CN206532141U - Nuclear power station intelligent patrol detection device - Google Patents
Nuclear power station intelligent patrol detection device Download PDFInfo
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- CN206532141U CN206532141U CN201720237877.1U CN201720237877U CN206532141U CN 206532141 U CN206532141 U CN 206532141U CN 201720237877 U CN201720237877 U CN 201720237877U CN 206532141 U CN206532141 U CN 206532141U
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- double
- base plate
- power station
- nuclear power
- detection device
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Abstract
The utility model discloses a kind of nuclear power station intelligent patrol detection device, including double-layered base plate, the double-layered base plate bottom is provided with traveling mechanism, the direct current generator of driving traveling mechanism walking is provided with double-layered base plate and control module and power module is provided with for sending control instruction and providing in the control box of working power, control box；It is provided with above the double-layered base plate at the top of electric storage cabinet, electric storage cabinet and is provided with detecting instrument placement window.The utility model is simple in construction, cost is relatively low, operation is simple, easy to maintenance, can be on the basis of traditional inspection function be realized, accurate detection nuclear radiation numerical value, the concentration of toxic and harmful gas, the safety of nuclear power station has been ensured, the reliability of inspection work, professional and security is substantially increased.
Description
Technical field
The utility model is related to robotic technology field, particularly a kind of inspection device applied to nuclear power station.
Background technology
With the progress of modern science and technology, automation equipment is widely used among all trades and professions.Power industry is used as tradition
Energy industry, with the continuous expansion of power network, the fast development of new energy and the improvement of generating power supply unit, increase inspection
Repair the difficulty of maintenance.For the reduction amount of labour, operating efficiency is improved, people gradually adopt crusing robot to replace daily inspection
Operation.For crusing robot, the current country has fewer companies carrying out the research of this respect, although some are made into
Product, but it is mostly expensive, and stability is not fully up to expectations, and all too high to work on the spot environmental requirement, technology is also not reaching to
Enough maturations, can not be generally applicable.
The content of the invention
The utility model technical issues that need to address are to provide a kind of inspection simple in construction, applied to nuclear power station and filled
Put, to reduce cost, improve the reliability of inspection work, professional and security.
In order to solve the above technical problems, technical solution adopted in the utility model is as follows.
Nuclear power station intelligent patrol detection device, including double-layered base plate, the double-layered base plate bottom are provided with traveling mechanism, double bottom
The direct current generator of driving traveling mechanism walking is provided with disk and for sending control instruction and providing the control of working power
Control module and power module are provided with box, control box；Electric storage cabinet, electronic storage are provided with above the double-layered base plate
Detecting instrument is provided with the top of thing cabinet and places window.
Above-mentioned nuclear power station intelligent patrol detection device, the detecting instrument, which is placed, is provided with gas detector and nuclear radiation spy in window
The output end of the controlled end link control module of survey instrument, gas detector and nuclear radiation detector.
Above-mentioned nuclear power station intelligent patrol detection device, the traveling mechanism includes two driving wheels and a universal wheel, universal wheel
Positioned at the front of two driving wheel central axis；The output end of the direct current generator connects two driving wheels by shaft coupling, directly
Flow the output end of the controlled end link control module of motor.
Above-mentioned nuclear power station intelligent patrol detection device, driving electric storing is provided between the electric storage cabinet and double-layered base plate
Be provided with the rack and pinion drive mechanism of cabinet folding, double-layered base plate drive gear action controlled motor, controlled motor by
Control the output end of end link control module.
Above-mentioned nuclear power station intelligent patrol detection device, the detecting instrument, which is placed, to be additionally provided with window front end face for gathering voice
The voice receiver of information, the input of the output end link control module of voice receiver.
Above-mentioned nuclear power station intelligent patrol detection device, the detecting instrument, which is placed, to be additionally provided with window front end face for playing voice
The audio amplifier of information, the output end of the controlled end link control module of audio amplifier.
Above-mentioned nuclear power station intelligent patrol detection device, the side wall of the double-layered base plate is additionally provided with automatic charge device, fills automatically
Electric installation includes being used for the plug of realization charging and is arranged on the push-rod electric machine in double-layered base plate for controller plug turnover, push rod
The output end of the controlled end link control module of motor.
