An autonomous source-finding robot system in a radiation environment

Abstract

This application discloses an autonomous source-finding robot system in a radiation environment, comprising: a source-finding robot and a robot management platform wirelessly connected to the source-finding robot; the source-finding robot includes: a radiation information acquisition module for acquiring radiation information during the source-finding task; a main control module for receiving the source-finding information, executing the source-finding task according to the source-finding instructions in the source-finding information, and determining whether the robot maintains a wireless communication connection with the robot management platform; a data transmission module, which, when the robot maintains a wireless communication connection with the robot management platform, executes an online source-finding mode to transmit data from the source-finding task to the robot management platform; and a storage module, which, when the robot loses its wireless communication connection with the robot management platform, executes an offline source-finding mode and saves the data acquired in the offline source-finding mode in the storage module. This system enables autonomous source-finding in a radiation environment.

Description

Technical Field

[0001] This application relates to the field of atomic energy technology, and in particular to an autonomous source-finding robot system in a radiation environment. Background Technology

[0002] Numerous irradiated areas exist within the operational areas of atomic energy research facilities. Due to management negligence or human error, there is a certain probability of neutron sources being lost. Manual inspection is inefficient and can easily cause lasting harm to the inspectors. Therefore, how to utilize robotic systems to more intelligently replace humans in source-finding tasks is a current research hotspot.

[0003] Source-finding robots in robotic systems typically need to be in a radiation environment at all times. However, existing robots can only be remotely controlled by employees, and once the signal is interfered with, they cannot be operated further, which makes it difficult to meet the source-finding needs in the field of nuclear energy. Therefore, how to autonomously complete source-finding operations in offline scenarios is a current challenge that needs to be solved. Summary of the Invention

[0004] This specification provides an autonomous source-finding robot system for use in radiation environments, which addresses the problem of difficulty in source finding in radiation environments in the prior art.

[0005] The technical solutions provided in the embodiments of this specification are as follows:

[0006] This application provides an autonomous source-finding robot system for use in a radiation environment, comprising:

[0007] A sourcing robot and a robot management platform wirelessly connected to the sourcing robot;

[0008] The robot management platform is used to send sourcing information to the sourcing robot, the sourcing information including sourcing instructions for performing sourcing tasks within the radiation environment;

[0009] The source-finding robot includes:

[0010] The main control module is used to receive sourcing information, execute sourcing tasks according to the sourcing instructions in the sourcing information, and determine whether the robot and the robot management platform maintain a wireless communication connection.

[0011] The data transmission module, when the robot and the robot management platform maintain a wireless communication connection, the main control module executes an online sourcing mode to transmit the data in the sourcing task to the robot management platform;

[0012] When the robot loses its wireless communication connection with the robot management platform, the main control module executes an offline sourcing mode and saves the data collected in the offline sourcing mode in the storage module.

[0013] Furthermore, after the line breaks, the current position coordinates are recorded and marked as the line break position coordinates;

[0014] Using the coordinates of the broken line location as the center point and a spiral line as the route, perform offline source tracing and attempt to connect the broken lines;

[0015] During offline sourcing, if the wireless communication connection is successful, the sourcing robot will start executing the sourcing instructions along the optimal route from the connection point.

[0016] Furthermore, the source-finding robot also includes a radiation information acquisition module for collecting radiation information during the source-finding task.

[0017] Furthermore, the radiation information acquisition module includes a neutron sensor and a photon sensor.

[0018] Furthermore, the source-finding robot also includes a status information acquisition module, which is used to acquire the status information of the source-finding robot when performing the source-finding task, and the status information includes position information.

[0019] Furthermore, the status information acquisition module also includes a positioning sensor, which includes a SLAM lidar sensor module and an IMU inertial navigation sensor module. The IMU inertial navigation is configured to measure the linear velocity and angular velocity parameters of the locating robot, and determine the relative position information of the locating robot based on the linear velocity and angular velocity parameters of the locating robot.

