Radiation reconnaissance robot

Abstract

The invention is suitable for the technical field of radiation reconnaissance robots, and provides a radiation reconnaissance robot which comprises a vehicle body, a walking system and a power drive control system, and the walking system and the power drive control system are arranged on the vehicle body and used for driving the vehicle body to move. The autonomous navigation suite is arranged on the vehicle body and is used for route navigation; the pan-tilt camera is mounted at the top of the vehicle body; the mechanical arm assembly is mounted on the vehicle body and is used for monitoring environmental pollution; and the in-water radiation monitoring box is mounted at the top of the vehicle body and is used for monitoring radioactive substances in rainwater in a radiation area. The radiation reconnaissance robot provided by the scheme can carry multi-task loads, and has the advantages of remote control or reconnaissance and analysis of approaching a polluted environment according to a preset advancing route.

Description

Technical Field

[0001] The invention belongs to the technical field of radiation reconnaissance robots, and in particular relates to a radiation reconnaissance robot. Background Art

[0002] At present, under the environmental conditions of the contaminated area, emergency rescue personnel are needed to carry equipment to enter, find out the on-site situation and conduct detection and analysis of the on-site environment, so as to provide technical decision-making basis for the command center to organize rescue operations.

[0003] Because the situation is unclear, this method poses a great threat to the life and health of rescuers, and the work efficiency is low. The equipment carried is limited and cannot perform various types of reconnaissance missions. Summary of the invention

[0004] The present invention provides a radiation reconnaissance robot, aiming to solve the problem raised in the above background technology that rescue workers conduct on-site detection in an environment with unclear conditions, which may easily threaten their lives and health, and that the equipment they carry is limited and they cannot perform various reconnaissance tasks.

[0005] To solve the above problems, the present invention is implemented as follows: a radiation reconnaissance robot includes: a vehicle body and a walking system and a power drive control system arranged on the vehicle body for driving the vehicle body to move; an autonomous navigation kit arranged on the vehicle body for route navigation; a pan-tilt camera installed on the top of the vehicle body; a mechanical arm assembly installed on the vehicle body for monitoring environmental pollution; and an underwater radiation monitoring box installed on the top of the vehicle body for monitoring radioactive substances in rainwater in radiation areas.

[0006] Preferably, a breathable cap, a group of Beidou antennas and a group of communication antennas are fixedly installed on the top of the vehicle body, and the group of Beidou antennas and the group of communication antennas are respectively located at the four corners of the top of the vehicle body, and the breathable cap is located on the left side of the robotic arm assembly.

[0007] Preferably, the vehicle body adopts a two-layer, front, middle and rear three-cabin structure, wherein the front cabin in the upper layer is equipped with a video server, a power box and an electric adjustment board, the middle cabin is equipped with a detector assembly, and the detector assembly consists of a radionuclide identification detection assembly and an aerosol detector, and the upper layer of the rear cabin is equipped with a radio station, a robotic arm mounting bracket, an industrial computer and a main control assembly.

[0008] Preferably, the lower front cabin of the vehicle body is equipped with a power system, the rear cabin is equipped with a battery, and the outside of the rear cabin is equipped with an operation panel. Ventilation holes are provided at the bottom of both sides of the vehicle body, and the vents are used for suction and exhaust of the aerosol detector.

[0009] Preferably, the robotic arm assembly consists of a robotic arm base, a boom joint, a long arm and a surface contamination instrument device; the robotic arm base is mounted on a robotic arm mounting seat on the top of the vehicle body, the boom joint is mounted on the robotic arm base, the long arm is assembled on the boom joint, the surface contamination instrument device is mounted on the long arm, and the robotic arm assembly is a four-degree-of-freedom robotic arm.

[0010] Preferably, the surface contamination instrument device consists of a supporting barrel, a surface contamination instrument, a surface contamination fixing ring, a wire rope shock absorber, a shock-absorbing fixing ring, a positioning ring and a fixing plate. The supporting barrel is installed on the long arm, the surface contamination instrument and the positioning ring are both installed in the supporting barrel, the surface contamination fixing ring is installed on the supporting barrel, a shock-absorbing fixing ring is installed at the end of the long arm, both ends of the wire rope shock absorber are fixedly connected to the surface contamination fixing ring and the shock-absorbing fixing ring respectively, a fixing plate is installed at the bottom of the supporting barrel, and a lifting mechanism is arranged on the fixing plate.

[0011] Preferably, the lifting mechanism comprises: a lifting block, a servo arm, a stroke adjustment mechanism, a servo bracket, a servo, a lifting fixed plate and a guide column. The lifting block is installed on the top of the support barrel, the servo arm is installed on the fixed plate, the stroke adjustment mechanism is arranged on the lifting block and the servo arm, the servo bracket is fixedly installed on the fixed plate, the servo is arranged on one side of the servo bracket, the lifting fixed plate is installed on the top of the fixed plate and connected to the lifting block, and the guide column is installed on the lifting fixed plate and is slidably connected to the support barrel.

