An unmanned intelligent radioactive aerosol pressing device

Abstract

The utility model discloses an unmanned intelligent radioactive aerosol pressing device, including unmanned vehicle, radioactive sensor, adjustable pressure formula shower nozzle, built -in water tank and communication module, intelligent autonomous operation mode has reduced manual input, avoided the low efficiency and high cost problem of traditional manual operation, and the device can work continuously for 24 hours, and in combination with the targeted pressing function, can complete large area pollution treatment in short time and reduce the comprehensive operation cost.

Description

Technical Field

[0001] This utility model relates to the field of pollution control technology, and in particular to an unmanned intelligent radioactive aerosol suppression device. Background Technology

[0002] Radioactive aerosols are gaseous pollutants containing radioactive particles generated during nuclear facility operation, nuclear testing, and radioactive waste disposal. They are highly diffusive and easily inhaled, posing a serious threat to environmental safety and human health. Currently, the suppression of radioactive aerosols mainly relies on manually operated spray equipment or fixed spray systems, which have several technical limitations. In manual operation mode, workers must enter radioactively contaminated areas, directly exposing themselves to radiation, posing extremely high health risks. Simultaneously, manual operation is inefficient and unable to quickly respond to large-scale or sudden contamination scenarios. Fixed spray systems are limited by installation location, resulting in limited coverage and an inability to flexibly adapt to the terrain and diffusion range of different contaminated areas. Existing spray equipment nozzles are mostly designed with fixed particle sizes, unable to adjust the water mist particle size according to actual conditions such as aerosol concentration and diffusion rate, leading to poor suppression effects—large-diameter water mist settles too quickly and provides insufficient coverage, while small-diameter water mist easily diffuses with airflow and is difficult to effectively capture particles.

[0003] In addition, traditional devices lack an integrated monitoring and navigation module, making it impossible to obtain real-time and accurate information on the concentration distribution, diffusion trend, and on-site environment of radioactive aerosols. This results in a high degree of blindness in suppression operations, making it difficult to achieve targeted treatment. Meanwhile, the communication transmission stability of existing equipment is insufficient and the remote control response is lagging, which further affects the timeliness and effectiveness of radioactive aerosol suppression.

[0004] Therefore, developing an integrated, intelligent, and highly safe radioactive aerosol suppression device has become an urgent need to address the shortcomings of existing technologies. Utility Model Content

[0005] In order to overcome the shortcomings of the existing technology, one of the objectives of this utility model is to provide an unmanned intelligent radioactive aerosol suppression device.

[0006] One of the objectives of this utility model is achieved through the following technical solution: An unmanned intelligent radioactive aerosol suppression device includes an unmanned vehicle, a radioactive sensor, an adjustable pressure nozzle, a built-in water tank, and a communication module. The built-in water tank is fixedly embedded in the middle of the unmanned vehicle body. The top of the built-in water tank is provided with a sealed water inlet and the bottom is provided with a water outlet. The radiation sensor is mounted on the outside of the front of the unmanned vehicle through a detachable bracket. The adjustable pressure nozzle is installed on the lower part of the front of the unmanned vehicle through a rotating base. The nozzle sprays at an angle of 30-60 degrees to the horizontal. The adjustable pressure nozzle is connected to the water outlet of the built-in water tank through a corrosion-resistant sealed pipeline, and a flow control valve is provided in the middle section of the pipeline. The radioactive sensor, adjustable pressure nozzle, and flow control valve are electrically connected to the communication module via wires. The communication module is fixedly installed in the electrical control compartment inside the unmanned vehicle and is used to realize radioactive detection data transmission, equipment operation status feedback, and remote control command interaction.

[0007] As a further improvement to the above technical solution: It also includes a lidar and a millimeter-wave radar. The lidar is mounted on the front center of the top of the unmanned vehicle via a shock-absorbing bracket. There are two millimeter-wave radars, which are symmetrically installed on the left and right sides of the top of the unmanned vehicle. Both the lidar and the millimeter-wave radar are electrically connected to the communication module via data transmission lines. The lidar is used to acquire three-dimensional spatial data of the environment, and the millimeter-wave radar is used to detect the distance of surrounding obstacles in real time. The two work together to provide autonomous navigation path planning and dynamic obstacle avoidance support for the unmanned vehicle.