[0020] Furthermore, the source-finding robot also includes a wireless positioning module, which is configured to determine the absolute position information of the source-finding robot based on the position information fed back by multiple base stations in the radiation environment received by the source-finding robot, and then combine it with the global positioning system to determine the current absolute position information, thereby reducing the deviation caused by signal interference in the radiation environment.

[0021] Furthermore, the source-finding robot also includes an alarm module. When the online source-finding mode of the source-finding task is enabled, an alarm is triggered on the robot management platform, and the optical alarm on the robot site is activated. When the offline source-finding mode is enabled, an audible and visual alarm is triggered to indicate the robot's location information.

[0022] Furthermore, the source-finding robot also includes an imaging module, which combines a visible light camera module and a SLAM lidar module. It uses laser point cloud technology to create a three-dimensional panoramic view of the source-finding area within the radiation environment and to identify equipment and facilities within the environment.

[0023] Furthermore, the sourcing robot also includes a motion control module, and the main control module is further configured to convert the motion information into a motion output corresponding to the sourcing instruction when the sourcing instruction includes motion information.

[0024] Furthermore, the offline sourcing mode includes:

[0025] The source information is stored in the storage module;

[0026] Execute the sourcing task according to the sourcing instructions in the sourcing information;

[0027] The data obtained in the source tracing task is stored in the storage module.

[0028] The above-mentioned at least one technical solution adopted in the embodiments of this application can achieve the following beneficial effects: it can realize the purpose of autonomous source tracing in a radiation environment. Attached Figure Description

[0029] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0030] Figure 1 This is a schematic diagram of the overall structure provided for the embodiments of this specification.

[0031] Figure 2 This is a schematic diagram of the source-finding robot structure provided in the embodiments of this specification.

[0032] Figure 3 This is a schematic diagram of the offline source tracing mode method provided in the embodiments of this specification.

[0033] Figure 4 This is a schematic diagram illustrating the offline source tracing mode provided in the embodiments of this specification. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0036] This specification provides an example of an autonomous source-finding robot system in a radiation environment. Please refer to [link to example]. Figure 1 As shown, it includes:

[0037] Source-finding robot 1 and robot management platform 2 wirelessly connected to the source-finding robot;

[0038] Robot management platform 2 is used to send sourcing information to the sourcing robot, which includes sourcing instructions for performing sourcing tasks in the radiation environment;

[0039] Source-finding robot 1 includes:

[0040] Power supply module 11 is used to supply power to the locating robot;

[0041] Radiation information acquisition module 12 is used to acquire radiation information in the source-finding task;

[0042] The main control module 13 is used to receive sourcing information, execute sourcing tasks according to the sourcing instructions in the sourcing information, and determine whether the robot and the robot management platform maintain a wireless communication connection.

[0043] When the robot and the robot management platform maintain a wireless communication connection, the main control module 14 executes an online sourcing mode to transmit data from the sourcing task to the robot management platform.

[0044] When the robot loses its wireless communication connection with the robot management platform, the main control module executes the offline sourcing mode and saves the data collected in the offline sourcing mode in the storage module 15.

[0045] In one possible implementation, the offline sourcing mode includes the following steps, such as Figure 3 and Figure 4 As shown:

[0046] S1. After the line breaks, record the current position coordinates and mark them as the line break position coordinates;

[0047] S2. Using the coordinates of the broken line location as the center point and the spiral line as the route, perform offline source tracing and attempt to connect the lines.

[0048] It should be noted that using a spiral as a route for offline source tracing takes into account both the source direction and the direction of the connecting line. By advancing along the spiral, the shortest path towards the extreme point in the source radiation intensity distribution is searched in two-dimensional space. Then, the location of the shortest path outside the spiral's coverage area is predicted based on the extension of the shortest path within the spiral's coverage area. Furthermore, at any point on the spiral, the distance and direction between that point and any point on the shortest path can be calculated, allowing the device to move from any point on the spiral to any point on the shortest path.

