CN218213464U - Port intellectual detection system robot - Google Patents

Abstract

The utility model relates to the technical field of port detection, in particular to an intelligent port detection robot, which comprises a base, a walking driving module, a positioning frame, a navigation positioning module, a radioactivity detection module, a power supply battery and a charging module; the walking driving module is arranged on the base and used for driving the base to walk; the positioning frame is arranged on the base through the lifting positioning mechanism; the navigation positioning module is arranged on the base; the navigation positioning module is used for navigation positioning; the radioactivity detection module is arranged on the positioning frame; the radioactivity detection module is used for detecting various radioactive rays; the power supply battery is arranged in the base, the charging module is arranged on the base, and the charging module is electrically connected with the power supply battery. The utility model has the advantages that need not to go on examining one by one through the manual work again, greatly reduced personnel working strength and cost of labor, also promote the efficiency, quality and the security that the radioactivity detected simultaneously.

Description

Port intellectual detection system robot

Technical Field

The utility model relates to a port detects technical field, especially relates to a port intellectual detection system robot.

Background

The radioactivity detection work of the national port is one of the important duties endowed to customs by law, the radioactivity safety is directly related to the life health of people and is one of the key points of national security clearance, and the radioactivity safety supervision work of the current port has the characteristics of more entry wharfs and large container quantity, and has complex situation and important responsibility.

There are several problems that exist: the radiation has great harm to human body: various radioactive rays are easy to cause harm to human health, acute injury and chronic injury are generated, customs officers are easy to irreversibly affect the human health after being contacted with or exposed to radioactive polluted environments for a long time, and the harm level is higher especially when the neutron radiation extreme condition that the metal protective clothing is ineffective occurs. (II) the detection workload intensity is large: in order to reduce radioactive hazards, customs officers must wear heavy metal protective clothing when checking radioactive alarm checking tasks, and the extra load increases difficulty when performing radioactive detection work on customs officers; and the customs officer can not carry out all-weather 24-hour routing inspection, and once an accident occurs, the customs officer enters dangerous environments such as toxic environment, anoxic environment, combustion environment, explosion environment and the like, so that injuries of different degrees are inevitably caused, and the casualties are seriously caused. (III) the detection process is complicated: a large amount of data which needs to be recorded manually on the site is detected every time, instrument coefficients need to be combined in the later period, manual calculation is carried out according to a formula, and the whole data recording is too tedious.

SUMMERY OF THE UTILITY MODEL

The utility model discloses it is big with the dangerous high technical problem of radioactive detection to have detection intensity in the present port testing process to solve, provides one kind and realizes automated inspection, reduces personnel working strength and danger, promotes the port intellectual detection system robot of radioactive detection efficiency and precision simultaneously.

For the purpose of the utility model, the following technical scheme is adopted to realize:

an intelligent port detection robot comprises a base, a walking driving module, a positioning frame, a navigation positioning module, a radioactivity detection module, a power supply battery and a charging module; the walking driving module is arranged on the base and used for driving the base to walk; the positioning frame is arranged on the base through the lifting positioning mechanism; the navigation positioning module is arranged on the base; the navigation positioning module is used for navigation positioning; the radioactivity detection module is arranged on the positioning frame; the radioactivity detection module is used for detecting various radioactive rays; the power supply battery is arranged in the base and is respectively and electrically connected with the walking driving module, the navigation positioning module and the radioactivity detection module; the charging module is arranged on the base and is electrically connected with the power supply battery. Automatic navigation and positioning are realized through the port intelligent detection robot, radioactive ray automatic detection is carried out in the container, the container is convenient to control, the working pressure of workers is reduced, and the radioactive detection efficiency and precision are improved.

Preferably, the radioactivity detection module comprises an X-ray detector, an alpha-ray detector, a beta-ray detector and a gamma-ray detector; the X-ray detector, the alpha-ray detector, the beta-ray detector and the gamma-ray detector are respectively arranged on the positioning frame. Different radiation is detected by different detectors.

