Marine environment nuclear radiation intelligent detection robot

Abstract

The invention discloses an intelligent detection robot for nuclear radiation in a marine environment. The intelligent detection robot comprises a robot body, an in-water walking driving device, a nuclear radiation monitoring device and a power supply device, an in-water walking driving device is installed on the machine body and used for driving the machine body to ascend and descend in water. A nuclear radiation monitoring device is installed in the machine body and comprises a nuclear radiation detection execution module, a control module and a motor driving module, the nuclear radiation detection execution module is used for detecting the nuclear radiation intensity in water, and the output end of the nuclear radiation detection execution module is connected to the control module; the output end of the control module is connected to the control end of the motor driving module, and the power supply device supplies power to the in-water walking driving device through the motor driving module. The intelligent detection robot for nuclear radiation in the marine environment solves the problem that nuclear radiation at the bottom of the sea cannot be detected in the prior art.

Description

Technical Field

[0001] The present invention relates to a robot, in particular to an intelligent detection robot for nuclear radiation in marine environment. Background Art

[0002] A Chinese patent discloses a marine nuclear radiation detection device and detection method with application number CN202411128518.3. The device includes: a waterproof structural component; a buoy is arranged in the waterproof structural component; the buoy provides buoyancy for the device; the buoy contains a data processing and analysis module, a communication and positioning module, a depth control module and an energy supply module; a nuclear radiation sensor module is located below the buoy; the nuclear radiation sensor module is connected to the buoy through a traction line and is used to detect nuclear radiation in the marine environment; the data processing and analysis module is used to process and analyze the received data; the communication and positioning module is used to send the processed and analyzed data and the real-time transmission position information of the device to a remote monitoring center or a local operator; the depth control module is used to adjust the depth of the nuclear radiation detection device in the water through the traction line; and the energy supply module provides power to the device.

[0003] Although the detection device can adjust the depth of the nuclear radiation detection device in the water in real time through the towing line, the detection device still has the following disadvantages: since the marine nuclear radiation detection device is placed in the ocean water only by buoyancy, it is difficult to enter the bottom of the ocean for detection, resulting in the inability to detect nuclear radiation at the bottom of the ocean. Summary of the Invention

[0004] The present invention aims to provide an intelligent detection robot for nuclear radiation in marine environment, so as to solve the problem that nuclear radiation at the bottom of the ocean cannot be detected in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: The present invention discloses an intelligent nuclear radiation detection robot for marine environment, comprising: a body, an underwater walking drive device, a nuclear radiation monitoring device and a power supply device; the body is equipped with an underwater walking drive device, which is used to drive the body to rise and fall in the water; the body is equipped with a nuclear radiation monitoring device, which comprises: a nuclear radiation detection execution module, a control module and a motor drive module, the nuclear radiation detection execution module is used to detect the intensity of nuclear radiation in water, the output end of the nuclear radiation detection execution module is connected to the control module, the output end of the control module is connected to the control end of the motor drive module, and the power supply device supplies power to the underwater walking drive device through the motor drive module.

[0006] Preferably, the underwater walking drive device includes: a walking drive motor, a rotating screw, a threaded sleeve, a walking wing and a rotating connecting rod structure. The walking drive motor is installed in the body, the output end of the walking drive motor is connected to the rotating screw, the rotating screw is threadedly connected to the threaded sleeve, the threaded sleeve is hinged to the first end of the rotating connecting rod structure, the second end of the rotating connecting rod structure is hinged to the middle of the walking wing, and one end of the walking wing is hinged to the outer wall of the body.

[0007] Preferably, a guide ring is installed on the machine body, the guide ring surrounds the rotating screw, the threaded sleeve is located between the guide ring and the rotating screw, the threaded sleeve is connected to the movable ring through a fixed arm, the movable ring is located outside the guide ring, and the guide ring is provided with a guide groove for the fixed arm to pass through. The movable ring is used to install the first end of the rotatable rotating connecting rod structure.

[0008] Preferably, the rotating connecting rod structure includes: a first rotating arm, a second rotating arm, a first articulated seat and a second articulated seat, the first end of the first rotating arm is the first end of the rotating connecting rod structure, the first end of the first rotating arm is hinged to the movable ring, the second end of the first rotating arm is hinged to the first articulated seat, the first articulated seat can be rotatably installed on the walking wing, the first articulated seat is hinged to the first end of the second rotating arm, the second end of the second rotating arm is hinged to the second articulated seat, and the second articulated seat is installed on the machine body.

