Quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant

Abstract

A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant, characterized in that it comprises: a control module, a power module, a robot arm module, a power supply module, a sensor module, a heat sink, an audio module and a housing structure, wherein the control module, the power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module are mounted on the housing structure, wherein the control module is respectively connected to the individual modules, iethe power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module to control and communicate with the robot, wherein the sensor module comprises a depth camera, a laser sensor, a mobile phone recognition device, an infrared sensor, an ultrasonic sensor and a radiation dose chip, wherein the power module consists of a motor and an electronic speed controller and is thus responsible for the movement of the robot, wherein the robot arm module comprises a motor and a robot arm controller as well as an integrated NFC module on the robot arm, and wherein the power supply module comprises a battery, a power supply manager and a power supply display screen, while the audio module provides remote voice interaction.

Description

TECHNICAL FIELD

[0001] The present invention belongs to the technical field of nuclear robotics and, in particular, relates to a quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant. STATE OF THE ART

[0002] The safety requirements at nuclear power plants are becoming increasingly stringent, and traditional human safety measures are reaching their limits in terms of efficiency, response time, and operation in highly radioactive areas. In recent years, the technology of four-legged robots has developed rapidly and is widely used in industrial inspection, security patrol, and other fields. They are characterized by excellent terrain adaptability and flexible movement patterns. However, the use of four-legged robots in the field of nuclear power plant safety is still in its infancy, as this field places particularly high demands on radiation resistance, high reliability, intelligence, and multifunctional integration.

[0003] Existing security systems for nuclear power plants rely heavily on human patrols, stationary camera surveillance, and a combination of sensors to ensure safety. However, these technical means have the following disadvantages: (1) It relies on manual patrols, which are inefficient and have blind spots: Nuclear power plants cover large areas and have complex structures, making it difficult for human patrols to achieve comprehensive coverage, leading to blind spots in monitoring and safety risks. At the same time, the efficiency of human patrols is limited by factors such as the physical strength and mental state of personnel and cannot ensure continuous and stable monitoring. (2) Fixed cameras have a limited angle of view and thus blind spots: Although the fixed cameras are capable of providing a certain range of surveillance images, due to their fixed angle of view, they are prone to blind spots in surveillance, making it impossible to continuously track moving targets. (3) Conventional sensors are poorly adaptable to the environment and functionally limited: Existing sensors, such as infrared detectors, smoke detectors, etc., often have only a single function, are susceptible to interference from environmental factors, and have a high false alarm rate, which makes their adaptation to the complex and changing environment of nuclear power plants difficult. (4) There is a slow emergency response and limited disposal capacity: A security system that relies on human manpower has a slow response time and limited disposal capacity in emergencies, which makes it difficult to control developments quickly and effectively. (5) Low level of data integration and low level of intelligence: The existing subsystems of the security system often operate independently of each other and have a low level of data integration, which makes information sharing and synergistic linking difficult, and have a low level of intelligence, which does not meet the growing need for sophisticated security management.

[0004] The following technical bottlenecks currently exist, particularly for the use of four-legged robotics in nuclear power plants:

[0005] Insufficient radiation resistance: The electronic components and materials of conventional four-legged robots are not very radiation-resistant and therefore cannot operate stably for extended periods in the high-radiation environment of a nuclear power plant.

[0006] Lack of optimized designs for specific scenarios in nuclear power plants: Existing four-legged robots are mostly general-purpose platforms that are not specifically optimized for nuclear power plant safety scenarios, such as motion control algorithms for the complex terrain of nuclear power plants and protective measures for radiation environments.

[0007] Little integration of safety features: Existing four-legged robot products typically focus on enhancing the performance of mobile platforms and lack the integration of safety features such as access control, specific device detection, and person detection.

[0008] The reliability and real-time capability of remote control must be improved: In safety applications in nuclear power plants, the need for reliable remote control of four-legged robots and real-time access to on-site information places high demands on communication technology.

[0009] In summary, existing nuclear power plant safety technology and four-legged robot technology have certain limitations when applied to nuclear power plant safety scenarios and there is an urgent need for more efficient, intelligent and reliable safety solutions. CONTENT OF THE PRESENT UTILITY MODEL

[0010] The objective of the present invention is to provide a quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant, which realizes intelligent safety functions by integrating sensor technology, 5G communication technology, multimodal and embodied large-scale model technology, so as to achieve highly efficient, autonomous and reliable safety inspection and emergency response speed in nuclear power plants and improve the safety and operating efficiency of nuclear power plants.