Preferably, the lifting positioning mechanism is at least one telescopic rod; the upper end and the locating rack of telescopic link are connected, and the lower extreme and the base of telescopic link are connected, and form the installation space that is used for navigation positioning between locating rack and the base.

Preferably, the walking driving module comprises a plurality of walking wheels and a walking driving motor; the walking wheels are arranged at the bottom of the base, and the walking driving motor is arranged in the base; and the walking driving motor is in transmission connection with a plurality of walking wheels. A plurality of walking wheels are driven to rotate by the walking driving motor, so that the all-directional movement is realized.

Preferably, the navigation positioning module comprises a laser radar, a single-point laser range finder, a binocular ultrasonic positioner, a plurality of GPS antennas, a plurality of millimeter wave radars, an obstacle avoidance sensor and a navigation system; the laser radar is arranged at the top of the base; the single-point laser range finder is arranged at the bottom of the positioning frame; the binocular ultrasonic positioner is arranged at the lower part of the positioning frame; the plurality of GPS antennas are respectively arranged at the upper part of the positioning frame; the plurality of millimeter wave radars, the obstacle avoidance sensor and the navigation system are respectively arranged on the positioning frame and are navigated through the navigation system. The positioning accuracy of the robot in the moving process is improved through the navigation positioning module, and meanwhile, a navigation route is convenient to specify.

Preferably, the system also comprises an audio transmission module and a camera module; the audio transmission module is an audio interphone, a voice recognizer and a loudspeaker; the audio interphone, the voice recognizer and the loudspeaker are respectively arranged at the upper part of the positioning frame; the camera module comprises an LED display screen, a rotating bracket, a holder, a high-definition camera, a thermal imaging camera and a plurality of starlight cameras; the LED display screen is arranged in the middle of the positioning frame; the rotating bracket is rotatably connected to the top of the positioning frame, and the holder is arranged on the rotating bracket; the high-definition camera and the thermal imaging camera are respectively connected to two sides of the holder; the high-definition camera and the thermal imaging camera are respectively connected with the LED display screen; the plurality of starlight cameras are respectively arranged on the positioning frame and connected with the LED display screen. The voice broadcasting, information displaying and intelligent identification functions can be conveniently realized through the audio transmission module. The function of image acquisition, infrared temperature measurement, initiative obstacle avoidance is convenient for realize through camera module, can realize that the empty case of container detects and be convenient for look up the environmental aspect of port to also be convenient for patrol and examine the port environment night.

Preferably, the positioning frame is provided with a smoke sensor, a temperature and humidity sensor, an ultrasonic sensor, a drop sensor and a gas detection sensor group. Carry out real-time detection to each item data through different sensors, promote the management and control to the port, ensure the security of port environment.

Preferably, the charging module comprises a charging cover plate, a charging interface, a USB interface and a remote control button; the charging cover plate is fixedly connected to the base through a screw; the charging interface, the USB interface and the remote control button are respectively arranged on the charging cover plate, and the charging interface, the USB interface and the remote control button are respectively electrically connected with the power supply battery. The charging module is convenient for charging the power supply battery and data transmission and remote control.

Preferably, the mobile phone comprises an app control module and a data transmission and storage module, wherein the app control module is used for communicating with the mobile phone app. Through app, the staff can be reminded in time when the situation happens while the staff remote control is facilitated.

Preferably, a plurality of running state lamps are arranged on the base; an audible and visual alarm is arranged on the positioning frame; an emergency stop button is arranged on the base; and an SOS button is arranged on the positioning frame. Through emergency stop button be convenient for carry out artifical emergency stop, can realize emergency alarm through the SOS button, transmit danger signal to personnel and the staff of cell-phone end around.

