A traffic safety experimental test device for nuclear power plants

Abstract

The present invention belongs to the technical field of nuclear power plant construction, and particularly relates to a traffic safety experimental testing device for a nuclear power plant, which comprises a base plate, an electrical box, a main control system, a driving mechanism, a ladder climbing mechanism, a lifting and rotating mechanism and an experimental tester. An electrical box is arranged on the base plate, and a main control system is arranged in the electrical box. A ladder climbing mechanism is arranged on one side of the base plate, driving mechanisms are symmetrically arranged below the base plate, and an experimental tester is arranged on the base plate through a lifting and rotating mechanism. The present invention increases the mobility of the device through the driving mechanism, and can cope with climbing of straight ladders in cooperation with the provided ladder climbing mechanism, greatly improving the passing rate of the device. The degree of automation is high, and the whole process can be remotely controlled. At the same time, the experimental tester can be controlled by the lifting and rotating mechanism to perform detections at different heights and in a 360° all-round manner, with stronger applicability.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear power plant construction, and particularly relates to a traffic safety experimental testing device for a nuclear power plant. Background Art

[0002] A nuclear power plant refers to a facility that converts nuclear energy into electrical energy through appropriate devices; in a nuclear power plant, a nuclear reactor is used to replace the boiler of a thermal power plant, and nuclear fuel undergoes a special form of "combustion" in the nuclear reactor to generate heat, converting nuclear energy into thermal energy to heat water and produce steam.

[0003] During the operation of a nuclear power plant, traffic safety within the nuclear power plant is very important, which is related to the safety of the nuclear power plant and the physical health of the staff. The internal traffic of the nuclear power plant is divided into outdoor road traffic and indoor passage environment safety, among which the indoor passage environment safety is particularly important. When dealing with the faults of some safety detection equipment and instruments in the passage environment, manual maintenance is required. However, if the detection equipment and instruments are damaged due to excessive nuclear radiation, it cannot be predicted in advance, resulting in the staff performing maintenance being exposed to radiation, thus affecting their physical health. At the same time, there are a large number of stairs and vertical ladders in the indoor passage, and general automated experimental testing equipment cannot pass smoothly.

[0004] Therefore, the present invention proposes a traffic safety experimental testing device for a nuclear power plant to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide a traffic safety experimental testing device for a nuclear power plant. This device can increase the mobility of the device through a rotating tripod structure combined with multiple groups of independent wheel mechanisms, and can handle climbing straight ladders with the provided ladder climbing mechanism, greatly improving the passing rate of the device. It has a high degree of automation and can be remotely controlled throughout the process, effectively solving the defect that traditional traffic safety experimental testing equipment cannot pass through stairs and straight ladders. At the same time, through the lifting and rotating mechanism, the experimental tester can be controlled to perform detections at different heights and in a 360° all-round manner, with stronger applicability.

[0006] Technical solutions for achieving the purpose of the present invention:

[0007] A traffic safety experimental test device for a nuclear power plant, comprising a base plate, an electrical box, a main control system, a driving mechanism, a ladder climbing mechanism, a lifting and rotating mechanism and an experimental tester. An electrical box is provided on the base plate, and a main control system is provided in the electrical box. A ladder climbing mechanism is provided on one side of the base plate, and driving mechanisms are symmetrically provided below the base plate. An experimental tester is provided on the base plate through a lifting and rotating mechanism. The ladder climbing mechanism includes an end vertical plate, a multi-section telescopic rod, a connecting seat, a clamping wheel mechanism, a contraction groove, a telescopic oil cylinder and a driving rubber roller. An end vertical plate is provided on one side of the base plate. Connecting seats are symmetrically provided on the front side of the end vertical plate through a multi-section telescopic rod. Clamping wheel mechanisms are symmetrically provided on both sides of the connecting seat. A contraction groove is provided on the front side of the connecting seat. A driving rubber roller is provided in the contraction groove through a telescopic oil cylinder. The clamping wheel mechanism is used for clamping both sides of a straight ladder, and the telescopic oil cylinder drives the driving rubber roller to rotate, and the straight ladder is climbed through the cooperation of the clamping wheel mechanism and the driving rubber roller.