[0011] The present application uses the following technical solutions. A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant is provided, comprising: a control module, a power module, a robot arm module, a power supply module, a sensor module, a heat sink, an audio module, and a housing structure, wherein the control module, the power module, the robot arm module, the power supply module, the sensor module, the heat sink, and the audio module are mounted on the housing structure, wherein the control module is connected to the individual modules, i.e.the power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module to control and communicate with the robot, wherein the sensor module comprises a depth camera, a laser sensor, a mobile phone recognition device, an infrared sensor, an ultrasonic sensor and a radiation dose chip, wherein the power module consists of a motor and an electronic speed controller and is thus responsible for the movement of the robot, wherein the robot arm module comprises a motor and a robot arm controller as well as an integrated NFC module on the robot arm, and wherein the power supply module comprises a battery, a power supply manager and a power supply display screen, while the audio module provides remote voice interaction.

[0012] The housing structure includes a left housing, a front housing, a lower housing, a right housing, a rear housing, an upper housing and four sealed housings which are assembled together, and a front battery and a rear battery are fixed at the front and rear ends of the whole through the lower housing, the front housing and the rear housing together, and the power supply manager, the control module and the radiation dose chip are mounted and fixed on the lower housing.

[0013] The control module includes a 5G chip and a CPU chip integrated on a circuit board.

[0014] The robot arm module is mounted in the middle of the upper case, and the audio module is mounted on the front of the upper case, and the depth camera and the infrared sensor are mounted on the front case, and the front case is equipped with four ultrasonic sensors, namely the front ultrasonic sensor, the right ultrasonic sensor, the left ultrasonic sensor and the rear ultrasonic sensor, and the laser sensor is mounted on the bottom of the front case.

[0015] The right housing is equipped with a power indicator.

[0016] The upper housing is equipped with a smoke detector.

[0017] The robot arm module includes a robot gripper, a robot arm front arm, a robot arm rear arm, and a robot arm base that are connected and interact with each other, with the robot arm being driven by a robot arm rear arm motor, a robot arm front arm motor, and a robot gripper motor.

[0018] The power module includes a front arm of the front robot foot, a rear arm of the robot foot, and a cushion member, wherein the robot foot is controlled by a motor for the front arm of the front robot foot, a motor for the rear arm of the mechanical foot to move in the direction of the X-axis and the Z-axis, whereby the robot feet are controlled by a control motor for the entire robot feet to move freely in the direction of the X-axis and the Z-axis.

[0019] The robot foot is connected to the torso section via a mounting plate.

[0020] The invention has the following advantageous effects: Compared with conventional human safety systems, the four-legged robot of the present invention for use in a nuclear power plant has significant advantages and positive effects in various respects by integrating a variety of advanced safety functions, thus improving safety and response speed. The four-legged robot is also capable of continuous 24 / 7 patrolling, early detection of abnormalities, and rapid response, which significantly improves the efficiency of safety monitoring and the response speed to emergencies in the nuclear power plant compared to human patrols.Reduction of human error and risk: Performing safety tasks with automated four-legged robots reduces the potential for human negligence and operator error, while also reducing the health risks for security personnel working in highly contaminated environments. Improved control of facilities and areas: The four-legged robot is capable of detecting signals from certain foreign devices, effectively preventing unauthorized devices from entering the nuclear power plant and improving control over critical facilities and areas. Improved emergency management capabilities: The four-legged robot's manipulator can quickly open fire doors to facilitate emergency evacuations and rescue operations, thus improving the nuclear power plant's emergency management capabilities.Intelligent access control management: The card-opening function of the four-legged robot enables intelligent management of the nuclear power plant's internal access control, increasing the security and convenience of the access control system. Enhanced personnel monitoring: The unknown person detection function can detect and report unauthorized personnel in a timely manner, improving the monitoring and management of insiders in nuclear power plants and effectively preventing internal security threats. Traffic control automation: The barrier lift control function automates traffic control in the nuclear power plant, effectively preventing illegal vehicles from entering, and improving the efficiency and safety of traffic management in the nuclear power plant.Data collection and analysis: The data collected by the four-legged robot during its patrols can be used to analyze safety trends at nuclear power plants, assisting management in decision-making and further improving safety management. Reduction in long-term operating costs: Although the initial investment is relatively high, four-legged robots can reduce the cost of human guards in the long run, which can contribute to a reduction in the overall cost of guarding nuclear power plants. Environmental adaptability: Four-legged robots are capable of operating without environmental constraints in a wide range of harsh weather conditions and complex terrain, improving the stability and reliability of safety systems at nuclear power plants.Improving the image of nuclear power plants: The deployment of a high-tech four-legged safety robot demonstrates the nuclear power plant's commitment to using advanced technologies to improve safety management and enhance public confidence in the safe operation of the nuclear power plant. SHORT DESCRIPTION OF THE DRAWING Fig. 1 shows a structural block diagram of a quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 2 shows an overall view of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 3 shows a structural view of a torso module of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 4 shows a structural view of a robot arm module of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 5 shows a structural view of a robot gripper of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 6 shows a structural view of a power module of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 7 shows a structural view of a head of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; Fig. 8 shows a structural view of a control module of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention; and Fig. 9 shows a structural view of the assembly of a robot foot of the quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the present invention.