Adopt an above-mentioned technical scheme's a port intellectual detection system robot, this robot effect is patrolled and examined for port on-the-spot safety in replacing the manpower, and the robot possesses following multinomial function, wherein includes: radioactivity detection, empty box detection, image video acquisition, infrared temperature measurement, autonomous cruising, active obstacle avoidance, data interaction transmission, multi-mode control, safety warning, gas detection, audible and visual alarm, voice broadcasting, autonomous charging, information display and intelligent identification. Meanwhile, the safety of the robot and the adaptability to the environment should be ensured.

To sum up, the utility model has the advantages that need not to go on examining one by one through the manual work again, greatly reduced personnel working strength and cost of labor, also promote the efficiency, quality and the security that port radioactivity detected simultaneously.

Drawings

Fig. 1 is the utility model discloses a positive schematic structure of port intellectual detection system robot.

Fig. 2 is the structure schematic diagram at the back of the port intelligent detection robot of the utility model.

Fig. 3 is a schematic structural diagram of the middle charging module of the present invention.

Wherein: 1-a base; 11-run status light; 12-emergency stop button; 2-a walking driving module; 21-a travelling wheel; 3-a positioning frame; 30-a telescopic rod; 31-audible and visual alarm; 32-SOS button; 4-a navigation positioning module; 41-laser radar; 42-single point laser rangefinder; 43-binocular ultrasound localizer; 44-a GPS antenna; 45-millimeter wave radar; 5-an audio transmission module; 51-an audio intercom; 52-a speech recognizer; 6-a camera module; 61-LED display screen; 62-a rotating bracket; 63-a tripod head; 64-high definition camera; 65-thermal imaging camera; 66-starlight camera; 7-a charging module; 71-a charging cover plate; 72-a charging interface; 73-USB interface; 74-remote control button.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the following detailed description.

As shown in fig. 1 and fig. 2, an intelligent port detection robot includes a base 1, a walking driving module 2, a positioning frame 3, a navigation positioning module 4, an audio transmission module 5, a radioactivity detection module, a camera module 6, a power supply battery, and a charging module 7; the walking driving module 2 is arranged on the base 1, and the walking driving module 2 is used for driving the base 1 to walk; the positioning frame 3 is arranged on the base 1 through a lifting positioning mechanism, the lifting positioning mechanism is used for carrying out lifting adjustment on the positioning frame 3, and the lifting positioning mechanism comprises four telescopic rods 30; the upper end of each telescopic rod 30 is hinged to the outer ring at the bottom of the positioning frame 3, the lower end of each telescopic rod 30 is hinged to the outer ring at the top of the base 1, the area of the outer ring at the bottom of the positioning frame 3 is smaller than that of the outer ring at the top of the base 1, and an installation space for installing the laser radar 41 is formed by the four telescopic rods 30. The telescopic rod 30 is structurally an inner sleeve, an outer sleeve and a swing arm, and is approximately 3-4 sections, so that the adjustment in the horizontal direction, the vertical direction and the depth direction is realized, and the height can be dynamically adjusted between 0.7 and 2.1 meters in the aspect of lifting. When only one telescopic rod 30 is provided, only the lifting and positioning functions can be realized. When four telescopic links 30 are used, the four telescopic links 30 can be synchronously stretched to realize lifting positioning, and two adjacent telescopic links can be synchronously stretched to control positioning in the horizontal direction. Thus, the adjustment in the horizontal, vertical and depth directions is realized by the four telescopic rods 30. The navigation positioning module 4 is arranged on the base 1; the navigation positioning module 4 is used for navigation positioning; the audio transmission module 5 and the radioactivity detection module are respectively arranged on the positioning frame 3; the audio transmission module 5 is used for carrying out audio transmission; the radioactivity detection module is used for detecting various radioactive rays; the camera module 6 is rotatably connected to the top of the positioning frame 3, and the camera module 6 is used for shooting the surrounding environment and people; the power supply battery is arranged in the base 1 and is respectively and electrically connected with the walking driving module 2, the navigation positioning module 4, the audio transmission module 5, the radioactivity detection module and the camera module 6; the charging module 7 is arranged on the base 1, and the charging module 7 is electrically connected with the power supply battery. A plurality of operation state lamps 11 are provided on the base 1. The operating state of the robot can be more intuitively seen through the operating state lamp 11. The base 1 is provided with an emergency stop button 12; the positioning frame 3 is provided with an SOS button 31. The emergency stop button 12 is convenient for manual emergency stop, and the SOS button 31 can realize emergency alarm and transmit dangerous signals to surrounding personnel and personnel at the mobile phone end. The explosion-proof level of whole robot is not less than IIBT4, patrols and examines the robot through intelligent port and realizes automatic navigation location, automated inspection harmful gas, patrols and examines to the port environment automatically, carries out image video acquisition automatically and realizes data interaction transmission, conveniently controls, alleviates staff's operating pressure, promotes and patrols and examines the effect.

