Design method of radiation-resistant robot electronic component metal protective shell

Abstract

The invention provides a design method of a radiation-resistant robot electronic component metal protective shell. The design method of the radiation-resistant robot electronic component metal protective shell comprises the following steps: installing a concave reflective curved window at the same position as a camera on a radiation-resistant metal shell; and a light source accommodating groove communicated with the reflective curved window is designed on the radiation-resistant metal shell. The light source containing groove is used for installing an infrared light source. And the concave reflective curved window is used for mounting an optical lens of the camera module, so that light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then is emitted out. According to the application, the concave reflective curved window and the light source accommodating groove communicated with the reflective curved window are mounted at the same position of the camera on the radiation-resistant metal shell, so that the technical problem that the final imaging effect is affected by reasons such as the camera or the structural design in the radiation-resistant robot is solved.

Description

Technical Field

[0001] The present application belongs to the field of radiation protection technology, and specifically relates to a method for designing a radiation-resistant metal protective shell for electronic components of a robot. Background Art

[0002] There is a high dose of radiation inside nuclear reactors and their auxiliary facilities. In order to reduce the impact of long-term exposure on personnel health and cope with the complex and dangerous working environment inside nuclear power plants, provide safe and efficient service support, and improve the overall operation level and safety of nuclear power plants, robots are often used to replace manual labor to perform high-risk tasks and reduce the risk of direct exposure to radiation environments.

[0003] In order to enhance the robot's motion function, complete the target task and ensure that the operator can remotely monitor the robot's environment, adjust the robot's movements and motion paths in time, avoid collisions and other accidents, check the status of the equipment, discover potential problems, and remotely diagnose faulty equipment, it is necessary to install cameras on nuclear power robots. By installing cameras, it is also helpful to record the robot's operation process and provide important evidence in the event of an accident or dispute. In addition, in terms of intelligence and automation, combined with computer vision technology and artificial intelligence algorithms, cameras can help robots achieve autonomous navigation, avoid obstacles, and improve navigation accuracy; they are used for target recognition to help robots accurately locate objects that need to be operated, and improve the accuracy and efficiency of operations. In terms of remote collaboration and training, through the video provided by the camera, experts can remotely guide on-site operators to perform complex tasks and improve work efficiency; the video recorded by the camera can be used to train new operators and provide real operating scenarios and cases. In terms of environmental monitoring, cameras can be combined with other sensors to monitor environmental parameters such as temperature, humidity, radiation levels, etc., detect the presence and distribution of pollutants, and provide comprehensive environmental information. Nuclear safety regulations require that nuclear power plants must have real-time monitoring capabilities, and cameras are an important tool to achieve this requirement.

[0004] However, there are high doses of radiation inside nuclear reactors and their auxiliary facilities. These radiations have destructive effects on conventional electronic equipment, especially on the core components of cameras, image sensors (such as CCD or CMOS). Traditional image sensors are prone to failure in high-radiation environments. Use radiation-resistant CCD or CMOS sensors, or take additional shielding measures. Electronic equipment may be affected by electromagnetic interference, resulting in unstable signal transmission. The imaging effect of the camera is particularly important in the application of radiation-resistant robots. However, the existing camera itself or the robot structure design in the radiation-resistant robot is prone to affect the final imaging effect. Summary of the invention

[0005] In view of this, the present application is committed to providing a method for designing a metal protective shell for electronic components of a radiation-resistant robot. By installing an inwardly concave reflective curved window and a light source accommodating groove connected to the reflective curved window at the same position as the camera on the radiation-resistant metal shell, the technical problem of the final imaging effect being affected by the camera itself or the structural design in the radiation-resistant robot is solved.

[0006] The first aspect of the present application provides a method for designing a metal protective shell for electronic components of a radiation-resistant robot, and the method comprises: installing a concave reflective curved window on the radiation-resistant metal shell at the same position as the camera; designing a light source receiving groove on the radiation-resistant metal shell that is connected to the reflective curved window. The light source receiving groove is used to install an infrared light source. The concave reflective curved window is used to install the optical lens of the camera module, so that the light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then emitted.

