Radiation-resistant performance test system

Abstract

The utility model provides a radiation-resistant performance test system. The radiation-resistant performance test system comprises a radiation chamber; the shielding wall is arranged in the radiation chamber, so that the radiation chamber forms a first chamber and a second chamber; the radiation source is arranged in the first cavity; the collection unit is arranged in the second cavity and used for being in communication connection with a component of a detected object, the collection unit is used for collecting data information of the component, and the component is located in the first cavity; the switch is arranged in the second chamber, is in communication connection with the acquisition unit and is used for receiving the data information sent by the acquisition unit; and the terminal equipment is arranged outside the radiation chamber, is in communication connection with the switch, and is used for receiving the data information sent by the switch and judging the radiation resistance of the components. According to the radiation-resistant performance test system, the acquisition unit can synchronously acquire the data information of a plurality of components, so that the radiation-resistant performance of the plurality of components can be synchronously tested, and the test efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection technical field especially relates to a kind of radiation resistance performance test system. BACKGROUND

[0002] Robots are suitable for performing tasks in radiation environments, which can reduce the risk of workers being directly exposed to radiation, and robots are widely used in radiation environments. Radiation has an impact on the performance of components, so the radiation resistance of multiple components of the robot in the radiation environment needs to be tested.

[0003] The performance of the robot in the radiation environment is mainly determined by the radiation resistance of the robot parts and the overall radiation resistance design of the robot. Testing the radiation resistance of electronic components of the robot is the main method to determine the radiation resistance of the robot. In related technologies, radiation damage testing of electronic components is performed by placing the components in a radiation environment for comparative testing.

[0004] For radiation testing, radiation damage to components usually occurs within a short event, but the working state is a process from slow change to sudden change, which requires long-term uninterrupted observation. The testing equipment in related technologies usually tests radiation damage to a single component, which takes a long time and has low testing efficiency. SUMMARY

[0005] Therefore, the embodiments of the present application provide a radiation resistance performance test system to solve the problem of long testing time and low testing efficiency of existing testing equipment.

[0006] The embodiments of the present application provide a radiation resistance performance test system, comprising:

[0007] a radiation chamber;

[0008] a shielding wall arranged in the radiation chamber to form a first chamber and a second chamber;

[0009] a radiation source arranged in the first chamber;

[0010] a collection unit arranged in the second chamber and communicatively connected to the components of the measured object, the collection unit being configured to collect data information of the components, and the components being located in the first chamber;

[0011] a switch arranged in the second chamber and communicatively connected to the collection unit, configured to receive data information sent by the collection unit; and

[0012] a terminal device arranged outside the radiation chamber and communicatively connected to the switch, configured to receive data information sent by the switch and determine the radiation resistance of the components.

[0013] According to the embodiment of the utility model, the acquisition unit includes at least one first communication interface;

[0014] The component includes a sensor unit, the sensor unit includes one or more of infrared sensor, ultrasonic sensor and temperature sensor, and the sensor unit is in communication connection with the first communication interface;

[0015] The acquisition unit is used for collecting distance information and / or temperature information of the sensor unit.

[0016] According to the embodiment of the utility model, the acquisition unit includes at least one second communication interface;

[0017] The component includes a power supply unit, and the power supply unit is in communication connection with the second communication interface;

[0018] The acquisition unit is used for collecting voltage information of the power supply unit.

[0019] According to the embodiment of the utility model, the acquisition unit includes at least one third communication interface;

[0020] The radiation resistance performance test system further includes a test motor driver, and the component further includes a motor and a motor driver;

[0021] The motor is in communication connection with the third communication interface through the test motor driver, and the acquisition unit is used for collecting encoder signals and / or instruction transceiving signals of the test motor driver.

[0022] According to the embodiment of the utility model, the radiation resistance performance test system further includes a test motor;

[0023] The motor driver is electrically connected with the test motor, and the motor driver is in communication connection with the third communication interface, and the acquisition unit is used for collecting encoder signals and / or instruction transceiving signals of the motor driver.

[0024] According to the embodiment of the utility model, the radiation resistance performance test system further includes at least one network cable;

[0025] The component further includes a camera unit, and the camera unit is in communication connection with the switch through the network cable.

[0026] According to the embodiment of the utility model, the component further includes a laser radar, and the laser radar is in communication connection with the switch through the network cable.

[0027] According to the embodiment of the utility model, the shielding wall includes a lead wall.