[0049] Furthermore, by taking multiple points within the spiral range as starting points, multiple shortest paths can be obtained, and the location of the source can be predicted based on the intersection of multiple shortest paths.

[0050] S3. During offline sourcing, if the wireless communication connection is successful, the sourcing robot will start executing the sourcing command along the optimal route from the connection point.

[0051] The optimal route here can be a line connecting the connecting point to the predicted source location, or a route from the connecting point to a designated point on the shortest path. It should be noted that, preferably, the optimal route is the line connecting the connecting point to the predicted source location when there are no obstacles making the optimal route reachable. This designated point can be the point closest to the source location on the shortest path within the spiral's coverage area, or any point on the predicted shortest path outside the spiral's coverage area, ensuring the optimal route avoids obstacles.

[0052] In a further preferred embodiment, the radiation information acquisition module includes a neutron sensor.

[0053] In a further preferred embodiment, the radiation information acquisition module also includes a photon sensor.

[0054] In a further preferred embodiment, the source-finding robot also includes a status information acquisition module 16, which is used to collect status information of the source-finding robot when performing the source-finding task. The status information includes position information.

[0055] In a further preferred embodiment, the status information acquisition module also includes a positioning sensor, which includes a SLAM lidar sensor module and an IMU inertial navigation sensor module. The IMU inertial navigation is configured to measure the linear velocity and angular velocity parameters of the homing robot and determine the relative position information of the homing robot based on the linear velocity and angular velocity parameters of the homing robot.

[0056] In a further preferred embodiment, the source-finding robot also includes a wireless positioning module. The wireless positioning module is configured to determine the absolute position information of the source-finding robot based on the position information fed back by multiple base stations in the radiation environment received by the source-finding robot, and then combine it with the global positioning system to determine the current absolute position information, thereby reducing the deviation caused by signal interference in the radiation environment.

[0057] In a further preferred embodiment, the source-finding robot also includes an alarm module 17. When the online source-finding mode of the source-finding task is activated, an alarm is triggered on the robot management platform, and the optical alarm on the robot site is activated. When the offline source-finding mode is activated, an audible and visual alarm is triggered to indicate the robot's location information.

[0058] In a further preferred embodiment, the source-finding robot also includes an image module 19, which combines a visible light camera module and a SLAM lidar module to create a three-dimensional panoramic view of the source-finding area within the radiation environment using laser point cloud technology, and to identify the equipment and facilities within the environment.

[0059] In a further preferred embodiment, the sourcing robot also includes a motion control module 18, and the main control module is further configured to convert the motion information into the motion output corresponding to the sourcing command when the sourcing command includes motion information.

[0060] Further preferred offline sourcing modes include:

[0061] The source information is stored in the storage module;

[0062] Execute the sourcing task according to the sourcing instructions in the sourcing information;

[0063] The data obtained in the source tracing task is stored in the storage module.

[0064] In a preferred implementation, please refer to Figure 2 As shown, the locating robot also includes a robot body, which can be a smart vehicle body. Alternatively, the body may include a chassis system to support the robot body and a drive system to drive the chassis system. The chassis system uses a planetary swing arm wheel structure, including eight drive wheels 3, and the connection to the chassis can be a traditional connection method. The drive system includes a DC servo motor controlling the operation of each pair of adjacent drive wheels. The main control module is also configured to control the four DC servo motors on the same side of the locating robot to rotate at the same speed so that the robot body travels in a straight line; or, control the two DC servo motors on the same side of the locating robot to rotate in the opposite direction to the two DC servo motors on the other side so that the robot body turns; or, adjust the speed difference between the two DC servo motors on the same side of the locating robot and the two DC servo motors on the other side so that the robot body can turn freely.

[0065] In one specific implementation of this application, the device area of ​​the source-finding robot includes one radiation-proof outer shell and one non-radiation-proof outer shell. The radiation-proof outer shell is disposed in the source-finding robot and covers the outside of its main control module, while the non-radiation-proof outer shell is disposed outside the radiation information acquisition module.

