Wheeled robot for nuclear power plant

Abstract

The utility model discloses a nuclear power plant wheeled robot which comprises a frame, the frame is provided with a plurality of moving wheels, the frame is provided with a controller, the frame is further provided with a laser sensor connected with the controller, the frame is further provided with a gas sensor connected with the controller, and the gas sensor is connected with the controller. The laser sensor and the gas sensor are arranged at an interval; a plurality of first obstacle avoidance sensors connected with the controller are arranged on the front side and the rear side of the periphery of the vehicle frame in the moving direction of the vehicle frame. According to the wheeled robot for the nuclear power plant, the first obstacle avoidance sensors are arranged on the front side and the rear side of the frame, so that multidirectional and multi-angle position detection can be realized, the anti-collision capability and the anti-falling capability of the wheeled robot for the nuclear power plant can be improved, the wheeled robot for the nuclear power plant can be better protected, and meanwhile, the safety of the wheeled robot for the nuclear power plant is improved. And smooth inspection of the nuclear power plant can be ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear power technology field especially relates to a nuclear power plant wheeled robot. BACKGROUND

[0002] In the nuclear power plant, some work areas are relatively narrow due to many pipelines and many devices, and when the staff carries out the inspection operation, some work areas are inaccessible, therefore, the nuclear power plant adopts the nuclear power plant robot to carry out the inspection, the current nuclear power plant robot mostly adopts a laser sensor to carry out position detection, its detection range is limited, there are relatively more grooves and / or steps in the nuclear power plant, and position blind area is easily produced, leading to the risk of collision or falling, which can easily cause the damage of the nuclear power plant robot frame, and the repeated falling or collision can also easily cause the loose connection or damage of the internal devices of the nuclear power plant robot, leading to the influence on the service life of the nuclear power plant robot, and the inspection work of the nuclear power plant is also delayed. UTILITY MODEL CONTENTS

[0003] The utility model solves the technical problem and provides a nuclear power plant wheeled robot.

[0004] The utility model adopts the technical scheme in the technical solutions that solve the technical problems: a nuclear power plant wheeled robot is constructed, including the frame, the frame is equipped with a plurality of moving wheels, the frame is equipped with the controller, the frame is also equipped with the laser sensor connected with the controller, the frame is also equipped with the gas sensor connected with the controller, and the laser sensor and the gas sensor are arranged at intervals.

[0005] The frame is equipped with a plurality of first obstacle avoidance sensors connected with the controller on the front and back sides along the moving direction of the frame.

[0006] In some embodiments, the first obstacle avoidance sensor includes an ultrasonic sensor and / or an infrared sensor.

[0007] In some embodiments, the bottom of the frame is also equipped with at least one second obstacle avoidance sensor connected with the controller.

[0008] In some embodiments, the second obstacle avoidance sensor includes an ultrasonic sensor and / or an infrared sensor.

[0009] In some embodiments, the frame is also equipped with a mounting box, and the laser sensor and / or the gas sensor are arranged on the mounting box.

[0010] In some embodiments, the outer periphery of the frame is also equipped with a bumper.

[0011] In some embodiments, the bumper includes a rubber bumper strip and / or a rubber bumper block.

[0012] In some embodiments, the vehicle frame is further provided with a prompter connected with the controller.

[0013] In some embodiments, the vehicle frame is further provided with a plurality of antennas connected with the controller.

[0014] In some embodiments, the number of antennas is at least two.