[0028] According to the embodiment of the present application, the terminal device comprises:

[0029] The storage unit is configured to store the data information transmitted by the switch;

[0030] The judging unit is configured to judge whether the component works normally or abnormally based on the data information; and

[0031] The recording unit is configured to record the test duration when the component changes from the normal working state to the abnormal working state.

[0032] According to the embodiment of the present application, the terminal device further comprises a display unit configured to display the data information.

[0033] The radiation resistance performance test system provided by the embodiment of the present application can at least achieve the following technical effects: the radiation source and the component of the measured object are located on one side of the shielding wall, the acquisition unit and the switch are located on the other side of the shielding wall, the multiple components of the measured object are in communication connection with the acquisition unit, the acquisition unit can synchronously acquire the data information of the multiple components, the data information of the multiple components is transmitted to the terminal device through the switch, the radiation resistance performance of the multiple components is realized to be synchronously tested, and the test efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] The above and other objects, features and advantages of the present application will become more apparent from the following description of the preferred embodiments of the present application taken with reference to the accompanying drawings, in which:

[0035] Figure 1 The structure of the radiation resistance performance test system according to the embodiment of the present application is schematically shown;

[0036] Figure 2 The distance information of the infrared sensor acquired by the radiation resistance performance test system according to the embodiment of the present application is schematically shown;

[0037] Figure 3 The waveform of the encoder signal acquired by the radiation resistance performance test system according to the embodiment of the present application is schematically shown;

[0038] Reference signs:

[0039] 10: radiation chamber; 11: first chamber; 12: second chamber; 20: shielding wall; 30: radiation source; 40: acquisition unit; 50: switch; 60: terminal device; 70: component; 71: infrared sensor; 72: ultrasonic sensor; 73: temperature sensor; 74: switching power supply; 75: battery; 76: motor; 77: motor driver; 78: camera unit; 79: laser radar; 81: test motor driver; 82: test motor; 91: data line; 92: network cable. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments and the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0041] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "contain" and the like used herein indicate the existence of the described features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0042] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; 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 communication inside two elements. 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.

[0043] The robot is suitable for operation in a radiation environment, and the performance of the robot in the radiation environment is mainly determined by the radiation resistance of the robot parts and the overall radiation resistance design of the robot. The radiation resistance performance test of multiple electronic components of the robot is the main method to judge the radiation resistance performance of the robot. In the prior art, the radiation damage test of electronic components is to place the components in a radiation environment for comparative test, or to test the components in stages, and then to observe and judge the radiation damage by using an analysis instrument and an upper computer communication interface software.

[0044] For radiation testing, pausing the handling of the radiation source after the test begins is cumbersome. In radiation scenarios with dose rates of tens of Gy / h, the total radiation dose tolerable for components varies from 100 Gy to over 1000 Gy, a large dose range requiring a lengthy testing period. Radiation damage to components typically occurs within a short event, but their operating state is a process of gradual change followed by a sudden change, requiring continuous observation over extended periods. Existing testing equipment cannot simultaneously test multiple components, resulting in long testing times and low efficiency. To address these issues, embodiments of this invention provide a radiation resistance performance testing system.

[0045] The following is combined Figures 1 to 3 This invention describes a radiation resistance testing system based on an embodiment of the present invention.

[0046] like Figure 1 As shown, the radiation resistance testing system provided in this embodiment of the present invention includes a radiation chamber 10, a shielding wall 20, a radiation source 30, a data acquisition unit 40, a switch 50, and a terminal device 60. The shielding wall 20 is disposed within the radiation chamber 10, forming a first chamber 11 and a second chamber 12. The radiation source 30 is disposed in the first chamber 11, and the data acquisition unit 40 is disposed in the second chamber 12 for communication connection with the component 70 of the object under test. The data acquisition unit 40 is used to acquire data information from the component 70, which is located in the first chamber 11. The switch 50 is disposed in the second chamber 12 and is communicationally connected to the data acquisition unit 40 for receiving data information sent by the data acquisition unit 40. The terminal device 60 is disposed outside the radiation chamber 10 and is communicationally connected to the switch 50 for receiving data information sent by the switch 50 and testing the radiation resistance performance of the component 70.