[0008] It also includes a high-definition camera, which is mounted on the rear of the top of the unmanned vehicle via a pitch-adjustable bracket. The gimbal can achieve 360-degree horizontal rotation and -15 to 90-degree pitch adjustment. The high-definition camera integrates visible light and infrared imaging functions, with a resolution of no less than 1080P. It is electrically connected to the communication module via a video transmission line and is used for real-time visual monitoring of the on-site environment, capturing the diffusion range of radioactive aerosols, and transmitting image data back.

[0009] The adjustable pressure nozzle is equipped with a built-in pressure regulating valve. The spray pressure can be changed by adjusting the valve opening. The pressure adjustment range corresponds to a water mist particle size of 50-500 micrometers. Specifically, the water mist particle size is 200-500 micrometers when the pressure is 0.3-0.8 MPa, and 50-200 micrometers when the pressure is 0.8-1.5 MPa. The nozzle spray radius is 3-8 meters.

[0010] The lidar, millimeter-wave radar, and high-definition camera are evenly distributed around the top of the unmanned vehicle. The lidar and dual-light gimbal are symmetrically arranged along the front and rear axes of the top, and the two millimeter-wave radars are located at the midpoints of the left and right sides of the top, respectively. The installation height of all three is higher than the maximum spray height of the adjustable pressure nozzle, and the vertical distance between them and the top of the nozzle is 10-30cm to avoid interference from the sprayed water mist on the detection components.

[0011] The radioactive sensor is installed at the front of the unmanned vehicle, 50-100cm above the ground. The detection direction is consistent with the spray direction of the adjustable pressure nozzle. The detection angle is 120 degrees horizontally and 30 degrees vertically. The detection range is 0.01-100μSv / h. The detection signal is amplified and transmitted to the communication module to achieve accurate positioning and concentration monitoring of radioactive aerosols.

[0012] The communication module supports 5G, WiFi and LoRa multi-mode wireless communication and establishes a two-way communication link with the external control terminal. The communication module receives path planning instructions, nozzle pressure adjustment instructions and start / stop instructions sent by the external control terminal, with a response time of ≤1 second. At the same time, it transmits the concentration data detected by the radioactive sensor, the image data collected by the high-definition camera and the equipment operating status data (including water tank level, nozzle pressure and battery power) to the external control terminal.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. Using unmanned vehicles as mobile carriers and multi-mode communication modules to achieve remote control, operators can complete the pressing work without entering the contaminated area, fundamentally avoiding the risk of radiation exposure and greatly improving the safety of the operation.

[0014] 2. The LiDAR and millimeter-wave radar work together to provide the unmanned vehicle with accurate three-dimensional environmental data and obstacle detection functions, ensuring autonomous navigation and dynamic obstacle avoidance. Combined with the visualization monitoring of the high-definition dual-light gimbal, it can capture the pollution range and environmental changes in real time, enabling the device to flexibly adapt to pollution scenarios with different terrains and different diffusion ranges, and complete targeted suppression without human intervention.

[0015] 3. The adjustable pressure nozzle supports precise control of water mist particle size from 50 to 500 micrometers. It can flexibly match the optimal water mist parameters according to the concentration and diffusion rate of radioactive aerosols. When the concentration of pollution is high, small-diameter water mist is used to improve the capture efficiency, and large-diameter water mist is used to accelerate the sedimentation when the diffusion is large. Combined with the precise concentration monitoring of the radioactive sensor (range 0.01-100μSv / h), it realizes the closed-loop operation of "monitoring-control-suppression", which greatly improves the accuracy and effectiveness of treatment.

[0016] 4. All functional components (built-in water tank, sensors, nozzles, communication modules, etc.) are integrated into the unmanned vehicle, which is compact, flexible and easy to deploy quickly; the communication module supports 5G, WiFi and LoRa multi-mode transmission with a response time of ≤1 second, ensuring the stability of remote control and the real-time data transmission, while also providing synchronous feedback on the equipment's operating status (water tank level, battery power, etc.), which is convenient for operation and maintenance management.