The radioactivity detection module comprises an X-ray detector, an alpha-ray detector, a beta-ray detector and a gamma-ray detector; the X-ray detector, the alpha-ray detector, the beta-ray detector and the gamma-ray detector are respectively arranged on the positioning frame. Different radioactive rays are detected through different detectors, an identiFINDER nuclide analyzer can be directly utilized, the functions of gamma external irradiation penetrating dose rate measurement and nuclide analysis are achieved, data can be exported in real time, and the optimal measurement distance is within 10cm from the container. The detection of the environment in the container is realized by replacing different measuring instruments. When the radioactivity detection is carried out, the robot is moved to the position near the container, the horizontal distance between the robot and the container is kept within 10cm through accurate positioning, and then the telescopic rod 30 is used for collecting a plurality of collecting points with different heights to carry out multi-point collecting detection, so that the accuracy and the uniformity of the radioactivity detection can be further improved.

The walking driving module 2 comprises two walking wheels 21 and a walking driving motor; the walking wheels 21 are arranged at the bottom of the base 1, and the walking driving motor is arranged in the base 1; and the walking driving motor is in transmission connection with the two walking wheels 21, the walking driving motor drives the two walking wheels 21 to rotate through the walking driving motor, so that the all-dimensional movement is realized, and the requirement of stable walking in a complex field is met. Also can be four-wheel, six round structures, walking drive module 2 and chassis 1 can also replace with tracked robot chassis, tracked robot chassis's overall dimension is 600 × 450 × 200mm, the size also can use bigger platform, the size is 1010 × 750 × 400mm, through installing many pieces of damping bumper shock absorbers, the cooperation track sets up inside and outside decorative pattern, can be more steady smooth and easy when keeping the ground power of grabbing of bottom surface, tracked robot chassis's power is supplied with through power supply battery.

The navigation positioning module 4 comprises a laser radar 41, a single-point laser range finder 42, a binocular ultrasonic positioner 43, a plurality of GPS antennas 44, a plurality of millimeter wave radars 45, an obstacle avoidance sensor and a navigation system; the laser radar 41 is arranged on the top of the base 1; the method comprises the steps of transmitting a detection signal to a target through a laser radar 41, comparing a received signal target echo reflected from the target with the transmitted signal, and after proper processing, obtaining relevant information of the target, such as target distance, direction, height, speed, posture, even shape and other parameters, adopting 16-path laser radar 41 to scan and sense obstacles in a walking path, and guiding the robot to actively avoid the obstacles by matching with a walking control computer board. The single-point laser distance measuring device 42 is arranged at the bottom of the positioning frame 3; the distance detection is performed by the single-point laser range finder 42 measuring the target distance at which the light beam is directed by stimulated emission pulsed light technology. The binocular ultrasonic positioner 43 is arranged at the lower part of the positioning frame 3; the positioning accuracy is further improved by the binocular ultrasonic positioner 43. The plurality of GPS antennas 44 are respectively arranged on the upper part of the positioning frame 3, so that positioning receiving signals are increased, and the accuracy of the positioned robot in the moving process is improved. The plurality of millimeter wave radars 45, the obstacle avoidance sensor and the navigation system are respectively arranged on the positioning frame 3, and the millimeter wave radars 45 are used for measuring and positioning the high-precision distance, direction, frequency and spatial position. The obstacle avoidance sensor can realize active obstacle avoidance, and the robot is prevented from colliding with an object. The navigation system adopts the combination of three-dimensional laser navigation and Beidou difference to carry out navigation. The navigation positioning module 4 improves the positioning accuracy of the robot in the moving process and is convenient for appointing a navigation route.