[0021] Description of reference numerals: 1 robot arm module, 2 audio module, 3 depth camera, 4 infrared sensor, 5 ultrasonic sensor, 6 robot foot, 7 power supply display screen, 8 right ultrasonic sensor, 9 laser sensor, 10 left ultrasonic sensor, 11 left case, 12 front battery pack, 13 front case, 14 lower case, 15 radiation dose chip, 16 central control module, 17 right case, 18 rear case, 19 rear ultrasonic sensor, 20 upper case, 21 rear battery pack, 22 power supply manager, 23 mobile phone recognition device, 24 cooling fan, 25 NFC access control, 26 robot arm front arm, 27 robot arm front arm motor, 28 robot arm front arm motor cover, 29 robot arm rear arm, 30 robot arm rear arm motor, 31 Robot arm base, 32 Robot arm mounting plate, 33 Robot arm controller, 34 Robot gripper motor, 35 Robot gripper, 36 Motor for the front arm of the robot foot,37 Motor for the rear arm of the robot foot, 38 Rear arm of the robot foot, 39 Cushion element, 40 Front arm of the robot foot, 41 Control motor for the entire robot feet, 42 Mounting plate, 43 CPU chip, 44 Circuit board, 45 5G chip, 46 Sealed housing, 47 Smoke detector, 48 Screw. DETAILED DESCRIPTION

[0022] The present invention will be described in more detail in conjunction with the drawings and the detailed embodiments.

[0023] The quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to the invention integrates a depth camera, a laser sensor, an infrared sensor, an ultrasonic sensor, and a radiation dose chip, among other sensors. Combining 5G communication technology, multimodality, and embodied large-scale model technology, it achieves autonomous navigation, environmental sensing, target recognition, remote control, and the integration of multiple safety functions of the robot, thus improving the safety and operating efficiency of a nuclear power plant. The present invention effectively solves many problems of the prior art in the field of nuclear power plant safety, promotes the application of quadruped robots in the field of nuclear power plant safety, and advances the development of nuclear power plant safety technology toward intelligence and automation.

[0024] As in Fig. 1, a quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant is provided, comprising: a control module, a power module, a robot arm module, a power supply module, a sensor module, a heat sink, an audio module, and a housing structure, wherein the control module, the power module, the robot arm module, the power supply module, the sensor module, the heat sink, and the audio module are mounted on the housing structure, wherein the control module includes CPU and a 5G chip and is respectively connected to the individual modules, i.e., the power module, the robot arm module, the power supply module, the sensor module, the heat sink, and the audio module, to control and communicate with the robot.The sensor module includes a depth camera, a laser sensor, a mobile phone recognition device, an infrared sensor, an ultrasonic sensor, and a radiation dose chip. The sensor module can be used for environmental sensing, localization, navigation, obstacle avoidance, and interaction, improving the level of intelligence and accuracy in task execution. The power module consists of a motor and an electronic speed controller and is responsible for the robot's movement. The robot arm module includes a motor and a robot arm controller that controls the robot arm to perform a variety of complex movements, as well as an integrated NFC module on the robot arm. The power supply module includes a battery, a power supply manager, and a power supply display screen, providing power to the entire system.The audio module can provide remote voice interaction.

