A nuclear, biological and chemical AI robot inspection device

Abstract

The present invention discloses a nuclear, biological and chemical AI robot inspection device, including a robot body; a moving mechanism, installed at the lower part of the robot body, used for the movement of the robot body; a collection unit, including a camera, a nuclear radiation detection unit, a sampling unit and a detection unit, the sampling unit includes a sampling mechanism and a sampling collection box, the sampling mechanism and the sampling collection box are used for sampling and collecting soil, solid objects, liquids and gases; a disinfection unit, which uses a spray of a pharmaceutical agent for disinfection. The various units of the present invention cooperate to realize unmanned inspection of remote-controlled robots in nuclear, biological and chemical scenes, avoid contact between human inspection and nuclear radiation, and reduce safety hazards. The collection unit includes a nuclear radiation detection unit, a sampling unit and a detection unit, and cooperates with the disinfection unit to realize nuclear radiation detection, on-site sampling, on-site sample automatic rapid detection, and site disinfection. Multifunctional operations, reducing the degree of human participation in all aspects.

Description

Technical Field

[0001] The present invention relates to the field of nuclear, biological and chemical inspection technology, and in particular to a nuclear, biological and chemical AI robot inspection device. Background Art

[0002] Nuclear, biological and chemical inspections are investigation and resolution actions specifically conducted against terrorist attacks or incidents in the nuclear and biological fields, nuclear industrial environments, urban anti-terrorism and other environments. Nuclear, biological and chemical inspections mainly include nuclear radiation detection in the inspection environment and sample collection. Although there are a variety of detection equipment and auxiliary detection tools, it is still necessary to manually wear protective clothing to enter the nuclear, biological and chemical inspection site for operation. Even if people wear protective clothing when entering the nuclear, biological and chemical zone, there are still great safety hazards if the operation is improper or the protective clothing is damaged. Now reducing the number of people entering nuclear, biological and chemical sites to realize inspections is an important research and development direction.

[0003] Therefore, it is necessary to invent a nuclear, biological and chemical AI robot inspection device to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a nuclear, biological and chemical AI robot inspection device to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a nuclear, biological and chemical AI robot inspection device, comprising:

[0006] Robot body;

[0007] A moving mechanism, installed at the lower part of the robot body, used for moving the robot body;

[0008] A collection unit, including a camera, a nuclear radiation detection unit, a sampling unit and a detection unit, wherein the sampling unit includes a sampling mechanism and a sampling collection box, and the sampling mechanism and the sampling collection box are used for sampling and collecting soil, solid objects, liquids and gases;

[0009] The disinfection unit uses pesticide spray for disinfection;

[0010] Wireless unit and handheld remote control terminal: information transmission connection is used for remote control of this device;

[0011] Data storage unit;

[0012] Alarm unit, located in the handheld remote control terminal;

[0013] The main control unit, the robot body, the mobile mechanism, the acquisition unit, the disinfection unit, the wireless unit, and the data storage unit are all connected to the main control unit for information transmission;

[0014] The power supply unit is used to supply power to each unit.

[0015] Optionally, the nuclear radiation detection unit includes but is not limited to one or more of a nuclide identifier, a Geiger counter, a scintillation detector and a semiconductor detector.

[0016] Optionally, the sampling mechanism includes a first transverse slide rail, a first vertical slide rail, a metal tube, a second transverse slide rail, a first liquid pump, a second vertical slide rail and a discharge barrel; the first transverse slide rail, the first vertical slide rail, the second transverse slide rail and the second vertical slide rail are all electric slide rails, and all include a guide rail portion and a sliding portion; the guide rail portion of the first vertical slide rail is fixed to the sliding portion of the first transverse slide rail; a mounting seat is fixedly installed on the sliding portion of the first vertical slide rail; the metal tube is a straight tube with open ends and a hollow interior, which is vertically installed on the bottom of the mounting seat and the upper end passes through the mounting seat upward; a vertically arranged first automatic telescopic rod is fixedly installed on the top of the mounting seat; the output end of the first automatic telescopic rod is connected to the metal tube Coaxially arranged and in contact with the inner wall of the metal tube, the first liquid pump is fixedly mounted on the mounting seat, the input end of the first liquid pump is communicated with the upper part of the inner cavity of the metal tube, the guide rail portion of the first horizontal slide is fixedly mounted on the outer front side of the robot body, and the first horizontal slide and the first vertical slide and the components mounted on the first vertical slide are all located outside the robot body, the second horizontal slide is fixedly mounted inside the robot body, the guide rail portion of the second vertical slide is fixedly mounted on the sliding portion of the second horizontal slide, the discharge barrel is vertically arranged with an open bottom, and is fixedly mounted on the sliding portion of the second vertical slide, and the output end of the first liquid pump is communicated with the inner cavity of the discharge barrel through a hose.