[0012] Preferably, a rain gauge is fixedly installed on the top of the vehicle body, and the rain gauge is arranged on one side of the underwater radiation monitoring box. One side of the underwater radiation monitoring box is used to guide rainwater into the water guide plate in the underwater radiation monitoring box, and a detector for detecting radioactive substances in the water is fixedly installed in the underwater radiation monitoring box.

[0013] Preferably, a water tank is fixedly installed on the top of the vehicle body, the water tank is fixedly connected to the underwater radiation monitoring box, a water pump is fixedly installed in the water tank, an annular water pipe for cleaning the underwater radiation monitoring box is fixedly installed on the top of the inner wall of the underwater radiation monitoring box, and the annular water pipe is connected to the drainage end of the water pump.

[0014] Preferably, a water inlet is provided on one side of the underwater radiation monitoring box, and the water inlet is located on one side of the water guide plate. A mounting plate is fixedly installed on one side of the inner wall of the underwater radiation monitoring box, and a first threaded rod is rotatably installed on the mounting plate. A first threaded barrel is threadedly installed on the first threaded rod, and a sealing plate for sealing the water inlet is fixedly installed on the top of the first threaded barrel.

[0015] Preferably, a support frame is fixedly installed at the bottom of the water guide plate, and a walking wheel is installed at the bottom of the support frame, and the walking wheel contacts the top of the water tank, and a guide plate is fixedly installed on one side of the underwater radiation monitoring box, and the guide plate is fixedly connected to the support frame, and a support plate is fixedly installed on one side of the underwater radiation monitoring box, and a second threaded rod is rotatably installed on the support plate, one end of the second threaded rod extends into the underwater radiation monitoring box, and the second; A second threaded cylinder is threadedly installed on the threaded rod, one end of the second threaded cylinder is fixedly connected to the support frame, and a motor is fixedly installed on one side of the underwater radiation monitoring box, and a first bevel gear is fixedly sleeved on the output shaft of the motor and the second threaded rod, and the two first bevel gears are meshed with each other, and one end of the first threaded rod and the second threaded rod are fixedly installed with a second bevel gear, and the two second bevel gears are meshed with each other.

[0016] Preferably, a rubber telescopic cylinder is installed on one side of the underwater radiation monitoring box, the rubber telescopic cylinder wraps the motor and the second threaded cylinder, and one end of the rubber telescopic cylinder is fixedly connected to the supporting structure.

[0017] Compared with the related art, the radiation reconnaissance robot provided by the present invention has the following beneficial effects:

[0018] Compared with the existing technology, the radiation reconnaissance robot provided by this solution can improve the space utilization rate of the robot platform, carry more payloads, and meet diversified mission requirements. It can perform mobile detection on the side area according to the planned path, and autonomously avoid observable obstacles on the forward path. Through the setting of the autonomous navigation kit, it can effectively improve the rescue efficiency and reduce the time of manual search and positioning. At the same time, the robot replaces personnel to enter the contaminated area, effectively protecting the life and health of the rescue personnel. Through various equipment such as mechanical arm components and underwater radiation monitoring boxes, the robot can perform a variety of reconnaissance tasks and provide comprehensive and accurate data support for rescue operations.

[0019] In summary, the radiation reconnaissance robot of the present invention has the advantages of being able to carry multi-task payloads and be remotely controlled or to approach polluted environments for reconnaissance and analysis according to a pre-set route. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the overall three-dimensional structure of a radiation reconnaissance robot provided by the present invention;

[0021] Figure 2 This is a schematic diagram of the main structure of a radiation reconnaissance robot provided by the present invention;

[0022] Figure 3 It is a schematic diagram of a top view and cross-section structure of a radiation reconnaissance robot provided by the present invention;

[0023] Figure 4 It is a schematic diagram of a top view structure of a radiation reconnaissance robot provided by the present invention;

[0024] Figure 5 It is an assembly diagram of the vehicle body and the vent hole provided by the present invention;

[0025] Figure 6 It is a structural schematic diagram of the surface contamination instrument device provided by the present invention;

[0026] Figure 7 It is an assembly diagram of the mechanical arm assembly provided by the present invention;

[0027] Figure 8 It is a schematic diagram of the main cross-sectional structure of the surface contamination instrument device provided by the present invention;

[0028] Fig. 9 It is a schematic diagram of the three-dimensional structure of the surface contamination instrument device provided by the present invention;

[0029] Fig.10 It is a schematic diagram of the main cross-sectional structure of the radiation monitoring box in the water provided by the present invention;

[0030] Fig.11 for Fig.10 Schematic diagram of the enlarged structure of part A shown in FIG.

