An auxiliary device for handling radioactive sources

Abstract

The utility model discloses a kind of auxiliary devices for radioisotope loading and unloading, it includes five high-definition camera components, humanoid robot, network communication component and electronic control device: the five high-definition camera components and the humanoid robot are all through the network communication component with the electronic control device is communication connection, wherein two the high-definition camera components are arranged at right angles, the high-definition camera component is composed of photoelectric sensor and electronic circuit, and the high-definition camera component is used to collect the image information of work site. Compared with prior art, the setting of high-definition camera component, humanoid robot, network communication component and electronic control device, the way of intelligent humanoid robot loading and unloading source replaces the way of traditional manual loading and unloading source, effectively avoids the harm to the body of operating personnel, at the same time, avoids the occurrence of safety accidents caused by occupational injury and human psychological factors, improves the safety of loading and unloading source.

Description

Technical Field

[0001] This utility model relates to the field of oil well logging technology, and in particular to an auxiliary device for loading and unloading radioactive sources. Background Technology

[0002] At oil well logging sites, a crucial task with inherent safety risks and occupational hazards is installing radioactive sources on radioactive logging instruments. Currently, this work is entirely done manually. The specific process involves: placing the source container containing the radioactive source a few meters (5-10 meters) away from the instrument string; using a source loading tool to open the source compartment door on the radioactive instrument; using the source loading tool to open the source container and remove the radioactive source; using the source loading tool to move the radioactive source near the instrument string and install it into the source compartment; and using the source loading tool to lock the source compartment door.

[0003] During the aforementioned process, although the personnel loading the source are equipped with protective gear such as lead aprons, lead glasses, and lead gloves, they are still exposed to a certain dose of radiation, making occupational hazards unavoidable. Furthermore, the heavy protective equipment also creates operational obstacles and psychological burdens for the workers. There have been cases where workers, fearing excessive exposure, frantically and carelessly performed source loading and unloading operations, accidentally dropping the source into the well, resulting in serious safety accidents.

[0004] In conclusion, it is necessary to design a relatively simple humanoid robot with human-machine collaboration features to replace manual labor in the process of loading and unloading radioactive sources, so as to avoid endangering the personnel loading and unloading radioactive sources. Utility Model Content

[0005] In order to overcome the shortcomings of existing technologies that involve manual loading and unloading of radioactive sources, which can cause operational obstacles and psychological burdens to operators and pose a hazard to them, one of the objectives of this utility model is to provide an auxiliary device for loading and unloading radioactive sources.

[0006] One of the objectives of this utility model is achieved by the following technical solution: an auxiliary device for loading and unloading radioactive sources, comprising five high-definition camera components, a humanoid robot, a network communication component, and an electronic control device: the five high-definition camera components and the humanoid robot are all connected to the electronic control device through the network communication component, wherein two of the high-definition camera components are arranged at right angles;

[0007] The high-definition camera assembly consists of a photoelectric sensor and electronic circuitry, and is used to acquire image information from the work site.

[0008] The humanoid robot is used to parse the task instructions issued by the electronic control device and execute the relevant instruction actions;

[0009] The network communication component consists of a WIFI module and a router module. The router module and the WIFI module achieve bidirectional communication via the Internet. The high-definition camera component, the humanoid robot, and the electronic control device share data through the WIFI module. The WIFI module and the electronic control device share data through the router module and the Internet.

[0010] According to the aforementioned auxiliary device for loading and unloading radioactive sources, the photoelectric sensor is used for the acquisition and conversion of optical signals, and the electronic circuit is used to complete the generation, storage, and communication functions of image signals.

[0011] According to the aforementioned auxiliary device for loading and unloading radioactive sources, the humanoid robot comprises, from top to bottom, a head, an ultrasonic sensor installed in the head, a torso, a central control unit installed in the torso, four limbs, several torque sensors I installed at the joints of the four limbs, two dexterous hands, several torque sensors II installed at the joints of the two dexterous hands, two feet, and pressure sensors installed at the bottom of the two feet.

[0012] According to the aforementioned auxiliary device for loading and unloading radioactive sources, three of the aforementioned high-definition camera components are respectively installed on the head, torso, and lower legs of the humanoid robot.

[0013] According to the aforementioned auxiliary device for loading and unloading radioactive sources, the central control unit achieves bidirectional communication with the network communication component through the WIFI module, decodes commands from the electronic control device, and controls the humanoid robot to perform relevant actions according to the content of the commands.

[0014] According to the aforementioned auxiliary device for loading and unloading radioactive sources, the acoustic signal laser frequency of the ultrasonic sensor is 300KHz, and the detection radius is 1m.