[0017] Optionally, drawer rails are installed on both sides of the sampling collection box and are slidably installed on the front side of the robot body. A second automatic telescopic rod is fixedly installed inside the robot body. The output direction of the second automatic telescopic rod is parallel to the drawer rail guide. The output end of the second automatic telescopic rod is fixedly connected to the sampling collection box. The sampling collection box is provided with a soil collection tank, a storage trough, a liquid collection tank and a gas collecting bottle in sequence from the outer end along the depth direction. The soil collection tank, storage trough, liquid collection tank and gas collecting bottle are all arranged in a number along the width direction of the sampling collection box.

[0018] Optionally, the gas collecting bottle includes a gas storage bottle and an electric gas valve, the output end of the electric gas valve is sealed and connected to the end of the gas storage bottle, and the input end of the electric gas valve is located at the top of the gas collecting bottle.

[0019] Optionally, the detection unit includes a radioactivity detector and a sample box, the radioactivity detector is fixedly mounted on the sliding part of the first vertical slide rail, and the detection end of the radioactivity detector faces downward, the sample box is rotatably mounted on the outer end of a sampling collection box, a first motor is installed inside the sampling collection box, and the output end of the first motor is coaxially connected to the rotating mounting part of the sample box.

[0020] Optionally, a cleaning nozzle is installed on the front side of the sampling and collecting box, and the cleaning nozzle is located at the lower part of one side of the sample box with the output end facing the sample box. A water tank and a second liquid pump are also provided inside the sampling and collecting box. The input end of the second liquid pump is connected to the inner cavity of the water tank, and the output end is connected to the input end of the cleaning nozzle.

[0021] Optionally, the disinfection unit includes an atomizing nozzle, a third liquid pump and a liquid storage tank. The atomizing nozzle is installed at the upper rear end of the robot body with the output end facing backwards. The third liquid pump and the liquid storage tank are both installed inside the robot body. The input end of the third liquid pump is connected to the inner cavity of the liquid storage tank, and the output end is connected to the input end of the atomizing nozzle.

[0022] Optionally, the disinfection unit also includes a bearing seat, a second motor, a first connecting rod, a second connecting rod and a third connecting rod. The atomizing nozzle is rotatably mounted on the robot body through the bearing seat. The bearing seat includes an inner shaft and an outer shaft. The outer shaft of the bearing seat is fixed to the robot body. The atomizing nozzle is fixed to the inner shaft of the bearing seat. The first connecting rod, the second connecting rod and the third connecting rod are hinged in sequence. The unconnected end of the third connecting rod is fixed to the inner shaft of the bearing seat, and the unconnected end of the first connecting rod is fixed to the output end of the second motor.

[0023] Technical effects and advantages of the present invention:

[0024] 1. The present invention realizes unmanned inspection of remote-controlled robots in nuclear, biological and chemical scenarios by setting up a robot body, a mobile mechanism, a collection unit, a disinfection unit, a wireless unit, a handheld remote control terminal, a data storage unit, an alarm unit, a main control unit and a power supply unit and their coordination, thereby avoiding contact between human inspection and nuclear radiation and reducing safety hazards;

[0025] 2. The present invention is provided with a collection unit and a disinfection unit. The collection unit includes a camera, a nuclear radiation detection unit, a sampling unit and a detection unit, so as to realize the multifunctional operations of nuclear radiation detection, on-site sampling, automatic and rapid detection of on-site samples, and site disinfection, thereby reducing the degree of human participation in various aspects and further avoiding the potential safety hazards of human on-site operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the control system structure of the present invention.

[0027] Figure 2 It is a schematic diagram of the overall vertical structure of the present invention.

[0028] Figure 3 It is a schematic diagram of the overall vertical structure of the sampling unit of the present invention.

[0029] Figure 4 It is a schematic diagram of the vertical structure of the sampling mechanism of the present invention.