[0008] Further, the clamping wheel mechanism includes a clamping oil cylinder, a clamping side plate and a grooved roller. Clamping side plates are symmetrically provided on both sides of the connecting seat through a clamping oil cylinder. Grooved rollers are symmetrically distributed on the inner sides of the clamping side plates in front of the connecting seat. Both sides of the straight ladder are clamped by the grooved rollers and cooperate with the driving rubber roller to climb the straight ladder.

[0009] Further, the end vertical plate is fixedly provided on one side of the base plate; or the lower end of the end vertical plate is connected to the base plate through a first rotating motor, so that the base plate can rotate relative to the oriented end vertical plate.

[0010] Further, the driving mechanism includes an adjusting telescopic rod, a motor box, a driving motor, a lower extension plate, a rotating tripod and an independent wheel mechanism. Motor boxes are symmetrically provided below the base plate through an adjusting telescopic rod. A driving motor is provided in the motor box. A lower extension plate is provided below the motor box. A rotating tripod is provided on the outer side surface of the lower extension plate through a rotating shaft. Independent wheel mechanisms are symmetrically provided on the outer side of the rotating tripod. The upper side of the motor box and the base plate are symmetrically guided and adapted through sliding rods. The output end of the driving motor is belt-driven with the rotating shaft at one end of the rotating tripod, and the driving motor drives the rotating tripod to rotate to climb the stairs.

[0011] Further, the independent wheel mechanism includes a fixed shaft, a driving wheel housing, a coil stator, a permanent magnet and an anti-slip rubber sleeve. Fixed shafts are symmetrically provided on the rotating tripod. A driving wheel housing is rotatably provided on the fixed shaft. A coil stator is provided on the fixed shaft in the driving wheel housing. Permanent magnets are symmetrically distributed on the inner side wall of the driving wheel housing. An anti-slip rubber sleeve is provided on the outer side of the driving wheel housing. After the coil stator is energized, it drives the external driving wheel housing to rotate to realize the movement of the test device.

[0012] Furthermore, the lifting and rotating mechanism includes side vertical plates, connecting cross plates, driving screws, hinged lifting frames, lifting plates, second rotating motors, and rotating seats. Side vertical plates are symmetrically arranged on both sides of the base plate. Connecting cross plates are provided between the side vertical plates. Driving screws are provided between the connecting cross plates. Hinged lifting frames are provided between the connecting cross plates through the driving screws. The upper ends of the hinged lifting frames are provided with lifting plates. Rotating seats are provided on the upper sides of the lifting plates through the second rotating motors. The experimental tester is arranged on the rotating seats.

[0013] Furthermore, a lifting motor is arranged on one side inside the electrical box, and the output end of the lifting motor is belt-driven with one end of the driving screw.

[0014] Furthermore, a battery pack is also arranged in the electrical box, and a gyroscope sensor is arranged in the middle of the base plate inside the electrical box.

[0015] Furthermore, the main control system includes a terminal control module, a wireless transmission module, and an execution control module. The terminal control module is used to issue remote control instructions. The wireless transmission module performs anti-interference transmission of wireless signals based on frequency band and channel switching combined with filtering technology. The execution control module is used to receive control instructions and control the operation of the test equipment for movement and testing.

[0016] Furthermore, the wireless transmission module includes a data transceiver module and a data processing module. The data transceiver module receives and sends wireless data signals based on a multi-frequency and multi-channel transmitter. The data processing module performs anti-interference processing on the received wireless data signals using a symmetric filter.

[0017] The beneficial technical effects of the present invention are as follows:

[0018] 1. For a nuclear power plant traffic safety experimental test equipment provided by the present invention, the mobility of the device can be increased by combining the rotating tripod structure with multiple groups of independent wheel mechanisms, and the climbing ladder mechanism can be used to handle climbing straight ladders, greatly improving the passing rate of the device.

[0019] 2. For a nuclear power plant traffic safety experimental test equipment provided by the present invention, the overall degree of automation is high, and it can be remotely controlled throughout the process, effectively solving the defect that traditional traffic safety experimental test equipment cannot pass through stairs and straight ladders.