[0007] In a specific embodiment of the present application, a light source receiving groove connected to the reflective curved window is designed on the radiation-resistant metal shell, and then the radiation-resistant robot electronic component metal protective shell design method further includes: spraying a radiation-resistant coating on the outer surface of the radiation-resistant metal shell. When spraying the radiation-resistant coating, avoid the concave reflective curved window.

[0008] In a specific embodiment of the present application, before spraying a radiation-resistant coating on the outer surface of the radiation-resistant metal shell, the method for designing a radiation-resistant robot electronic component metal protective shell also includes: selecting the type of radiation-resistant coating using a mesomechanical model.

[0009] In a specific embodiment of the present application, the radiation-resistant coating adopts a MAX phase material coating; and / or, the radiation-resistant coating adopts a MAX phase coating, a FeCrAl coating and a Cr / FeCrAl coating multilayer coating structure.

[0010] In one embodiment of the present application, the cumulative dose is less than 10 4 Gray, between 10 4 Gray and 10 5 Between Gray, greater than 10 5 Gray, the thickness of the radiation-resistant metal shell shall not exceed 10 mm when no radiation-resistant coating is sprayed.

[0011] In one embodiment of the present application, the cumulative dose is less than 10 4 Gray, between 10 4 and 10 5 Between Gray, greater than 10 5Gray, if the radiation-resistant coating is sprayed and the radiation-resistant coating adopts MAX phase coating, the thickness of the radiation-resistant coating shall not exceed 5mm.

[0012] In one embodiment of the present application, the cumulative dose is less than 10 4 Gray, between 10 4 and 10 5 Between Gray, greater than 10 5 Gray, if the radiation-resistant coating is sprayed, the radiation-resistant coating adopts a multi-layer coating structure of MAX phase coating, FeCrAl coating and Cr / FeCrAl coating, the thickness of a single layer of coating shall not exceed 1.5mm and the total thickness shall not exceed 5mm.

[0013] In a specific embodiment of the present application, a concave reflective curved window is installed on the radiation-resistant metal shell at the same position as the camera. Before that, the design method of the metal protective shell of the radiation-resistant robot electronic components also includes: using a numerical simulation method to select the composition of the radiation-resistant metal shell.

[0014] In a specific embodiment of the present application, the material of the radiation-resistant metal shell is stainless steel added with radiation-resistant heavy metal elements. The radiation-resistant heavy metal elements include lead and tungsten.

[0015] A second aspect of the present application provides a radiation-resistant metal protective shell for electronic components of a robot. The radiation-resistant metal protective shell for electronic components of a robot is implemented using a radiation-resistant metal protective shell for electronic components of a robot provided by the above-mentioned embodiment.

[0016] In at least one embodiment of the present application, the radiation-resistant robot electronic component metal protective housing includes an upper shell, a lower shell and an intermediate connecting portion. A concave reflective curved window and a light source receiving groove connected to the reflective curved window are installed on the side surface connected to the upper shell and the lower shell at the same position as the camera.

[0017] The third aspect of the present application provides a radiation-resistant robot, which includes a robot body and an isolation box, wherein a camera and its circuit system are built in the isolation box. The camera and its circuit system are wrapped by the metal protective shell of the radiation-resistant robot electronic components provided in the embodiment of the present application.

[0018] The beneficial effect of the technical solution of the present application is that: by installing a concave reflective curved window and a light source accommodating groove connected to the reflective curved window at the same position as the camera on the radiation-resistant metal shell, the optical lens of the camera module is installed using the concave reflective curved window, and an infrared light source is installed in the light source accommodating groove, so that the light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then emitted. This design makes the light irradiation area concentrated and more uniform, realizes the use of infrared light sources to avoid interference with optical lens imaging, and solves the technical problems of insufficient light intensity in the area requiring fill light due to scattering of infrared light, and at the same time, scattered light affects the final imaging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is an overall schematic diagram of a radiation-resistant robot provided in one embodiment of the present application.

[0020] Figure 2 Shown is a schematic diagram of an application scenario of a dynamic linear 3D camera used in a radiation-resistant robot provided in one embodiment of the present application.

[0021] Figure 3 Shown is a schematic diagram of an application scenario of a static linear 3D camera used in a radiation-resistant robot provided in one embodiment of the present application.