[0015] The utility model discloses the following beneficial effects: the nuclear power plant wheel robot can realize multidirectional and multi-angle position detection through the configuration of a plurality of first obstacle avoidance sensors on the front and rear sides of the vehicle frame, can improve the anti-collision ability and anti-falling ability of the nuclear power plant wheel robot, can better protect the nuclear power plant wheel robot, and can ensure the smooth progress of the nuclear power plant inspection work. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the utility model, the utility model will be further described below in combination with the drawings and embodiments, and it should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0017] Fig. 1 It is the structure schematic diagram of the nuclear power plant wheel robot in some embodiments of the utility model;

[0018] Fig. 2 It is the structure schematic diagram of the nuclear power plant wheel robot in some embodiments of the utility model;

[0019] Fig. 3 It is the structure schematic diagram of the nuclear power plant wheel robot in some embodiments of the utility model. DETAILED DESCRIPTION

[0020] In order to have more clear understanding of the technical features, purposes and effects of the utility model, the specific implementation mode of the utility model will be described in detail below with reference to the drawings. In the following description, it should be understood that the orientation or position relationship of "front", "rear", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like is based on the orientation or position relationship shown in the drawings, and is constructed and operated in a particular orientation, and is only for the convenience of describing the technical scheme, and cannot be understood as indicating that the indicated device or element must have a particular orientation, therefore it cannot be understood as limiting the utility model.

[0021] It should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0022] In the following description, specific details are set forth such as specific system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application for purposes of explanation and not of limitation. However, it will be apparent to those skilled in the art that the present application can be realized in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary details.

[0023] Referring to Figs. 1-3 The utility model discloses a kind of nuclear power plant wheeled robots, it includes frame 10, the frame 10 can be generally cuboid structure, it can be closed structure, avoid the impurity such as dust of nuclear power plant into the internal space of the frame 10, or, the frame 10 is equipped with multiple dust covers or dust nets. Preferably, the frame 10 can be made of metal material, which includes but is not limited to stainless steel or aluminum alloy, since nuclear power plant is located near sea, to improve durability and corrosion resistance, the frame 10 can be made of stainless steel. Of course, in other embodiments, the frame 10 can also be made of high-strength plastic material, which is not specifically limited here.

[0024] The frame 10 is provided with a plurality of moving wheels 11, the number of the moving wheels 11 can be four, i.e. two moving wheels 11 are arranged on the left and right sides of the frame 1 along the moving direction, the frame 1 can be provided with a driving motor connected with the moving wheels 11, the driving motor can be connected with the controller, the driving motor includes but is not limited to servo motor, servo motor has high precision. Of course, the number, position and specification of the moving wheels 11 can be selected according to actual needs, which is not specifically limited here.

[0025] In some embodiments, the vehicle frame 10 is provided with a controller, and the vehicle frame 10 is further provided with a laser sensor 12 connected with the controller, and the vehicle frame 10 is further provided with a gas sensor 13 connected with the controller, and the laser sensor 12 is arranged spaced apart from the gas sensor 13, for example, the laser sensor 12 can be arranged above the gas sensor 13, the laser sensor 12 can realize laser ranging and other functions, and the gas sensor 13 can detect the gas condition in the working area of the nuclear power plant, for example, can detect the content of carbon monoxide, carbon dioxide and the like, which is not limited here.

[0026] In some embodiments, the vehicle frame 10 is provided with a controller, and the vehicle frame 10 is further provided with a laser sensor 12 connected with the controller, and the vehicle frame 10 is further provided with a gas sensor 13 connected with the controller, and the laser sensor 12 is arranged spaced apart from the gas sensor 13, for example, the laser sensor 12 can be arranged above the gas sensor 13, the laser sensor 12 can realize laser ranging and other functions, and the gas sensor 13 can detect the gas condition in the working area of the nuclear power plant, for example, can detect the content of carbon monoxide, carbon dioxide and the like, which is not limited here. Figs. 1-3 In some embodiments, the vehicle frame 10 is provided with a controller, and the vehicle frame 10 is further provided with a laser sensor 12 connected with the controller, and the vehicle frame 10 is further provided with a gas sensor 13 connected with the controller, and the laser sensor 12 is arranged spaced apart from the gas sensor 13, for example, the laser sensor 12 can be arranged above the gas sensor 13, the laser sensor 12 can realize laser ranging and other functions, and the gas sensor 13 can detect the gas condition in the working area of the nuclear power plant, for example, can detect the content of carbon monoxide, carbon dioxide and the like, which is not limited here.