[0020] 3. For a nuclear power plant traffic safety experimental test equipment provided by the present invention, the experimental tester can be controlled by the lifting and rotating mechanism to perform detections at different heights, and can also rotate 360°, realizing omnidirectional detection, with stronger applicability, providing a remotely controlled and safe experimental test equipment for nuclear power plant traffic safety. Description of the Drawings

[0021] Figure 1 It is a side view structure diagram of a nuclear power plant traffic safety experimental test equipment provided by the present invention;

[0022] Figure 2 Side view sectional structure diagram of a traffic safety experimental test device for nuclear power plants provided by the present invention;

[0023] Figure 3 Front view sectional structure diagram of a traffic safety experimental test device for nuclear power plants provided by the present invention;

[0024] Figure 4 Top view sectional structure diagram of a ladder climbing mechanism in a traffic safety experimental test device for nuclear power plants provided by the present invention;

[0025] Figure 5 Sectional structure diagram of an independent wheel mechanism in a traffic safety experimental test device for nuclear power plants provided by the present invention;

[0026] Figure 6 Main control system architecture diagram of a traffic safety experimental test device for nuclear power plants provided by the present invention;

[0027] Figure 7 Schematic diagram of the end vertical plate movably connected to the climbing straight ladder of a traffic safety experimental test device for nuclear power plants provided by the present invention.

[0028] In the figure: 1. Base plate; 2. Electrical box; 3. Experimental tester; 4. End vertical plate; 5. Multi-section telescopic rod; 6. Connecting seat; 7. Shrinkage groove; 8. Telescopic oil cylinder; 9. Driving rubber roller; 10. Adjusting telescopic rod; 11. Motor box; 12. Driving motor; 13. Lower extension plate; 14. Rotating tripod; 15. Fixed shaft; 16. Driving wheel housing; 17. Coil stator; 18. Permanent magnet; 19. Anti-slip rubber sleeve; 20. Clamping oil cylinder; 21. Clamping side plate; 22. Groove roller; 23. Side vertical plate; 24. Connecting cross plate; 25. Driving screw; 26. Hinged lifting frame; 27. Lifting plate; 28. Second rotating motor; 29. Rotating seat; 30. Lifting motor; 31. Battery pack; 32. Gyroscope sensor; 33. First rotating motor. Detailed implementation manners

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] As Figures 1-7 shown, this embodiment provides a traffic safety experimental test device for nuclear power plants, including a base plate 1, an electrical box 2, a main control system, a driving mechanism, a ladder climbing mechanism, a lifting and rotating mechanism, and an experimental tester 3.

[0031] An electrical box 2 is provided on the base plate 1. The electrical box 2 is made of a metal material with low resistance and can provide a certain shielding effect. An exposed antenna is provided on the outside for receiving signals. A main control system is provided in the electrical box 2. A ladder climbing mechanism is provided on one side of the base plate 1. Driving mechanisms are symmetrically provided below the base plate 1. An experimental tester 3 is provided on the base plate 1 through a lifting and rotating mechanism for conducting traffic safety experiment tests.

[0032] As Figure 2 shown, the ladder climbing mechanism includes an end vertical plate 4, multiple telescopic rods 5, a connecting seat 6, a clamping wheel mechanism, a contraction groove 7, a telescopic oil cylinder 8, and a driving rubber roller 9. An end vertical plate 4 is fixedly provided on one side of the base plate 1. Connecting seats 6 are symmetrically provided on the front side of the end vertical plate 4 through multiple telescopic rods 5. Clamping wheel mechanisms are symmetrically provided on both sides of the connecting seat 6. A contraction groove 7 is provided on the front side of the connecting seat 6. A driving rubber roller 9 is provided in the contraction groove 7 through a telescopic oil cylinder 8. The telescopic oil cylinder 8 is fixed in the contraction groove 7. A transmission box is provided at the telescopic end of the telescopic oil cylinder 8. The driving rubber rollers 9 are symmetrically provided on the front side of the transmission box and are driven by the transmission box.

[0033] As Figure 7 shown, the end vertical plate 4 can also be movably arranged. The lower end of the end vertical plate 4 is connected to the base plate 1 through a first rotating motor 33, enabling the base plate 1 to rotate relative to the fixed end vertical plate 4 when climbing the straight ladder, that is, the base plate 1 rotates around the vertical surface of the end vertical plate 4 by a certain angle, facilitating changing directions and entering the upper-level passage after climbing to the top of the straight ladder.