[0017] 5. The intelligent autonomous operation mode reduces manual input and avoids the inefficiency and high cost of traditional manual operation; the device can operate continuously for 24 hours, and combined with the targeted suppression function, it can complete large-area pollution treatment in a short time, reducing the overall operating cost.

[0018] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] Figure 1 This is a perspective view of this embodiment; Figure 2 This is a schematic diagram of the structure of the radioactive sensor in this embodiment; Figure 3 This is a schematic diagram of the lidar structure in this embodiment.

[0020] In the image: 1. Unmanned vehicle; 2. LiDAR; 3. Millimeter-wave radar; 4. Radar sensor; 5. Adjustable pressure nozzle; 6. High-definition camera; 7. Built-in water tank. Detailed Implementation

[0021] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0022] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] like Figure 1-3As shown, the unmanned intelligent radioactive aerosol suppression device of this embodiment includes an unmanned vehicle 1, a radiation sensor 4, an adjustable pressure nozzle 5, a built-in water tank 7, and a communication module. The built-in water tank 7 is fixedly embedded in the middle of the unmanned vehicle 1, with a sealed water inlet at the top and a water outlet at the bottom. The radiation sensor 4 is mounted on the outer front end of the unmanned vehicle 1 via a detachable bracket. The adjustable pressure nozzle 5 is mounted on the lower front end of the unmanned vehicle 1 via a rotating base, with the nozzle spraying at a 30-60 degree angle to the horizontal. The adjustable pressure nozzle 5 is connected to the water outlet of the built-in water tank 7 via a corrosion-resistant sealed pipeline, with a flow control valve in the middle of the pipeline. The radiation sensor 4, adjustable pressure nozzle 5, and flow control module are all included in this embodiment. The quantity control valves are electrically connected to the communication module via wires. The communication module is fixedly installed inside the electronic control compartment of the unmanned vehicle 1, used for transmitting radioactive detection data, providing feedback on equipment operating status, and interacting with remote control commands. The system also includes a lidar 2 and a millimeter-wave radar 3. The lidar 2 is mounted on the front center of the top of the unmanned vehicle 1 via a shock-absorbing bracket. Two millimeter-wave radars 3 are symmetrically installed on the left and right sides of the top of the unmanned vehicle 1. Both lidar 2 and millimeter-wave radar 3 are electrically connected to the communication module via data transmission lines. Lidar 2 is used to acquire three-dimensional spatial data of the environment, and millimeter-wave radar 3 is used to detect the distance to surrounding obstacles in real time. Together, they provide autonomous navigation path planning and dynamic obstacle avoidance support for the unmanned vehicle 1. High-definition camera 6 is mounted on the top rear of the unmanned vehicle 1 via a pitch-adjustable bracket. The gimbal allows for 360-degree horizontal rotation and -15 to 90-degree pitch adjustment. The high-definition camera 6 integrates visible light and infrared imaging functions, with a resolution of at least 1080P. It is electrically connected to the communication module via a video transmission line for real-time visual monitoring of the on-site environment, capturing the diffusion range of radioactive aerosols, and transmitting image data. Adjustable pressure nozzle 5 is equipped with a built-in pressure regulating valve. Adjusting the valve opening changes the spray pressure. The pressure adjustment range corresponds to a water mist particle size of 50-500 micrometers, with a pressure of 0.3-0.8 MPa corresponding to a water mist particle size of 200-500 micrometers, and a pressure of 0.8-1.5 MPa corresponding to... The water mist particle size should be 50-200 micrometers, and the nozzle spray radius should be 3-8 meters. The lidar 2, millimeter-wave radar 3, and high-definition camera 6 are evenly distributed around the top of the unmanned vehicle 1. The lidar 2 and the dual-light gimbal are symmetrically arranged along the front and rear axis of the top. The two millimeter-wave radars 3 are located at the midpoint of the left and right sides of the top, respectively. The installation height of all three is higher than the maximum spray height of the adjustable pressure nozzle 5, and the vertical distance from the top of the nozzle is 10-30cm to avoid interference from the sprayed water mist to the detection components. The radiation sensor 4 is installed at the front of the unmanned vehicle 1 at a height of 50-100cm from the ground. The detection direction is consistent with the spray direction of the adjustable pressure nozzle 5, the detection angle is 120 degrees horizontally and 30 degrees vertically, and the detection range is 0.The detection signal, ranging from 0.01 to 100 μSv / h, is amplified and transmitted to the communication module for precise location and concentration monitoring of radioactive aerosols. The communication module supports 5G, WiFi, and LoRa multi-mode wireless communication, establishing a bidirectional communication link with the external control terminal. It receives path planning commands, nozzle pressure adjustment commands, and start / stop commands from the external control terminal, with a response time ≤1 second. Simultaneously, it transmits concentration data detected by the radiation sensor 4, image data collected by the high-definition camera 6, and equipment operating status data (including water tank level, nozzle pressure, and battery level) to the external control terminal.