[0025] As in Fig. 2, Fig. 3 and Fig. As shown in Figure 7, the robot arm module 1 is mounted in the center of the upper casing 20, secured by screws, and connected by cables. The audio module 2 is mounted on the front of the upper casing 20, and the depth camera 3 and the front infrared sensor 4 are mounted on the front casing 13. The depth camera can provide accurate depth information about the surrounding environment, enabling the robot to perform precise navigation, safe obstacle avoidance, object detection and sensing, map creation and updating, and face recognition functions. After the detection of unknown persons, the data is transmitted to the control center to enhance the monitoring and management of people in the nuclear power plant. The infrared sensor 4 is used for obstacle avoidance navigation, temperature monitoring, remote control, and other functions by detecting infrared radiation.This simultaneously improves the robot's ability to perceive its environment and its autonomy. The robot body is equipped with four ultrasonic sensors: the front ultrasonic sensor 5, the right ultrasonic sensor 8, the left ultrasonic sensor 10, and the rear ultrasonic sensor 19. These sensors measure the reflection time and distance of ultrasonic waves to enable navigation for obstacle avoidance, object detection, and environmental sensing, providing the robot with stable and comprehensive environmental information support. The laser sensor 9 is mounted on the bottom of the front body 19 and is used together with other sensors to significantly improve the robot's sensing ability, navigation accuracy, and operation accuracy. With four robot feet 6, the robot can adapt to a variety of complex environments.The power indicator screen 7 displays the battery level, and the audio module 2 enables voice interaction between the robot or the backend and people in the field. The smoke detector 47 detects fire smoke early and provides timely warnings to increase safety, reduce damage, and protect lives and property.

[0026] As in Fig. 3 and Fig. As shown in Figure 8, the housing structure of the present invention includes a left housing 11, a front housing 13, a lower housing 14, a right housing 17, a rear housing 18, an upper housing 20, and four sealed housings 46 assembled together. These housings together form a supporting structure and effectively protect the individual functional modules inside. The front battery pack 12 and the rear battery pack 21 are connected to each other at the front and rear ends of the assembly by the lower housing 14, the front housing 13, and the rear housing 18, so that the weight distribution of the product is more balanced. Inside the housing, the power supply manager 22, the control module 16, and the radiation dose chip 15, etc., are mounted and fixed to the lower housing.The power supply manager 22 monitors and optimizes power consumption, manages energy savings, battery and hardware supply, protects the power batteries, and improves the energy efficiency of the devices. The 5G chip 45 and the CPU chip 43 are integrated on the circuit board 44 to form the control module. The CPU chip 43 is responsible for data processing, executing program instructions, and controlling the overall operation and behavior of the robot, which is the "brain" of the product. The 5G chip 45 enables high-speed remote data transmission, background remote control, and real-time interaction. If a foreign vehicle is detected, the barrier can be remotely raised via the 5G module to intercept the illegal vehicle.

[0027] The radiation dose chip 15 can be timed to detect the farm's radiation level. The mobile phone detection device 23 can identify signals from third-party devices, such as Apple mobile phones, to prevent foreign devices from entering the nuclear power plant and improve safety control of the nuclear power plant's equipment. The cooling fan 24 is responsible for cooling the entire system.

[0028] As in the Fig. 4 and Fig. As shown in Figure 5, in the robot arm module 1, the robot gripper 35, the robot arm front arm 26, the robot arm rear arm 29, and the robot arm base are connected and cooperate with each other, allowing various operations to be performed without dead ends. The robot arm is driven by a robot arm rear arm motor 30, a robot arm front arm motor 27, and a robot gripper motor 34. The robot arm front arm 26 is connected to the robot arm rear arm 29, and the robot arm front arm motor 27 is arranged on the robot arm front arm 26. The robot arm front arm motor cover 28 covers the robot arm front arm motor 27. The robot arm rear arm 29 is connected to the robot arm base 31 and the robot arm rear arm motor 30 is arranged on the robot arm rear arm 29, wherein the robot arm base 31 is connected to a robot arm mounting plate 32.The robot arm controller 33 is arranged between the robot arm base 31 and the robot arm mounting plate 32. The robot arm front arm 26 is connected to the robot gripper 35, with a robot gripper motor 34 arranged on the robot gripper 35 and an NFC access control 25 also arranged on the robot gripper 35. If authentication is required when opening the door, the robot gripper 35 can be rotated backward and retracted into the recess of the front arm of the robot arm to expose the NFC access control and swipe the card to open the door. The robot arm then performs a door opening action.