[0031] Figure numerals: 1, vehicle body; 2, walking system; 3, power drive control system; 4, autonomous navigation kit; 5, Beidou antenna; 6, PTZ camera; 7, breathable cap; 8, mechanical arm assembly; 9, communication antenna; 10, detector assembly; 11, video server; 12, power box; 13, electric adjustment board; 14, nuclide identification and detection assembly; 15, aerosol detector; 16, radio station; 17, mechanical arm mounting seat; 18, industrial computer; 19, battery; 20, main control assembly; 2-1, power system; 21, operation panel; 22, vent; 23, mechanical arm base; 24, big arm joint; 25, long arm; 26, surface contamination instrument device; 27, surface contamination fixing ring; 28, wire rope shock absorber; 29, reducer 1. Seismic fixing ring; 2. Support barrel; 3. Surface contamination instrument; 3. Positioning ring; 3. Fixing plate; 3. Hanging block; 3. Servo arm; 3. Stroke adjustment mechanism; 3. Servo bracket; 3. Servo; 3. Lifting fixing plate; 4. Guide column; 50. Underwater radiation monitoring box; 51. Water guide plate; 52. Detector; 53. Water level sensor; 54. Water tank; 55. Water pump; 56. Annular water pipe; 57. First threaded rod; 58. First threaded cylinder; 59. Sealing plate; 60. Support frame; 61. Guide plate; 62. Support plate; 63. Second threaded rod; 64. Second threaded cylinder; 65. Motor; 66. First bevel gear; 67. Rubber telescopic cylinder; 68. Second bevel gear; 70. Rain gauge. DETAILED DESCRIPTION

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned figures are used to distinguish different objects, rather than to describe a specific order; the terms "inside", "outside", "left", and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] An embodiment of the present invention provides a radiation reconnaissance robot, such as Figure 1-11 As shown, the radiation reconnaissance robot includes: a body 1 and a walking system 2 and a power drive control system 3 arranged on the body 1 for driving the body 1 to move; an autonomous navigation kit 4 arranged on the body 1 for route navigation; a pan-tilt camera 6 installed on the top of the body 1; a mechanical arm assembly 8 installed on the body 1 for monitoring environmental pollution; and an underwater radiation monitoring box 50 installed on the top of the body 1 for monitoring radioactive substances in rainwater in radiation areas.

[0035] In this embodiment, the walking system 2 is responsible for the movement of the robot, and the power drive control system 3 provides the necessary power and control signals to ensure that the robot can move according to the predetermined route or instructions. The autonomous navigation kit 4 is used to realize the autonomous navigation function of the robot. By receiving and processing environmental information, the autonomous navigation kit can plan the optimal path and guide the robot to move along the path, thereby improving the rescue efficiency and reducing the risk to personnel. At the same time, the pan-tilt camera 6 monitors and shoots the on-site environment in real time. The pan-tilt camera 6 can flexibly adjust the shooting angle and focal length to ensure that key information can be captured and provide the command center with an intuitive on-site picture. The underwater radiation monitoring box 50 is specially used to monitor radioactive substances in rainwater in radiation areas, thereby detecting the content of radioactive substances in rainwater, and providing important data support for assessing the degree of radiation contamination and formulating rescue plans.

[0036] When the robot is running, it receives and processes environmental information through the autonomous navigation kit 4, plans the optimal path and moves, the pan-tilt camera 6 takes real-time pictures of the scene, and provides intuitive monitoring information for the command center. The mechanical arm assembly 8 samples and analyzes pollutants in the on-site environment. At the same time, the underwater radiation monitoring box 50 monitors the content of radioactive substances in rainwater in real time on rainy days. Through the setting of the autonomous navigation kit 4, the rescue efficiency can be effectively improved, and the time for manual search and positioning can be reduced. At the same time, the robot enters the contaminated area instead of personnel, effectively protecting the life and health of the rescue personnel. Through various equipment such as the mechanical arm assembly 8 and the underwater radiation monitoring box 50, the robot can perform various reconnaissance tasks and provide comprehensive and accurate data support for rescue operations.

[0037] In a further preferred embodiment of the present invention, a breathable cap 7, a group of Beidou antennas 5 and a group of communication antennas 9 are fixedly installed on the top of the vehicle body 1, and the group of Beidou antennas 5 and the group of communication antennas 9 are respectively located at the four corners of the top of the vehicle body 1, and the breathable cap 7 is located on the left side of the mechanical arm assembly 8.