[0047] Radiation chamber 10 is made of radiation-shielding materials, including lead, lead glass, barium sulfate coating, and concrete. A shielding wall 20 is installed inside radiation chamber 10, dividing the internal space of radiation chamber 10 into two chambers: a first chamber 11 and a second chamber 12. The first chamber 11 and the second chamber 12 may not be connected, or they may be partially connected. A radiation source 30 is located in either the first chamber 11 or the second chamber 12. For example, the radiation source 30 and multiple components 70 are located in the first chamber 11, while the acquisition unit 40 and the switch 50 are located in the second chamber 12. The volume of the first chamber 11 is sufficient to accommodate the radiation source 30 and the multiple components 70, and the volume of the second chamber 12 is sufficient to accommodate the acquisition unit 40 and the switch 50. The radiation source 30 radiates radiation into the first chamber 11, thus placing the first chamber 11 in a radiation environment. It is understandable that multiple components 70 on the robot can be disassembled and placed in the first chamber 11 for testing, or the entire robot can be placed in the first chamber 11 for testing.

[0048] The robot generally includes a plurality of kinds of components 70, and the radiation resistance of the components 70 has an important influence on the safety and reliability of the robot in a radiation environment. The components 70 include a sensor unit, a power supply unit, a driving unit, a camera unit 78, a laser radar 79, and the like. The sensor unit includes an infrared sensor 71, an ultrasonic sensor 72, a temperature sensor 73, and the like. The power supply unit includes a switching power supply 74, a battery 75, and the like. The driving unit includes a motor, a motor driver, and the like.

[0049] The acquisition unit 40 has a plurality of communication interfaces, and the plurality of components 70 can be communicatively connected to the plurality of communication interfaces of the acquisition unit 40. The acquisition unit 40 can synchronously acquire data information of the plurality of components 70 in the radiation environment. The signal output end of the acquisition unit 40 is communicatively connected to the signal input end of the switch 50, and the signal output end of the switch 50 is communicatively connected to the terminal device 60.

[0050] The acquisition unit 40 serializes the acquired data information of the components 70 in binary through a protobuf protocol, and then transmits the data information through an MQTT protocol running on TCP / IP. The data information is transmitted to an upper computer running ros (Robot Operating System) in the form of a topic.

[0051] The upper computer receives the data information of the acquisition unit 40, subscribes to the MQTT message through a script service, and converts the MQTT message into a ros topic. The converted topic is a topic recognizable by ros and is published.

[0052] The terminal device 60 includes a mobile phone, a computer, and the like. The terminal device 60 is located outside the radiation chamber 10, and is in communication connection with the switch 50. The signal output end of the switch 50 is in communication connection with the signal input end of the terminal device 60. The terminal device 60 includes a storage unit, a comparison unit, a judgment unit, a recording unit, a display unit, and the like. The storage unit is used to store the data information of the plurality of components 70 collected by the collection unit 40. The comparison unit is used to compare the data information collected by the collection unit 40 with the preset information, and generate a comparison result. The judgment unit judges the working state of the component 70 according to the comparison result. The working state includes a normal working state and an abnormal working state. It can be understood that the comparison unit includes a plurality of comparison sub-units. Each comparison sub-unit compares the data information of one component 70 with the preset information. The judgment unit includes a plurality of judgment sub-units. Each judgment sub-unit judges the working state of one component 70 according to the comparison result of the corresponding comparison sub-unit. The display unit is used to display the data information of the plurality of components 70. The data information can be displayed in the form of numerical values, graphics, and the like. The display unit includes a display screen. The data information of each component 70 can be displayed on the display screen. The recording unit is used to record the test duration when the component 70 changes from the normal working state to the abnormal working state. According to the dose rate of the radiation source 30 and the test duration, the radiation dose when the component 70 changes to the abnormal working state can be calculated. The operator does not need to enter the radiation chamber 10 to obtain the data information. During the test, the radiation source 30 does not need to be intermittently turned off, thereby ensuring the continuity of the data.

[0053] The shielding wall 20 is used to intercept the ray beam in the first chamber 11 from entering the second chamber 12, so as to avoid or reduce the radiation of the radiation source 30 on the collection unit 40 and the switch 50. The collection unit 40 and the switch 50 work in an environment not irradiated by the radiation source 30, thereby ensuring the accuracy of the collected data. In addition, the component 70 and the collection unit 40 are located on opposite sides of the shielding wall 20. The distance between the collection unit 40 and the measured object is short, which is beneficial to reducing the loss of the signal in the transmission process.

[0054] The plurality of components 70 and the collection unit 40 are in communication connection. The collection unit 40 synchronously collects the data information of the plurality of components 70 in the radiation environment, thereby effectively saving the time for collecting the data information of the plurality of components 70. During the test, the operator does not need to enter the radiation chamber 10, thereby ensuring the safety of the test. In addition, the collection unit 40 can collect the data information of the plurality of components 70 in real time.