[0009] Preferably, a booster impeller is fixed to the end of the rotating screw away from the machine body.

[0010] Preferably, the marine environment nuclear radiation intelligent detection robot also includes: a wing deployment drive device; the walking wing includes: a wing base and a deployment wing, the middle part of the wing base is hinged to the second end of the rotating connecting rod structure, one end of the wing base is hinged to the outer wall of the body, and a rotatable deployment wing is installed on the edge of the wing base, and the deployment wing is connected to the output end of the wing self-deployment drive device, and the wing deployment drive device is used to deploy or retract the deployment wing.

[0011] Preferably, the wing deployment drive device includes: a pulling rope, a convolution rod and a rod rotation drive mechanism. The rod rotation drive mechanism is installed in the body. The output end of the rod rotation drive mechanism is connected to the convolution rod. The convolution rod is rotatably installed on the body. The convolution rod convolves the first end of the pulling rope, and the second end of the pulling rope is fixed to the deployed wing. The second end of the pulling rope is the output end of the wing deployment drive device. The deployed wing can be in a folded state under its own gravity. The rod rotation drive mechanism is used to drive the convolution rod to rotate so that the pulling rope pulls the deployed wing to the deployed position.

[0012] Preferably, the nuclear radiation monitoring device includes: a nuclear radiation detection sensor, a control switch module, a signal amplification module, an AD conversion module and a control module. The first output end of the power supply device supplies power to the nuclear radiation detection sensor through the control switch module. The output end of the nuclear radiation detection sensor is connected to the input end of the signal amplification module, the output end of the signal amplification module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the first input end of the control module, and the control end of the control switch module is connected to the output end of the control module.

[0013] Preferably, the controlled switch module includes: a protection unit and a controlled switch unit, the input end of the protection unit is the control end of the controlled switch module, the output end of the protection unit is connected to the control end of the controlled switch unit, and the first output end of the power supply device supplies power to the nuclear radiation detection sensor through the controlled switch unit.

[0014] Preferably, the nuclear radiation monitoring device further comprises: a power supply detection module, wherein the input end of the power supply detection module is connected to the output end of the control switch module, and the output end of the power supply detection module is connected to the second input end of the control module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] Since the existing technology cannot detect nuclear radiation in deeper ocean waters, an underwater walking drive device is designed to drive the entire marine environment nuclear radiation intelligent detection robot to rise and fall in the ocean water, so that the marine environment nuclear radiation intelligent detection robot can be raised to the water surface when it reaches a deeper position, making it convenient for operators to pick up the marine environment nuclear radiation intelligent detection robot. This breaks the traditional thinking of relying on buoyancy to float on the ocean water surface to detect marine water nuclear radiation. This application can reach deep into the ocean water for detection.

[0017] Other advantages, objectives and features of the present invention will be reflected in part from the following description and will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the intelligent detection robot for nuclear radiation in the marine environment.

[0019] Figure 2 This is a schematic diagram of the structure of the intelligent detection robot for nuclear radiation in the marine environment after the body is opened.

[0020] Figure 3 This is a top view of the fuselage after it is opened.

[0021] Figure 4 This is the circuit diagram of the nuclear radiation monitoring device.

[0022] Figure 5This is the circuit diagram of the boost module.

[0023] Figure numerals: body 1, guide ring 11, underwater walking drive device 2, walking drive motor 21, rotating screw 22, threaded sleeve 23, fixed arm 231, movable ring 232, walking wing 24, wing base 241, unfolded wing 242, shuttle ring 243, connecting ring 244, rotating connecting rod structure 25, first rotating arm 251, second rotating arm 252, first articulated seat 253, second articulated seat 254, power-assisted impeller 26, pulling rope 31, convolution rod 32, rod rotation drive mechanism 33, first gear ring 331, second gear ring 332, first bevel gear 333, second bevel gear 334, permanent magnet 341, pulling spring 342. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below with reference to the accompanying drawings and specific embodiments:

[0025] like Figures 1 to 3 As shown, the present invention discloses an intelligent detection robot for nuclear radiation in a marine environment, comprising: a body 1, an underwater walking drive device 2, a nuclear radiation monitoring device and a power supply device; the underwater walking drive device 2 is installed on the body 1, and the underwater walking drive device 2 is used to drive the body 1 to rise and fall in the water; a nuclear radiation monitoring device is installed in the body 1, and the nuclear radiation monitoring device comprises: a nuclear radiation detection execution module, a control module and a motor drive module, the nuclear radiation detection execution module is used to detect the intensity of nuclear radiation in water, the output end of the nuclear radiation detection execution module is connected to the control module, the output end of the control module is connected to the control end of the motor drive module, and the power supply device supplies power to the underwater walking drive device 2 through the motor drive module.

