Nuclear radiation detection unmanned vehicle

Abstract

The utility model discloses a nuclear radiation detection unmanned vehicle which comprises a vehicle body and a walking unit and further comprises a mechanical arm arranged on the vehicle body. The nuclide detector is arranged at the end part of the mechanical arm; the wired transmission device is arranged on the vehicle body and comprises a winch inserted into the vehicle body in the vertical direction and a supporting telescopic rod arranged below the winch, and the supporting telescopic rod can stretch out and draw back in the advancing direction of the vehicle body and can support and limit the lower portion of the winch in the stretching-out state; the winch is hung on the vehicle body, when wired control is used, and when the cable cannot be normal due to the fact that the cable is wound during operation, the supporting telescopic column is controlled to retract, supporting on the winch is relieved, the winch is separated from the vehicle body under the action of gravity, the winch is discarded, and then wireless control is adopted. And the vehicle can smoothly get out of trouble.

Description

Technical Field

[0001] This utility model relates to the field of nuclear radiation detection equipment technology, and in particular to a nuclear radiation detection unmanned vehicle. Background Technology

[0002] The peaceful development and utilization of nuclear energy has made a huge contribution to human economic and social development. However, nuclear radiation also has its unfriendly side. Low-probability nuclear accidents and radiation accidents can produce radiation exceeding safe levels, which can threaten and damage the human body, and even directly cause casualties. Therefore, unmanned radiation detection equipment is an important means to replace manual nuclear radiation detection.

[0003] Due to the unique nature of nuclear or radiation accidents, they often result in the accumulation of obstacles in surrounding buildings and on the ground, creating a complex and ever-changing environment. High radiation doses can also affect remote information transmission and system control. Currently, most robots or unmanned detection devices used for radiation monitoring have shortcomings when conducting emergency detection operations in nuclear-contaminated areas. They cannot switch their operating modes in real time according to the on-site nuclear radiation contamination situation to detect and identify the radiation dose and types of radionuclides in the nuclear-contaminated area. Furthermore, they cannot detach the wired transmission cables to free the unmanned vehicle when they become entangled. Utility Model Content

[0004] The purpose of this invention is to solve the above-mentioned problems by providing an unmanned vehicle for nuclear radiation detection.

[0005] To achieve the above objectives, the technical solution of this utility model is: a nuclear radiation detection unmanned vehicle, including a vehicle body and a walking unit, and further including:

[0006] A robotic arm is mounted on the vehicle body;

[0007] A radionuclide detector is mounted at the end of the robotic arm;

[0008] A wired transmission device is installed on a vehicle body, including a winch inserted into the vehicle body in the vertical direction and a support telescopic rod installed below the winch. The support telescopic rod can extend and retract along the direction of travel of the vehicle body, and when extended, it can support and limit the area below the winch. The winch is used to wind cables.

[0009] Furthermore, the wired transmission device includes a tripping base disposed on the vehicle body and two slots disposed on opposite sides of the tripping base. Each slot is fitted with a card plate, and the winch is connected to the two card plates and disposed between the two card plates.

[0010] Furthermore, it also includes a connecting plate that connects the two plates, and the connecting plate is provided with a plug sleeve that is adapted to the support telescopic rod, and the plug sleeve is plugged into the support telescopic rod.

[0011] Furthermore, along the spacing direction of the two slots, the supporting telescopic rod includes two spaced-apart ones, and the plug sleeve includes two that correspond one-to-one with the supporting telescopic rod.

[0012] Furthermore, the vehicle body is equipped with a power telescopic rod, the end of which is equipped with a connecting plate, and two supporting telescopic rods are located at both ends of the connecting plate.

[0013] Furthermore, the nuclide detector includes a nuclide detector probe, a robotic arm operation camera, and a robotic arm laser rangefinder.

[0014] Furthermore, an environmental observation camera is installed on the side of the vehicle body along the direction of travel perpendicular to the vehicle body.