[0055] In this embodiment of the invention, the radiation source 30 and components 70 are located on one side of the shielding wall 20, and the acquisition unit 40 and the switch 50 are located on the other side of the shielding wall 20. Multiple components 70 are communicatively connected to the acquisition unit 40. The acquisition unit 40 can synchronously acquire data information from multiple components 70. The data information from multiple components 70 is sent to the terminal device 60 through the switch 50, thereby realizing the synchronous testing of the radiation resistance performance of multiple components 70 and improving testing efficiency.

[0056] like Figure 1 As shown, in an optional embodiment, the acquisition unit 40 includes at least one first communication interface. The component 70 includes a sensor unit, which includes one or more of an infrared sensor 71, an ultrasonic sensor 72, and a temperature sensor 73. The sensor unit is communicatively connected to the first communication interface. The acquisition unit 40 is used to acquire distance information and / or temperature information from the sensor unit.

[0057] The sensor unit includes one or more of the following: infrared sensor 71, ultrasonic sensor 72, temperature sensor 73, pressure sensor, humidity sensor, etc. The acquisition unit 40 is provided with multiple first communication interfaces, which are communication interfaces suitable for communicating with the sensors.

[0058] In some embodiments, the sensor unit includes an infrared sensor 71, an ultrasonic sensor 72, and a temperature sensor 73. The infrared sensor 71 can be used to detect the distance and position of obstacles, perform non-destructive testing, etc., and the test data of the infrared sensor 71 includes distance. The ultrasonic sensor 72 can be used to detect distance, detect objects, etc., and the test data of the ultrasonic sensor 72 includes distance. The temperature sensor 73 is used to measure temperature, and the test data of the temperature sensor 73 includes temperature.

[0059] The acquisition unit 40 is provided with at least three first communication interfaces. The infrared sensor 71 is connected to one of the first communication interfaces via a data line 91, the ultrasonic sensor 72 is connected to one of the first communication interfaces via a data line 91, and the temperature sensor 73 is connected to one of the first communication interfaces via a data line 91.

[0060] A reference object, including cardboard, is placed inside the first chamber 11. An infrared sensor 71 is positioned at a first distance from the cardboard. The acquisition unit 40 acquires the first distance information between the infrared sensor 71 and the cardboard in real time. The switch 50 receives the first distance information and sends it to the terminal device 60. The first comparison subunit of the terminal device 60 compares the first distance value corresponding to the first distance information with a first preset threshold range. Based on the comparison result, the first judgment subunit determines whether the infrared sensor 71 is working normally or abnormally. Figure 2As shown, the first distance value is within the first preset threshold range, the first judging subunit judges that the infrared sensor 71 is working normally, otherwise judges that the infrared sensor 71 is working abnormally.

[0061] Further, the terminal device 60 further comprises a recording unit, the first judging subunit judges that the infrared sensor 71 is working abnormally, and the recording unit records a first test duration when the infrared sensor 71 changes from a working normally state to a working abnormally state. The first test duration is counted from an initial state, that is, the moment when the radiation resistance performance test starts. The computing unit calculates a first radiation dose according to the first test duration and the dose rate of the radiation source 30, so as to obtain the radiation resistance performance of the infrared sensor 71, that is, the infrared sensor 71 works normally in a radiation environment less than the first radiation dose.

[0062] Optionally, the recording unit is further configured to record a first distance abnormal value when the infrared sensor 71 changes from the working normally state to the working abnormally state.

[0063] A reference object is placed in the first chamber 11, the reference object comprises a glass plate, the ultrasonic sensor 72 is spaced from the glass plate by a second distance, the acquisition unit 40 collects second distance information between the ultrasonic sensor 72 and the glass plate in real time, the switch 50 receives the second distance information and sends the second distance information to the terminal device 60, and the second comparing subunit of the terminal device 60 compares a second distance value corresponding to the second distance information with a second preset threshold range. According to the comparison result, the second judging subunit judges that the ultrasonic sensor 72 is working normally or abnormally. The second distance value is within the second preset threshold range, the second judging subunit judges that the ultrasonic sensor 72 is working normally, otherwise judges that the ultrasonic sensor 72 is working abnormally.