[0026] In the present application, the underwater walking drive device 2 includes: a walking drive motor 21, a rotating screw 22, a threaded sleeve 23, a walking wing 24 and a rotating connecting rod structure 25. The walking drive motor 21 is installed in the body 1, and the output end of the walking drive motor 21 is connected to the rotating screw 22. The threaded sleeve 23 is threadedly connected to the rotating screw 22. The threaded sleeve 23 is hinged to the first end of the rotating connecting rod structure 25, and the second end of the rotating connecting rod structure 25 is hinged to the middle of the walking wing 24. One end of the walking wing 24 is hinged to the outer wall of the body 1.

[0027] The entire intelligent marine environment nuclear radiation detection robot ascends and descends in the ocean waters as follows: During descent, the travel drive motor 21 is inoperative. Due to the high density of the entire intelligent marine environment nuclear radiation detection robot, the robot descends to a relatively deep position under its own gravity. The nuclear radiation monitoring device within the intelligent marine environment nuclear radiation detection robot then performs nuclear radiation detection. After detection, the travel drive motor 21 rotates the rotating screw 22, causing the threaded sleeve 23 to ascend and descend on the rotating screw 22. With the body 1 at the top, the threaded sleeve 23 ascends and descends, driving the travel wings 24 to open and close like an umbrella (although with a lesser degree of folding), causing the entire intelligent marine environment nuclear radiation detection robot to float upward and achieve elevated operation.

[0028] In this application, a guide ring 11 is installed on the body 1, and the guide ring 11 surrounds the rotating screw 22. The threaded sleeve 23 is located between the guide ring 11 and the rotating screw 22. The threaded sleeve 23 is connected to the movable ring 232 through the fixed arm 231. The movable ring 232 is located outside the guide ring 11. The guide ring 11 is provided with a guide groove for the fixed arm 231 to pass through. The movable ring 232 is used to install the first end of the rotatable rotating connecting rod structure 25.

[0029] The cooperation between the guide ring 11 and the fixed arm 231 makes the moving path of the threaded sleeve 23 relative to the body 1 a straight line. When the rotating screw 22 rotates, it will not drive the threaded sleeve 23 to rotate relative to the body 1. The design of the moving ring 232 is to install the rotatable connecting rod structure 25 that can rotate.

[0030] Preferably, the rotating connecting rod structure 25 includes: a first rotating arm 251, a second rotating arm 252, a first articulated seat 253 and a second articulated seat 254. The first end of the first rotating arm 251 is the first end of the rotating connecting rod structure 25. The first end of the first rotating arm 251 is hinged to the movable ring 232. The second end of the first rotating arm 251 is hinged to the first articulated seat 253. The first articulated seat 253 can be rotatably installed on the walking wing 24. The first articulated seat 253 is hinged to the first end of the second rotating arm 252. The second end of the second rotating arm 252 is hinged to the second articulated seat 254. The second articulated seat 254 is installed on the body 1.

[0031] When the rotating connecting rod structure 25 is running, the moving ring 232 moves up and down as the rotating screw 22 rotates. The moving ring 232 drives the first rotating arm 251 to rotate. At the same time, the second rotating arm 252 rotates, causing the position of the first articulated seat 253 to change, so that all the walking wings 24 are opened or closed. When the walking wings 24 are opened or closed, the water flow is pushed, so that the entire marine environment nuclear radiation intelligent detection robot can be raised.

[0032] In this application, a booster impeller 26 is fixed to the end of the rotating screw 22 away from the body 1. The resistance impeller design at the bottom of the rotating screw 22 increases the thrust of the entire marine environment nuclear radiation intelligent detection robot to move upward, ensuring that the marine environment nuclear radiation intelligent detection robot can rise to the surface of the ocean.