[0025] Working Principle: After the device is started, the communication module automatically establishes a two-way communication connection with the external control terminal, and simultaneously completes the initialization self-check of the unmanned vehicle 1, LiDAR 2, millimeter-wave radar 3, radioactive sensor 4, adjustable pressure nozzle 5, high-definition camera 6, and built-in water tank to ensure that each component is operating normally. LiDAR 2 collects three-dimensional spatial data of the environment, and millimeter-wave radar 3 detects the distance and movement status of surrounding obstacles in real time. Both transmit the data synchronously to the communication module. After the communication module fuses the data, it generates the optimal autonomous navigation path. At the same time, based on the real-time obstacle feedback from millimeter-wave radar 3, it dynamically adjusts the unmanned vehicle 1. The driving trajectory ensures the device safely moves to the contaminated area in complex terrain. During the operation of the unmanned vehicle 1, the radioactive sensor 4 continuously monitors the radioactive dose in the environment (range 0.01-100 μSv / h). Its detection direction is consistent with the spray direction of the adjustable pressure nozzle 5, accurately capturing the concentration distribution of radioactive aerosols and the core contaminated area. Simultaneously, the high-definition camera 6, through 360-degree horizontal rotation and -15 to 90-degree pitch adjustment, uses visible light and infrared imaging functions to capture real-time environmental images of the contaminated area, capturing the aerosol diffusion range. The monitoring data and image data are synchronously transmitted back to the external control terminal via the communication module. The external control terminal sends a pressure regulation command to the communication module based on the concentration data fed back by the radioactivity sensor 4 and the diffusion state captured by the high-definition camera 6. The communication module drives the built-in pressure regulating valve of the adjustable pressure nozzle 5 to adjust the water mist particle size to 50-500 micrometers as needed (0.3-0.8MPa corresponds to 200-500 micrometers, 0.8-1.5MPa corresponds to 50-200 micrometers). The built-in water tank supplies water to the adjustable pressure nozzle 5 through a corrosion-resistant sealed pipeline. The flow control valve in the middle of the pipeline adjusts the spray flow rate, and the adjustable pressure nozzle 5 sprays at a 30-60 degree angle. With an 8-meter spray radius, water mist is directed towards the core contaminated area, efficiently capturing radioactive particles and promoting their sedimentation. During the suppression process, radioactive sensors 4 and high-definition cameras 6 continuously collect data. If a local concentration is detected to be too high or the diffusion range is expanded, the communication module automatically triggers parameter adjustments of the adjustable pressure nozzle 5 (such as reducing the water mist particle size and increasing the spray flow rate) and fine-tuning of the position of the unmanned vehicle 1 to achieve dynamic targeted suppression. At the same time, the communication module provides real-time feedback to the external control terminal on equipment operating status data such as water tank level, nozzle pressure, and battery power, allowing operators to monitor the operation progress in real time and intervene and adjust remotely when necessary.