[0064] Further, the second judging subunit judges that the ultrasonic sensor 72 is working abnormally, and the recording unit records a second test duration when the ultrasonic sensor 72 changes from a working normally state to a working abnormally state, and the second test duration is counted from an initial state. The computing unit calculates a second radiation dose according to the second test duration and the dose rate of the radiation source 30, so as to obtain the radiation resistance performance of the ultrasonic sensor 72, that is, the ultrasonic sensor 72 works normally in a radiation environment less than the second radiation dose.

[0065] Optionally, the recording unit is further configured to record a second distance abnormal value when the ultrasonic sensor 72 changes from the working normally state to the working abnormally state.

[0066] Temperature sensor 73 is used to detect the temperature inside radiation chamber 10. Acquisition unit 40 acquires temperature information from temperature sensor 73 in real time. Switch 50 receives the temperature information and sends it to terminal device 60. The third comparison subunit of terminal device 60 compares the temperature value corresponding to the temperature information with a third preset threshold range. Based on the comparison result, the third judgment subunit determines whether temperature sensor 73 is working normally or abnormally. If the temperature value is within the third preset threshold range, the third judgment subunit determines that temperature sensor 73 is working normally; otherwise, it determines that temperature sensor 73 is abnormally working.

[0067] Furthermore, the third judgment subunit determines that the temperature sensor 73 is malfunctioning, and the recording unit records the third test duration when the temperature sensor 73 changes from a normal working state to an abnormal working state. The third test duration starts from the initial state. The calculation unit calculates the third radiation dose based on the third test duration and the dose rate of the radiation source 30, thereby obtaining the radiation resistance performance of the temperature sensor 73, that is, the temperature sensor 73 works normally in a radiation environment with a radiation dose lower than the third radiation dose.

[0068] Optionally, the recording unit is also used to record abnormal temperature values ​​when the temperature sensor 73 changes from a normal working state to an abnormal working state.

[0069] Optionally, the sensor unit also includes a pressure sensor, a humidity sensor, etc. The acquisition unit 40 includes multiple first communication interfaces. The pressure sensor is connected to one of the first communication interfaces via a data cable 91, and the humidity sensor is connected to another first communication interface via a data cable 91. The acquisition unit 40 acquires pressure data from the pressure sensor in real time, compares the pressure data with a preset pressure value, and determines whether the pressure sensor is working normally or abnormally based on the comparison result. The acquisition unit 40 acquires humidity data from the humidity sensor in real time, compares the humidity data with a preset humidity value, and determines whether the humidity sensor is working normally or abnormally based on the comparison result.

[0070] The acquisition unit 40 is equipped with multiple first communication interfaces, and the sensor unit includes multiple sensors. The multiple sensors are connected to the multiple first communication interfaces one by one. The acquisition unit 40 can simultaneously acquire data information from multiple sensors, obtain the radiation resistance performance of multiple sensors, and improve the testing efficiency of the radiation resistance performance of multiple sensors.

[0071] like Figure 1 As shown, in an optional embodiment, the acquisition unit 40 includes at least one second communication interface. The component 70 includes a power supply unit, which is communicatively connected to the second communication interface, and the acquisition unit 40 is used to acquire data information from the power supply unit.

[0072] Specifically, the power supply unit includes a switching power supply 74, a battery 75, etc. The battery 75 includes a lithium battery, a lead-acid battery, a graphene battery, etc. The switching power supply 74 is in communication connection with a second communication interface through a data line 91, and the battery 75 is in communication connection with a second communication interface through a data line 91. The switching power supply 74 and the battery 75 can also be in communication connection with the second communication interface through an AD sampling signal.

[0073] The acquisition unit 40 acquires first voltage data of the switching power supply 74 in real time, the switch 50 receives the first voltage data, and sends the first voltage data to the terminal device 60. The fourth comparison subunit of the terminal device 60 compares the first voltage value corresponding to the first voltage data with the fourth preset threshold range. According to the comparison result, the fourth judgment subunit judges whether the switching power supply 74 is working normally or abnormally. If the first voltage value is within the fourth preset threshold range, the fourth judgment subunit judges that the switching power supply 74 is working normally, otherwise, it is judged that the switching power supply 74 is working abnormally.

[0074] Further, when the fourth judgment subunit judges that the switching power supply 74 is working abnormally, the recording unit records the fourth test duration when the switching power supply 74 changes from the normal working state to the abnormal working state, and the fourth test duration is counted from the initial state. The calculation unit calculates the fourth radiation dose according to the fourth test duration and the dose rate of the radiation source 30, so as to obtain the radiation resistance performance of the switching power supply 74, that is, the switching power supply 74 works normally in a radiation environment less than the fourth radiation dose.

