-degree-of-freedom mechanical arm, flexible, rotation and folding.
The utility model has advantages below compared with prior art：
1st, it is the live α that radiation detector is gathered that the utility model detects live actual environment parameter by environmental sensor
Radiation dose rate, β radiation dose rates, γ radiation dose rates and neutron irradiation close rate provide reference, understand influence dose of radiation
The factor of rate, while obtaining caterpillar type robot real time position by alignment system, by timer acquisition time, sets up α spokes
The curve that close rate, β radiation dose rates, γ radiation dose rates and neutron irradiation close rate change with when and where is penetrated, after being
It is continuous to refer to basic material with reference to foundation.
2nd, the utility model makes the live article of caterpillar type robot collision free using avoiding obstacles by supersonic wave module, adaptive existing
Field environment, passes through remote control terminal and receives caterpillar type robot wireless signal, real-time tracking record caterpillar type robot is advanced
Path.
3rd, the utility model can detect environment visibility by environmental sensor, when environment visibility is preferable, using height
Clear image detector collection site image information；When environment visibility is poor, using infrared image detection device collection site figure
As information, the influence caused using illuminating lamp to environment is reduced, the energy is saved, adaptivity is strong.
4th, the utility model uses flow-gas proportional counter, realizes a kind of measurement of detector to two kinds of rays of α, β,
Simple in construction, weight diminishes.
In summary, the utility model is novel in design rationally, and remote control robot can be achieved and completes radiation dose rate
Acquisition function, and according to actual field environment, actual judgement is made by robot autonomous induction, adapt to ring complicated and changeable
Border, complete function is easy to promote the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Description of reference numerals:
1-environmental sensor；2-radiation detector；3-audio collection unit；
4-dc source；5-relay；6-high-definition image detector；
7-infrared image detection device；8-data handling system；9-drive module；
10-mechanical arm；11-memory；12-timer；
13-alignment system；14-avoiding obstacles by supersonic wave module；15-wireless transport module；
16-remote control terminal.
Embodiment
As shown in figure 1, the utility model includes the remote control terminal 16 being arranged in Control Room and installed in crawler type
In robot and with the Radiation monitoring front end of the radio communication of remote control terminal 16, the Radiation monitoring front end include data
Processing system 8 and the memory 11 connected with data handling system 8, timer 12, alignment system 13 and avoiding obstacles by supersonic wave mould
Block 14, the input of data handling system 8 be terminated with for detect caterpillar type robot travel zone information environmental sensor 1,
Radiation detector 2, audio collection unit 3 and video acquisition unit, the output of data handling system 8 are terminated with being used to drive crawler belt
The mechanical arm 10 of formula robot gathers the drive module 9 of experimental sample, and the video acquisition unit includes high-definition image detector 6
With infrared image detection device 7, and the dc source 4 that respectively high-definition image detector 6 and infrared image detection device 7 are powered,
It is in series with the loop that dc source 4 is powered for high-definition image detector 6 and infrared image detection device 7 for switching high-definition image
The relay 5 that detector 6 or infrared image detection device 7 work, relay 5 is single-pole double-throw relay, the single-pole double throw after
The coil control end of electrical equipment is controlled by data handling system 8, and radiation detector 2 includes α/β detector, gamma detector and neutron and visited
Survey device.
In actual use, the coil control end of the single-pole double-throw relay is controlled by data handling system 8, the hilted broadsword
The fixed termination dc source 4 of double-throw relay access one of circuit, the normally opened contact of the single-pole double-throw relay and normally closed
Contact selecting type access circuit, the normally opened contact or normally-closed contact phase of high-definition image detector 6 and the single-pole double-throw relay
Connect, infrared image detection device 7 connects with the normally-closed contact or normally opened contact of the single-pole double-throw relay, realize that high-definition image is visited
Device 6 or the switch type work of infrared image detection device 7 are surveyed, site environment is adapted to, using effect is good.
In the present embodiment, the alignment system 13 includes GPS locator and BEI-DOU position system.
The live article of caterpillar type robot collision free is made using avoiding obstacles by supersonic wave module 14, adaptive site environment leads to
Cross remote control terminal 16 and receive caterpillar type robot wireless signal, using GPS locator or BEI-DOU position system real-time tracking
Record caterpillar type robot travel path.
In the present embodiment, the α/β detector is flow-gas proportional counter, and gamma detector is NaI scintillator detectors,
Neutron detector is long neutron counter.
In the present embodiment, the α/β detector uses the flow-gas proportional counter that monofilament unrolls, the gas that monofilament unrolls
Formula proportional counter is screened to variety classes ray and measured, and the data of flow-gas proportional counter measurement send into data processing system
Unite and 8 data processings and be stored in memory 11.
In the present embodiment, the environmental sensor 1 includes temperature sensor, the use for being used to detect radiation areas energy temperature
In the smog sensor of dust concentration of detection radiation areas visibility and for detecting radiation areas human body vital sign parameter
Infrared thermal releasing sensor.
