CN113681578B - Nuclear biochemical sampling robot and method - Google Patents
Nuclear biochemical sampling robot and method Download PDFInfo
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- CN113681578B CN113681578B CN202111147357.9A CN202111147357A CN113681578B CN 113681578 B CN113681578 B CN 113681578B CN 202111147357 A CN202111147357 A CN 202111147357A CN 113681578 B CN113681578 B CN 113681578B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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Abstract
The invention discloses a nuclear biochemical sampling robot, which comprises a vehicle body, wherein two sides of the vehicle body are provided with driving crawler belts, two ends of the driving crawler belts are arranged on driving wheels, the driving wheels are arranged on rotating shafts of driving motors through driving shafts, the driving motors are arranged in the vehicle body, the driving shafts are provided with first auxiliary wheels, the first auxiliary wheels are provided with auxiliary crawler belts which are tilted upwards, the auxiliary crawler belts are connected with second auxiliary wheels and the first auxiliary wheels, and the second auxiliary wheels are arranged on the vehicle body through supports; the upper end of the vehicle body is provided with a sampling system, the sampling system comprises a biochemical tank, a nuclear sample tank and a mechanical arm, and the end part of the mechanical arm is provided with a mechanical claw. The sampling method comprises the following steps: steps S1-S18. The scheme is used for working in the nuclear biochemical pollution area, can sample in the nuclear biochemical pollution area, realizes intelligent sampling, monitors the sampling process, monitors whether the sample falls off in the sampling process, and ensures that the sample can be smoothly collected.
Description
Technical Field
The invention relates to the technical field of nuclear biochemical sampling, in particular to a nuclear biochemical sampling robot and a method.
Background
Nuclear biochemicals, including nuclear and biochemical harmful substances, have a strong killing power on the human body, and nuclear waste refers broadly to waste materials that are no longer needed and are radioactive for use in nuclear fuel production, processing and nuclear reactors. And also refers to a waste material which is used by nuclear reactor and is unnecessary and radioactive after the nuclear material such as plutonium 239 and the like is recovered by post-treatment.
In the process of researching some areas polluted by nuclear biochemistry, because the areas can cause serious harm to human bodies, sampling is often carried out by means of a sampling robot instead of manpower. However, the existing sampling robot has low intelligent degree, and often needs a worker to perform one-to-one control, so that the working difficulty is increased.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a nuclear biochemical sampling robot and a method for detecting and sampling the natural environment of a nuclear biochemical pollution source.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the nuclear biochemical sampling robot comprises a vehicle body, wherein driving crawler belts are arranged on two sides of the vehicle body, two ends of each driving crawler belt are arranged on driving wheels, the driving wheels are arranged on rotating shafts of driving motors through driving shafts, the driving motors are arranged in the vehicle body, first auxiliary wheels are arranged on the driving shafts, the first auxiliary wheels are provided with auxiliary crawler belts which are tilted upwards, the auxiliary crawler belts are connected with second auxiliary wheels and the first auxiliary wheels, and the second auxiliary wheels are arranged on the vehicle body through supports;
the sampling system is arranged at the upper end of the vehicle body and comprises a biochemical tank, a nuclear sample tank and a mechanical arm, a mechanical claw is arranged at the end part of the mechanical arm, and a biochemical tank cover which can be opened in a turnover manner is arranged at the upper end of the biochemical tank; the upper end of the nuclear sample tank is provided with a nuclear sample tank cover which can be turned over and opened, the upper end of the vehicle body is provided with a wireless antenna, the mechanical arm and the mechanical claw are electrically connected with the sampling controller, and the sampling controller, the wireless antenna and the driving motor are electrically connected with the sampling robot controller.
Furthermore, a first electric push rod is arranged between the side face of the biochemical tank cover and the vehicle body, a second electric push rod is arranged between the side face of the nuclear sample tank cover and the vehicle body, the bottoms of the first electric push rod and the second electric push rod are hinged to a third hinge seat arranged on the vehicle body, the upper end of the first electric push rod is hinged to the side face of the biochemical tank cover, and the upper end of the second electric push rod is hinged to the side face of the nuclear sample tank cover; the first electric push rod and the second electric push rod are electrically connected with a sampling controller on the vehicle body.
Furthermore, a first hinge block is arranged on the side surface of the biochemical tank cover, the first hinge block is hinged on a first hinge seat on the outer wall of the upper end of the biochemical tank, a first in-place switch triggered by the rotation of the first hinge block is arranged beside the first hinge seat, a second in-place switch is arranged on the opposite side of the first in-place switch on the biochemical tank, and a first trigger piece for triggering the second in-place switch is arranged on the side surface of the biochemical tank cover; the first in-place switch and the second in-place switch are both electrically connected with the sampling controller.
Further, the side of the nuclear sample tank cover is provided with a second hinge block, the second hinge block is hinged to a second hinge seat arranged on the side of the upper end of the nuclear sample tank, a third in-place switch triggered by rotation of the second hinge block is arranged beside the second hinge seat, a fourth in-place switch is arranged on the opposite side of the third in-place switch on the nuclear sample tank, a second trigger piece triggering the fourth in-place switch is arranged on the side of the nuclear sample tank cover, and the third in-place switch and the fourth in-place switch are electrically connected with the sampling controller.