[0027] In some embodiments, the first obstacle avoidance sensor 20 includes an ultrasonic sensor and / or an infrared sensor, for example, an ultrasonic sensor can be selected.

[0028] Preferably, the vehicle frame 10 is provided with at least two first obstacle avoidance sensors 20 on the front side of the moving direction of the vehicle frame 10, and the at least two first obstacle avoidance sensors 20 can simultaneously include ultrasonic sensors and infrared sensors, for example, there can be one ultrasonic sensor and one infrared sensor, or there can be one ultrasonic sensor and two infrared sensors, or there can be two ultrasonic sensors and one infrared sensor, or there can be two ultrasonic sensors and two infrared sensors. Of course, all ultrasonic sensors or all infrared sensors can be selected, which is not limited here.

[0029] Similarly, the frame 10 is provided with at least two first obstacle avoidance sensors 20 on the rear side along the moving direction of the frame 10, and the at least two first obstacle avoidance sensors 20 can be simultaneously provided with ultrasonic sensors and infrared sensors, for example, one ultrasonic sensor and one infrared sensor, or one ultrasonic sensor and two infrared sensors, or two ultrasonic sensors and one infrared sensor, or two ultrasonic sensors and two infrared sensors. Of course, it can be all ultrasonic sensors or all infrared sensors, which is not limited here.

[0030] Understandably, the nuclear power plant wheeled robot can realize multi-directional and multi-angle position detection by configuring a plurality of first obstacle avoidance sensors 20 on the front and rear sides of the frame 10, which can improve the anti-collision and anti-falling capabilities of the nuclear power plant wheeled robot, and can better protect the nuclear power plant wheeled robot, while ensuring the smooth progress of the nuclear power plant inspection work.

[0031] In some embodiments, the frame 10 can be provided with first obstacle avoidance sensors 20 on the left and right sides along the moving direction of the frame 10, and the number and position of the first obstacle avoidance sensors 20 can be selected according to actual needs. By providing the first obstacle avoidance sensors 20 on the left and right sides along the moving direction of the frame 10, the information on the left and right sides of the nuclear power plant wheeled robot can be detected, and multi-directional obstacle avoidance can be realized to avoid collision or falling risk of the nuclear power plant wheeled robot when turning.

[0032] As shown in Fig. 3 In some embodiments, the bottom of the frame 10 is also provided with at least one second obstacle avoidance sensor 30 connected with the controller, which can realize multi-directional obstacle avoidance to avoid collision or falling risk of the nuclear power plant wheeled robot. The number of the second obstacle avoidance sensors 30 can be one, two or any other number, and the number and position of the second obstacle avoidance sensors 30 can be selected according to actual needs, which is not limited here.

[0033] Preferably, the second obstacle avoidance sensor 30 includes an ultrasonic sensor and / or an infrared sensor, for example, an optional ultrasonic sensor.

[0034] In some embodiments, the frame 10 is further provided with a mounting box 14, and the laser sensor 12 and / or the gas sensor 13 are arranged on the mounting box 14. The mounting box 14 can be a power supply box in which a power supply battery or the like is arranged. Of course, the power supply battery can be arranged inside the frame 10, and the power supply battery includes but is not limited to a lithium ion battery. The mounting box 14 or the frame 10 can be further provided with a charging interface / charging connector connected with the power supply battery. In addition, the mounting box 14 can also be used for storing some working components, which can include but are not limited to detection instruments, wrenches or fasteners. The detection instruments can include but are not limited to pressure gauges, voltage gauges, current gauges, multi-parameter gas detectors and the like. The fasteners can include but are not limited to bolts, screws or fastening pins and the like.

[0035] In some embodiments, the outer periphery of the frame 10 is further provided with a bumper 15, which includes a rubber bumper strip and / or a rubber bumper block to improve the anti-collision performance.