[0033] Preferably, the marine environment nuclear radiation intelligent detection robot also includes: a wing deployment drive device; the walking wing 24 includes: a wing base 241 and a deployment wing 242, the middle part of the wing base 241 is hinged to the second end of the rotating connecting rod structure 25, and one end of the wing base 241 is hinged to the outer wall of the body 1. The edge of the wing base 241 is equipped with a rotatable deployment wing 242, and the deployment wing 242 is connected to the output end of the wing self-deployment drive device, and the wing deployment drive device is used to deploy or retract the deployment wing 242.

[0034] In the present application, when the deployable wings 242 are in the deployed state, the deployable wings 242 and the wing base 241 are in the same plane. When the deployable wings 242 are in the deployed state, an angle is formed between the plane where the deployable wings 242 are located and the plane where the wing base 241 is located. The hinged connection between the deployable wings 242 and the wing base 241 is the same as the hinged connection between a door and a door frame. When in use, the body 1 is located above the walking wings 24, and the deployable wings 242 can only rotate downward relative to the wing base 241. The wing base 241 has the function of limiting the rotation direction of the deployable wings 242. Corresponding to the design of the rotating connecting rod structure 25, a first hinge seat 253 is installed on the wing base 241, and the top of the wing base 241 is also hinged to the body 1, so that the wing base 241 can drive the deployable wings 242 to open or close.

[0035] Preferably, the wing deployment drive device includes: a pull rope 31, a convolution rod 32 and a rod rotation drive mechanism 33. The rod rotation drive mechanism 33 is installed in the body 1. The output end of the rod rotation drive mechanism 33 is connected to the convolution rod 32. The convolution rod 32 is rotatably installed on the body 1. The convolution rod 32 convolves the first end of the pull rope 31. The second end of the pull rope 31 is fixed to the deployed wing 242. The second end of the pull rope 31 is the output end of the wing deployment drive device. The deployed wing 242 can be in a folded state under its own gravity. The rod rotation drive mechanism 33 is used to drive the convolution rod 32 to rotate so that the pull rope 31 pulls the deployed wing 242 to the deployed position.

[0036] The rod rotation drive mechanism 33 includes: a first gear ring 331, a second gear ring 332, a first bevel gear 333 and a second bevel gear 334. The first gear ring 331 is fixed on the rotating screw 22, the first gear ring 331 is meshed with the second gear ring 332, the second gear ring 332 is fixed on the first bevel gear 333, the first bevel gear 333 is meshed with several second bevel gears 334, and the second bevel gear 334 is fixed on the convolution rod 32, so that when the walking drive motor 21 drives the rotating screw 22 to rotate, the first gear ring 331 drives the first bevel gear 333 to rotate through the second gear ring 332, the first bevel gear 333 drives the second bevel gear 334 to rotate, and the second bevel gear 334 rotates, and the convolution rod 32 can rotate, so that the walking wing 24 can be unfolded by retracting the pull rope 31.

[0037] The second gear ring 332 surrounds the first gear ring 331, and the first gear ring 331 does not block the second gear ring 332 from rising and falling. A mounting plate is installed in the inner cavity of the body 1, and the mounting plate is located in the middle of the body 1. The travel drive motor 21 is installed on the mounting plate. An electromagnet (not shown in the figure) is installed on the mounting plate. A permanent magnet 341 is fixed on the first bevel gear 333, and the permanent magnet 341 is arranged opposite to the electromagnet. A pulling spring 342 is installed between the mounting plate and the first bevel gear 333. The pulling spring 342 is used to pull the first bevel gear 333 and the second bevel gear 334 out of alignment. When the electromagnet is energized, the electromagnet causes the first bevel gear 333 with the permanent magnet 341 to engage with the second bevel gear 334.