[0034] As Figure 2 、 Figure 4 shown, the clamping wheel mechanism includes a clamping oil cylinder 20, clamping side plates 21, and grooved rollers 22. Clamping side plates 21 are symmetrically provided on both sides of the connecting seat 6 through clamping oil cylinders 20. The clamping oil cylinders 20 are embedded on the upper and lower sides of the connecting seat 6. Grooved rollers 22 are symmetrically distributed on the inner sides of the clamping side plates 21 in front of the connecting seat 6. The two sides of the straight ladder can be clamped by the grooved rollers 22 and cooperate with the driving rubber rollers to achieve climbing of the straight ladder.

[0035] As Figure 3 shown, the driving mechanism includes adjusting telescopic rods 10, motor boxes 11, driving motors 12, lower extension plates 13, rotating tripods 14, and independent wheel mechanisms. Motor boxes 11 are symmetrically provided below both ends of the base plate 1 through adjusting telescopic rods 10. The telescopic adjusting rods 10 are fixedly provided on the base plate 1. The motor boxes 11 are fixedly provided at the telescopic ends of the adjusting telescopic rods 10. Driving motors 12 are provided in the motor boxes 11. Lower extension plates 13 are fixedly provided below the motor boxes 11. Rotating tripods 14 are provided on the outer side surfaces of the lower extension plates 13 through rotating shafts. Independent wheel mechanisms are symmetrically provided on the outer sides of the rotating tripods 14.

[0036] The output end of the driving motor 12 is in belt drive with the rotating shaft at one end of the rotating tripod 14. That is, a rotating shaft penetrates through the lower extension plate 13 at the center of the rotating tripod 14. The output end of the driving motor 12 is connected and driven to the rotating shaft through a gear ruler belt. The driving motor 12 drives the rotating tripod 14 to rotate, thereby realizing the climbing of the stairs. The upper side of the motor box 11 is symmetrically guided and adapted to the base plate 1 through sliding rods to increase stability.

[0037] As Figure 5 shown, the independent wheel mechanism includes a fixed shaft 15, a driving wheel housing 16, a coil stator 17, a permanent magnet 18, and an anti-slip rubber sleeve 19. Fixed shafts 15 are symmetrically arranged on the rotating tripod 14. The fixed shafts 15 are fixedly connected to the rotating tripod 14. A driving wheel housing 16 is rotatably arranged on the fixed shafts 15. The driving wheel housing 16 is rotationally connected to the fixed shafts 15 through bearings. A coil stator 17 is arranged on the fixed shafts 15 inside the driving wheel housing 16. Permanent magnets 18 are symmetrically distributed on the inner side wall of the driving wheel housing 16. Energizing the coil stator 17 can drive the external driving wheel housing 16 to rotate to achieve driving. An anti-slip rubber sleeve 19 is arranged on the outside of the driving wheel housing 16.

[0038] When moving on a flat road, the driving motor 12 does not start, that is, the rotating tripod 14 does not rotate. Only the coil stator 17 drives the driving wheel housing 16 to rotate to realize the movement of the test equipment. When climbing stairs, the driving motor 12 drives the rotating tripod 14 to rotate, and at the same time, the coil stator 17 drives the driving wheel housing 16 to rotate to realize the movement of climbing stairs.

[0039] As Figures 2-3 shown, the lifting and rotating mechanism includes side vertical plates 23, connecting horizontal plates 24, driving screws 25, articulated lifting frames 26, lifting plates 27, second rotating motors 28, and rotating seats 29. Side vertical plates 23 are symmetrically arranged on both sides of the base plate 1. A connecting horizontal plate 24 is fixedly arranged between the side vertical plates 23. An articulated lifting frame 26 is arranged between the connecting horizontal plates 24 through the driving screws 25. The upper end of the articulated lifting frame 26 is provided with a lifting plate 27. The articulated lifting frame 26 is lifted and adjusted by the driving screws 25. A rotating seat 29 is arranged on the upper side of the lifting plate 27 through the second rotating motor 28. The experimental tester 3 is arranged on the rotating seat 29 to facilitate the rotational adjustment of the experimental tester 3.