[0029] As in Fig. 6 and Fig. As shown in Figure 9, the power module includes a front arm 40 of the front robot foot, a rear arm 38 of the robot foot, and a cushioning member 39. The rear arm 38 of the robot foot is connected to the front arm 40 of the front robot foot, and the front arm 40 of the front robot foot is further connected to the cushioning member 39. The robot foot can be controlled by a motor 36 for the front arm of the robot foot and a motor 37 for the rear arm of the mechanical foot to move in the X-axis and Z-axis directions, whereby the robot feet can be controlled by a control motor 41 for the entire robot feet to move freely in the X-axis and Z-axis directions. The three motors work together, allowing the robot feet to perform a variety of movements and thus adapt to complex usage scenarios.The robot foot 6 is fixed to the right housing 17 by a screw 48, and the right housing is screwed to the upper housing 20 and the lower housing 14.

[0030] As in Fig. As shown in Figure 3, the torso section consists of a supporting shell structure and internal electronic elements. The supporting shell consists of the left housing 11, the lower housing 14, the right housing 17, the rear housing 18, the upper housing 20, and the sealed housing 46, respectively. The electronic elements include the audio module 2, the right ultrasonic sensor 8, the laser sensor 9, the left ultrasonic sensor 10, the front battery pack 12, the radiation dose chip 15, the central control module 16, the rear ultrasonic sensor 19, the rear battery pack 21, the power supply manager 22, the mobile phone detection device 23, and the cooling fan 24.

Claims

[1] Quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant, characterized bythat it comprises: a control module, a power module, a robot arm module, a power supply module, a sensor module, a heat sink, an audio module and a housing structure, wherein the control module, the power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module are mounted on the housing structure, wherein the control module is each connected to the individual modules, iethe power module, the robot arm module, the power supply module, the sensor module, the heat sink and the audio module to control and communicate with the robot, wherein the sensor module comprises a depth camera, a laser sensor, a mobile phone recognition device, an infrared sensor, an ultrasonic sensor and a radiation dose chip, wherein the power module consists of a motor and an electronic speed controller and is thus responsible for the movement of the robot, wherein the robot arm module comprises a motor and a robot arm controller as well as an integrated NFC module on the robot arm, and wherein the power supply module comprises a battery, a power supply manager and a power supply display screen, while the audio module provides remote voice interaction. [2] A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 1, characterized by that the housing structure includes a left housing, a front housing, a lower housing, a right housing, a rear housing, an upper housing, and four sealed housings which are assembled together, and that a front battery and a rear battery are fixed at the front and rear ends of the whole through the lower housing, the front housing, and the rear housing together, and that the power supply manager, the control module, and the radiation dose chip are mounted and fixed on the lower housing. [3] A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 2, characterized by that the control module includes a 5G chip and a CPU chip integrated on a circuit board. [4] Quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 2, characterized by that the robot arm module is mounted in the center of the upper case and the audio module is mounted on the front of the upper case, and that the depth camera and the infrared sensor are mounted on the front case, and that the front case is equipped with four ultrasonic sensors, namely the front ultrasonic sensor, the right ultrasonic sensor, the left ultrasonic sensor and the rear ultrasonic sensor, and that the laser sensor is mounted on the bottom of the front case. [5] A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 2, characterized by that the right housing is equipped with a power indicator. [6] Quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 2, characterized by that the upper housing is equipped with a smoke detector. [7] Quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 2, characterized by that the robot arm module comprises a robot gripper, a robot arm front arm, a robot arm rear arm and a robot arm base which are connected to each other and interact with each other, wherein the robot arm is driven by a robot arm rear arm motor, a robot arm front arm motor and a robot gripper motor. [8] A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 1, characterized bythat the power module comprises a front arm of the front robot foot, a rear arm of the robot foot and a cushioning member, wherein the robot foot is controlled by a motor for the front arm of the robot foot, a motor for the rear arm of the mechanical foot to move in the direction of the X-axis and the Z-axis, whereby the robot feet are controlled by a control motor for the entire robot feet to move freely in the direction of the X-axis and the Z-axis. [9] A quadruped robot with multimodal capabilities and embodied large-scale models for use in a 5G nuclear power plant according to claim 1, characterized by that the robot foot is connected to the torso section via a mounting plate.

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