[0038] Although the common travel drive motor 21 is used to drive the screw and the rod rotation drive mechanism 33 to operate simultaneously, that is, it can also achieve the maintenance of the walking wing 24 in the open state, but because the convolution of the pull rope 31 is limited, it will break if the pulling force is too large, and there are times when the pull rope 31 does not need to be tightened (for example, when rising, the pull rope 31 needs to be completely released). Therefore, sometimes the rod rotation drive mechanism 33 does not need to operate, so the applicant has made the following design: First, the second gear ring 332 is designed to surround the first gear ring 331. The first gear ring 331, the second gear ring 332 and the screw are coaxial, so the first gear ring The ring 331 will not block the lifting of the second gear ring 332, providing conditions for the subsequent lifting of the first gear ring 331 along with the first bevel gear 333; then, in order to achieve the goal of not tightening the pulling rope 31 when the walking wing 24 does not need to be unfolded, a pulling spring 342 is designed to pull the first bevel gear 333 and the second bevel gear 334 out of alignment, and at the same time, the electromagnet is designed to repel the permanent magnet 341 after being energized, so that the first bevel gear 333 with the permanent magnet 341 is engaged with the second bevel gear 334, and then the convolution rod 32 can be driven to rotate as the screw rotates, so that the walking wing 24 remains in the unfolded state after the pulling rope 31 is tightened.

[0039] A connecting ring 244 is fixed on the unfolded wing 242, and the connecting ring 244 fixes the second end of the pulling rope 31. A shuttle ring 243 is installed on the wing base 241, and the shuttle ring 243 is for the pulling rope 31 to pass through. The shuttle ring 243 has the effect of guiding the movement of the pulling rope 31 to prevent the pulling rope 31 from getting stuck.

[0040] During the entire process of the descent of the marine environment nuclear radiation intelligent detection robot, since the marine environment nuclear radiation intelligent detection robot is relatively heavy, the marine environment nuclear radiation intelligent detection robot is easy to descend. Although the buoyancy of the water on the walking wings 24 has the effect of preventing the descent, the entire marine environment nuclear radiation intelligent detection robot is relatively heavy, so the marine environment nuclear radiation intelligent detection robot can still descend to a deeper position in the water. During the entire process of the marine environment nuclear radiation intelligent detection robot rising, since the marine environment nuclear radiation intelligent detection robot is relatively heavy, the burden of the walking wings 24 expanding and contracting to push the water is relatively heavy. In addition, the area of ​​the walking wings 24 is large, so the water resistance is also large. Therefore, the design is that the unfolded wings 242 can be folded relative to the wing base 241 (at this time, the folding is achieved by the convolution rod 32 completely releasing the pulling rope 31, and the unfolded wings 242 are in a folded state under the weight of the unfolded wings 242 themselves and the water resistance). When folded, the unfolded wings 242 are basically located below the wing base 241, and the area of ​​the entire walking wings 24 is reduced, which can reduce the water pressure on the walking wings 24. 4's resistance makes the marine environment nuclear radiation intelligent detection robot float to the water surface by relying on the wing base 241 to expand and retract. When the marine environment nuclear radiation intelligent detection robot reaches the water surface, the rod rotation drive mechanism 33 drives the convolution rod 32 to rotate, and the pulling rope 31 is convoluted on the convolution rod 32. The pulling rope 31 located outside the body 1 is shorter, thereby pulling the expanded wing 242 to rotate to a position flush with the wing base 241. At this time, the area of ​​the entire walking wing 24 increases, and the buoyancy of the water on the walking wing 24 is greater. After the walking wing 24 is slightly expanded and retracted, it can keep the entire marine environment nuclear radiation intelligent detection robot floating on the water surface.

[0041] like Figure 4 As shown, preferably, the nuclear radiation monitoring device includes: a nuclear radiation detection sensor GCT1, a control switch module, a signal amplification module, an AD conversion module and a control module, the first output end of the power supply device supplies power to the nuclear radiation detection sensor GCT1 through the control switch module, the output end of the nuclear radiation detection sensor GCT1 is connected to the input end of the signal amplification module, the output end of the signal amplification module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the first input end of the control module, and the control end of the control switch module is connected to the output end of the control module.

[0042] The power supply device is a battery built into the body 1, and the battery outputs a 5V voltage. After the first output terminal VC5 of the power supply device supplies power to the nuclear radiation detection sensor GCT1 through the control switch module, the control module can control the nuclear radiation detection sensor GCT1 to start or shut down through the control switch module, thereby realizing that the nuclear radiation detection sensor GCT1 is started only when the nuclear radiation detection sensor GCT1 needs to work.

[0043] The control module can use STM32 series chips, and of course other control types of chips can also be used.

[0044] The controlled switch module includes a protection unit and a controlled switch unit. The protection unit's input is connected to the controlled switch module's control terminal, while the protection unit's output is connected to the controlled switch unit's control terminal. The first output of the power supply device supplies power to the nuclear radiation detection sensor GCT1 via the controlled switch unit. During startup, a sudden voltage may be applied to the controlled switch unit, potentially damaging it. Therefore, a protection unit buffer is required to reduce the risk of damage.