[0022] Figure 4 Shown is a schematic diagram of the output function of a camera used in a radiation-resistant robot provided in one embodiment of the present application.

[0023] Figure 5 Shown is a schematic diagram of a radiation-resistant metal shell used in a radiation-resistant robot provided in one embodiment of the present application.

[0024] Figure 6 Shown is a schematic diagram of a microscopic mechanical model of a radiation-resistant metal shell and coating material used in a radiation-resistant robot provided in one embodiment of the present application.

[0025] Figure 7 Shown is a schematic diagram of the microstructure of a MAX phase coating used in a radiation-resistant robot provided in one embodiment of the present application.

[0026] Figure 8 Shown is a schematic diagram of a multi-layer film coating structure used in a radiation-resistant robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] At least one embodiment of the present application provides a method for designing a metal protective shell for electronic components of a radiation-resistant robot, wherein the metal protective shell for electronic components of the radiation-resistant robot is used to tightly wrap a camera and a circuit system of the radiation-resistant robot, with reference to Figure 1 and Figure 5 The method for designing a radiation-resistant robot electronic component metal protective shell includes the following steps.

[0029] S10: A concave reflective curved window is installed on the radiation-resistant metal housing at the same position as the camera.

[0030] S20: A light source receiving groove connected to the reflective curved window is designed on the radiation-resistant metal shell. The light source receiving groove is used to install an infrared light source. The concave reflective curved window is used to install an optical lens of a camera module, so that the light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then emitted.

[0031] It should be noted that the infrared light source can be an infrared LED light source or an infrared filter. Figure 5 , three concave reflective curved windows can be provided.

[0032] According to the technical solution provided in the embodiment of the present application, a concave reflective curved window and a light source accommodating groove connected to the reflective curved window are installed on the radiation-resistant metal shell at the same position as the camera, the optical lens of the camera module is installed using the concave reflective curved window, and an infrared light source is installed in the light source accommodating groove, so that the light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then emitted. This design makes the light irradiation area concentrated and more uniform, realizes the use of infrared light sources to avoid interference with optical lens imaging, and solves the technical problems of insufficient light intensity in the area requiring fill light due to scattering of infrared light, and scattered light affecting the final imaging effect.

[0033] The design of the metal housing for a radiation-resistant camera is a complex, multidisciplinary process that requires comprehensive consideration of material selection, shielding design, internal component protection, heat dissipation design, sealing and corrosion protection, etc. After careful study, the following findings were made.

[0034] (1) Consider the radiation resistance of commonly used radiation-resistant metal materials, including lead, tungsten, and stainless steel, under the irradiation of multiple sources in nuclear power plants. Particle sources generally include gamma rays, beta particles, neutrons, etc. In the current research on commonly used materials, it is found that lead has a high density and has a good shielding effect on gamma rays, but has low mechanical strength; tungsten has a high density and good mechanical strength, but is more expensive; stainless steel has strong corrosion resistance and good mechanical properties, but has a relatively poor shielding effect on high-energy radiation. When the radiation resistance of a single material does not meet the radiation protection requirements, composite materials, such as lead-based composite materials or tungsten-based composite materials, can be considered.

[0035] (2) From the perspective of shell shielding design, multi-layer shielding design, thickness design and structural design are considered. Among them, multi-layer shielding design mainly adopts a multi-layer shielding structure, and each layer uses different materials to improve the shielding effect. For example, stainless steel can be used for the outer layer and lead or tungsten can be used for the inner layer. For long-term work in a high radiation dose field, consider spraying a radiation-resistant coating on the shell surface. Generally, polymer materials such as polyimide, polytetrafluoroethylene (PTFE), epoxy resin, inorganic materials such as alumina, silicon dioxide, silicon carbide, and composite materials of the two can be used. Thickness design is mainly based on the radiation dose and type, and the appropriate shielding thickness is calculated to ensure that the radiation level is reduced to a safe range. The structural design of the shell mainly takes into account heat dissipation, sealing and impact resistance to ensure the stability of the shell under extreme conditions such as high temperature and high pressure.