[0030] Figure 5 It is a schematic diagram of the vertical structure of the first vertical slide rail of the present invention.

[0031] Figure 6 It is a schematic diagram of the vertical structure of the second horizontal slide rail of the present invention.

[0032] Figure 7 It is a schematic diagram of the vertical structure of the sampling and collecting box of the present invention.

[0033] Figure 8 It is a schematic diagram of the vertical structure of the gas collecting bottle of the present invention.

[0034] Fig. 9 It is a schematic diagram of the connection structure of the sample box and the cleaning nozzle of the present invention.

[0035] Fig.10 It is a schematic diagram of the partial vertical structure of the disinfection unit of the present invention.

[0036] In the figure: 1. Robot body; 2. Moving mechanism; 3. Camera; 4. Nuclear radiation detection unit; 5. Sampling mechanism; 6. Sampling collection box; 7. Disinfection unit; 8. Control panel; 9. First horizontal slide rail; 10. First vertical slide rail; 11. Metal pipe; 12. Second horizontal slide rail; 13. First liquid pump; 14. Second vertical slide rail; 15. Discharge barrel; 16. Mounting seat; 17. First automatic telescopic rod; 18. Drawer track; 19. Second automatic telescopic rod; 20. Soil collection tank; 21. Storage trough; 22. liquid collection tank; 23. gas collecting bottle; 2301. gas storage bottle; 2302. electric gas valve; 24. radioactivity detector; 25. sample box; 26. cleaning nozzle; 27. electrical box; 28. water storage tank; 29. ​​heat dissipation window; 30. first motor; 31. second liquid pump; 32. atomizing nozzle; 33. third liquid pump; 34. liquid storage tank; 35. bearing seat; 36. second motor; 37. first connecting rod; 38. second connecting rod; 39. third connecting rod; 40. liquid filling port. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] The present invention provides Figure 1-10 A nuclear, biological and chemical AI robot inspection device is shown, which is used for inspections in military battlefields, nuclear industrial environments, urban anti-terrorism, petrochemicals, fire protection, security and other places, including a robot body 1, a mobile mechanism 2, a main control unit, a collection unit, a wireless unit, a data storage unit, an information transmission unit, an alarm unit and a disinfecting unit 7. The robot body 1, the mobile mechanism 2, the collection unit, the wireless unit, the data storage unit, the information transmission unit and the disinfecting unit 7 are all connected to the main control unit for information transmission, and also includes a handheld remote control terminal, which transmits information with the wireless unit for remote control of the device, and also includes a power supply unit for supplying power to each electrical appliance;

[0042] like Figure 2 As shown: the mobile mechanism 2 adopts a crawler chassis, which is installed on the bottom of both sides of the robot body 1 and is used for the movement of the device. The crawler chassis is flexible and has strong off-road performance, which can meet the needs of unmanned inspection and reconnaissance work in multiple scenarios.

[0043] The acquisition unit includes a camera 3, a nuclear radiation detection unit 4, a sampling unit and a detection unit.

[0044] like Figure 2 As shown: the camera 3 is installed at the top front end of the robot body 1 to observe the on-site environment and provide video for the staff.

[0045] The nuclear radiation detection unit 4 includes but is not limited to one or more of a nuclide identifier, a Geiger counter, a scintillation detector and a semiconductor detector, and is used to detect parameters such as the type, energy, intensity or nuclear life of nuclear radiation in the environment.

[0046] like Figure 2 and 3 As shown: the sampling unit includes a sampling mechanism 5 and a sampling collection box 6, which are used for sampling and collecting soil, solid objects, liquids and gases respectively;