[0045] In this application, the nuclear radiation monitoring device further includes a power supply detection module, the input of which is connected to the output of the control switch module, and the output of which is connected to the second input of the control module. The power supply detection module is used to detect whether the control switch module is properly supplying power to the nuclear radiation detection sensor GCT1.

[0046] The protection unit includes a MOS transistor driver chip U1. The input terminal IN of the MOS transistor driver chip U1 serves as the input terminal of the protection unit. The Vcc port of the MOS transistor driver chip U1 is connected to the first output terminal VC5 of the power supply device. The output terminal OUTS of the MOS transistor driver chip U1 serves as the control terminal of the control switch unit. The MOS transistor driver chip U1 uses the EG3001 model, but other models are also possible.

[0047] The controlled switch unit includes: a diode D1, a diode D2, an inductor L1, an NMOS transistor Q1, a resistor R1 and a capacitor C1. The anode of the diode D1 is connected to the first output terminal VC5 of the power supply device, the cathode of the diode D1 is connected to one end of the inductor L1, the other end of the inductor L1 is connected to the drain of the NMOS transistor Q1, the gate of the NMOS transistor Q1 is connected to the output terminal OUTS of the MOS transistor driver chip U1, the drain of the NMOS transistor Q1 is connected to the anode of the diode D2, the cathode of the diode D2 is connected to the anode of the capacitor C1, the cathode of the capacitor C1 and the source of the NMOS transistor Q1, the anode of the capacitor C1 is connected to the first end of the resistor R1, the second end of the resistor R1 is connected to the input end of the nuclear radiation detection sensor GCT1, and the connection point between the diode D2 and the resistor R1 is connected to the input end of the power supply detection module. When the gate of the NMOS transistor Q1 is connected to a high level, the NMOS transistor Q1 is turned on. At this time, the inductor L1 is grounded, and a voltage output is generated at the connection between the inductor L1 and the drain of the NMOS transistor Q1. This provides power to the input end of the nuclear radiation detection sensor GCT1, and the nuclear radiation detection sensor GCT1 works. When the gate of the NMOS transistor Q1 is connected to a low level, the NMOS transistor Q1 is disconnected, and no voltage output is generated at the connection between the inductor L1 and the drain of the NMOS transistor Q1, causing the nuclear radiation detection sensor GCT1 to not work properly.

[0048] Nuclear radiation detection sensor GCT1 uses a Geiger counter, though other nuclear radiation detection devices can also be used. The top of body 1 is made of transparent material to allow the probe of nuclear radiation detection sensor GCT1 to leak out, thus enabling nuclear radiation detection. The output of nuclear radiation detection sensor GCT1 is connected to the anode of capacitor C2, which is grounded. Capacitor C2 mainly serves as a voltage regulator.

[0049] The power supply detection module includes resistors R2 and R3, and capacitor C3. The junction between diode D2 and resistor R1 is connected to the first end of resistor R2, the second end of resistor R2 is connected to the first end of resistor R3, the second end of resistor R3 is connected to the cathode of capacitor C1, and the junction between resistors R2 and R3 is connected to the anode of capacitor C3. The cathode of capacitor C3 is grounded. The anode of capacitor C3 serves as the output of the power supply detection module, and the input of the power supply detection module is the first end of resistor R2. When the drain of NMOS transistor Q1 outputs a voltage, the anode of capacitor C3 also outputs a voltage, thereby determining whether power is being supplied to nuclear radiation detection sensor GCT1.

[0050] The signal amplification module includes resistors R4, R5, and R6, and transistor Q2. The first end of resistor R5 serves as the input to the signal amplification module. The second end of resistor R5 is connected to the base of transistor Q2. The emitter of transistor Q2 is grounded. The collector of transistor Q2 is connected to the first end of resistor R4. The second end of resistor R4 is connected to the second output of the power supply. The first end of resistor R4 serves as the output of the signal amplification module. The second end of resistor R5 is connected to the first end of resistor R6, which is grounded. Transistor Q2 performs an amplification function. The voltages at the first and second outputs of the power supply are different.