[0036] (3) From the perspective of internal component protection, internal shielding and conductive coating shielding are mainly considered. Among them, internal shielding means that in addition to the external shell, the internal key components also need additional shielding protection, such as using small lead blocks or tungsten blocks to wrap the image sensor. Conductive coating design refers to coating the inner wall of the shell with conductive materials to form a Faraday cage effect to reduce the impact of electromagnetic interference on electronic components.

[0037] In order to reduce the adverse effects of radiation on cameras, image sensors and signal transmission systems, special radiation-resistant materials can be used to make camera housings and internal components, such as heavy metals such as lead and tungsten as shielding materials. In the case where commonly used shielding materials do not meet the radiation protection requirements of high-dose fields, the method of spraying radiation-resistant coatings on the surface of the camera housing can be used to reduce the adverse effects of high-radiation environments.

[0038] Based on the above analysis and research, in at least one embodiment of the present application, after the above S20, the method for designing a radiation-resistant metal protective housing for electronic components of a robot also includes S30.

[0039] S30: Spray the radiation-resistant coating on the outer surface of the radiation-resistant metal shell. Avoid the concave reflective curved window when spraying the radiation-resistant coating.

[0040] In at least one embodiment of the present application, S21 may be further included before the above S30.

[0041] S21: Use micromechanical models to select the type of radiation-resistant coating.

[0042] In at least one embodiment of the present application, the radiation-resistant coating is a MAX phase material coating. Thus, the method of spraying the MAX phase material coating on the outside of the metal shell can improve the radiation resistance of the robot camera, especially for high-radiation environment scenes.

[0043] MAX phase material is a natural layered carbonitride inorganic non-metallic material composed of three elements, M represents transition metal elements, A represents main group elements, and X represents carbon or nitrogen.

[0044] MAX phase material coating has excellent radiation resistance, oxidation resistance, corrosion resistance and wear resistance. Its microstructure diagram is shown in the figure Figure 7 As shown in the figure. The MAX phase material coating is actually sprayed on the surface of the metal shell, and the concave reflective curved window on the shell surface should be avoided during spraying. In the finite element model, the micromechanical model of the MAX phase material coating is established, as shown in the figure. Figure 6 The micromechanical model takes into account the swelling mechanism of the components in the coating under irradiation and quantitatively describes the degradation law of the mechanical properties of the coating caused by the continuous swelling of a certain component in the coating.

[0045] The mesomechanical model is suitable for considering various irradiation environments and various irradiation sources, especially strong irradiation environments. Using the mesomechanical model, the swelling model of different components is introduced to simulate the influence of the irradiation environment, irradiation source type, dose rate, and cumulative dose on the radiation resistance of the MAX phase coating, and quantitatively analyze its rules.

[0046] In at least one embodiment of the present application, reference Figure 8 The radiation-resistant coating adopts a multi-layer coating structure of MAX phase coating, FeCrAl coating and Cr / FeCrAl coating.

[0047] For example, if there are working conditions that do not meet the radiation resistance requirements of the camera, a micromechanical model of the FeCrAl coating and the Cr / FeCrAl coating can be established, and the radiation-resistant coating can be optimized into a MAX phase coating, a FeCrAl coating, and a Cr / FeCrAl coating multilayer coating structure.

[0048] In at least one embodiment of the present application, S1 may be further included before the above S10.

[0049] S1: Numerical simulation method is used to select the composition of the radiation-resistant metal shell.

[0050] In at least one embodiment of the present application, the material of the radiation-resistant metal shell is stainless steel added with radiation-resistant heavy metal elements.

[0051] In at least one embodiment of the present application, the radiation-resistant heavy metal elements include but are not limited to lead and tungsten.

[0052] The results obtained by the numerical simulation method can be used as a basis to propose the minimum thickness of the camera housing and the corresponding recommended values ​​of lead and tungsten content, coating type and thickness under different cumulative dose rates.

[0053] Specifically, the radiation resistance design of metal shell materials should be quantitatively studied through numerical simulation methods, with stainless steel as the matrix (orange part) and lead and / or tungsten as added components (dark brown spherical particles). The micromechanical model of the metal shell material is as follows: Figure 6 By controlling the volume fraction of lead and / or tungsten particle additives in a unit matrix, a micromechanical model of stainless steel containing different volume fractions of lead and / or tungsten heavy metals is established.