[0047] like Figure 2-6 As shown: the sampling mechanism 5 includes a first transverse slide rail 9, a first vertical slide rail 10, a metal tube 11, a second transverse slide rail 12, a first liquid pump 13, a second vertical slide rail 14 and a discharge barrel 15. The first transverse slide rail 9, the first vertical slide rail 10, the second transverse slide rail 12 and the second vertical slide rail 14 are all electric slide rails, and all include a guide rail part and a sliding part. The guide rail part of the first vertical slide rail 10 is fixed to the sliding part of the first transverse slide rail 9. A mounting seat 16 is fixedly installed on the sliding part of the first vertical slide rail 10. The metal tube 11 is a straight tube with open ends and a hollow inside. It is vertically installed at the bottom of the mounting seat 16 and the upper end passes through the mounting seat 16 upward. A vertically arranged first automatic telescopic rod 17 is fixedly installed on the top of the mounting seat 16. The first automatic telescopic rod 17 is an electric telescopic rod. The output end of the first automatic telescopic rod 17 is coaxially arranged with the metal tube 11, and the output end of the first automatic telescopic rod 17 is in contact with the inner wall of the metal tube 11. A liquid pump 13 is fixedly mounted on the mounting seat 16, the input end of the first liquid pump 13 is connected to the upper part of the inner cavity of the metal tube 11, the guide rail part of the first horizontal slide rail 9 is fixedly mounted on the external front side of the robot body 1, and the first horizontal slide rail 9 and the first vertical slide rail 10 and the components mounted on the first vertical slide rail 10 are all located outside the robot body 1 for sampling; the second horizontal slide rail 12 is fixedly mounted inside the robot body 1, the guide rail part of the second vertical slide rail 14 is fixedly mounted on the sliding part of the second horizontal slide rail 12, the discharge barrel 15 is vertically arranged with an open bottom, and is fixedly mounted on the sliding part of the second vertical slide rail 14, the output end of the first liquid pump 13 is connected to the inner cavity of the discharge barrel 15 through a hose, and a horizontal groove is opened on the front wall of the robot body 1 for the movement of the hose connected to the output end of the first liquid pump 13, and the input end and output end of the first liquid pump 13 are both provided with electric valves, which can control the input end or the output end to be closed;

[0048] like Figure 2 and 7As shown: a groove is opened inward on the front side of the robot body 1, and drawer rails 18 are installed on both sides of the sampling collection box 6, which are slidably installed in the groove of the robot body 1, and the sampling collection box 6 is located at the lower part of the first vertical slide rail 10, which does not affect the normal extraction of the sampling collection box 6. A second automatic telescopic rod 19 is fixedly installed inside the robot body 1. The second automatic telescopic rod 19 adopts an electric telescopic rod, and the output direction is parallel to the guide of the drawer rail 18, and the output end of the second automatic telescopic rod 19 is fixedly connected to the sampling collection box 6 for realizing the electric extraction of the sampling collection box 6; the sampling collection box 6 is provided with a soil collection tank 20, a storage tank 21, a liquid collection tank 22 and a gas collection bottle 23 in sequence from the outer end along the depth direction, which are used to collect soil, solid matter, etc. For the collection of samples, liquids and gases, the soil collection tank 20, the storage tank 21, the liquid collection tank 22 and the gas collection bottle 23 are all provided in a plurality and arranged along the width direction of the sampling collection box 6. The soil collection tank 20, the liquid collection tank 22 and the gas collection bottle 23 are all inserted into the interior of the sampling collection box 6 and can be withdrawn. The top ends of the soil collection tank 20 and the liquid collection tank 22 are open, and when the sampling collection box 6 is located inside the robot body 1, the top ends of the soil collection tank 20 and the liquid collection tank 22 are in contact with the robot body 1 to avoid soil or liquid splashing out during movement, and the second automatic telescopic rod 19 can pull the liquid collection tank 22 and the gas collection bottle 23 of the sampling collection box 6 to the bottom of the second horizontal slide rail 12 for the collection of sampled liquids and gases;

[0049] like Figure 8 As shown: the gas collecting bottle 23 includes a gas storage bottle 2301 and an electric gas valve 2302, the output end of the electric gas valve 2302 is sealed and connected to the end of the gas storage bottle 2301, and the input end of the electric gas valve 2302 is located at the top of the gas collecting bottle 23, and the setting of the electric gas valve 2302 realizes the electric control of the gas storage bottle 2301 to inflate and deflate;

[0050] The working principle of the sampling mechanism 5 and the sampling collection box 6 in cooperation with the sampling collection is as follows:

[0051] Soil sampling: The first vertical slide rail 10 drives the metal tube 11 to descend and insert it into the land to be used so that the metal tube 11 is filled with soil. Then the first vertical slide rail 10 drives the metal tube 11 to rise until the horizontal height of the bottom end of the metal tube 11 is higher than the sampling collection box 6. The second automatic telescopic rod 19 pushes the sampling collection box 6 out so that the soil collection tank 20 is partially located at the lower part of the metal tube 11. The first horizontal slide rail 9 drives the first vertical slide rail 10 to move so that the metal tube 11 is located at the upper part of the designated soil collection tank 20. The first vertical slide rail 10 drives the metal tube 11 to descend close to the soil collection tank 20. The output end of the first automatic telescopic rod 17 extends to push the soil in the metal tube 11 out and into the soil collection tank 20. After the soil is loaded, the sampling mechanism 5 returns to its initial state, and the second automatic telescopic rod 19 pulls the sampling collection box 6 into the robot body 1.