[0015] Furthermore, it also includes a cable interface device, which includes a plug cavity on the vehicle body, a notch connecting post that is guided into the plug cavity, a four-lobed movable interface at the end of the connecting post, and a movable hook on the side wall of the plug cavity, wherein the movable hook is engaged with the notch connecting post.

[0016] Furthermore, a telescopic spring is provided between the end face of the notch connecting post and the bottom of the insertion cavity.

[0017] Furthermore, the walking unit is a tracked walking unit.

[0018] Compared with the prior art, the nuclear radiation detection unmanned vehicle disclosed in this utility model has the following advantages: by mounting a winch on the vehicle body, when using wired control, if the cable becomes tangled or cannot function properly during operation, the support telescopic column is retracted to release the support for the winch. Under the action of gravity, the winch detaches from the vehicle body and is discarded. Then, wireless control is used to enable the vehicle to get out of trouble smoothly. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a nuclear radiation detection unmanned vehicle according to the present invention.

[0020] Figure 2 This is a schematic diagram of the robotic arm in a nuclear radiation detection unmanned vehicle according to the present invention.

[0021] Figure 3 This is a schematic diagram of the connection between the detection unit and the robotic arm of a nuclear radiation detection unmanned vehicle according to this utility model.

[0022] Figure 4 This is a schematic diagram of the connection structure between the winch and release device and the sheet metal parts of the vehicle body in a nuclear radiation detection unmanned vehicle according to this utility model. Figure 1 .

[0023] Figure 5This is a schematic diagram of the connection structure between the winch and the tripping device in a nuclear radiation detection unmanned vehicle according to this utility model. Figure 2 .

[0024] Figure 6 This is a schematic diagram of the connection structure between the winch and release device and the sheet metal parts of the vehicle body in a nuclear radiation detection unmanned vehicle according to this utility model. Figure 3 .

[0025] Figure 7 This is a schematic diagram of the connection structure between the winch and the release device in a nuclear radiation detection unmanned vehicle according to this utility model.

[0026] Figure 8 for Figure 7 The diagram shown is an exploded view of the structure of a nuclear radiation detection unmanned vehicle according to this utility model.

[0027] Figure 9 This is a schematic diagram of the cable interface device in the closed state of a nuclear radiation detection unmanned vehicle according to this utility model.

[0028] Figure 10 This is a schematic diagram of the structure of a cable interface device in a nuclear radiation detection unmanned vehicle of this utility model, in which the cable connector is hidden in a closed state.

[0029] Figure 11 This is a schematic diagram of the cable interface device in the unmanned vehicle for nuclear radiation detection of this utility model in the loosened state.

[0030] Figure 12 This is a schematic diagram of the display interface of the operating terminal screen of the walking unit in a nuclear radiation detection unmanned vehicle according to the present invention.

[0031] Figure 13 This is a schematic diagram of the display interface of the operation terminal screen of the detection unit in a nuclear radiation detection unmanned vehicle according to the present invention.

[0032] In the diagram: 1. Vehicle body; 1a. Vehicle body sheet metal; 2. Environmental observation camera; 3. Robotic arm; 4. Positioning wheel; 5. Drive wheel; 6. Wireless receiving antenna; 7. Searchlight; 8. Obstacle avoidance radar; 9. Nuclide detector; 10. Wired transmission device; 31. Robotic arm shaft; 32. Robotic arm base; 11. Robotic arm operation camera; 12. Robotic arm laser rangefinder; 13. Nuclide detector probe; 100. Cable interface device; 101. Card plate; 102. Plug-in sleeve; 103. Winch; 105. Release base; 1051. Strip through hole; 106. Slot; 108. Support telescopic rod; 1081. Power telescopic component; 1082. Connecting plate; 1011. Lever; 1012. Movable hook ; 1013, Telescopic spring; 1014, Notch connecting post; 10141, Groove; 10142, Hanging interface; 10143, Positioning post; 1015, Four-lobed movable interface; 1016, Cable connector; 10161, Plug-in socket; 41, First setting area; 42, First status bar; 43, Left side video information of vehicle body; 44, Front video information of vehicle body; 45, Rear video information of vehicle body; 46, Right side video information of vehicle body; 47, First map information; 48, Speed ​​and positioning information; 49, Obstacle avoidance radar information; 51, Second setting area; 52, Second status bar; 53, Detector video information; 54, Second map information; 55, Radionuclide, laser ranging, dosage, robotic arm angle, and other information. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0034] Please refer to Figure 1-5 As a specific implementation method, the technical solution of this utility model is: a nuclear radiation detection unmanned vehicle, including a vehicle body 1 and a walking unit, and further including:

[0035] Robotic arm 3 is mounted on vehicle body 1;

[0036] The nuclide detector 9 is located at the end of the robotic arm 3;

[0037] A wired transmission device 10 is mounted on a vehicle body 1 and includes a winch 103 inserted into the vehicle body 1 in the vertical direction and a support telescopic rod 108 disposed below the winch 103. The support telescopic rod 108 can extend and retract along the travel direction of the vehicle body 1 and can support and limit the area below the winch 103 when it is extended. The winch 103 is used to wind cables.

[0038] Specifically, the structure of the nuclear radiation detection unmanned vehicle provided in this application includes a vehicle body 1, with a walking unit located below the vehicle body 1. The walking unit uses tracks, wheels, etc., to drive the vehicle body 1. In practical applications, the walking unit is controlled wirelessly or via wired connection. Wireless transmission uses a wireless receiving antenna 6 for signal transmission, and remote control is achieved through an operating terminal. The structure of the walking unit can utilize existing technologies such as remote-controlled cars and remote-controlled aircraft; the control methods will not be elaborated upon here. This application also includes a robotic arm 3 mounted on the vehicle body 1, as described above. Figure 3 The robotic arm 3 includes a base connected to the vehicle body 1 and a robotic arm 3 axis connected to the base. The robotic arm 3 axis includes at least three degrees of freedom. The nuclide detector 9 is set at the end of the robotic arm 3. The robotic arm 3 is also operated by wireless or wired remote control. The degrees of freedom of the robotic arm 3 are adjusted to adjust the orientation of the nuclide detector 9 at the end of the robotic arm 3, which facilitates the detection of nuclides in the environment. The wired transmission device 10 uses a winch 103 plugged into the vehicle body 1. The cable is wound around the winch 103, which is supported and limited by a support telescopic column. One end of the cable wound on the winch 103 can be connected to a remote control terminal, and the other end can be plugged into a cable connector 1016 on the vehicle body 1, thereby realizing the connection between the vehicle body 1 and the remote control terminal. With the above configuration, the vehicle can be remotely controlled through the walking unit operation terminal to control the vehicle to enter the area to be detected, and the robotic arm 3 can be controlled through the unmanned vehicle detection unit operation terminal to control the posture of the robotic arm 3. The nuclide detector 9 at the end of the robotic arm 3 can detect nuclide 55. In this application, by mounting the winch 103 on the vehicle body 1, when the cable becomes tangled or cannot work properly during operation, the support telescopic column is retracted to release the support of the winch 103. Under the action of gravity, the winch 103 is detached from the vehicle body 1 and discarded. Then, wireless control is used to enable the vehicle to get out of trouble smoothly.

[0039] Furthermore, as a specific implementation method, refer to Figures 4-8 The structure of the wired transmission device 10 is as follows: The wired transmission device 10 includes a release base 105 disposed on the vehicle body 1 and two slots 106 disposed on opposite sides of the release base 105. Each slot 106 is fitted with a card plate 101. A winch 103 is connected to the two card plates 101 and disposed between the two card plates 101. A strip-shaped through hole 1051 is provided on the release base 105. A screw passes through the strip-shaped through hole 1051 and is connected to the sheet metal of the vehicle body 1 to fix the release base 105 on the vehicle body 1.