[0054] Below, the quantitative research of numerical simulation is illustrated with examples in combination with specific implementation methods.

[0055] (1) Quantitative study on the numerical simulation of radiation resistance of metal shells

[0056] First, a numerical model of the metal shell of the camera enclosing the electronic components is established in Abaqus, and lead and tungsten are used as the main raw materials for the radiation resistance design of the metal shell of the camera. Lead and tungsten are two materials with different physical properties and application fields, and have the following radiation resistance characteristics:

[0057] a: Lead is mainly used to shield gamma rays and other high-energy particles because it has a high atomic number and can effectively absorb radiation. Lead may undergo some microstructural changes under high-dose radiation, such as grain growth or defects such as vacancies, which may affect its mechanical properties. However, compared with other materials, lead's radiation resistance is relatively good, especially under low temperature conditions. It is not suitable for use as a structural material because of its low mechanical strength and easy deformation, especially at high temperatures.

[0058] b: Tungsten is widely used in places that require high temperature resistance and corrosion resistance, such as some parts in nuclear reactors, due to its high melting point, high density and good thermal conductivity. It has excellent radiation resistance. When exposed to high doses of radiation, tungsten can maintain its structural stability and is not prone to phase change or obvious swelling. This makes tungsten one of the ideal materials for manufacturing internal components of nuclear fusion devices.

[0059] In terms of specific implementation, a microscopic mechanical model of the metal shell entity is established in Abaqus, and the radiation resistance of alloy materials containing heavy metal elements such as lead and tungsten with good radiation resistance under the action of Gamma rays is quantitatively analyzed, and the structural performance such as material composition and thickness is optimized.

[0060] The specific material composition is as follows: the composition analysis of lead and tungsten in stainless steel material sets the mass fraction of lead and tungsten to 5%, 10%, 15% and 20% respectively; through literature research and related experiments, the volume fraction ratio of lead and tungsten is set to 2:1, 1:1 and 1:2. The specific thickness setting is: the thickness of the metal shell is 2mm, 5mm, 10mm and 15mm.

[0061] (2) Numerical simulation and quantitative study on the radiation resistance of the spray coating on the metal shell

[0062] The coating is sprayed on the outside of the metal shell, and a micromechanical model of the coating is established. The radiation resistance performance of the MAX phase coating is tested. If the radiation resistance index requirements are not met, the radiation resistance design of the multi-layer film coating is carried out.

[0063] The characteristics and microstructure of MAX phase coating are as follows:

[0064] aCombines the excellent properties of metal and ceramic materials.

[0065] b. Good machinability, high elastic modulus and high temperature strength.

[0066] cExcellent anti-oxidation and anti-corrosion properties.

[0067] d. Good radiation resistance.

[0068] e shows good bonding with the Zr-4 matrix and no oxide layer is produced.

[0069] f has a good protective effect on the matrix in LOCA simulation detection.

[0070] g The coating and substrate show good metallurgical bonding, without obvious defects such as cracks and pores.

[0071] The specific coating thicknesses were selected as 1mm, 2mm, 3mm and 5mm. The radiation resistance of the metal shell of the camera sprayed with coatings of different thicknesses under different doses and dose rates was quantitatively analyzed, and the experimental data were compared to ensure the correctness of the simulation analysis results. 5 Gray case, establish Figure 7 The multi-scale simulation model of the multi-layer film coating shown in the figure simulates the structure of the multi-layer film coating of Cr / FeCrAl coating based on literature survey and related research results. The expansion phase change law under irradiation is simulated to measure the radiation resistance of the multi-layer film coating structure under different cumulative doses (mainly compressive strength and splitting tensile strength).

[0072] 6.2 Meeting the Indicators

[0073] (1) The cumulative dose is less than 10 4Gray, between 10 4 Gray and 10 5 Between Gray, greater than 10 5 Gray, the thickness of the radiation-resistant metal shell shall not exceed 10 mm when no radiation-resistant coating is sprayed.