[0052] Sampling of solid objects: the first horizontal slide rail 9 drives the metal tube 11 to move horizontally and adjust to be located on the upper part of the solid objects, the first vertical slide rail 10 drives the metal tube 11 to descend so that the bottom end of the metal tube 11 fits with the solid objects, the first liquid pump 13 starts to provide suction to adsorb the solid objects, the first vertical slide rail 10 drives the metal tube 11 and the solid objects to rise, and the horizontal height of the bottom of the solid objects is higher than the sampling collection box 6, the second automatic telescopic rod 19 pushes the sampling collection box 6 out so that the storage tank 21 is located at the lower part of the metal tube 11, the first horizontal slide rail 9 drives the first vertical slide rail 10 to move so that the metal tube 11 is located at the upper part of the designated storage tank 21, the first vertical slide rail 10 drives the metal tube 11 to descend so that the solid objects enter the storage tank 21, the first liquid pump 13 is turned off, the solid objects fall into the storage tank 21 to complete the collection, the sampling mechanism 5 returns to the initial state, and the second automatic telescopic rod 19 pulls the sampling collection box 6 into the robot body 1;

[0053] Liquid collection: The first vertical slide rail 10 drives the metal tube 11 to descend and makes the bottom end of the metal tube 11 contact with the required sampling liquid. The second automatic telescopic rod 19 pulls the liquid collection tank 22 of the sampling collection box 6 to be located on the upper part of the discharge barrel 15. The second horizontal slide rail 12 drives the discharge barrel 15 to be located on the upper part of the designated liquid collection tank 22. The second vertical slide rail 14 drives the discharge barrel 15 to descend and extend into the liquid collection tank 22. The first liquid pump 13 is started, and the liquid enters the liquid collection tank 22 through the metal tube 11, the first liquid pump 13, the hose and the discharge barrel 15. After the liquid is extracted for a specified time, the first vertical slide rail 10 drives the metal tube 11 to rise and stop. After the first liquid pump 13 is turned on for 5-10 seconds and then turned off, it is ensured that most of the liquid in the hose enters the liquid collection tank 22, reducing the impact on subsequent liquid sampling; when collecting liquid, if the soil has been sampled, the metal tube 11 needs to be self-cleaned to avoid the presence of some soil-contaminated liquid at the output end of the metal tube 11 and the first automatic telescopic rod 17. The self-cleaning method is: the metal tube 11 is in contact with the required sampling liquid, the first liquid pump 13 is turned off after pumping for 5 seconds, and its input end is also closed, and the liquid enters the metal tube 11 under suction to flush the metal tube 11 and then be discharged, thereby achieving self-cleaning in the metal tube 11;

[0054] Gas collection: the second automatic telescopic rod 19 pulls the gas collecting bottle 23 part of the sampling collection box 6 to be located on the upper part of the discharge barrel 15, the second horizontal slide rail 12 drives the discharge barrel 15 to be located on the upper part of the designated gas collecting bottle 23, and the second vertical slide rail 14 drives the discharge barrel 15 to descend so that the bottom end of the discharge barrel 15 is sealed and fitted with the input end of the electric valve 2302 of the gas collecting bottle 23, and the electric valve 2302 is opened, the first liquid pump 13 is started, and the gas enters through the metal pipe 11, passes through the first liquid pump 13, the hose and the discharge barrel 15, and enters the interior of the gas storage bottle 2301. After the gas is used, the electric valve 2302 is closed to achieve sealed loading of the gas, and each part returns to its initial state after sampling is completed;

[0055] The sampling mechanism 5 and the sampling collection box 6 designed in the present invention cooperate to realize the automatic sampling and collection of soil, solid objects, liquids and gases, with diversified sampling and high automation.