[0075] The acquisition unit 40 acquires second voltage data of the battery 75 in real time, the switch 50 receives the second voltage data, and sends the second voltage data to the terminal device 60. The fifth comparison subunit of the terminal device 60 compares the second voltage value corresponding to the second voltage data with the fifth preset threshold range. According to the comparison result, the fifth judgment subunit judges whether the battery 75 is working normally or abnormally. If the second voltage value is within the fifth preset threshold range, the fifth judgment subunit judges that the battery 75 is working normally, otherwise, it is judged that the battery 75 is working abnormally.

[0076] Further, when the fifth judgment subunit judges that the battery 75 is working abnormally, the recording unit records the fifth test duration when the battery 75 changes from the normal working state to the abnormal working state, and the fifth test duration is counted from the initial state. The calculation unit calculates the fifth radiation dose according to the fifth test duration and the dose rate of the radiation source 30, so as to obtain the radiation resistance performance of the battery 75, that is, the battery 75 works normally in a radiation environment less than the fifth radiation dose.

[0077] Optionally, the recording unit is also used to record the first voltage abnormal value when the switching power supply 74 changes from the normal working state to the abnormal working state. The recording unit is also used to record the second voltage abnormal value when the battery 75 changes from the normal working state to the abnormal working state.

[0078] The acquisition unit 40 is provided with a plurality of second communication interfaces, and the switching power supply 74 and the battery 75 are connected to the plurality of second communication interfaces one by one. The acquisition unit 40 can synchronously acquire a plurality of voltage information of the power supply unit, obtain the radiation resistance performance of the power supply unit, and be beneficial to improving the test efficiency of the radiation resistance performance of the power supply unit.

[0079] As shown in Figure 1 In an optional embodiment, the acquisition unit 40 includes at least one third communication interface. The radiation resistance performance test system further includes a test motor driver 81, and the component 70 further includes a motor 76 and a motor driver 77. The motor 76 is in communication connection with the third communication interface through the test motor driver 81. The acquisition unit 40 is used for acquiring an encoder signal and / or an instruction transceiver signal of the test motor driver 81.

[0080] Specifically, the robot includes a driving component, which is used for driving the robot to walk or for driving a mechanical arm of the robot to generate a translation action, a rotation action, a grabbing action, etc. The driving component includes the motor 76, the motor driver 77, and an encoder, which can be installed on the motor 76 or the motor driver 77.

[0081] The radiation resistance performance test system further includes the test motor driver 81. The test motor driver 81 is located in the second chamber 12. The test motor driver 81 is in electrical connection with the motor 76 of the object to be measured, and the test motor driver 81 is in communication connection with the acquisition unit 40. The acquisition unit 40 is provided with a third communication interface. The test motor driver 81 is in communication connection with the third communication interface through a data line 91.

[0082] The encoder signal and the instruction transceiver signal of the motor 76 during rotation are transmitted to the acquisition unit 40 through the test motor driver 81. The acquisition unit 40 acquires the encoder signal and the instruction transceiver signal of the test motor driver 81 in real time. The switch 50 receives the encoder signal and the instruction transceiver signal of the test motor driver 81, and sends the signal information to the terminal device 60. As shown in Figure 3 The sixth judgment subunit can judge that the motor 76 works normally or abnormally according to the waveform diagram of the encoder signal. If the waveform diagram is abnormal, the sixth judgment subunit judges that the motor 76 works abnormally. The abnormal waveform diagram includes a sudden change of the waveform or disappearance of the waveform, etc.

[0083] Furthermore, the sixth judgment subunit determines that the motor 76 is malfunctioning, and the recording unit records the sixth test duration when the motor 76 changes from a normal working state to an abnormal working state. The sixth test duration starts from the initial state. The calculation unit calculates the sixth radiation dose based on the sixth test duration and the dose rate of the radiation source 30, thereby obtaining the radiation resistance performance of the motor 76, that is, the motor 76 operates normally in a radiation environment with a radiation dose lower than the sixth radiation dose.

[0084] In an embodiment of this utility model, the motor 76 is communicatively connected to the acquisition unit 40 through the test motor driver 81. The acquisition unit 40 can acquire the encoder signal and command transmission and reception signal of the test motor driver 81 in real time to obtain the radiation resistance performance of the motor 76.