[0040] One side inside the electrical box 2 is provided with a lifting motor 30. The output end of the lifting motor 30 is in belt drive with one end of the driving screw 25. That is, a pulley is arranged at the output end of the lifting motor 30 and one end of the driving screw 25, and a transmission belt is arranged between the pulleys to realize the belt drive between the lifting motor 30 and the driving screw 25.

[0041] The electrical box 2 is also provided with a battery pack 31. A gyroscope sensor 32 is arranged in the middle of the base plate 1 in the electrical box 2. During movement, the telescopic rod 10 is controlled to extend and retract by detecting the levelness, so as to keep the levelness of the base plate 1.

[0042] As Figure 6 shown, the main control system includes a terminal control module, a wireless transmission module and an execution control module. The terminal control module is located in the main control room of the nuclear power plant, and the wireless transmission module and the execution control module are located in the electrical box 2. The terminal control module is used to issue remote control instructions. The wireless transmission module performs anti-interference transmission of wireless signals based on frequency band and channel switching combined with filtering technology. The execution control module is used to receive remote control instructions and control the operation of the test equipment for movement and testing.

[0043] The wireless transmission module includes a data transceiver module and a data processing module. The data transceiver module receives and sends wireless data signals based on a multi-frequency and multi-channel transmitter. The data processing module uses a symmetric filter to perform anti-interference processing on the received wireless data signals.

[0044] When using a traffic safety experimental test equipment provided by this embodiment, the test equipment is controlled to move remotely. When moving on a flat road, the driving motor 12 does not start, that is, the rotating tripod 14 does not rotate, and only the coil stator 17 drives the driving wheel housing 16 to rotate to realize the movement of the test equipment.

[0045] When climbing stairs, the driving motor 12 drives the rotating tripod 14 to rotate, and at the same time the coil stator 17 drives the driving wheel housing 16 to rotate to realize climbing stairs movement.

[0046] When climbing a straight ladder, first, the clamping wheel mechanism adjusts to adapt to the width of the straight ladder, and the clamping wheel mechanism clamps and limits with the handrail of the straight ladder. Then, the driving rubber roller rotates actively to drive the test equipment to climb upward. After climbing in place, rotate the base plate to make the lowest point of the lower driving mechanism contact the ground of the upper channel and put it down, and then release the clamping wheel mechanism. The operation when climbing down the straight ladder is the opposite.

[0047] When the test equipment moves to the position that needs to be monitored, the experimental tester 3 is driven to lift and rotate by the lifting and rotating mechanism to adapt to environmental detection at different heights and orientations.

[0048] The above has described the present invention in detail with reference to the drawings and embodiments. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art, various changes can be made without departing from the purpose of the present invention. The content not described in detail in the present invention can all adopt the prior art.

Claims

1. A nuclear power plant traffic safety experimental test equipment, characterized in that: The invention comprises a base plate (1), an electrical box (2), a main control system, a driving mechanism, a ladder mechanism, a lifting and rotating mechanism and an experimental tester (3); the base plate (1) is provided with an electrical box (2), the electrical box (2) is provided with a main control system, one side of the base plate (1) is provided with a ladder mechanism, the bottom of the base plate (1) is symmetrically provided with a driving mechanism, and the base plate (1) is provided with an experimental tester (3) through the lifting and rotating mechanism; the ladder mechanism comprises an end vertical plate (4), a multi-section telescopic rod (5), a connecting seat (6), a clamping wheel mechanism, a contraction groove (7), a telescopic oil cylinder (8) and a driving rubber roller (9); one side of the base plate (1) is provided with an end vertical plate (4), and the front side of the end vertical plate (4) is symmetrically provided with a lifting and rotating mechanism through the multi-section telescopic rod (5). A connecting seat (6) is provided with clamping wheel mechanisms symmetrically on both sides of the connecting seat (6), a contraction groove (7) is provided on the front side of the connecting seat (6), a driving rubber roller (9) is provided in the contraction groove (7) through a telescopic oil cylinder (8), the clamping wheel mechanism is used to clamp both sides of the ladder, and the telescopic oil cylinder (8) drives the driving rubber roller (9) to rotate; the clamping wheel mechanism comprises a clamping oil cylinder (20), a clamping side plate (21) and a groove roller (22), the clamping side plates (21) are symmetrically provided on both sides of the connecting seat (6) through the clamping oil cylinder (20), and the inner side of the clamping side plate (21) is symmetrically distributed on the front side of the connecting seat (6), and the climbing of the ladder is achieved by clamping both sides of the ladder and cooperating with the driving rubber roller (9).