[0056] The detection unit includes a radioactivity detector 24 and a sample box 25, which is used to quickly detect the radioactivity of soil, solid objects and liquids on site and quickly obtain detection data;

[0057] like Figure 5 As shown: the radioactivity detector 24 is fixedly mounted on the sliding part of the first vertical slide rail 10, the detection end of the radioactivity detector 24 faces downward, and the bottom end of the radioactivity detector 24 is higher than the bottom end of the mounting seat 16, so that the radioactivity detector 24 is not blocked when the metal pipe 11 is sampling soil;

[0058] like Figure 7 and 9 As shown: the sample box 25 is rotatably mounted on the outer end of the sampling and collecting box 6, and an electrical box 27 is also provided in the sampling and collecting box 6. A first motor 30 is fixedly installed in the electrical box 27, and an output end of the first motor 30 is coaxially connected to the rotatable mounting portion of the sample box 25, so as to drive the rotation of the sample box 25;

[0059] Working principle of the detection unit: the sampling mechanism 5 samples soil, solid objects or liquids, and puts the sampled samples into the sample box 25. The first horizontal slide rail 9 and the first vertical slide rail 10 cooperate to make the detection end of the radioactive activity detector 24 contact the sample to realize on-site detection of the sample. After the detection is completed, the first motor 30 drives the sample box 25 to rotate 180 degrees to discharge the detected sample. When sampling liquid, after the first liquid pump 13 extracts the liquid, the output end of the first liquid pump 13 is closed and the first liquid pump 13 is continuously turned on, so that part of the liquid remains in the metal tube 11 or the first liquid pump 13, and the sampling mechanism 5 quickly moves the metal tube 11 to the top of the sample box 25, and the first liquid pump 13 is closed to complete the liquid delivery.

[0060] like Figure 7 As shown: a cleaning nozzle 26 is also installed on the front side of the sampling collection box 6. The cleaning nozzle 26 is located at the lower part of one side of the sample box 25, and the output end faces the sample box 25. A water storage tank 28 is also provided inside the sampling collection box 6 for storing clean water. A second liquid pump 31 is also installed inside the electrical box 27. The input end of the second liquid pump 31 is connected to the inner cavity of the water storage tank 28, and the output end is connected to the input end of the cleaning nozzle 26. After the detection unit is completed, the sample box 25 rotates to put the sample after the detection, and the second liquid pump 31 extracts clean water and sprays it from the cleaning nozzle 26 to rinse the sample box 25; and the cleaning nozzle 26 can also rinse the metal pipe 11. In some embodiments, the cleaning nozzle 26 can also be set to an electric rotating structure to further improve the cleaning effect of the metal pipe 11 and its interior;

[0061] A heat dissipation window 29 is provided on the front side wall of the sampling and collecting box 6 , which is communicated with the inner cavity of the electrical box 27 and is used for heat dissipation of the first motor 30 and the second liquid pump 31 in the electrical box 27 .

[0062] The data storage unit is used to store the detection data of the nuclear radiation detection unit 4 and the detection unit.

[0063] The information transmission unit is connected to the wireless unit and is used to provide various data, component status and other information of the inspection device to an external management and control platform.

[0064] The alarm unit is arranged on the handheld remote control terminal or the management control platform, and alarms when the nuclear radiation detection unit 4 and the detection unit detect that the nuclear radiation exceeds the standard.

[0065] like Figure 2 and 10 As shown: the disinfection unit 7 includes an atomizing nozzle 32, a third liquid pump 33 and a liquid storage tank 34. The atomizing nozzle 32 is installed at the upper rear end of the robot body 1 with the output end facing backwards. The third liquid pump 33 and the liquid storage tank 34 are both installed inside the robot body 1. The input end of the third liquid pump 33 is connected to the inner cavity of the liquid storage tank 34, and the output end is connected to the input end of the atomizing nozzle 32. The third liquid pump 33 extracts the agent in the liquid storage tank 34 and sprays it out through the atomizing nozzle 32 for disinfection during inspection. The agent in the liquid storage tank 34 includes but is not limited to B124 nuclear, biological and chemical disinfectant. The disinfection of the disinfection unit 7 is controlled by a handheld remote control terminal.