[0085] like Figure 1 As shown, in an optional embodiment, the radiation resistance testing system further includes a test motor 82. A motor driver 77 is electrically connected to the test motor 82 and is communicatively connected to a third communication interface. The acquisition unit 40 is used to acquire encoder signals and / or command transmission / reception signals from the motor driver 77.

[0086] Specifically, the test motor 82 is located in the second chamber 12, and the motor driver 77 of the test object is electrically connected to the test motor 82 via wires. At the same time, the motor driver 77 of the test object is connected to the third communication interface via data line 91.

[0087] The encoder signals and command transmission / reception signals of the test motor 82 during rotation are transmitted to the acquisition unit 40 via the motor driver 77. The acquisition unit 40 acquires the encoder signals and command transmission / reception signals of the motor driver 77 in real time. The switch 50 receives the encoder signals and command transmission / reception signals of the motor driver 77 and sends the signal information to the terminal device 60. The seventh judgment subunit can determine whether the motor driver 77 is working normally or abnormally based on the waveform diagram of the encoder signal. If the waveform diagram shows an abnormality, the seventh judgment subunit determines that the motor driver 77 is malfunctioning.

[0088] Furthermore, the seventh judgment subunit determines that the motor driver 77 is malfunctioning, and the recording unit records the seventh test duration when the motor driver 77 changes from a normal working state to an abnormal working state. The seventh test duration starts from the initial state. The calculation unit calculates the seventh radiation dose based on the seventh test duration and the dose rate of the radiation source 30, thereby obtaining the radiation resistance performance of the motor driver 77, that is, the motor driver 77 operates normally in a radiation environment with a radiation dose lower than the seventh radiation dose.

[0089] In the embodiment of the utility model, motor driver 77 is electrically connected with test motor 82, motor driver 77 is in communication connection with acquisition unit 40, acquisition unit 40 can acquire the encoder signal and instruction transceiver signal of motor driver 77 in real time, and the radiation resistance of motor driver 77 is obtained.

[0090] As Figure 1 Shown in optional embodiment, radiation resistance test system further includes at least one network cable 92, component 70 further includes camera unit 78, camera unit 78 is in communication connection with switch 50 through network cable 92, component 70 further includes laser radar 79, laser radar 79 is in communication connection with switch 50 through network cable 92.

[0091] Camera unit 78 has the functions of environment perception and obstacle avoidance, object identification and grasping, navigation and positioning etc., the image information photographed by camera unit 78 can be directly transmitted to terminal device 60 through switch 50, and the eighth judging subunit of terminal device 60 judges whether camera unit 78 works normally or abnormally according to the characteristics of image information.

[0092] Further, the eighth judging subunit judges that camera unit 78 works abnormally, the recording unit records the eighth test duration when camera unit 78 changes from normal working state to abnormal working state, and the eighth test duration is timed from the initial state, and the eighth radiation dose is calculated according to the eighth test duration and the dose rate of radiation source 30, so that the radiation resistance of camera unit 78, i.e. camera unit 78 works normally in the radiation environment less than the eighth radiation dose.

[0093] Laser radar 79 has the functions of environment perception and obstacle avoidance, and the point cloud image information of laser radar 79 can be directly transmitted to terminal device 60 through switch 50, and the ninth judging subunit of terminal device 60 judges whether laser radar 79 works normally or abnormally according to the characteristics of point cloud image information.

[0094] Further, the ninth judging subunit judges that laser radar 79 works abnormally, the recording unit records the ninth test duration when laser radar 79 changes from normal working state to abnormal working state, and the ninth test duration is timed from the initial state, and the ninth radiation dose is calculated according to the ninth test duration and the dose rate of radiation source 30, so that the radiation resistance of laser radar 79, i.e. laser radar 79 works normally in the radiation environment less than the ninth radiation dose.

[0095] Optionally, a plurality of through holes are formed in the shielding wall 20. One end of the data line 91 is connected to the sensor, and after the data line 91 passes through the through hole, the other end of the data line 91 is connected to the first communication interface. One end of the data line 91 is connected to the switching power supply 74, and after the data line 91 passes through the through hole, the other end of the data line 91 is connected to the second communication interface. One end of the data line 91 is connected to the battery 75, and after the data line 91 passes through the through hole, the other end of the data line 91 is connected to the second communication interface. One end of the wire is connected to the motor 76, and after the wire passes through the through hole, the other end of the wire is electrically connected to the test motor driver 81, and the test motor driver 81 is in communication connection with the third communication interface of the acquisition unit 40 through the data line 91. One end of the wire is connected to the motor driver 77, and after the wire passes through the through hole, the other end of the wire is in communication connection with the test motor 82. One end of the data line 91 is in communication connection with the motor driver 77, and after the data line 91 passes through the through hole, the other end of the data line 91 is in communication connection with the third communication interface. One end of the network cable 92 is in communication connection with the camera unit 78, and after the network cable 92 passes through the through hole, the other end of the network cable 92 is in communication connection with the switch 50. One end of the network cable 92 is in communication connection with the laser radar 79, and after the network cable 92 passes through the through hole, the other end of the network cable 92 is in communication connection with the switch 50. A plurality of through holes are formed in the shielding wall 20, and a plurality of data lines 91 and a plurality of network cables 92 pass through the through holes to avoid entanglement with each other.