[0038] In this embodiment, the breathable cap 7 is used to balance the air pressure inside and outside the vehicle body to prevent equipment damage or performance degradation caused by air pressure differences. When the radiation reconnaissance robot performs long-term operations or passes through different air pressure environments, the breathable cap 7 can ensure the stable operation of the equipment inside the vehicle body. The Beidou antenna 5 is used to receive signals from the Beidou satellite navigation system to achieve high-precision positioning and navigation of the robot, which helps to improve the positioning accuracy of the robot in complex environments and ensure that it can accurately reach the designated location to perform reconnaissance tasks. The communication antenna 9 is used to achieve wireless communication between the robot and the headquarters or other communication equipment, and to achieve real-time transmission of reconnaissance data, images and status. Information enables the headquarters to understand the on-site situation in a timely manner and make corresponding decisions. The use of Beidou antenna 5 improves the positioning accuracy of the robot in complex environments and ensures the accuracy of reconnaissance missions. The communication antenna 9 realizes real-time communication between the robot and the headquarters, so that the headquarters can quickly grasp the on-site situation and make decisions. The addition of the breathable cap 7 effectively prevents equipment damage or performance degradation caused by air pressure differences and improves the overall stability of the robot. Combined with the mechanical arm assembly 8, gimbal camera 6, underwater radiation monitoring box 50 and other components, the robot can perform a variety of reconnaissance missions and provide comprehensive and accurate data support for emergency rescue operations.

[0039] In a further preferred embodiment of the present invention, the vehicle body 1 has an upper and lower two-layer, front, middle and rear three-cabin structure, wherein the upper layer, the front cabin is equipped with a video server 11, a power box 12, and an electric adjustment board 13, the middle cabin is provided with a detector assembly 10, and the detector assembly 10 is composed of a nuclide identification detection assembly 14 and an aerosol detector 15, and the upper layer of the rear cabin is equipped with a radio station 16, a robotic arm mounting seat 17, an industrial computer 18, and a main control assembly 20.

[0040] In this embodiment, the nuclide identification detection component 14 and the aerosol detector 15 in the detector component 10 respectively detect radioactive substances and aerosol particles in the environment, and transmit the data to the industrial computer 18 for processing. The industrial computer 18 issues instructions based on the processing results, communicates with other devices or headquarters through the radio 16, and transmits reconnaissance data and status information. The video server 11 processes the video signal from the video acquisition device to provide real-time video monitoring. The power box 12 and the electric adjustment board 13 provide stable power supply and protection for the entire system. Through the setting of the detector component 10, radioactive substances and aerosol particles in the environment can be detected efficiently and accurately, providing strong support for radiation reconnaissance. At the same time, the cooperation of the radio 16 and the industrial computer 18 enables the system to realize real-time communication and data transmission, thereby improving the efficiency and accuracy of reconnaissance. The power box 12 and the electric adjustment board 13 provide stable power supply and protection for the system, thereby ensuring the stable operation of the entire system.

[0041] In a further preferred embodiment of the present invention, a power system 2-1 is installed in the lower front cabin of the vehicle body 1, a battery 19 is installed in the rear cabin, an operation panel 21 is installed on the outside of the rear cabin, and vents 22 are provided at the bottom of both sides of the vehicle body 1, and the vents 22 are used for suction and exhaust of the aerosol detector 15.

[0042] In this embodiment, the power system 2-1 provides driving force for the vehicle body 1, so that it can move flexibly and stably to the reconnaissance area. The battery 19 provides power support for the entire system to ensure that key components such as the detector component 10 and the industrial computer 18 can continue to work. The operation panel 21 is convenient for the operator to control and monitor the equipment to achieve remote operation and status monitoring. The aerosol detector 15 inhales aerosol particles in the environment through the vent 22, and performs detection and analysis, and transmits the data to the industrial computer 18 for processing. The addition of the power system 2-1 allows the vehicle body 1 to move flexibly and adapt to different reconnaissance environments. The battery 19 serves as an energy supply device to ensure the continuous working ability and stability of the entire system. The design of the operation panel 21 enables the operator to control and monitor the equipment more conveniently, thereby improving work efficiency. The design of the vent 22 allows the aerosol detector 15 to more effectively inhale aerosol particles in the environment, thereby improving detection accuracy and efficiency.

[0043] In a further preferred embodiment of the present invention, the robotic arm assembly 8 is composed of a robotic arm base 23, a boom joint 24, a long arm 25 and a surface contamination instrument device 26; the robotic arm base 23 is mounted on the robotic arm mounting seat 17 on the top of the vehicle body 1; the boom joint 24 is mounted on the robotic arm base 23; the long arm 25 is assembled on the boom joint 24; the surface contamination instrument device 26 is mounted on the long arm 25; and the robotic arm assembly 8 is a four-degree-of-freedom robotic arm.