[0066] The disinfection unit 7 also includes a bearing seat 35, a second motor 36, a first connecting rod 37, a second connecting rod 38 and a third connecting rod 39. A sealed box body is provided on the robot body 1. The bearing seat 35, the second motor 36, the first connecting rod 37, the second connecting rod 38 and the third connecting rod 39 are respectively inside the robot body 1 and inside the sealed box body. The atomizing nozzle 32 is rotatably mounted on the robot body 1 through the bearing seat 35. The bearing seat 35 includes an inner shaft and an outer shaft. The outer shaft is fixed to the robot body 1. The atomizing nozzle 32 is fixed to the inner shaft of the bearing seat 35. The first connecting rod 37, the second connecting rod 38 and the third connecting rod 39 are hinged in sequence. The unconnected end of the third connecting rod 39 is fixed to the inner shaft of the bearing seat 35. The unconnected end of the first connecting rod 37 It is fixed to the output end of the second motor 36, and the positions of the bearing seat 35, the second motor 36, the first connecting rod 37, the second connecting rod 38 and the third connecting rod 39 are set to ensure that all parts can be transmitted when the second motor 36 is turned on. The output end of the second motor 36 continues to rotate, the first connecting rod 37 makes a circular rotation and pulls the second connecting rod 38 to change its position. The end of the third connecting rod 39 connected to the bearing seat 35 can only rotate about the axis of the bearing seat 35. The change in the position of the second connecting rod 38 pushes the third connecting rod 39 to move. Under the continuous rotation of the output end of the second motor 36, the third connecting rod 39 swings back and forth on an arc, thereby realizing the reciprocating swing of the atomizing nozzle 32. The swing of the atomizing nozzle 32 increases its disinfection range and improves the disinfection efficiency.

[0067] like Figure 2 and 7 As shown: both the water tank 28 and the liquid tank 34 have a liquid filling port 40 on their upper parts, and a sealing cover is provided for sealing the liquid filling port 40. The liquid filling ports 40 on the water tank 28 and the liquid tank 34 are respectively used for adding clean water and disinfectant.

[0068] like Figure 2 As shown: the robot body 1 is also provided with a control panel 8, which is connected to each unit and is used for control and debugging of each unit.

[0069] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A nuclear, biological and chemical AI robot inspection device, characterized in that: include: Robot body (1); A moving mechanism (2) is installed at the bottom of the robot body (1) and is used for moving the robot body (1); A collection unit, comprising a camera (3), a nuclear radiation detection unit (4), a sampling unit and a detection unit, wherein the sampling unit comprises a sampling mechanism (5) and a sampling collection box (6), and the sampling mechanism (5) and the sampling collection box (6) are used for sampling and collecting soil, solid objects, liquids and gases; The sampling mechanism (5) comprises a first transverse slide rail (9), a first vertical slide rail (10), a metal tube (11), a second transverse slide rail (12), a first liquid pump (13), a second vertical slide rail (14) and a discharge barrel (15); the first transverse slide rail (9), the first vertical slide rail (10), the second transverse slide rail (12) and the second vertical slide rail (14) are all electric slide rails and each comprises a guide rail portion and a sliding portion; the guide rail portion of the first vertical slide rail (10) is fixed to the sliding portion of the first transverse slide rail (9); a mounting seat (16) is fixedly mounted on the sliding portion of the first vertical slide rail (10); the metal tube (11) is a straight tube with both ends open and hollow inside, and is vertically mounted on the bottom of the mounting seat (16) and the upper end of the tube passes through the mounting seat (16) upward; a vertically arranged first automatic telescopic rod (17) is fixedly mounted on the top of the mounting seat (16); the output end of the first automatic telescopic rod (17) is connected to the output end of the first automatic telescopic rod (17) and the output end of the first automatic telescopic rod (17) is connected to the output end of the first automatic telescopic rod (17). The metal tube (11) is coaxially arranged and fits with the inner wall of the metal tube (11); the first liquid pump (13) is fixedly mounted on the mounting seat (16); the input end of the first liquid pump (13) is communicated with the upper part of the inner cavity of the metal tube (11); the guide rail portion of the first horizontal slide rail (9) is fixedly mounted on the outer front side of the robot body (1); the first horizontal slide rail (9) and the first vertical slide rail (10) and the components mounted on the first vertical slide rail (10) are all located outside the robot body (1); the second horizontal slide rail (12) is fixedly mounted inside the robot body (1); the guide rail portion of the second vertical slide rail (14) is fixedly mounted on the sliding portion of the second horizontal slide rail (12); the discharge barrel (15) is vertically arranged and has an open bottom, and is fixedly mounted on the sliding portion of the second vertical slide rail (14); the output end of the first liquid pump (13) is communicated with the inner cavity of the discharge barrel (15) through a hose; A disinfection unit (7) uses a spray disinfectant to disinfect; Wireless unit and handheld remote control terminal: information transmission connection is used for remote control of this device; Data storage unit; Alarm unit, located in the handheld remote control terminal; A main control unit, wherein the robot body (1), the moving mechanism (2), the collection unit, the disinfection unit (7), the wireless unit, and the data storage unit are all connected to the main control unit for information transmission; The power supply unit is used to supply power to each unit.