It is provided with above-mentioned nuclear power station intelligent patrol detection device, the front side wall of the double-layered base plate for detecting whether front has
The ultrasonic sensor of barrier, the input of ultrasonic sensor output end link control module.
Radio communication circuit is provided with above-mentioned nuclear power station intelligent patrol detection device, the control module.
As a result of above technical scheme, technological progress acquired by the utility model is as follows.
The utility model is simple in construction, cost is relatively low, operation is simple, easy to maintenance, and intelligent patrol detection is realized for nuclear power station,
Many weak points of traditional patrol mode are made up, the reliability of inspection work, professional and security is substantially increased.
On the basis of realizing traditional inspection function, also with can detect nuclear radiation numerical value, toxic and harmful gas concentration function, ensure
The safety of nuclear power station, it also avoid the safety and Health problem that manual inspection may occur.The utility model has intelligent sound
System, can recognize simple speech signal, and the automatic turnover and automatic realize for realizing locker are set along fixed route transport inspection
Standby function.
Brief description of the drawings
Fig. 1 is left view of the present utility model；
Fig. 2 is front view of the present utility model；
Fig. 3 is the structural representation of drawer described in the utility model.
Fig. 4 is the structural representation of rack and pinion drive mechanism described in the utility model.
Wherein：1. universal wheel, 2. driving wheels, 3. electric storage cabinets, 4. double-layered base plates, 5. control box, 6. automatic chargings dress
Put, 7. gas detectors, 8. nuclear radiation detectors, 9. audio amplifiers, 10. voice receivers, 11. ultrasonic sensors, 12. gear teeth
Strip transmission mechanism.
Embodiment
The utility model is further elaborated below in conjunction with specific embodiment.
A kind of nuclear power station intelligent patrol detection device, its structure as depicted in figs. 1 and 2, including double-layered base plate 4, the bottom of double-layered base plate 4
Portion, which is provided with traveling mechanism, double-layered base plate 4, is provided with direct current generator, push-rod electric machine, controlled motor and control box 5, control box
Inside it is provided with control module and power module；The top of double-layered base plate 4 is provided with electric storage cabinet 3, the top of electric storage cabinet
It is provided with detecting instrument and places window.
Detecting instrument is placed in window and is provided with gas detector 7, nuclear radiation detector 8, voice receiver 10 and audio amplifier 9,
The controlled end of gas detector, nuclear radiation detector and audio amplifier distinguishes the output end of link control module, voice receiver it is defeated
Go out to hold the input of link control module.
Wherein, gas detector is used for the detection function of realizing toxic and harmful gas.In the present embodiment, gas detector is adopted
With the IR portable gas detectors of GasAlertMicro 5, up to five kinds pernicious gases, including two can be monitored and shown simultaneously
Carbonoxide（CO2）, oxygen（O2）, fuel gas（% LEL）And a variety of single electrochemically toxic sensors.It is low when occurring
When point, high point, TWA or STEL alert if, compact and light GasAlertMicro5 IR start sound, vision and shaken
Dynamic alarm.The IR of GasAlertMicro 5 carry out level configurations to meet a series of application requirements, as diffusion or pumping equipment；
Possess alkalescence or NiMH is chargeable with hot swap battery pack, and data recording capability can be matched；Sample rate factory preset is at intervals of 5
Second, user can sets itself between 1 to 127 second；Meanwhile, the uninterrupted number of more than 8 months can be also stored with 128MB storage cards
According to the passing normal inspection data of convenient contrast find the potential safety hazard that there is currently.