[0051] The main design ideas of the present application are as follows: First, in order to enable the entire marine environment nuclear radiation intelligent detection robot to walk to the deep sea, an underwater walking drive device 2 is designed, and the walking drive motor 21 drives the rotating screw 22 to rotate, so that the threaded sleeve 23 rises and falls, and then drives the moving ring 232 to rise and fall. The lifting of the moving ring 232 causes the walking wings 24 to open or retract, thereby enabling the marine environment nuclear radiation intelligent detection robot to rise. The marine environment nuclear radiation intelligent detection robot itself has gravity, so it can land when the underwater walking drive device 2 is not running; then, in order to enable the walking wings 24 to be opened, the unfolding wings 242 in the walking wings 24 are designed to rotate relative to the wing base 241, and rotate downward, because the water flow resistance may be too large during the rise; subsequently, in order to drive the walking wings 24 to open, a wing unfolding drive device is designed, which realizes the rotation of the soil hole convolution rod 32, retracts the pull rope 31, and tightens the pull rope 31, so that the walking wings 24 are unfolded; Then, the rod rotation drive mechanism 33 rotates together with the force of the screw rotation, thereby realizing the ability to tighten or release the pulling rope 31; then, an electromagnet and a permanent magnet 341 are designed to cooperate, and the electromagnet is energized under the control of the control module, so that the first bevel gear 333 can be raised or lowered, and the second bevel gear 334 is released after raising, which also releases the convolution rod 32. When the thrust of the water flow pushes the unfolded wings 242 to rotate downward, the unfolded wings 242 rotate downward, so that the water flow resistance to the walking wings 24 during the lifting process is reduced, but the expansion and contraction of the wing base 241 can still drive the entire marine environment nuclear radiation intelligent detection robot to rise; then, in order to realize nuclear radiation detection, a specific circuit of the nuclear radiation monitoring device is designed; then, in order to control the operation of the nuclear radiation detection sensor GCT1, a control switch module is designed; then, in order to protect the control switch unit (specifically the Nmos tube) in the control switch module, a protection unit is designed to extend the service life of the control switch unit.

[0052] The second output terminal of the control module is connected to the control terminal of the motor driver. The first output terminal of the power supply device supplies power to the travel drive motor 21 through the motor driver. The first output terminal of the power supply device supplies power to the electromagnet through a controllable switch. The control terminal of the controllable switch is connected to the third output terminal of the control module. This also realizes the control of the motor driver and the electromagnet, and can control the operation of the travel drive motor 21 and the electromagnet at different times.

[0053] The power supply device includes: a power supply battery and a boost module. The output end of the power supply battery is connected to the output end of the boost module. The output end of the power supply battery is the first output end of the power supply device, and the output end of the boost module is the second output end of the power supply device.

[0054] Since the operating voltage of the travel drive motor 21 needs to be greater than the voltage of the power supply battery, a boost module is used to boost the voltage.

[0055] The boost module may use the MC34063 boost chip, and of course other boost chips such as the MI3608 may also be used.

[0056] like Figure 5 As shown, the boost module includes: a boost chip U2, a resistor R7, a resistor R8 and a diode D3. The input terminal V+ of the boost chip U2 is the input terminal of the boost module. The boost chip U2 is MC34063 model. The CINV pin in the boost chip U2 is connected to the second end of the resistor R7 and the first end of the resistor R8. The second end of the resistor R8 is grounded. The second end of the resistor R7 is connected to the cathode of the diode D3. The anode of the diode D3 is connected to the SWC pin in the boost chip U2. The diode D3 has the function of limiting the current flow direction. By adjusting the resistance values ​​of the resistors R7 and R8, the output voltage can be adjusted to meet the power supply requirements of the walking drive motor 21.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. Marine environment nuclear radiation intelligent detection robot, characterized by: include: Airframe, underwater travel drive device, nuclear radiation monitoring device and power supply device; The machine body is equipped with an underwater travel drive device, which is used to drive the machine body to rise and fall in water; A nuclear radiation monitoring device is installed in the body, which includes: a nuclear radiation detection execution module, a control module and a motor drive module. The nuclear radiation detection execution module is used to detect the intensity of nuclear radiation in the water. The output end of the nuclear radiation detection execution module is connected to the control module, and the output end of the control module is connected to the control end of the motor drive module. The power supply device supplies power to the underwater walking drive device through the motor drive module.