[0044] In this embodiment, the manipulator assembly 8 is fixed to the vehicle body 1 through the manipulator base 23, and the surface contamination instrument device 26 is delivered to the target position through the flexible movement of the upper arm joint 24 and the long arm 25. The surface contamination instrument device 26 performs radioactive contamination detection at the target position and transmits the data to the industrial computer 18 for processing and analysis. The industrial computer 18 issues instructions based on the processing results, communicates with other equipment or the command center through the radio station 16, and transmits reconnaissance data and status information. Through the flexible movement of the manipulator assembly 8 and the precise detection of the surface contamination instrument device 26, the equipment can more accurately identify and measure the degree of radioactive contamination on the surface of the object. The design of the four-degree-of-freedom manipulator enables the equipment to more flexibly adapt to various reconnaissance environments, including narrow spaces, complex terrains, etc. At the same time, the automated operation of the manipulator assembly 8 reduces human intervention and improves the execution efficiency and accuracy of the reconnaissance mission.

[0045] In a further preferred embodiment of the present invention, the surface contamination instrument device 26 is composed of a support barrel 30, a surface contamination instrument 31, a surface contamination fixing ring 27, a wire rope shock absorber 28, a shock-absorbing fixing ring 29, a positioning ring 32 and a fixing plate 33. The support barrel 30 is installed on the long arm 25, and the surface contamination instrument 31 and the positioning ring 32 are both installed in the support barrel 30. The surface contamination fixing ring 27 is installed on the support barrel 30. A shock-absorbing fixing ring 29 is installed at the end of the long arm 25. Both ends of the wire rope shock absorber 28 are fixedly connected to the surface contamination fixing ring 27 and the shock-absorbing fixing ring 29 respectively. A fixing plate 33 is installed at the bottom of the support barrel 30, and a lifting mechanism is provided on the fixing plate.

[0046] In this embodiment, the mechanical arm assembly 8 delivers the surface contamination instrument device 26 to the target position through the flexible movement of the long arm 25. The lifting mechanism adjusts the height of the surface contamination instrument device 26 according to the needs, so that the surface contamination instrument 31 can be closer to the target object for detection. The surface contamination instrument 31 performs radioactive contamination detection at the target position and transmits the data to the industrial computer 18 for processing and analysis. When the mechanical arm assembly 8 is impacted or vibrated during movement, the wire rope shock absorber 28 can absorb and disperse the energy to protect the surface contamination instrument 31 from damage. Through the precise control of the lifting mechanism, the surface contamination instrument 31 can be closer to the target object for detection, thereby improving the measurement accuracy. Through the design of the wire rope shock absorber 28 and the shock-absorbing fixing ring 29, the impact and vibration generated by the mechanical arm assembly 8 during the movement are effectively absorbed, and the stability of the surface contamination instrument device 26 is enhanced. Through the design of the lifting mechanism and the shock-absorbing device, the surface contamination instrument device 26 can adapt to different reconnaissance environments and needs.

[0047] In a further preferred embodiment of the present invention, the lifting mechanism includes: a hanging block 34, a servo arm 35, a stroke adjustment mechanism 36, a servo bracket 37, a servo 38, a lifting fixed plate 39 and a guide column 40. The hanging block 34 is installed on the top of the support barrel 30, the servo arm 35 is installed on the fixed plate 33, the stroke adjustment mechanism 36 is arranged on the hanging block 34 and the servo arm 35, the servo bracket 37 is fixedly installed on the fixed plate 33, the servo 38 is arranged on one side of the servo bracket 37, the lifting fixed plate 39 is installed on the top of the fixed plate 33 and connected to the hanging block 34, and the guide column 40 is installed on the lifting fixed plate 39 and is slidably connected to the support barrel 30.

[0048] In this embodiment, when it is necessary to adjust the height of the surface contamination instrument device 26, the servo 38 starts to rotate, driving the servo arm 35 to swing, and the swing of the servo arm 35 is transmitted to the suspension block 34 through the stroke adjustment mechanism 36, so that the suspension block 34 performs lifting movement, and the lifting movement of the suspension block 34 is transmitted to the support barrel 30 and the surface contamination instrument device 26 through the lifting fixing plate 39 to realize the overall lifting control. The guide column 40 plays a supporting and guiding role in the lifting process to ensure the stability and accuracy of the lifting movement. At the same time, the boss part of the guide column 40 and the positioning ring 32 work together to limit the amplitude of the lifting movement and prevent damage to the equipment due to excessive lifting. Through the precise cooperation of the servo 38 and the stroke adjustment mechanism 36, precise lifting control of the surface contamination instrument device 26 is realized, and the measurement accuracy is improved. At the same time, the lifting mechanism can withstand large loads and impacts, ensuring the long-term stable operation of the equipment.