[0074] (2) The cumulative dose is less than 10 4 Gray, between 10 4 and 10 5 Between Gray, greater than 10 5 In Gray case, if the radiation resistant coating is sprayed, and the radiation resistant coating adopts MAX phase coating, the thickness of the radiation resistant coating shall not exceed 5mm; if the radiation resistant coating is sprayed, and the radiation resistant coating adopts MAX phase coating, FeCrAl coating and Cr / FeCrAl coating multi-layer coating structure, the thickness of the single layer coating shall not exceed 1.5mm and the total thickness shall not exceed 5mm.

[0075] At least one embodiment of the present application further provides a radiation-resistant metal protective shell for electronic components of a robot. The radiation-resistant metal protective shell for electronic components of a robot is implemented using a radiation-resistant metal protective shell for electronic components of a robot provided by the above-mentioned embodiment.

[0076] According to the radiation-resistant metal protective shell for electronic components of a robot provided in an embodiment of the present application, the design structure of the radiation-resistant metal protective shell for electronic components of a robot is simple, and concave reflective surfaces and light source accommodating grooves connected to the concave reflective surfaces are arranged on both sides of the optical lens. Infrared light sources are used to avoid imaging interference with the optical lens, and the shell is suitable for radiation working scenarios in nuclear power plants.

[0077] In at least one embodiment of the present application, the radiation-resistant robot electronic component metal protective housing includes an upper shell, a lower shell and an intermediate connecting portion. A concave reflective curved window and a light source receiving groove connected to the reflective curved window are installed on the side surface connected to the upper shell and the lower shell at the same position as the camera.

[0078] It should be noted that the light source accommodating groove may also be called a recessed groove, and the light source accommodating groove may be processed inside the edge of the concave reflective curved surface.

[0079] The size of the radiation-resistant robot electronic component metal protective shell is slightly larger than the size of the camera. For example, the size of the radiation-resistant robot electronic component metal protective shell is slightly larger than the size of the camera by 1mm to 5mm. For example, if the size of the camera is 390mm×90mm×64mm, the camera can be packaged in a metal shell of 392mm×92mm×66mm.

[0080] In at least one embodiment of the present application, the upper shell and the lower shell are an integral structure formed by die casting.

[0081] At least one embodiment of the present application further provides a radiation-resistant robot, which includes a robot body and an isolation box, wherein a camera and its circuit system are built in the isolation box. The camera and its circuit system are wrapped with a metal protective shell of the radiation-resistant robot electronic components provided in an embodiment of the present application.

[0082] The radiation-resistant robot can be set according to actual needs, and the present application embodiment does not specifically limit this. Figure 1 The radiation-resistant robot adopts modular design of each functional part, takes radiation-resistant design into consideration as a whole, and selects electrical radiation-resistant models. The electrical-related control modules are assembled in an isolation box. For example, the overall dimensions of the radiation-resistant robot are approximately 1.6 meters in length, width and height, and the camera is placed at the connection between the robotic arm and the end effector.

[0083] In at least one embodiment of the present application, the camera adopts a dynamic linear 3D camera or a static linear 3D camera. In this way, different cameras can be selected according to actual needs. For example, the dynamic linear 3D camera is designed for dynamic scenes and is suitable for scenes such as logistics package detection, belt conveyor monitoring, and industrial production line quality inspection; the static linear 3D camera is designed for static scenes and is suitable for scenes such as robot arm grasping, robot arm welding, and robot arm grinding and cutting.

[0084] For example, the application scenarios of dynamic linear 3D cameras can be as follows Figure 2 As shown, for example, the dynamic linear 3D camera can be a VZ-L1-1920(2048)-130N3K dynamic linear camera. The application scenarios of the static linear 3D camera can be as follows Figure 3 As shown, for example, the static linear 3D camera may be a VZ-A1-1920(2048)-130N3K static linear camera.

[0085] The four sides of the reflective curved window are slightly larger than the camera lens, for example, 1mm is appropriate. The position of the reflective curved surface on the metal shell is consistent with that of VZ-L1-1920(2048)-130N3K and VZ-A1-1920(2048)-130N3K, and the outer frame is slightly wider than the camera position of VZ-L1-1920(2048)-130N3K and VZ-A1-1920(2048)-130N3K, preferably 1mm wider on each side.