[0015] The above-mentioned solution has the following beneficial effects:

[0016] By incorporating high-definition camera components, humanoid robots, network communication components, and electronic control equipment, this method replaces traditional manual loading and unloading methods with intelligent humanoid robots, effectively preventing harm to workers and avoiding occupational injuries and safety accidents caused by psychological factors, thus improving the safety of loading and unloading operations.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the overall structure of an auxiliary device for loading and unloading a radioactive source according to the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of a high-definition camera assembly of an auxiliary device for loading and unloading radioactive sources according to this utility model;

[0021] Figure 3 This is a schematic diagram of the network communication module of an auxiliary device for loading and unloading radioactive sources according to this utility model;

[0022] Figure 4 This is a schematic diagram of the structure of a humanoid robot for an auxiliary device for loading and unloading radioactive sources according to this utility model.

[0023] Legend:

[0024] 1. High-definition camera assembly; 11. Photoelectric sensor; 12. Electronic circuit; 2. Humanoid robot; 201. Head; 202. Ultrasonic sensor; 203. Torque; 204. Central control unit; 205. Limbs; 206. Torque sensor one; 207. Dual dexterous hands; 208. Torque sensor two; 209. Feet; 210. Pressure sensor; 3. Network communication assembly; 31. WIFI module; 32. Router module; 4. Electronic control equipment. Detailed Implementation

[0025] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0026] Reference Figures 1-4An auxiliary device for loading and unloading radioactive sources includes five high-definition camera components 1, a humanoid robot 2, a network communication component 3, and an electronic control device 4. The five high-definition camera components 1 and the humanoid robot 2 are all connected to the electronic control device 4 via the network communication component 3. Two high-definition camera components 1 are arranged at right angles. Each high-definition camera component 1 consists of a photoelectric sensor 11 and electronic circuitry 12. The high-definition camera components 1 are used to acquire image information from the work site. The humanoid robot 2 is used to analyze task instructions issued by the electronic control device 4 and execute related instructions. The network communication component 3 consists of a WIFI module 31 and a router module 32. The router module 32 and the WIFI module 31 achieve bidirectional communication via the Internet. Data sharing is achieved between the high-definition camera components 1, the humanoid robot 2, and the electronic control device 4 via the WIFI module 31 and the router module 32, respectively. The photoelectric sensor 11 is used for light... The electronic circuit 12 is used to complete the generation, storage and communication functions of image signals. The humanoid robot 2 includes, from top to bottom, a head 201, an ultrasonic sensor 202 installed in the head 201, a torso 203, a central control unit 204 installed in the torso 203, limbs 205, several torque sensors 206 installed at the joints of the limbs 205, two dexterous hands 207, several torque sensors 208 installed at the joints of the two dexterous hands 207, two feet 209, and pressure sensors 210 installed at the bottom of the feet 209. Three high-definition camera components 1 are respectively installed in the head 201, the abdomen of the torso 203 and the lower legs of the limbs 205 of the humanoid robot 2. The central control unit 204 realizes bidirectional communication with the network communication component 3 through the WIFI module 31, decodes the commands from the electronic control device 4 and controls the humanoid robot 2 to perform relevant actions according to the content of the commands. The acoustic signal laser frequency of the ultrasonic sensor 202 is 300KHz and the detection radius is 1m.

[0027] With this setup, the electronic control device 4 can be a computer or a mobile phone. The electronic control device 4 can share data with the humanoid robot 2 and the high-definition camera component 1 in two ways: one is to establish a communication connection with the humanoid robot 2 and the high-definition camera component 1 through a wireless local area network within the WIFI signal coverage area of ​​the WIFI module 31; the other is to establish a communication connection with the humanoid robot 2 and the high-definition camera component 1 through the router module 32 and the Internet outside the WIFI signal coverage area of ​​the WIFI module 31.

[0028] Working principle: Two high-definition camera components 1 are installed at appropriate locations at the source loading site, and the two high-definition camera components 1 are installed at right angles. They can be installed on the derrick, on the wall of the calibration workshop, or on the ground support. The two high-definition camera components 1 are installed to obtain a panoramic image of the source loading site, so that the operator can control the movement path of the humanoid robot 2 based on the location of the source container containing the radioactive source captured by the two high-definition camera components.

[0029] The first step is to turn on the power to the high-definition camera component 1, the humanoid robot 2, the network communication component 3, and the electronic control device 4 to complete the initialization process of each device;

[0030] The second step is that after the humanoid robot 2 is initialized, it sends the information measured by all torque sensors 1 206, torque sensor 2 208, pressure sensor 210, photoelectric sensor 11 and ultrasonic sensor 202 to the electronic control device 4 and enters the standby state.

[0031] Third, after the high-definition camera component 1 completes initialization, it enters the image acquisition state and sends the image to the electronic control device 4.

[0032] The fourth step is for the operator of the electronic control device 4 to check the data from the high-definition camera assembly 1 and the humanoid robot 2. After confirming that the data is correct, the operator prepares to start directing the humanoid robot 2 to perform the source loading process.

[0033] The fifth step is for the operator to send instructions to the humanoid robot 2. Under the guidance of the instructions, the robot completes actions such as moving forward and moving to the left and right until it reaches a range of 0.5 meters around the source compartment in the instrument string and stands still.