The audio transmission module 5 is an audio interphone 51, a voice recognizer 52 and a loudspeaker; the audio interphone 51, the voice recognizer 52 and the speaker are respectively arranged on the upper part of the positioning frame 3. An audio dialogue is facilitated by the audio interphone 51, and a voice communication and a voice control are facilitated by the voice recognizer 52. The audio transmission module 5 is convenient for realizing the functions of intelligent broadcasting such as voice broadcasting, information display, intelligent identification, mobile detection, shielding alarm, full memory, wrong memory, abnormal audio detection, border crossing detection, regional intrusion detection and the like

The positioning frame 3 is also provided with a smoke sensor, a temperature and humidity sensor, an ultrasonic sensor, a drop sensor and a gas detection sensor group; smoke, wet temperature and ultrasonic detection are respectively carried out through the smoke sensor, the temperature and humidity sensor, the ultrasonic sensor and the drop sensor, the drop sensor is adopted, the large pothole terrain on the ground is sensed, and the robot is prevented from falling into the pothole on the ground. Each of harmful radioactive gases, such as chlorine gas, ammonia gas, sulfur dioxide, fluorine gas, phosphine, boron trifluoride, etc., is detected by a gas detection sensor group. Through carrying out real-time detection to each item of data, promote the management and control to the port, ensure the security of port environment.

The camera module 6 comprises an LED display screen 61, a rotating bracket 62, a holder 63, a high-definition camera 64, a thermal imaging camera 65 and three starlight cameras 66; the LED display screen 61 is arranged in the middle of the positioning frame 3; the LED display screen 61 is convenient for reflect the scene irradiated by the camera to the LED display screen 61, so that the worker can conveniently check the scene, and the operation and control of the scene on the LED display screen 61 are also convenient. The rotating bracket 62 is rotatably connected to the top of the positioning frame 3, and the pan-tilt 63 is arranged on the rotating bracket 62; the high-definition camera 64 and the thermal imaging camera 65 are respectively connected to two sides of the holder 63; the high-definition camera 64 and the thermal imaging camera 65 are respectively connected with the LED display screen 61; the high-definition camera 64 is convenient for checking the peripheral environment condition of the port robot in real time, can capture and record pedestrians appearing in the picture in the patrol process, is convenient for checking and judging at a background, prevents people from being sneaked, and can intelligently identify whether the people wear the mask correctly; identifying whether the person is a foreign person or not by adding a black and white list, and snapshotting; and whether the vehicles are port vehicles can be identified by adding a black and white list of the license plate. Can carry out empty case to the container through high definition camera 64 and detect, shoot the record in to the container through high definition camera 64 to other article or dangerous goods have been deposited to empty container, during the discovery article, the notice staff can rush to the scene and inspect, need not to carry out the investigation one by one at the manual work to every container. Abnormal high temperature events can be found by the thermal imaging camera 65 to report back-office management personnel, such as high temperature of the container, in time. The body temperature test can be carried out on the person, and the person with fever can be found in time. The three starlight cameras 66 are respectively arranged at the left part, the right part and the rear part of the positioning frame 3, and each starlight camera 66 is connected with the LED display screen 61, so that the port environment can be conveniently patrolled at night. The camera module 6 is convenient for realizing the functions of image acquisition, infrared temperature measurement and active obstacle avoidance, and can realize the view of the environmental condition of the port.