2. The marine environment nuclear radiation intelligent detection robot according to claim 1, characterized in that: The underwater walking drive device includes: a walking drive motor, a rotating screw, a threaded sleeve, a walking wing and a rotating connecting rod structure. The walking drive motor is installed in the body, the output end of the walking drive motor is connected to the rotating screw, the rotating screw is threadedly connected to the threaded sleeve, the threaded sleeve is hinged to the first end of the rotating connecting rod structure, the second end of the rotating connecting rod structure is hinged to the middle of the walking wing, and one end of the walking wing is hinged to the outer wall of the body.

3. The intelligent detection robot for nuclear radiation in marine environment according to claim 2, characterized in that: A guide ring is installed on the machine body, the guide ring surrounds the rotating screw, the threaded sleeve is located between the guide ring and the rotating screw, the threaded sleeve is connected to the movable ring through a fixed arm, the movable ring is located outside the guide ring, the guide ring is provided with a guide groove for the fixed arm to pass through, and the movable ring is used to install the first end of the rotatable rotating connecting rod structure.

4. The intelligent marine environment nuclear radiation detection robot according to claim 3, characterized in that: The rotating connecting rod structure includes: a first rotating arm, a second rotating arm, a first articulated seat and a second articulated seat. The first end of the first rotating arm is the first end of the rotating connecting rod structure. The first end of the first rotating arm is hinged to the movable ring. The second end of the first rotating arm is hinged to the first articulated seat. The first articulated seat can be rotatably installed on the walking wing. The first articulated seat is hinged to the first end of the second rotating arm. The second end of the second rotating arm is hinged to the second articulated seat. The second articulated seat is installed on the body.

5. The intelligent detection robot for nuclear radiation in marine environment according to any one of claims 2 to 4, characterized in that: A power-assisting impeller is fixed on the end of the rotating screw away from the machine body.

6. The intelligent marine environment nuclear radiation detection robot according to claim 2, characterized in that: Also includes: wing deployment drive; The walking wing includes: a wing base and an unfolded wing. The middle part of the wing base is hinged to the second end of the rotating connecting rod structure. One end of the wing base is hinged to the outer wall of the fuselage. The edge of the wing base is equipped with a rotatable unfolded wing. The unfolded wing is connected to the output end of the wing self-deployment drive device. The wing deployment drive device is used to unfold or fold the unfolded wing.

7. The intelligent detection robot for nuclear radiation in marine environment according to claim 1, characterized in that: The wing deployment drive device includes: a pulling rope, a convolution rod and a rod rotation drive mechanism. The rod rotation drive mechanism is installed in the fuselage. The output end of the rod rotation drive mechanism is connected to the convolution rod. The convolution rod is rotatably installed on the fuselage. The convolution rod convolves the first end of the pulling rope, and the second end of the pulling rope is fixed to the deployed wing. The second end of the pulling rope is the output end of the wing deployment drive device. The deployed wing can be in a folded state under its own gravity. The rod rotation drive mechanism is used to drive the convolution rod to rotate so that the pulling rope pulls the deployed wing to the deployed position.

8. The intelligent detection robot for nuclear radiation in marine environment according to any one of claims 1 to 7, characterized in that: The nuclear radiation monitoring device includes: a nuclear radiation detection sensor, a control switch module, a signal amplification module, an AD conversion module and a control module. The first output end of the power supply device supplies power to the nuclear radiation detection sensor through the control switch module. The output end of the nuclear radiation detection sensor is connected to the input end of the signal amplification module, the output end of the signal amplification module is connected to the input end of the AD conversion module, the output end of the AD conversion module is connected to the first input end of the control module, and the control end of the control switch module is connected to the output end of the control module.

9. The intelligent marine environment nuclear radiation detection robot according to claim 8, characterized in that: The controlled switch module includes: a protection unit and a controlled switch unit. The input end of the protection unit is the control end of the controlled switch module, the output end of the protection unit is connected to the control end of the controlled switch unit, and the first output end of the power supply device supplies power to the nuclear radiation detection sensor through the controlled switch unit.

10. The intelligent detection robot for nuclear radiation in marine environment according to claim 8, characterized in that: The nuclear radiation monitoring device further includes: a power supply detection module, the input end of the power supply detection module is connected to the output end of the control switch module, and the output end of the power supply detection module is connected to the second input end of the control module.

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