[0036] In some embodiments, the frame 10 can be further provided with a gimbal camera (not shown) connected with the controller. The gimbal camera can include an optical zoom visible light gimbal camera and / or a fixed-focus infrared dual-spectrum gimbal camera. Preferably, the gimbal camera can include an optical zoom visible light gimbal camera and a fixed-focus infrared dual-spectrum gimbal camera to collect complete image information or video information. Of course, the gimbal camera can adopt the prior art, and the type of the gimbal camera can be selected according to actual needs, which is not specifically limited here.

[0037] In some embodiments, the frame 10 can be further provided with a mechanical hand (not shown) connected with the controller. The mechanical hand can perform certain operation work (such as screwing bolts or operating valve switches). The mechanical hand can adopt the prior art, which is not specifically limited here.

[0038] In some embodiments, the frame 10 is further provided with a prompter 16 connected with the controller. The prompter 16 can include but is not limited to an acoustic warning device (such as a buzzer or a voice player), an optical warning device (such as an LED lamp) or an acoustic-optical warning device. When the information collected by the gimbal camera is abnormal, the worker can be reminded by the prompter 16.

[0039] In some embodiments, the frame 10 is further provided with a plurality of antennas 17 connected with the controller, which can receive and send signals. In some embodiments, the number of the antennas 70 is at least two to improve the fault tolerance.

[0040] In some embodiments, the controller can be, but is not limited to, a microprocessor, a microcontroller, a digital signal processor, a microcomputer, a central processing unit, a field programmable gate array, a programmable logic device, a state machine, a logic circuit, an analog circuit, a digital circuit, and / or any device that operates signals (analog and / or digital) based on operation instructions, which can adopt a mature control scheme such as a master control MCU on the market, or be improved or innovatively designed according to requirements, which will not be described here. The relevant data processing of the present application is mainly processed by the controller. Alternatively, in some other embodiments, the controller can be, but is not limited to, a robot computer (robot computer), which will not be specifically limited here.

[0041] It can be understood that the above embodiments only express the preferred embodiments of the present application, which are described in detail and specifically, but cannot be understood as a limitation on the scope of the present application patent; it should be pointed out that for those skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and some deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A wheeled robot for nuclear power plants, characterized in that, Includes a frame (10), the frame (10) is provided with a plurality of moving wheels (11), the frame (10) is provided with a controller, the frame (10) is also provided with a laser sensor (12) connected to the controller, the frame (10) is also provided with a gas sensor (13) connected to the controller, the laser sensor (12) and the gas sensor (13) are arranged at intervals; The outer periphery of the vehicle frame (10) is provided with a plurality of first obstacle avoidance sensors (20) connected to the controller on both the front and rear sides along its direction of movement, and at least two of the first obstacle avoidance sensors (20) have different detection directions / detection angles; the first obstacle avoidance sensor (20) includes an ultrasonic sensor and / or an infrared sensor. The bottom of the frame (10) is also provided with at least one second obstacle avoidance sensor (30) connected to the controller. The second obstacle avoidance sensor (30) includes an ultrasonic sensor and / or an infrared sensor. The vehicle frame (10) is also provided with a mounting box (14), and the laser sensor (12) and / or the gas sensor (13) are mounted on the mounting box (14); The frame (10) is also equipped with a robotic arm, which is connected to the controller; The vehicle frame (10) is equipped with a gimbal camera connected to the controller. The gimbal camera includes an optical zoom visible light gimbal camera and a fixed-focus infrared dual-spectrum gimbal camera.

2. The nuclear power plant wheeled robot according to claim 1, characterized in that, The outer periphery of the frame (10) is also provided with anti-collision components (15).

3. The nuclear power plant wheeled robot according to claim 2, characterized in that, The anti-collision component (15) includes rubber anti-collision strips and / or rubber anti-collision blocks.

4. The nuclear power plant wheeled robot according to claim 1, characterized in that, The frame (10) is also equipped with a prompter (16) connected to the controller.

5. The nuclear power plant wheeled robot according to claim 1, characterized in that, The vehicle frame (10) is also equipped with several antennas (17) connected to the controller.

6. The nuclear power plant wheeled robot according to claim 5, characterized in that, The number of antennas (17) is at least two.

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