As shown in fig. 3, the charging module 7 includes a charging cover 71, a charging interface 72, a USB interface 73, and a remote control button 74; the charging cover plate 71 is fixedly connected to the base 1 through screws; the charging port 72, the USB port 73 and the remote control button 74 are respectively arranged on the charging cover plate 71, the charging port 72, the USB port 73 and the remote control button 74 are respectively electrically connected with a power supply battery, the power supply battery is a rechargeable lithium battery, the power supply battery can be conveniently charged through the charging module 7, and data transmission and remote control robot walking or robot detection are also conveniently carried out.

The robot also comprises an app connecting module and a data transmission and storage module which are used for communicating with the mobile phone. The method comprises the following steps that software deployment is carried out in a C/S + B/S + APP mode, a running end adopts a C/S mode, a configuration management end adopts a B/S mode, and an operation end adopts an APP mode. When being convenient for personnel remote control through app, also be convenient for in time remind the staff when the emergence condition, data storage module adopts the MicroSD storage mode to save, other information such as video, picture, port environmental conditions, measured data that can gather.

This robot is used for replacing the manpower to carry out on-the-spot safety and patrols and examines, and the robot possesses following multinomial functions, wherein includes: radioactivity detection, empty box detection, image video acquisition, infrared temperature measurement, autonomous cruising, active obstacle avoidance, data interaction transmission, multi-mode control, safety warning, gas detection, sound and light alarm, voice broadcasting, autonomous charging, information display and intelligent identification. Meanwhile, the safety of the robot and the adaptability to the environment should be ensured.

And (3) detecting radioactivity: through the different radiation detectors on the radioactivity detection module, detect different radioactive rays in the container, can reduce the harm that artifical detection brought the health, also more conveniently detect when promoting the safety guarantee.

And (3) empty box detection: whether there are other article in the recognition box through high definition camera 64 on the camera module 6 shooting to going on in the container, the staff can obtain information in real time when controlling the robot, also can be with the information storage after shooing the back, the staff is follow-up looking up.

An image acquisition function: the high-definition camera 64 and the starlight camera 66 on the camera module 6 meet the requirement that the pixels are not lower than 200W, and the maximum resolution is not lower than 1920 x 1080; automatic defogging and defrosting functions; a high-definition night vision function; automatic focusing, not less than 20 times zooming; horizontally rotating for 360 degrees, and vertically rotating for-90 degrees to +90 degrees; the functions of network output and signal 4G/5G and WIFI transmission are supported; a multi-mode expansion interface; the image and video signals can be stored in local and network simultaneously; capturing an image; password protection, multi-user access functions.

Infrared temperature measurement function: a vanadium oxide non-refrigeration detector is used by the thermal imaging camera 65; resolution is not less than 384 × 288; support 3D noise reduction functionality; multiple adjustable false colors and image detail enhancement function; supporting mirror image, digital zooming X2, X4 and local video output; the temperature abnormity warning function is supported; supporting ignition source detection function.

Autonomous cruising: the autonomous cruise function based on the Beidou positioning system is realized through the laser radar 41, the single-point laser range finder 42, the binocular ultrasonic positioner 43, the GPS antennas 44, the millimeter wave radars 45, the obstacle avoidance sensor and the navigation system on the navigation positioning module 4, the path deviation does not exceed 10cm, and the automatic deviation rectification function is realized; a path learning function under the support of a plurality of paths of laser radars and sensors; the path planning mode is simple and convenient and easy to operate; and a TOF method distance measuring function is adopted.

Obstacle avoidance by self: sensing the obstacles in the walking path through a laser radar 41 on the navigation positioning module 4, and guiding the robot to actively avoid the obstacles by matching with a walking control computer board; the robot is prevented from falling into the hollow part on the ground by sensing the large hollow terrain on the ground through the falling sensor.