In practical operation, caterpillar type robot, which carries temperature sensor, to be used to detect radiation areas energy temperature, works as temperature
When persistently raising, signal is sent to remote control terminal 16 in time, and site environment temperature can be obtained at any time by timer 12
Between the curve that changes；Caterpillar type robot, which carries infrared thermal releasing sensor, to be used to detect radiation areas human body vital sign parameter,
Search radiation areas and whether there is life entity, be easy to the progress of search-and-rescue work；Caterpillar type robot carries smog dust concentration and passed
Sensor is used to detect radiation areas visibility, is easy to caterpillar type robot to select high-definition image detector 6 or infrared image detection
Device 7 works, when the radiation areas low visibility that smog sensor of dust concentration is detected, the control relay 5 of data handling system 8
It is the circuit that infrared image detection device 7 is powered to connect dc source 4, obtains site infrare image, when smog dust concentration sensing
When the radiation areas visibility of device detection is high, the control relay 5 of data handling system 8 is connected dc source 4 and visited for high-definition image
The circuit that device 6 is powered is surveyed, live high-definition image is obtained, while coordinate the synchronous acquisition live audio information of audio collection unit 3, it is real
The Overall Acquisition of existing audio, video data.
In the present embodiment, the data handling system 8 carries out nothing by wireless transport module 15 and remote control terminal 16
Line communicates, and wireless transport module 15 is WIFI module or 2.4GHz wireless radio frequency modules, and remote control terminal 16 is mobile phone terminal
Or terminal.
In actual use, the data handling system 8 on caterpillar type robot passes through wireless transport module 15 and remote control
Terminal 16 carries out radio communication, and remote control terminal 16 is mobile phone terminal or terminal, mobile phone terminal or terminal
Can wireless receiving data handling system 8 transmit signal acquisition caterpillar type robot collection radiation information, while mobile phone
Terminal or terminal can control caterpillar type robot walking path by wireless transport module 15.
In the present embodiment, the mechanical arm 10 is four-degree-of-freedom mechanical arm.
In the present embodiment, the drive module 9 is the control four-degree-of-freedom mechanical arm lifting, flexible, rotation and folding
Step motor control module.
It is doubtful when finding with caterpillar type robot detection process during caterpillar type robot advances in actual use
During like contaminated area, caterpillar type robot will carry out grab sampling or cleaning to contaminated area, in the process, caterpillar type robot meeting
The audio/video information real-time synchronization of measurement data, own location information and surrounding environment is uploaded into remote control terminal 16, controlled
Person processed can carry out Remote to caterpillar type robot at any time, and after the completion of work, caterpillar type robot returns to starting point, mobile phone
Terminal or terminal will preserve generation caterpillar type robot path and obtain the body radiocartogram in region to be measured, and record institute
The image that the position and caterpillar type robot for having doubtful contaminant are shot to the point, effector can enter advance to the sample fetched
One step is analyzed, and so as to further research and processing, monitoring function is complete.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (7)
1. crawler type nuclear radiation monitoring robot control system, it is characterised in that：Including the remote control being arranged in Control Room
Terminal (16) and on caterpillar type robot and with the Radiation monitoring front end of the remote control terminal (16) radio communication,
The Radiation monitoring front end includes data handling system (8) and the memory (11) connected with data handling system (8), timing
Device (12), alignment system (13) and avoiding obstacles by supersonic wave module (14), the input of data handling system (8) are terminated with being used to detect carrying out
Environmental sensor (1), radiation detector (2), audio collection unit (3) and the video acquisition of belt robot travel zone information
Unit, the mechanical arm (10) that the output of data handling system (8) is terminated with for driving caterpillar type robot gathers experimental sample
Drive module (9), the video acquisition unit include high-definition image detector (6) and infrared image detection device (7), Yi Jifen
Not Wei high-definition image detector (6) and infrared image detection device (7) power supply dc source (4), dc source (4) be high definition figure
It is in series with the loop of picture detector (6) and infrared image detection device (7) power supply for switching high-definition image detector (6) or red
The relay (5) of outer image detector (7) work, relay (5) is single-pole double-throw relay, the single-pole double-throw relay
Coil control end is controlled by data handling system (8), and radiation detector (2) includes α/β detector, gamma detector and neutron detection
Device.
2. according to the crawler type nuclear radiation monitoring robot control system described in claim 1, it is characterised in that：At the data
Reason system (8) carries out radio communication, wireless transport module (15) by wireless transport module (15) and remote control terminal (16)
For WIFI module or 2.4GHz wireless radio frequency modules, remote control terminal (16) is mobile phone terminal or terminal.
3. according to the crawler type nuclear radiation monitoring robot control system described in claim 1 or 2, it is characterised in that：The ring
Border detector (1) includes being used to detect the temperature sensor of radiation areas energy temperature, for detecting radiation areas visibility
Smog sensor of dust concentration and the infrared thermal releasing sensor for detecting radiation areas human body vital sign parameter.