[0086] In at least one embodiment of the present application, the radiation-resistant robot further includes a remote terminal. The remote terminal is in communication with the camera. The remote terminal uses the data of the camera to process in the background to obtain physical coordinates, so that the radiation-resistant robot moves to the corresponding coordinates.

[0087] Specifically, refer to Figure 4 The camera is configured to have a camera output function. The camera output function includes but is not limited to point cloud data output (XYZ digitized coordinates), RGBD data output (color point cloud data coordinates), depth map output, grayscale map output and color map output.

[0088] The remote terminal is configured with software functions. The software functions mainly include: visual interface, hand-eye calibration software service, remote modification of communication IP, remote parameter debugging, open SDK interface and Demo integrated development. The remote terminal can display the perception status of the radiation-resistant robot, that is, what object is there at a certain coordinate.

[0089] It should be noted that the combination of the various technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments, and all technical features described in the present application can be freely combined or combined in any way unless there is a contradiction between them.

[0090] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that the steps and elements that have been clearly identified are included, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0091] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for designing a radiation-resistant metal protective shell for electronic components of a robot, characterized in that: include: A concave reflective curved window is installed on the radiation-resistant metal housing at the same position as the camera; A light source accommodating groove connected to the reflective curved window is designed on the radiation-resistant metal shell. The light source accommodating groove is used to install an infrared light source, and the concave reflective curved window is used to install the optical lens of the camera module, so that the light of the infrared light source is reflected by the curved surface of the concave reflective curved window and then emitted.

2. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 1, characterized in that: A light source receiving groove connected to the reflective curved window is designed on the radiation-resistant metal shell, and then the radiation-resistant robot electronic component metal protective shell design method further includes: A radiation-resistant coating is sprayed on the outer surface of the radiation-resistant metal shell, and the concave reflective curved windows are avoided when spraying the radiation-resistant coating.

3. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 2, characterized in that: Before spraying a radiation-resistant coating on the outer surface of the radiation-resistant metal shell, a method for designing a radiation-resistant metal protective shell for electronic components of a robot further includes: Use micromechanical models to select the type of radiation-resistant coating.

4. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 2, characterized in that: Cumulative dose less than 10 4 Gray, between 10 4 Gray and 10 5 Between Gray, greater than 10 5 Gray, the thickness of the radiation-resistant metal shell shall not exceed 10 mm when no radiation-resistant coating is sprayed.

5. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 2, characterized in that: The radiation-resistant coating adopts MAX phase material coating; and / or, the radiation-resistant coating adopts a multilayer coating structure of MAX phase coating, FeCrAl coating and Cr / FeCrAl coating.

6. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 5, characterized in that: Cumulative dose less than 10 4 Gray, between 10 4 and 10 5 Between Gray, greater than 10 5 Gray, if the radiation-resistant coating is sprayed and the radiation-resistant coating adopts MAX phase coating, the thickness of the radiation-resistant coating shall not exceed 5mm.

7. The method for designing a radiation-resistant metal protective shell for electronic components of a robot according to claim 5, characterized in that: Cumulative dose less than 10 4 Gray, between 10 4 Gray and 10 5 Between Gray, greater than 10 5 Gray, if the radiation-resistant coating is sprayed, the radiation-resistant coating adopts a multi-layer coating structure of MAX phase coating, FeCrAl coating and Cr / FeCrAl coating, the thickness of a single layer of coating shall not exceed 1.5mm and the total thickness shall not exceed 5mm.

8. A method for designing a radiation-resistant metal protective housing for electronic components of a robot according to any one of claims 1 to 7, characterized in that: A concave reflective curved window is installed on the radiation-resistant metal housing at the same position as the camera, and before that, it also includes: The composition of the radiation-resistant metal shell is selected by numerical simulation method. The radiation-resistant heavy metal elements include lead and tungsten.

9. A radiation-resistant metal protective shell for electronic components of a robot, characterized in that: The metal protective shell of the electronic components of a radiation-resistant robot is manufactured by the design method of any one of claims 1 to 8.

10. A radiation-resistant robot, characterized in that: Including the robot body and isolation box, Among them, the isolation box has a built-in camera and its circuit system, and the camera and its circuit system are wrapped by a radiation-resistant robot electronic component metal protective shell as described in claim 9.

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