Data interactive transmission: the data transmission mode supporting WIFI, 4G and 5G multi-mode transmission is realized through the data transmission storage module; support RJ45 network port, CAN port data interface; the software aspect can provide a standard protocol interface for the secondary development of the system and the butt joint of the system; the robot state and local detection data can be remotely displayed in real time, and the robot state and local detection data comprise temperature and humidity data, gas detection data, infrared temperature measurement data, fault alarm, charging indication, cruise point position display and other information.

And (3) multi-mode control: the robot can realize local control through a handle carried by the robot on the premise of autonomous cruising; the remote operation control of the robot can be realized through local/remote switching; after the manual control is finished, the robot can automatically return to the cruise point position to continue to execute the autonomous cruise operation; the remote control mode comprises mobile phone APP and computer software control.

Safety warning: the whole appearance is safely coated; the alarm has the acousto-optic warning function, and the acousto-optic alarm 31 adopts an explosion flashing light.

Gas detection: a VOC and toxic gas probe combination mode is adopted through a gas detection sensor group; the VOC module adopts a PID photo-ion detection mode, and the toxic gas module adopts an electrochemical detection mode; the gas detection sensor group consists of 2 modules, each module is based on a VOC plate, wherein the toxic gas detectable by the module I can be hydrogen bromide and chlorine, and the toxic gas detectable by the module II can be fluorine gas, phosphine and boron trifluoride. The gas detection sensor group is plug-and-play replaceable.

Audible and visual alarm: when the conditions of gas concentration alarm, violation alarm, fault alarm and the like occur on site, the robot can give out sound and light alarm; the alarm sounds need to be distinguished according to different types of alarms; the alarm mode is realized by an audible and visual alarm 31; the sound-light alarm volume is not less than 65dBA within 1 m.

Voice broadcasting: the voice broadcasting comprises robot autonomous broadcasting and manual broadcasting; the volume of the loudspeaker within 1m cannot be lower than 65dBA; the robot can automatically broadcast through a loudspeaker of the audio transmission module 5, and broadcast contents comprise road guide, propaganda education, low-power warning and fault warning; the manual broadcasting supports the remote microphone calling function.

Self-charging: the automatic electric quantity identification function, the electric quantity independently returns when being less than 20% and fills electric pile and charge, can return to the position of cruising after full electric and continue to cruise.

Information display: information display is realized through an LED display screen 61, and the size of the LED display screen 61 is 10.6 inches; the LED display screen 61 needs to be pasted with a reflective film to ensure that the display can be clearly displayed under the condition of intense sunlight in the daytime; the information display content can be uploaded through a U disk or a remote control software page.

Intelligent identification: the intelligent identification content comprises face identification, license plate identification, pedestrian identification, whether to match a mask or not and the like.

To sum up, the utility model has the advantages that need not to go on examining one by one through the manual work again, greatly reduced personnel working strength and cost of labor, also promote the efficiency, quality and the security that port radioactivity detected simultaneously.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present disclosure.

Claims (10)

1. An intelligent port detection robot is characterized by comprising a base (1), a walking driving module (2), a positioning frame (3), a navigation positioning module (4), a radioactivity detection module, a power supply battery and a charging module (7); the walking driving module (2) is arranged on the base (1), and the walking driving module (2) is used for driving the base (1) to walk; the positioning frame (3) is arranged on the base (1) through a lifting positioning mechanism; the navigation positioning module (4) is arranged on the base (1); the navigation positioning module (4) is used for performing navigation positioning; the radioactivity detection module is arranged on the positioning frame (3); the radioactivity detection module is used for detecting various radioactive rays; the power supply battery is arranged in the base (1) and is respectively and electrically connected with the walking driving module (2), the navigation positioning module (4) and the radioactivity detection module; the charging module (7) is arranged on the base (1), and the charging module (7) is electrically connected with the power supply battery.