[0049] In a further preferred embodiment of the present invention, a rain gauge 70 is fixedly installed on the top of the vehicle body 1, and the rain gauge 70 is arranged on one side of the underwater radiation monitoring box 50. One side of the underwater radiation monitoring box 50 is used to guide rainwater into the water guide plate 51 in the underwater radiation monitoring box 50, and a detector 52 for detecting radioactive substances in the water is fixedly installed in the underwater radiation monitoring box 50.

[0050] In this embodiment, when rainfall occurs, the rain gauge 70 first measures and records the rainfall. At the same time, rainwater is guided into the water radiation monitoring box 50 through the water guide plate 51 and contacts the detector 52. The detector 52 detects the radioactive substances in the rainwater and transmits the data to the industrial computer 18. The industrial computer 18 analyzes and processes the detection data, determines whether the radioactive substances in the rainwater exceed the standard, and issues a corresponding alarm or indication. Through the coordinated use of the rain gauge 70 and the water radiation monitoring box 50, real-time monitoring of radioactive substances in rainwater is achieved, and the monitoring efficiency is improved. When the radioactive substances in rainwater exceed the standard, the system can issue an alarm in time to remind relevant personnel to take necessary measures to ensure the safety of the environment and the public. The detector 52 adopts advanced detection technology and sensors, which can accurately measure the content of radioactive substances in rainwater, thereby improving the accuracy and reliability of the data.

[0051] In a further preferred embodiment of the present invention, a water tank 54 is fixedly installed on the top of the vehicle body 1, and the water tank 54 is fixedly connected to the underwater radiation monitoring box 50. A water pump 55 is fixedly installed in the water tank 54, and an annular water pipe 56 for cleaning the underwater radiation monitoring box 50 is fixedly installed on the top of the inner wall of the underwater radiation monitoring box 50, and the annular water pipe 56 is connected to the drainage end of the water pump 55.

[0052] In this embodiment, when it is necessary to clean the underwater radiation monitoring box 50, the water pump 55 is started to pump the water in the water tank 54 to the annular water pipe 56, and the cleaning water is evenly sprayed on the inside of the underwater radiation monitoring box 50 through the water outlet of the annular water pipe 56 to clean the inside of the underwater radiation monitoring box. After the cleaning is completed, the water pump 55 is turned off, the water source of the annular water pipe 56 is disconnected, and the cleaning process is completed. Thereafter, the cleaning water is discharged out of the underwater radiation monitoring box 50. Through the coordinated use of the water pump 55 and the annular water pipe 56, the automatic cleaning function of the underwater radiation monitoring box 50 is realized, reducing the tediousness and cost of manual cleaning. The design of the annular water pipe 56 enables the cleaning water to be evenly sprayed on the inside of the underwater radiation monitoring box, thereby improving the cleaning efficiency and quality. After cleaning, the inside of the underwater radiation monitoring box 50 is cleaner, and radioactive substances can be detected more accurately, thereby improving the accuracy of the monitoring data.

[0053] In a further preferred embodiment of the present invention, a water inlet is provided on one side of the underwater radiation monitoring box 50, and the water inlet is located on one side of the water guide plate 51. A mounting plate is fixedly installed on one side of the inner wall of the underwater radiation monitoring box 50, and a first threaded rod 57 is rotatably installed on the mounting plate. A first threaded barrel 58 is threadedly installed on the first threaded rod 57, and a sealing plate 59 for sealing the water inlet is fixedly installed on the top of the first threaded barrel 58.

[0054] In this embodiment, when it is necessary to receive rainwater, the first threaded rod 57 is rotated to drive the first threaded cylinder 58 and the sealing plate 59 to descend, so that the water inlet is opened, and rainwater enters the water radiation monitoring box 50 through the water inlet to detect radioactive substances. When the detection is completed, the first threaded rod 57 is rotated again to drive the first threaded cylinder 58 and the sealing plate 59 to rise, so as to seal the water inlet and prevent external impurities or moisture from entering the water radiation monitoring box 50. By rotating the first threaded rod 57, the water inlet can be flexibly opened and closed, so as to achieve precise control of the water inlet of the water radiation monitoring box 50. The design of the sealing plate 59 ensures good sealing of the water inlet, prevents the entry of external impurities or moisture, and ensures the cleanliness and safety of the interior of the water radiation monitoring box 50.