[0096] In an optional embodiment, the shielding wall 20 comprises a lead wall, and the shielding wall 20 can be assembled by a plurality of lead bricks. The length and height of the shielding wall 20 can be flexibly adjusted according to the specifications and the number of the components 70, so that the shielding wall 20 can effectively shield and ensure the accuracy of the test results.

[0097] In summary, the radiation-resistant test system of the present application has the components 70 and the radiation source 30 located in the first chamber 11 of the radiation chamber 10, the radiation source 30 is used for radiating rays to the first chamber 11, the acquisition unit 40 and the switch 50 are located in the second chamber 12 of the radiation chamber 10, and the acquisition unit 40 synchronously acquires the data information of the plurality of components 70 of the measured object in the radiation environment. The data information acquired by the acquisition unit 40 is transmitted to the terminal device 60 through the switch 50, the terminal device 60 processes the data information, and the radiation-resistant performance of the plurality of components 70 is obtained, thereby effectively improving the test efficiency. In addition, the data information can be displayed on the display screen of the terminal device 60, and the running state of the components 70 can be directly observed from the display interface. In addition, the data can be reviewed at any time, which greatly facilitates the analysis of the radiation data.

[0098] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the spirit and principle of the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A radiation performance test system, characterized by, The system comprises: a radiation chamber; a shielding wall arranged in the radiation chamber to divide the radiation chamber into a first chamber and a second chamber; a radiation source arranged in the first chamber; a collection unit arranged in the second chamber and configured to be communicatively connected with a component of a test object, the collection unit being configured to collect data information of the component, the component being located in the first chamber; a switch arranged in the second chamber and communicatively connected with the collection unit, the switch being configured to receive the data information sent by the collection unit; and a terminal device arranged outside the radiation chamber and communicatively connected with the switch, the terminal device being configured to receive the data information sent by the switch and test the radiation resistance performance of the component.

2. The system according to claim 1, wherein the collection unit comprises at least one first communication interface; the component comprises a sensor unit, the sensor unit comprising one or more of an infrared sensor, an ultrasonic sensor and a temperature sensor, the sensor unit being communicatively connected with the first communication interface; and the collection unit is configured to collect distance information and / or temperature information of the sensor unit.

3. The system according to claim 1, wherein the collection unit comprises at least one second communication interface; the component comprises a power supply unit, the power supply unit being communicatively connected with the second communication interface; and the collection unit is configured to collect voltage information of the power supply unit.

4. The system according to claim 1, wherein the collection unit comprises at least one third communication interface; the system further comprises a test motor driver, and the component further comprises a motor and a motor driver; the motor is communicatively connected with the third communication interface through the test motor driver, and the collection unit is configured to collect encoder signals and / or instruction transceiver signals of the test motor driver.

5. The system according to claim 4, wherein the system further comprises a test motor; the motor driver is electrically connected with the test motor, and the motor driver is communicatively connected with the third communication interface, and the collection unit is configured to collect encoder signals and / or instruction transceiver signals of the motor driver.

6. The system according to claim 1, wherein the system further comprises at least one network cable; and the component further comprises a camera unit, the camera unit being communicatively connected with the switch through the network cable.

7. The system according to claim 6, wherein the component further comprises a laser radar, the laser radar being communicatively connected with the switch through the network cable.

8. The system according to claim 1, wherein the shielding wall comprises a lead wall.

9. The system according to any one of claims 1-8, wherein the terminal device comprises: a storage unit configured to store the data information sent by the switch. ​ A judging unit is configured to judge whether the component is working normally or abnormally based on the data information. A recording unit is configured to record a test duration when the component changes from a normal working state to an abnormal working state.

10. The radiation resistance testing system of claim 9, wherein, The terminal device further comprises a display unit configured to display the data information.

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