4. according to the crawler type nuclear radiation monitoring robot control system described in claim 3, it is characterised in that：The positioning system
System (13) includes GPS locator and BEI-DOU position system.
5. according to the crawler type nuclear radiation monitoring robot control system described in claim 3, it is characterised in that：The α/β is visited
Survey device is flow-gas proportional counter, and gamma detector is NaI scintillator detectors, and neutron detector is long neutron counter.
6. according to the crawler type nuclear radiation monitoring robot control system described in claim 3, it is characterised in that：The mechanical arm
(10) it is four-degree-of-freedom mechanical arm.
7. according to the crawler type nuclear radiation monitoring robot control system described in claim 6, it is characterised in that：The driving mould
Block (9) is the step motor control module for controlling the four-degree-of-freedom mechanical arm lifting, flexible, rotation and folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101328.1U CN206426104U (en) | 2017-01-24 | 2017-01-24 | Crawler type nuclear radiation monitoring robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101328.1U CN206426104U (en) | 2017-01-24 | 2017-01-24 | Crawler type nuclear radiation monitoring robot control system |
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| Publication Number | Publication Date |
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| CN206426104U true CN206426104U (en) | 2017-08-22 |
Family
ID=59591342
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| CN201720101328.1U Expired - Fee Related CN206426104U (en) | 2017-01-24 | 2017-01-24 | Crawler type nuclear radiation monitoring robot control system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459340A (en) * | 2018-01-31 | 2018-08-28 | 绵阳市维博电子有限责任公司 | Radiation detection robot |
| CN108708770A (en) * | 2018-05-11 | 2018-10-26 | 山东大学 | Radioactive radon Intellisense monitors system and method in tunnel based on climbing robot |
| CN108839056A (en) * | 2018-06-25 | 2018-11-20 | 盐城工学院 | A kind of robot method for tracing and follow-up mechanism |
| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
| CN109633728A (en) * | 2019-01-15 | 2019-04-16 | 广州高新兴机器人有限公司 | A kind of road surface nuclear radiation detection device and method |
| CN109764905A (en) * | 2018-12-06 | 2019-05-17 | 华南理工大学 | A kind of unmanned plane for nuclear radiation environment and robot monitor system |
| CN110392070A (en) * | 2018-04-18 | 2019-10-29 | 辽宁鸿盛冶金科技有限公司 | Converter remote control system of mobile phone |
| CN111319053A (en) * | 2020-03-13 | 2020-06-23 | 赵新景 | Nuclear radiation monitoring and sampling robot |
| CN111660304A (en) * | 2020-05-25 | 2020-09-15 | 上海交通大学 | Emergency robot of nuclear power plant |
| CN113858225A (en) * | 2021-09-25 | 2021-12-31 | 王宝印 | Environment emergency monitoring and sampling robot, system and use method thereof |
| WO2023023711A1 (en) * | 2021-08-25 | 2023-03-02 | SensaWeb Pty Ltd | A remote radiation sensing device |
-
2017
- 2017-01-24 CN CN201720101328.1U patent/CN206426104U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459340A (en) * | 2018-01-31 | 2018-08-28 | 绵阳市维博电子有限责任公司 | Radiation detection robot |
| CN110392070A (en) * | 2018-04-18 | 2019-10-29 | 辽宁鸿盛冶金科技有限公司 | Converter remote control system of mobile phone |
| CN108708770A (en) * | 2018-05-11 | 2018-10-26 | 山东大学 | Radioactive radon Intellisense monitors system and method in tunnel based on climbing robot |
| CN108839056A (en) * | 2018-06-25 | 2018-11-20 | 盐城工学院 | A kind of robot method for tracing and follow-up mechanism |
| CN108839056B (en) * | 2018-06-25 | 2021-08-24 | 盐城工学院 | Robot tracking method and tracking device |
| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
| CN109764905A (en) * | 2018-12-06 | 2019-05-17 | 华南理工大学 | A kind of unmanned plane for nuclear radiation environment and robot monitor system |
| CN109633728A (en) * | 2019-01-15 | 2019-04-16 | 广州高新兴机器人有限公司 | A kind of road surface nuclear radiation detection device and method |
| CN111319053A (en) * | 2020-03-13 | 2020-06-23 | 赵新景 | Nuclear radiation monitoring and sampling robot |
| CN111660304A (en) * | 2020-05-25 | 2020-09-15 | 上海交通大学 | Emergency robot of nuclear power plant |
| WO2023023711A1 (en) * | 2021-08-25 | 2023-03-02 | SensaWeb Pty Ltd | A remote radiation sensing device |
| CN113858225A (en) * | 2021-09-25 | 2021-12-31 | 王宝印 | Environment emergency monitoring and sampling robot, system and use method thereof |
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Granted publication date: 20170822 Termination date: 20200124 |