[0034] The sixth step is for the operator to determine the relative position of the humanoid robot 2 and the source tank door based on the images transmitted by the five high-definition camera components 1, and compare the judgment result with the data sent by the ultrasonic sensor 202 to comprehensively determine the distance and orientation of the humanoid robot 2 and the source tank.

[0035] The seventh step is for the operator to send instructions to the humanoid robot 2. Under the guidance of the instructions, the humanoid robot 2 completes actions such as moving forward and moving to the left and right until it is adjusted to the best position determined by the operator.

[0036] Step 8: The operator sends instructions to the humanoid robot 2. Under the guidance of the instructions, the humanoid robot 2 completes a series of actions, such as extending its arm, extending its fingertip that matches the type of screw on the source tank door, aligning the fingertip with the screw, unscrewing the screw, and pulling open the source tank door. After each action is completed, the humanoid robot 2 has a 30-second standby time. During this time, the operator judges whether the humanoid robot 2's actions have been executed correctly based on the images transmitted by the five high-definition camera components 1.

[0037] In the ninth step, the operator sends instructions to the humanoid robot 2. Under the guidance of the instructions, the humanoid robot 2 completes actions such as turning around, moving forward, and moving to the left and right, moving from near the instrument string to a range of 0.5 meters around the source tank, and standing still.

[0038] Step 10: Repeat steps 6-8 above;

[0039] In the eleventh step, the operator sends a command to the humanoid robot 2. Under the guidance of the command, the humanoid robot 2 rotates out the radiation source from the source tank and holds it tightly with its hands. The operator combines the image and the data from the torque sensor 208 to determine whether the humanoid robot 2's dual dexterous hands 207 are holding the radiation source tightly and whether the posture is correct. If adjustment is needed, the humanoid robot 2 completes the fine-tuning process through the cooperation of its dual dexterous hands 207 under the operator's command.

[0040] Step 12: Repeat steps 5-7 above;

[0041] Step 13: The operator sends instructions to the humanoid robot 2. Under the guidance of the instructions, the humanoid robot 2 slowly screws the source into the source compartment. After confirming that it is in place by taking an image with the high-definition camera component 1, it closes the source compartment door and tightens the source compartment screws.

[0042] Step 14: Repeat steps 5-13 above to complete the installation process of the second source.

[0043] Step 15: Disassembling the radioactive source is the reverse of the above process.

[0044] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. An auxiliary device for loading and unloading a radioactive source, characterized in that, It includes five high-definition camera components (1), a humanoid robot (2), a network communication component (3), and an electronic control device (4): the five high-definition camera components (1) and the humanoid robot (2) are all connected to the electronic control device (4) through the network communication component (3), wherein two of the high-definition camera components (1) are arranged at right angles; The high-definition camera assembly (1) consists of a photoelectric sensor (11) and an electronic circuit (12), and is used to collect image information of the work site; The humanoid robot (2) is used to parse the task instructions issued by the electronic control device (4) and execute related instruction actions; The network communication component (3) consists of a WIFI module (31) and a router module (32). The router module (32) and the WIFI module (31) communicate bidirectionally via the Internet. The high-definition camera component (1), the humanoid robot (2), and the electronic control device (4) share data through the WIFI module (31). The WIFI module (31) and the electronic control device (4) share data through the router module (32) and the Internet.

2. The auxiliary device for loading and unloading a radioactive source according to claim 1, characterized in that, The photoelectric sensor (11) is used for the acquisition and conversion of light signals, and the electronic circuit (12) is used to complete the generation, storage and communication functions of image signals.

3. The auxiliary device for loading and unloading a radioactive source according to claim 2, characterized in that, The humanoid robot (2) includes, from top to bottom, a head (201), an ultrasonic sensor (202) installed in the head (201), a torso (203), a central control unit (204) installed in the torso (203), four limbs (205), several torque sensors (206) installed at the joints of the four limbs (205), two dexterous hands (207), several torque sensors (208) installed at the joints of the two dexterous hands (207), two feet (209), and pressure sensors (210) installed at the bottom of the two feet (209).

4. The auxiliary device for loading and unloading a radioactive source according to claim 3, characterized in that, The three high-definition camera components (1) are respectively installed on the head (201), the abdomen of the torso (203), and the lower legs of the limbs (205) of the humanoid robot (2).

5. The auxiliary device for loading and unloading a radioactive source according to claim 3, characterized in that, The central control unit (204) communicates bidirectionally with the network communication component (3) through the WIFI module (31), decodes commands from the electronic control device (4), and controls the humanoid robot (2) to perform relevant actions according to the content of the commands.

6. The auxiliary device for loading and unloading a radioactive source according to claim 3, characterized in that, The ultrasonic sensor (202) has an acoustic signal laser frequency of 300KHz and a detection radius of 1m.

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