[0040] Specifically, the release base 105 is a U-shaped plate structure. At both ends of the U-shaped plate, inwardly forming slots 106, each slot 106 is fitted with a locking plate 101. The locking plate 101 is specifically formed by bending a metal plate; the bent ends of the plate are the locking plates 101. The winch 103 is positioned between the two locking plates 101. The winch 103 uses an existing cable storage structure, which is not specifically limited here, as long as it achieves its intended purpose. Those skilled in the art should understand that the support telescopic rod 108 is mounted on the sheet metal of the vehicle body 1. When in a supported state, the support telescopic rod 108 is extended. At this time, after the locking plate 101 extends into the slot 106, the support telescopic rod 108 below it limits the metal plate. When it is necessary to disengage the winch 103, by controlling the retraction of the support telescopic rod 108, the locking plate 101 and the winch 103 slide down under gravity and disengage from the vehicle body 1.

[0041] Furthermore, the specific implementation of the seat also includes a connecting plate 1082 connecting the two card plates 101. The connecting plate 1082 is provided with a plug-in sleeve 102 adapted to the support telescopic rod 108, and the plug-in sleeve 102 is plugged into the support telescopic rod 108. Specifically, the plug-in sleeve 102 is provided on the connecting plate 1082. When the support telescopic rod 108 supports the winch 103, the end of the support telescopic rod 108 extends into the plug-in sleeve 102, thereby supporting the card plates 101 and the winch 103. Through this arrangement, the winch 103 can be better supported and positioned, preventing the card plates 101 from moving up and down in the card slot 106 during the movement of the vehicle body 1, reducing wear and increasing service life.

[0042] Furthermore, as a preferred embodiment, refer to Figure 8 Along the interval direction of the two slots 106, the supporting telescopic rod 108 includes two spaced-apart rods, and the plug-in sleeve 102 includes two corresponding to the supporting telescopic rods 108. By setting two supporting telescopic rods 108, a better support effect and improved support stability can be achieved.

[0043] Furthermore, as a specific implementation method, refer to Figures 5-8 The vehicle body 1 is equipped with a power telescopic rod, and a rigid plate is installed at the end of the power telescopic rod. Two supporting telescopic rods 108 are installed at both ends of the rigid plate. Specifically, the power telescopic rod is an electric telescopic rod, fixed to the sheet metal of the vehicle body 1. The rigid plate is threaded to the end of the power telescopic rod, and the two supporting telescopic rods 108 are fixedly installed at both ends of the rigid plate. The extension and retraction of the supporting telescopic rods 108 are controlled by the extension and retraction of the power telescopic rod.

[0044] Furthermore, as a specific implementation, the nuclide detector 9 includes a nuclide detector 9 probe, a robotic arm 3 operating camera, and a robotic arm 3 laser rangefinder. Specifically, refer to... Figures 1-3 The nuclide detector 9 is located at the top of the robotic arm 3 and includes a detector probe. It detects objects by using laser ranging with a radiation dose greater than that in the environment. The operation is assisted by a working camera and a laser rangefinder. The camera can observe the image at the top of the robotic arm 3. The optical ranging has high-precision ranging and infrared night vision functions. It is used to determine the distance between the top of the robotic arm 3 and the object being detected, and to locate the object being detected.