Nuclear radiation detector is used to realize radiation detection function.In the present embodiment, nuclear radiation detector uses WIMR-50 spokes
Penetrate survey meter, WIMR-50 radiation detecting instruments are with 12 inches of Geiger tube, commonly referred to as flapjack pipe is arranged on the instrument back side, shielded
Curtain is referred to as form；The instrument allows that Geiger tube can not be penetrated into by the alpha ray of plastic casing and β, the gamma-rays of low energy
Mica surface, the measurement of α, β, γ and Χ ray can be also carried out simultaneously.The need for nuclear power station can be according to use, dosage is voluntarily set
The alarm threshold value of equivalent rates, when the numerical value detected exceedes the alarm threshold value that staff sets, sends alarm, reminds automatically
Staff has found that it is likely that the situation that there is nuclear radiation leakage in time.WIMR-50 radiation detecting instruments employ advanced energy and mended
Technology is repaid, makes it that there is good accuracy to measuring for different-energy ray.
Voice receiver is used to realize speech identifying function.Apply in the utility model, staff can pass through language
Sound carrys out order controlled motor rotating, so as to realize the turnover control of locker, quickly and conveniently accesses inspection device.This implementation
In example, voice receiver uses integrated speech identification module ASR MO8-A, and by speech recognition sound, identification signal is issued
Control module.
Audio amplifier, the content set for play control module.
The rack and pinion drive mechanism of driving electric locker folding is provided between electric storage cabinet 3 and double-layered base plate 4
12, as shown in Figure 3 and Figure 4.The output end of the controlled end link control module of controlled motor, the output end tooth connection of controlled motor
Wheel, rotation direction and speed for controlling gear under the instruction of control module.
Traveling mechanism includes two driving wheels 2 and a universal wheel 1, and universal wheel is located at before two driving wheel central axis
Side；The output end of direct current generator by shaft coupling connect two driving wheels, the controlled end link control module of direct current generator it is defeated
Go out end.
Automatic charge device 6 is provided with the side wall of double-layered base plate, automatic charge device includes being used to realize inserting for charging
Head and the push-rod electric machine being arranged in double-layered base plate for controller plug turnover, the controlled end link control module of push-rod electric machine
Output end.The setting of automatic charge device, charges for realizing in power module not enough power supply for it；I.e. control module is detected
When being less than setting value to supply voltage, control inspection device returns to appointed place, and then it is slotting to control push-rod electric machine that plug is promoted
Seat realizes the device of automatic charging, full electricity backed off after random automatic charging pattern.
Ultrasonic sensor 11 is provided with the front side wall of double-layered base plate, for detecting whether front has barrier, ultrasound
The input of wave sensor output end link control module.The setting of ultrasonic sensor, for realizing intelligent barrier avoiding function, i.e.,
Ultrasonic sensor can detect the distance with the object in front in real time, and be transferred to control module, and control module therefore can root
Judge whether front has the presence of barrier according to distance；When running into barrier, control module can take frontier inspection to survey side coiling
The mode avoiding obstacles of walking, so that it is guaranteed that former track can be returned to after avoidance.During avoidance, control module collection
Road information, by analyzing relative position of the determination with original route in itself, so that it is guaranteed that former track can be returned to after avoidance.
Control module is used to realize to be controlled to the working condition of direct current generator, push-rod electric machine, controlled motor, that is, is passed through
Direct current generator is controlled to realize the control to whole device walking states, it is complete to automatic charge device by controlling push-rod electric machine to realize
Into the control of charging job state, by controlling controlled motor to realize the control to electric storage cabinet opening and closing.This practicality
In new, control module has memory function, and master chip uses the Atmega128 in AVR single chip, AVR single chip to possess 4K
EEPROM, power down do not lose data, is remembered by the EEPROM realizing routes for reading and writing single-chip microcomputer.When entering memory pattern,
Single-chip microcomputer can gather nuclear power station polling path information by the encoder on direct current generator, and change into mathematical modeling, so as to protect
Deposit the mathematical information in path；One numbering is set to the path by staff when collection is completed, when staff's remote control
Or key-press input is specifically numbered, system can just be overhauled and transporting equipment along corresponding path.