[0055] In order to further improve the use effect of the device, in addition to the above scheme, this scheme also has the following embodiments:

[0056] In another embodiment of the present invention, a support frame 60 is fixedly installed at the bottom of the water guide plate 51, and a walking wheel is installed at the bottom of the support frame 60, and the walking wheel contacts the top of the water tank 54; a guide plate 61 is fixedly installed on one side of the underwater radiation monitoring box 50, and the guide plate 61 is fixedly connected to the support frame 60; a support plate 62 is fixedly installed on one side of the underwater radiation monitoring box 50, and a second threaded rod 63 is rotatably installed on the support plate 62, and one end of the second threaded rod 63 extends into the underwater radiation monitoring box 50; a second threaded cylinder 64 is threadedly installed on the second threaded rod 63, and one end of the second threaded cylinder 64 is fixedly connected to the support frame 60; a motor 65 is fixedly installed on one side of the underwater radiation monitoring box 50, and a first bevel gear 66 is fixedly sleeved on the output shaft of the motor 65 and the second threaded rod 63, and the two first bevel gears 66 are meshed with each other, and one end of the first threaded rod 57 and the second threaded rod 63 are fixedly installed with a second bevel gear 68, and the two second bevel gears 68 are meshed with each other.

[0057] In this embodiment, when it is necessary to receive rainwater, the motor 65 is started, and the output shaft of the motor 65 drives the second threaded rod 63 to rotate through the first bevel gear 66. The rotation of the second threaded rod 63 drives the second threaded cylinder 64 and the support frame 60 to slide to the left. At the same time, the water guide plate 51 slides to the left under the guidance of the guide plate 61 through the walking wheel and contacts the water inlet of the underwater radiation monitoring box 50. At the same time, due to the meshing action of the second bevel gear 68, the first threaded rod 57 also rotates, driving the first threaded cylinder 58 and the sealing plate 59 to descend, opening the water inlet, and rainwater enters the interior of the underwater radiation monitoring box 50 through the water guide plate 51 for detection. When the detection is completed, the motor 65 is started again. Reverse, drive the second threaded rod 63 and the second threaded cylinder 64 to rise, and at the same time, the water guide plate 51 is moved away from the water inlet through the walking wheel under the guidance of the guide plate 61. At the same time, the first threaded rod 57 also reverses, drives the first threaded cylinder 58 and the sealing plate 59 to rise, and closes the water inlet, which is convenient for the subsequent cleaning operation inside the underwater radiation monitoring box 50. Through the drive of the motor 65 and the meshing action of the bevel gears, the automatic control of the water guide plate 51 and the sealing plate 59 is realized, and the intelligence level of the equipment is improved. The synchronous control of the water guide plate 51 and the sealing plate 59 ensures that rainwater can accurately and timely enter the interior of the underwater radiation monitoring box 50 for detection, while avoiding the entry of external impurities or moisture.

[0058] In another embodiment of the present invention, a rubber telescopic tube 67 is installed on one side of the underwater radiation monitoring box 50, and the rubber telescopic tube 68 wraps the motor 65 and the second threaded tube 64, and one end of the rubber telescopic tube 68 is fixedly connected to the supporting structure 60.

[0059] In this embodiment, when the motor 65 drives the second threaded rod 63 to rotate, the second threaded cylinder 64 will rise and fall accordingly, thereby driving the support frame 60 and the water guide plate 51 to move. In this process, the rubber telescopic cylinder 67 will expand and contract with the rise and fall of the second threaded cylinder 64, always keeping the motor 65 and the second threaded cylinder 64 wrapped and protected, preventing external impurities such as moisture, dust, etc. from damaging them, thereby improving the reliability and service life of the equipment.

[0060] In summary, compared with related technologies, this radiation reconnaissance robot has the advantages of being able to carry multi-task payloads and be remotely controlled or follow a pre-set route to approach the contaminated environment for reconnaissance and analysis.

[0061] In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A radiation reconnaissance robot, characterized in that: include: A vehicle body (1), and a travel system (2) and a power drive control system (3) provided on the vehicle body (1) and used for driving the vehicle body (1) to move; An autonomous navigation kit (4) for route navigation provided on the vehicle body (1); A pan / tilt camera (6) mounted on the top of the vehicle body (1); A mechanical arm assembly (8) mounted on the vehicle body (1) for monitoring environmental pollution; An underwater radiation monitoring box (50) is installed on the top of the vehicle body (1) and is used to monitor radioactive substances in rainwater in radiation areas.

2. The radiation reconnaissance robot according to claim 1, characterized in that: A breathable cap (7), a group of Beidou antennas (5) and a group of communication antennas (9) are fixedly installed on the top of the vehicle body (1); the group of Beidou antennas (5) and the group of communication antennas (9) are respectively located at the four corners of the top of the vehicle body (1); and the breathable cap (7) is located on the left side of the mechanical arm assembly (8).