[0045] Specifically, the vehicle is equipped with obstacle avoidance radar 8 and searchlight 7. When activated, searchlight 7 provides high-intensity illumination, lighting the area in front of or behind the autonomous vehicle. This facilitates the camera's acquisition of environmental video information, allowing operators on the remote control terminal to better observe the environment, especially in low-light conditions. (Referencing...) Figure 12 , Figure 13 , Figure 12 The image shows a schematic diagram of the interface of a terminal display screen for remote operation of the walking unit by an unmanned vehicle. It includes a first setting area 41, a first status bar 42 displaying the operating status, an area 43 displaying video information on the left side of the vehicle, an area 44 displaying video information on the front of the vehicle, an area 46 displaying video information on the right side of the vehicle, a first map information area 47, a speed and positioning information area 48, and an obstacle avoidance radar information area. Figure 13 The display interface of the unmanned vehicle detection unit operation terminal includes a second setting area 51, a second status bar 52, a detector video information display area 53, a second map information display area 54, and a display area for information such as nuclides, laser ranging, dose laser ranging, and robotic arm angles 55. The display screen can display working information.

[0046] Furthermore, as a preferred embodiment, refer to Figure 1 An environmental observation camera 2 is installed on the side of the vehicle body 1 along a direction perpendicular to the direction of travel of the vehicle body 1. In actual use, the environmental observation camera is installed on the four sides of the vehicle body to collect image information of the surrounding environment. By setting up the environmental observation camera 2, the surrounding environment can be visually collected and transmitted to a remote control terminal, so as to facilitate the control of the vehicle based on the image of the surrounding environment and effectively avoid obstacles.

[0047] Furthermore, as a specific implementation method, refer to Figures 9-11It also includes a cable interface device 100, which includes a plug cavity disposed on the vehicle body 1, a notch connecting post 1014 that is guided and plugged into the plug cavity, a four-lobed movable interface 1015 disposed at the end of the connecting post, and a movable hook 1012 disposed on the side wall of the plug cavity. The movable hook 1012 is engaged with the notch connecting post 1014.

[0048] Furthermore, as a specific implementation, a telescopic spring 1013 is also provided between the end face of the notch connecting post 1014 and the bottom of the insertion cavity.

[0049] Specifically, the connector cavity is located on the vehicle body 1. At the bottom of the connector cavity is a connector socket 10161 that mates with the cable connector 1016. Specifically, the cable connector 1016 is a straight-insertion 4-pin female connector, and the connector socket 10161 is a male connector. The notch connecting post 1014 is cylindrical, with a strip-shaped groove 10141 on one side and a hanging interface 10142 on the other side. A positioning post 10143 extending into the strip-shaped groove is located on the side wall of the connector cavity. An opening is provided on the side wall of the connector cavity, and a movable hook 1012 is rotatably mounted at the opening. The movable hook 1012 is rotatably connected to the opening via a pin. A lever 1011 is located on the outer side wall of the connector cavity; the lever 1011 is specifically an electric telescopic rod. Figure 9 When the lever 1011 extends, it can push the end of the movable hook 1012, causing the other end to deflect into the insertion cavity, so that the hook engages with the hook interface 10142 of the notch connecting post 1014, limiting the engagement of the notch connecting post 1014; the end of the notch connecting post is connected to a four-lobed movable interface 1015, for reference. Figure 10 , Figure 11 The four-lobed movable interface 1015 includes a four-lobed structure. One end of the four-lobed structure is connected to the notch connecting post 1014 and is elastic. Under its own elastic force, the end of the four-lobed structure tends to expand outward. When the end of the notch connecting post is engaged with the movable hook 1012, the outer peripheral surface of the four-lobed structure is limited and retracted by the inner peripheral surface of the insertion cavity. Thus, the inner peripheral surface of the four-lobed structure clamps the outer peripheral surface of the cable connector 1016, thereby clamping and limiting the cable connector 1016. The cable connector 1016 is connected to the transmission cable. When it is necessary to discard the winch 103, the control lever 1011 retracts, and the elastic force of the telescopic spring 1013 pushes the movable hook 1012 to swing, thereby pushing the notch connecting post 1014 to move to Figure 11 As shown in the diagram, the four-petal structure expands outward, releasing the cable connector 1016, and the cable connector 1016 detaches from the vehicle body 1.