In the utility model, to realize the distant place control to inspection device, radio communication electricity is provided with the control module
Road, makes inspection device possess function of wireless remote control, is equipped with Digiplex and uses.In the present embodiment, Digiplex is used
STM32 microprocessors and TFT color touch screens composition touch screen are constituted, and remote control is needed to use touch screen control, therefore STM32 is used in selection
Processor is as controller, and the core control of robot is three pieces of single-chip microcomputers, and one of them is main frame, and it is AVR series
Mega128, two slaves in addition, one is also Mega128, and for controlled motor and ultrasonic sensor, another is STC public
51 single-chip microcomputers of department, it is for carrying out count pulse, it is possible to achieve the closed-loop control of motor.In the present embodiment, channel radio
News circuit is the nRF24L01 for the public use frequency range for being operated in 2.4Ghz, and transmission rate is fast, reliability is high, low in energy consumption；Remotely
The realization of control is that inspection device or remote controller with touch screen transmission order can have both been sent a command to by computer, is realized
Related inspection and transport.
During utility model works, first, route row of two driving wheels along setting is controlled by controlling direct current generator
Walk, walked using Two-wheeled and differential fashion steering can be achieved；Run to behind working region, gas detector and nuclear radiation detection
Instrument can automatically begin to work, record data, and be transferred to control module and analyzed and processed.Control module can also pass through channel radio
Letter circuit communicates information to master server and focused on.
Claims (9)
1. nuclear power station intelligent patrol detection device, it is characterised in that：Including double-layered base plate（4）, the double-layered base plate（4）Bottom is provided with
Traveling mechanism, double-layered base plate（4）Inside be provided with driving traveling mechanism walking direct current generator and for send control instruction and
The control box of working power is provided（5）, control module and power module are provided with control box；The double-layered base plate（4）It is upper
Side is provided with electric storage cabinet（3）, detecting instrument is provided with the top of electric storage cabinet and places window.
2. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：The detecting instrument is placed to be set in window
It is equipped with gas detector（7）And nuclear radiation detector（8）, the controlled end connection control mould of gas detector and nuclear radiation detector
The output end of block.
3. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：The traveling mechanism includes two drives
Driving wheel（2）With a universal wheel（1）, universal wheel is positioned at the front of two driving wheel central axis；The output of the direct current generator
End connects two driving wheels, the output end of the controlled end link control module of direct current generator by shaft coupling.
4. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：The electric storage cabinet（3）With it is double
Layer chassis（4）Between be provided with the rack and pinion drive mechanism of driving electric locker folding（12）, it is provided with double-layered base plate
The controlled motor of drive gear action, the output end of the controlled end link control module of controlled motor.
5. nuclear power station intelligent patrol detection device according to claim 4, it is characterised in that：The detecting instrument places window front end
The voice receiver for gathering voice messaging is additionally provided with face（10）, the output end link control module of voice receiver
Input.
6. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：The detecting instrument places window front end
The audio amplifier for playing voice messaging is additionally provided with face（9）, the output end of the controlled end link control module of audio amplifier.
7. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：The side wall of the double-layered base plate is also set
It is equipped with automatic charge device（6）, automatic charge device for realizing the plug of charging and being arranged in double-layered base plate including being used for
The push-rod electric machine of controller plug turnover, the output end of the controlled end link control module of push-rod electric machine.
8. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：On the front side wall of the double-layered base plate
It is provided with for detecting whether front has the ultrasonic sensor of barrier（11）, ultrasonic sensor output end connection control mould
The input of block.
9. nuclear power station intelligent patrol detection device according to claim 1, it is characterised in that：Nothing is provided with the control module
Line telecommunication circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720237877.1U CN206532141U (en) | 2017-03-13 | 2017-03-13 | Nuclear power station intelligent patrol detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720237877.1U CN206532141U (en) | 2017-03-13 | 2017-03-13 | Nuclear power station intelligent patrol detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206532141U true CN206532141U (en) | 2017-09-29 |
Family
ID=59915490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720237877.1U Expired - Fee Related CN206532141U (en) | 2017-03-13 | 2017-03-13 | Nuclear power station intelligent patrol detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206532141U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557920A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of self-navigation Jian Tu robot and control method |
-
2017
- 2017-03-13 CN CN201720237877.1U patent/CN206532141U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109557920A (en) * | 2018-12-21 | 2019-04-02 | 华南理工大学广州学院 | A kind of self-navigation Jian Tu robot and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 Termination date: 20180313 |
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| CF01 | Termination of patent right due to non-payment of annual fee |