2. A nuclear power plant traffic safety experiment test equipment according to claim 1, characterized in that: The end upright plate (4) is fixedly arranged on one side of the base plate (1); or the lower end of the end upright plate (4) is connected to the base plate (1) via a first rotating motor (33), so that the base plate (1) can rotate relative to the oriented end upright plate (4).

3. A nuclear power plant traffic safety experimental test equipment according to claim 1, characterized in that: The driving mechanism comprises an adjustable telescopic rod (10), a motor box (11), a driving motor (12), a lower extension plate (13), a rotating tripod (14) and an independent wheel mechanism. The motor box (11) is symmetrically arranged below the base plate (1) through the adjustable telescopic rod (10). The driving motor (12) is arranged in the motor box (11). A lower extension plate (13) is arranged below the motor box (11). A rotating shaft is arranged on the outer side of the lower extension plate (13). An independent wheel mechanism is symmetrically arranged on the outer side of the rotating tripod (14). The upper side of the motor box (11) and the base plate (1) are symmetrically guided and adapted through a sliding rod. The output end of the driving motor (12) is driven by a rotating shaft belt at one end of the rotating tripod (14). The driving motor (12) drives the rotating tripod (14) to rotate to achieve climbing of stairs.

4. A nuclear power plant traffic safety experiment test equipment according to claim 3, characterized in that: The independent wheel mechanism comprises a fixed shaft (15), a driving wheel housing (16), a coil stator (17), a permanent magnet (18) and an anti-slip rubber sleeve (19); the fixed shaft (15) is symmetrically arranged on the rotating tripod (14); the driving wheel housing (16) is rotatably arranged on the fixed shaft (15); the coil stator (17) is arranged on the fixed shaft (15) inside the driving wheel housing (16); the permanent magnets (18) are symmetrically distributed on the inner side wall of the driving wheel housing (16); the anti-slip rubber sleeve (19) is arranged on the outer side of the driving wheel housing (16); when the coil stator (17) is energized, it drives the outer driving wheel housing (16) to rotate, thereby realizing the movement of the test equipment.

5. A nuclear power plant traffic safety experiment test equipment according to claim 1, characterized in that: The lifting and rotating mechanism comprises side upright plates (23), connecting transverse plates (24), a driving screw (25), an articulated lifting frame (26), a lifting plate (27), a second rotating motor (28) and a rotating seat (29); side upright plates (23) are symmetrically arranged on both sides of the base plate (1); connecting transverse plates (24) are arranged between the side upright plates (23); a driving screw (25) is arranged between the connecting transverse plates (24); an articulated lifting frame (26) is arranged between the connecting transverse plates (24) via the driving screw (25); a lifting plate (27) is arranged at the upper end of the articulated lifting frame (26); a rotating seat (29) is arranged on the upper side of the lifting plate (27) via the second rotating motor (28); and the experimental tester (3) is arranged on the rotating seat (29).

6. A nuclear power plant traffic safety experiment test equipment according to claim 5, characterized in that: A lifting motor (30) is provided on one side of the electrical box (2), and an output end of the lifting motor (30) is driven by a belt with one end of a driving screw rod (25).

7. A nuclear power plant traffic safety experiment test equipment according to claim 1, characterized in that: A battery pack (31) is also provided in the electrical box (2), and a gyroscope sensor (32) is provided in the middle of the base plate (1) in the electrical box (2).

8. A nuclear power plant traffic safety experiment test equipment according to claim 1, characterized in that: The main control system includes a terminal control module, a wireless transmission module and an execution control module. The terminal control module is used to issue remote control instructions. The wireless transmission module performs anti-interference transmission of wireless signals based on frequency band and channel switching combined with filtering technology. The execution control module is used to receive control instructions and control the operation of the test equipment for movement and testing.

9. A nuclear power plant traffic safety experimental test equipment according to claim 8, characterized in that: The wireless transmission module includes a data transceiver module and a data processing module. The data transceiver module receives and sends wireless data signals based on a multi-frequency multi-channel transmitter, and the data processing module uses a symmetrical filter to perform anti-interference processing on the received wireless data signals.

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