[0066] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An autonomous source-finding robot system for use in a radiation environment, characterized in that, include: A sourcing robot and a robot management platform wirelessly connected to the sourcing robot; The robot management platform is used to send sourcing information to the sourcing robot, the sourcing information including sourcing instructions for performing sourcing tasks within the radiation environment; The source-finding robot includes: The radiation information acquisition module is used to collect radiation information during the source-finding mission; The main control module is used to receive sourcing information, execute sourcing tasks according to the sourcing instructions in the sourcing information, and determine whether the robot and the robot management platform maintain a wireless communication connection. The data transmission module, when the robot and the robot management platform maintain a wireless communication connection, the main control module executes an online sourcing mode to transmit the data in the sourcing task to the robot management platform; When the robot loses its wireless communication connection with the robot management platform, the main control module executes an offline sourcing mode and saves the data collected in the offline sourcing mode in the storage module. The offline source tracing mode includes the following steps: After the line breaks, record the current position coordinates and mark them as the line break position coordinates; Using the coordinates of the broken line location as the center point and a spiral line as the route, perform offline source tracing and attempt to connect the broken lines; During offline sourcing, if the wireless communication connection is successful, the sourcing robot will start executing the sourcing instructions along the optimal route from the connection point.

2. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The optimal route is at least one of the following: The optimal route is the line connecting the points to the predicted source location; When there are no obstacles in the line connecting the point to the predicted source location that make the optimal route reachable, the optimal route is the line connecting the point to the predicted source location. The shortest path that tends toward the extreme point in the source radiation intensity distribution is searched in two-dimensional space. The optimal route is the route between the connecting point and a set point on the shortest path. The set point is the point closest to the source location on the shortest path within the coverage area of ​​the spiral. Alternatively, the set point is any point on the predicted shortest path outside the coverage area of ​​the spiral, such that the optimal route avoids obstacles.

3. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The radiation information acquisition module includes a neutron sensor.

4. The autonomous source-finding robot system in a radiation environment according to claim 3, characterized in that, The radiation information acquisition module also includes a photon sensor.

5. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The source-finding robot also includes a status information acquisition module, which is used to collect the status information of the source-finding robot when performing the source-finding task. The status information includes location information.

6. The autonomous source-finding robot system in a radiation environment according to claim 5, characterized in that, The status information acquisition module also includes a positioning sensor, which includes a SLAM lidar sensor module and an IMU inertial navigation sensor module. The IMU inertial navigation is configured to measure the linear velocity and angular velocity parameters of the homing robot, and determine the relative position information of the homing robot based on the linear velocity and angular velocity parameters of the homing robot.

7. The autonomous source-finding robot system in a radiation environment according to claim 6, characterized in that, The source-finding robot also includes a wireless positioning module, which is configured to determine the absolute position information of the source-finding robot based on the position information fed back by multiple base stations in the radiation environment received by the source-finding robot, and then combine it with the global positioning system to determine the current absolute position information, thereby reducing the deviation caused by signal interference in the radiation environment.

8. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The source-finding robot also includes an alarm module. When the online source-finding mode of the source-finding task is enabled, an alarm is triggered on the robot management platform, and the optical alarm on the robot site is activated. When the offline source-finding mode is enabled, an audible and visual alarm is triggered to indicate the robot's location information.

9. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The source-finding robot also includes an imaging module, which combines a visible light camera module and a SLAM lidar module. It uses laser point cloud technology to create a three-dimensional panoramic view of the source-finding area within the radiation environment and to identify equipment and facilities within the environment.

10. The autonomous source-finding robot system in a radiation environment according to claim 1, characterized in that, The sourcing robot also includes a motion control module, and the main control module is further configured to convert the motion information into a motion output corresponding to the sourcing instruction when the sourcing instruction includes motion information.

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