2. The nuclear, biological and chemical AI robot inspection device according to claim 1, characterized in that: The nuclear radiation detection unit (4) includes, but is not limited to, one or more of a nuclide identifier, a Geiger counter, a scintillation detector and a semiconductor detector.

3. The nuclear, biological and chemical AI robot inspection device according to claim 1, characterized in that: The drawer rails (18) installed on both sides of the sampling collection box (6) are slidably installed inside the front side of the robot body (1); a second automatic telescopic rod (19) is fixedly installed inside the robot body (1); the output direction of the second automatic telescopic rod (19) is parallel to the guide of the drawer rail (18); the output end of the second automatic telescopic rod (19) is fixedly connected to the sampling collection box (6); the sampling collection box (6) is provided with a soil collection tank (20), a storage tank (21), a liquid collection tank (22) and a gas collection bottle (23) in sequence from the outer end along the depth direction; the soil collection tank (20), the storage tank (21), the liquid collection tank (22) and the gas collection bottle (23) are all arranged in a plurality along the width direction of the sampling collection box (6).

4. The nuclear, biological and chemical AI robot inspection device according to claim 3, characterized in that: The gas collecting bottle (23) comprises a gas storage bottle (2301) and an electric gas valve (2302), the output end of the electric gas valve (2302) is sealedly connected to the end of the gas storage bottle (2301), and the input end of the electric gas valve (2302) is located at the top end of the gas collecting bottle (23).

5. The nuclear, biological and chemical AI robot inspection device according to claim 1, characterized in that: The detection unit comprises a radioactivity detector (24) and a sample box (25); the radioactivity detector (24) is fixedly mounted on the sliding part of the first vertical slide rail (10), with the detection end of the radioactivity detector (24) facing downward; the sample box (25) is rotatably mounted on the outer end of a sampling collection box (6); a first motor (30) is mounted inside the sampling collection box (6); and an output end of the first motor (30) is coaxially connected to the rotatable mounting part of the sample box (25).

6. The nuclear, biological and chemical AI robot inspection device according to claim 5, characterized in that: A cleaning nozzle (26) is installed on the front side of the sampling collection box (6). The cleaning nozzle (26) is located at a lower part of one side of the sample box (25) and its output end faces the sample box (25). A water storage tank (28) and a second liquid pump (31) are also provided inside the sampling collection box (6). The input end of the second liquid pump (31) is connected to the inner cavity of the water storage tank (28), and the output end is connected to the input end of the cleaning nozzle (26).

7. The nuclear, biological and chemical AI robot inspection device according to claim 1, characterized in that: The disinfection unit (7) comprises an atomizing nozzle (32), a third liquid pump (33) and a liquid storage tank (34); the atomizing nozzle (32) is mounted on the upper rear end of the robot body (1) with the output end facing backwards; the third liquid pump (33) and the liquid storage tank (34) are both mounted inside the robot body (1); the input end of the third liquid pump (33) is connected to the inner cavity of the liquid storage tank (34), and the output end is connected to the input end of the atomizing nozzle (32).

8. The nuclear, biological and chemical AI robot inspection device according to claim 7, characterized in that: The disinfection unit (7) further comprises a bearing seat (35), a second motor (36), a first connecting rod (37), a second connecting rod (38) and a third connecting rod (39); the atomizing nozzle (32) is rotatably mounted on the robot body (1) via the bearing seat (35); the bearing seat (35) comprises an inner shaft and an outer shaft; the outer shaft of the bearing seat (35) is fixed to the robot body (1); the atomizing nozzle (32) is fixed to the inner shaft of the bearing seat (35); the first connecting rod (37), the second connecting rod (38) and the third connecting rod (39) are hinged in sequence; the unconnected end of the third connecting rod (39) is fixed to the inner shaft of the bearing seat (35); and the unconnected end of the first connecting rod (37) is fixed to the output end of the second motor (36).

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