[0050] Furthermore, as a preferred embodiment, a torsion spring (not shown in the figure) is provided at the movable hook 1012 and the opening. Under the elastic force of the spring, the hook end of the movable hook 1012 can be deflected away from the insertion cavity, which makes it easier for the movable hook 1012 to disengage from the notch connecting post 1014.

[0051] Furthermore, the walking unit is a tracked walking unit; specifically, refer to... Figure 1 The tracked travel mechanism is located on both sides of the vehicle body, including tracks, positioning wheels 4, and drive wheels 5; the power source is a battery with anti-sparking function, and the cruising time is greater than 360 minutes; the maximum climbing angle of the unmanned vehicle body 1 is 30 degrees, and the obstacle crossing height can reach 30 cm.

[0052] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A nuclear radiation detection unmanned vehicle, comprising a vehicle body (1) and a walking unit, characterized in that, Also includes: A robotic arm (3) is mounted on the vehicle body (1); A nuclide detector (9) is mounted at the end of the robotic arm (3); A wired transmission device (10) is installed on the vehicle body (1) and includes a winch (103) inserted into the vehicle body (1) in the vertical direction and a support telescopic rod (108) installed below the winch (103). The support telescopic rod (108) can extend and retract along the travel direction of the vehicle body (1) and can support and limit the area below the winch (103) when it is extended. The winch (103) is used to wind cables.

2. The unmanned vehicle for detecting nuclear radiation according to claim 1, characterized in that, The wired transmission device (10) includes a tripping base (105) disposed on the vehicle body (1) and two slots (106) disposed on opposite sides of the tripping base (105). Each slot (106) is fitted with a card plate (101). The winch (103) is connected to the two card plates (101) and disposed between the two card plates (101).

3. The unmanned vehicle for detecting nuclear radiation according to claim 2, characterized in that, It also includes a connecting plate (1082) that connects the two card plates (101). The connecting plate (1082) is provided with a plug sleeve (102) that is adapted to the support telescopic rod (108). The plug sleeve (102) is plugged into the support telescopic rod (108).

4. The unmanned vehicle for detecting nuclear radiation according to claim 3, characterized in that, Along the interval direction of the two slots (106), the support telescopic rod (108) includes two spaced apart, and the plug sleeve (102) includes two corresponding to the support telescopic rod (108).

5. The unmanned vehicle for nuclear radiation detection according to claim 4, characterized in that, The vehicle body (1) is equipped with a power telescopic rod, and the end of the power telescopic rod is equipped with a connecting plate (1082). Two support telescopic rods (108) are set at both ends of the connecting plate (1082).

6. The unmanned vehicle for detecting nuclear radiation according to claim 1, characterized in that, The nuclide detector (9) includes a nuclide detector (9) probe, a robotic arm (3) working camera and a robotic arm (3) laser rangefinder.

7. The unmanned vehicle for nuclear radiation detection according to claim 1, characterized in that, An environmental observation camera (2) is provided on the side of the vehicle body (1) along the direction of travel perpendicular to the vehicle body (1).

8. The unmanned vehicle for nuclear radiation detection according to claim 1, characterized in that, It also includes a cable interface device (100), which includes a plug cavity disposed on the vehicle body (1), a notch connecting post (1014) that is guided and plugged into the plug cavity, a four-lobed movable interface (1015) disposed at the end of the notch connecting post (1014), and a movable hook (1012) disposed on the side wall of the plug cavity. The movable hook (1012) is engaged with the notch connecting post (1014).

9. The unmanned vehicle for detecting nuclear radiation according to claim 8, characterized in that, A telescopic spring (1013) is also provided between the end face of the notch connecting post (1014) and the bottom of the insertion cavity.

10. A nuclear radiation detection unmanned vehicle according to claim 5 or 9, characterized in that, The walking unit is a tracked walking unit.

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