[0026] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. An unmanned intelligent radioactive aerosol suppression device, characterized in that, It includes an unmanned vehicle (1), a radioactive sensor (4), an adjustable pressure nozzle (5), a built-in water tank (7), and a communication module; The built-in water tank (7) is fixedly embedded in the middle of the body of the unmanned vehicle (1). The top of the built-in water tank (7) is provided with a sealed water inlet and the bottom is provided with a water outlet. The radioactive sensor (4) is mounted on the outside of the front end of the unmanned vehicle (1) through a detachable bracket. The adjustable pressure nozzle (5) is installed on the lower part of the front end of the unmanned vehicle (1) through a rotating base. The nozzle spray direction is at an angle of 30-60 degrees to the horizontal direction. The adjustable pressure nozzle (5) is connected to the outlet of the built-in water tank (7) through a corrosion-resistant sealed pipeline, and a flow control valve is provided in the middle section of the pipeline; The radioactive sensor (4), adjustable pressure nozzle (5), and flow control valve are electrically connected to the communication module via wires. The communication module is fixedly installed in the electrical control compartment inside the unmanned vehicle (1) to realize radioactive detection data transmission, equipment operation status feedback, and remote control command interaction.

2. The unmanned intelligent radioactive aerosol suppression device according to claim 1, characterized in that, It also includes a lidar (2) and a millimeter-wave radar (3). The lidar (2) is installed at the center of the front end of the unmanned vehicle (1) via a shock-absorbing bracket. There are two millimeter-wave radars (3), which are symmetrically installed on the left and right sides of the top of the unmanned vehicle (1). The lidar (2) and the millimeter-wave radar (3) are electrically connected to the communication module via a data transmission line. The lidar (2) is used to acquire three-dimensional spatial data of the environment, and the millimeter-wave radar (3) is used to detect the distance of surrounding obstacles in real time. The two work together to provide autonomous navigation path planning and dynamic obstacle avoidance support for the unmanned vehicle (1).

3. The unmanned intelligent radioactive aerosol suppression device according to claim 1, characterized in that, It also includes a high-definition camera (6), which is mounted on the rear end of the top of the unmanned vehicle (1) via a pitch adjustment bracket. The gimbal can achieve 360-degree horizontal rotation and -15 to 90-degree pitch adjustment. The high-definition camera (6) integrates visible light and infrared imaging functions, with a resolution of not less than 1080P. It is electrically connected to the communication module through a video transmission line and is used for real-time visual monitoring of the on-site environment, capture of the diffusion range of radioactive aerosols, and image data transmission.

4. The unmanned intelligent radioactive aerosol suppression device according to claim 1, characterized in that, The adjustable pressure nozzle (5) is equipped with a built-in pressure regulating valve. The spray pressure can be changed by adjusting the valve opening. The pressure adjustment range corresponds to a water mist particle size of 50-500 micrometers. Specifically, when the pressure is 0.3-0.8 MPa, the water mist particle size is 200-500 micrometers. When the pressure is 0.8-1.5 MPa, the water mist particle size is 50-200 micrometers. The nozzle spray radius is 3-8 meters.

5. The unmanned intelligent radioactive aerosol suppression device according to claim 2, characterized in that, The lidar (2), millimeter-wave radar (3) and high-definition camera (6) are evenly distributed around the top of the unmanned vehicle (1). The lidar (2) and dual-light gimbal are symmetrically arranged along the front and rear axes of the top. The two millimeter-wave radars (3) are located at the midpoints of the left and right sides of the top respectively. The installation height of the three is higher than the maximum spray height of the adjustable pressure nozzle (5), and the vertical distance between them and the top of the nozzle is 10-30cm to avoid the water mist from interfering with the detection components.

6. The unmanned intelligent radioactive aerosol suppression device according to claim 1, characterized in that, The radioactive sensor (4) is installed at the front end of the unmanned vehicle (1) at a distance of 50-100cm from the ground. The detection direction is consistent with the spray direction of the adjustable pressure nozzle (5). The detection angle is 120 degrees horizontally and 30 degrees vertically. The detection range is 0.01-100μSv / h. The detection signal is amplified and transmitted to the communication module to realize the accurate positioning and concentration monitoring of radioactive aerosols.

7. The unmanned intelligent radioactive aerosol suppression device according to claim 1, characterized in that, The communication module supports 5G, WiFi and LoRa multi-mode wireless communication and establishes a two-way communication link with the external control terminal. The communication module receives path planning instructions, nozzle pressure adjustment instructions and start / stop instructions sent by the external control terminal, with a response time of ≤1 second. At the same time, it transmits the concentration data detected by the radioactive sensor (4), the image data collected by the high-definition camera (6) and the equipment operating status data (including water tank level, nozzle pressure and battery power) to the external control terminal.

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