3. The radiation reconnaissance robot according to claim 2, characterized in that: The vehicle body (1) has an upper and lower two-layer structure and a front, middle and rear three-cabin structure. In the upper layer, the front cabin is equipped with a video server (11), a power box (12) and an electric adjustment board (13). The middle cabin is equipped with a detector assembly (10), which is composed of a nuclide identification detection assembly (14) and an aerosol detector (15). The upper layer of the rear cabin is equipped with a radio station (16), a mechanical arm mounting seat (17), an industrial computer (18) and a main control assembly (20).

4. The radiation reconnaissance robot according to claim 3, characterized in that: The lower front cabin of the vehicle body (1) is equipped with a power system (2-1), the rear cabin is equipped with a battery (19), and the outside of the rear cabin is equipped with an operation panel (21). The bottom of both sides of the vehicle body (1) are provided with ventilation holes (22), and the ventilation holes (22) are used for the aerosol detector (15) to extract and exhaust air.

5. The radiation reconnaissance robot according to claim 1, characterized in that: The robot arm assembly (8) is composed of a robot arm base (23), a large arm joint (24), a long arm (25) and a surface contamination instrument device (26); the robot arm base (23) is mounted on a robot arm mounting seat (17) on the top of the vehicle body (1); the large arm joint (24) is mounted on the robot arm base (23); the long arm (25) is assembled on the large arm joint (24); the surface contamination instrument device (26) is mounted on the long arm (25); and the robot arm assembly (8) is a four-degree-of-freedom robot arm.

6. The radiation reconnaissance robot according to claim 5, characterized in that: The surface contamination instrument device (26) is composed of a support barrel (30), a surface contamination instrument (31), a surface contamination fixing ring (27), a wire rope shock absorber (28), a shock absorbing fixing ring (29), a positioning ring (32) and a fixing plate (33). The support barrel (30) is mounted on the long arm (25). The surface contamination instrument (31) and the positioning ring (32) are both mounted in the support barrel (30). The surface contamination fixing ring (27) is mounted on the support barrel (30). A shock absorbing fixing ring (29) is mounted at the end of the long arm (25). Both ends of the wire rope shock absorber (28) are fixedly connected to the surface contamination fixing ring (27) and the shock absorbing fixing ring (29) respectively. A fixing plate (33) is mounted at the bottom of the support barrel (30), and a lifting mechanism is arranged on the fixing plate.

7. The radiation reconnaissance robot according to claim 6, characterized in that: The lifting mechanism comprises: a lifting block (34), a steering gear arm (35), a stroke adjustment mechanism (36), a steering gear bracket (37), a steering gear (38), a lifting fixed plate (39) and a guide column (40), wherein the lifting block (34) is mounted on the top of the supporting barrel (30), the steering gear arm (35) is mounted on the fixing plate (33), the stroke adjustment mechanism (36) is arranged on the lifting block (34) and the steering gear arm (35), the steering gear bracket (37) is fixedly mounted on the fixing plate (33), the steering gear (38) is arranged on one side of the steering gear bracket (37), the lifting fixed plate (39) is mounted on the top of the fixing plate (33) and connected to the lifting block (34), and the guide column (40) is mounted on the lifting fixed plate (39) and slidably connected to the supporting barrel (30).

8. The radiation reconnaissance robot according to claim 1, characterized in that: A rain gauge (70) is fixedly mounted on the top of the vehicle body (1), and the rain gauge (70) is arranged on one side of the underwater radiation monitoring box (50). The side of the underwater radiation monitoring box (50) is used to guide rainwater into a water guide plate (51) in the underwater radiation monitoring box (50), and a detector (52) for detecting radioactive substances in water is fixedly mounted in the underwater radiation monitoring box (50).

9. The radiation reconnaissance robot according to claim 8, characterized in that: A water tank (54) is fixedly mounted on the top of the vehicle body (1), the water tank (54) is fixedly connected to the underwater radiation monitoring box (50), a water pump (55) is fixedly mounted inside the water tank (54), an annular water pipe (56) for cleaning the underwater radiation monitoring box (50) is fixedly mounted on the top of the inner wall of the underwater radiation monitoring box (50), and the annular water pipe (56) is connected to a drainage end of the water pump (55).

10. The radiation reconnaissance robot according to claim 9, characterized in that: A water inlet is provided on one side of the underwater radiation monitoring box (50), and the water inlet is located on one side of the water guide plate (51). A mounting plate is fixedly mounted on one side of the inner wall of the underwater radiation monitoring box (50), and a first threaded rod (57) is rotatably mounted on the mounting plate. A first threaded barrel (58) is threadedly mounted on the first threaded rod (57), and a sealing plate (59) for sealing the water inlet is fixedly mounted on the top end of the first threaded barrel (58).

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