2. The port intelligent detection robot of claim 1, wherein the radioactivity detection module comprises an X-ray detector, an alpha-ray detector, a beta-ray detector and a gamma-ray detector; the X-ray detector, the alpha-ray detector, the beta-ray detector and the gamma-ray detector are respectively arranged on the positioning frame (3).

3. The intelligent port detection robot as claimed in claim 1 or 2, wherein the lifting positioning mechanism is at least one telescopic rod (30); the upper end of the telescopic rod (30) is connected with the positioning frame (3), the lower end of the telescopic rod (30) is connected with the base (1), and an installation space for navigation and positioning is formed between the positioning frame (3) and the base (1).

4. The port intelligent detection robot according to claim 1, wherein the walking drive module (2) comprises a plurality of walking wheels (21) and walking drive motors; the walking wheels (21) are arranged at the bottom of the base (1), and the walking driving motor is arranged in the base (1); and the walking driving motor is in transmission connection with a plurality of walking wheels (21).

5. The port intelligent detection robot according to claim 1, wherein the navigation and positioning module (4) comprises a laser radar (41), a single-point laser range finder (42), a binocular ultrasonic positioner (43), a plurality of GPS antennas (44), a plurality of millimeter wave radars (45), an obstacle avoidance sensor and a navigation system; the laser radar (41) is arranged at the top of the base (1); the single-point laser range finder (42) is arranged at the bottom of the positioning frame (3); the binocular ultrasonic positioner (43) is arranged at the lower part of the positioning frame (3); the plurality of GPS antennas (44) are respectively arranged at the upper part of the positioning frame (3); the millimeter wave radars (45), the obstacle avoidance sensors and the navigation system are respectively arranged on the positioning frame (3) and navigate through the navigation system.

6. The port intelligent detection robot according to claim 1, further comprising an audio transmission module (5) and a camera module (6); the audio transmission module (5) comprises an audio interphone (51), a voice recognizer (52) and a loudspeaker; the audio interphone (51), the voice recognizer (52) and the loudspeaker are respectively arranged at the upper part of the positioning frame (3); the camera module (6) comprises an LED display screen (61), a rotating bracket (62), a holder (63), a high-definition camera (64), a thermal imaging camera (65) and a plurality of starlight cameras (66); the LED display screen (61) is arranged in the middle of the positioning frame (3); the rotating bracket (62) is rotatably connected to the top of the positioning frame (3), and the holder (63) is arranged on the rotating bracket (62);

the high-definition camera (64) and the thermal imaging camera (65) are respectively connected to two sides of the holder (63); the high-definition camera (64) and the thermal imaging camera (65) are respectively connected with the LED display screen (61); the plurality of starlight cameras (66) are respectively arranged on the positioning frame (3), and the starlight cameras (66) are connected with the LED display screen (61).

7. The port intelligent detection robot according to claim 1, wherein the positioning frame (3) is provided with a smoke sensor, a temperature and humidity sensor, an ultrasonic sensor, a drop sensor and a gas detection sensor group.

8. The intelligent port detection robot as claimed in claim 1, wherein the charging module (7) comprises a charging cover plate (71), a charging interface (72), a USB interface (73) and a remote control button (74); the charging cover plate (71) is fixedly connected to the base (1) through screws; the charging interface (72), the USB interface (73) and the remote control button (74) are respectively arranged on the charging cover plate (71), and the charging interface (72), the USB interface (73) and the remote control button (74) are respectively electrically connected with the power supply battery.

9. The port intelligent detection robot of claim 1, comprising an app control module for communicating with a mobile phone app and a data transmission and storage module.

10. The port intelligent detection robot according to claim 1, wherein a plurality of operation status lights (11) are arranged on the base (1); an audible and visual alarm (31) is arranged on the positioning frame (3); the base (1) is provided with an emergency stop button (12); the positioning frame (3) is provided with an SOS button (32).

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