Furthermore, the front end and the rear end of the vehicle body are provided with cameras, the mechanical claw is provided with a sampling camera, and the cameras and the sampling camera are electrically connected with the sampling robot controller.
Furthermore, a nuclear radiation sensor is arranged on the side face of the vehicle body, weight sensors are arranged at the bottoms of the nuclear sample tank and the biochemical tank, an infrared distance measuring sensor and an inclination angle sensor are arranged at the center of the front end of the mechanical claw, and the nuclear radiation sensor and the weight sensors are electrically connected with the sampling controller; the infrared distance measurement sensor and the inclination angle sensor are both electrically connected with the sampling robot controller.
The sampling method adopting the nuclear biochemical sampling robot comprises the following steps:
s1: the sampling robot controller downloads a GIS map, inputs position information of sampling points on the GIS map and positions a sample collection area;
s2: the sampling robot reaches a sample collection area according to the positioning;
s3: a camera at the front end of the vehicle body acquires an image of a sample acquisition area and feeds the image back to the sampling robot controller, and the sampling robot controller identifies a sampling target in the image of the sample acquisition area;
s4: the sampling robot adjusts the position and the posture, and a sampling target is positioned in the center of an image shot by a camera;
s5: the infrared distance measuring sensor emits infrared rays to the center of an image shot by the camera, and the linear distance L from the center of the mechanical claw to the sampling target is measured;
s6: the inclination angle sensor detects the inclination angle theta of the mechanical claw at the moment, and the horizontal moving distance A and the vertical moving distance B of the mechanical claw are calculated according to the inclination angle theta: a = L × cos θ, B = L × sin θ;
s7: judging whether the inclination angle theta is larger than 0, if so, driving the mechanical claw to horizontally extend for a distance A by the mechanical arm, and then moving upwards for a distance B to reach a sampling target point;
s8: if the inclined angle theta is smaller than 0, the mechanical arm drives the mechanical claw to horizontally extend for a distance A, then moves downwards for a distance B and reaches a sampling target point;
s9: if the oblique angle theta =0, the mechanical arm drives the mechanical claw to horizontally extend for a distance A to reach a sampling target point;
s10: the infrared distance measuring sensor measures the distance l from the sampling target again, and whether the distance l is greater than the depth D of the mechanical claw is judged; if the distance l is larger than or equal to the depth D, judging that the moving distance is insufficient, and continuing to extend the mechanical claw when the sampling target is not in the mechanical claw, so that the distance l is smaller than the depth D;
s11: if the distance l is less than the depth D, judging that the sampling target is in the mechanical claw;
s12: the mechanical claw is tightened to grab the sampling target, and the sampling target is moved to the position of a nuclear radiation sensor on the side face of the vehicle body to detect whether the sampling target is polluted by nuclear radiation;
s13: if the sampling target has nuclear radiation, the second electric push rod extends, the nuclear sample tank cover is opened until the second hinge block triggers the third in-place switch, and the second electric push rod stops extending; meanwhile, the mechanical arm drives the mechanical claw to move above the nuclear sample tank, and a sampling target is placed into the nuclear sample tank;
s14: a gravity sensor at the bottom of the nuclear sample tank detects whether the weight of the nuclear sample tank changes, if so, the mechanical arm drives the mechanical claw to reset, the second electric push rod shortens to close the nuclear sample tank cover until the second trigger piece triggers the fourth in-place switch, and the second electric push rod stops shortening;
s15: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw, generating alarm information by the sampling robot controller and feeding the alarm information back to the sampling robot control center, and driving the mechanical claw to reset by the mechanical arm; the second electric push rod is shortened, the nuclear sample tank cover is closed until the second trigger piece triggers the fourth in-place switch, and the second electric push rod stops shortening;
s16: if the sampling target does not have nuclear radiation, the first electric push rod extends, the biochemical tank cover is opened until the first hinging block triggers the first in-place switch, and the first electric push rod stops extending; meanwhile, the mechanical arm drives the mechanical claw to move above the biochemical tank, and a sampling target is placed in the biochemical tank;
s17: a gravity sensor at the bottom of the biochemical tank detects whether the weight of the biochemical tank changes, if so, the mechanical arm drives the mechanical claw to reset, the first electric push rod is shortened, the biochemical tank cover is closed until the first trigger piece triggers the second in-place switch, and the first electric push rod stops shortening;
s18: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw, generating alarm information by the sampling robot controller and feeding the alarm information back to the sampling robot control center, and driving the mechanical claw to reset by the mechanical arm; the first electric push rod is shortened, the biochemical tank cover is closed until the first trigger piece triggers the second in-place switch, and the first electric push rod stops shortening.
The beneficial effects of the invention are as follows: the scheme is used for working in the nuclear biochemical pollution area, can sample in the nuclear biochemical pollution area, and meanwhile, the sampling robot can be controlled in a wireless mode according to the field condition, can enter the nuclear biochemical pollution area through automatic positioning, and can transmit the field condition back through the camera to guide the sampling robot to move next step. The suspected dangerous substances can be sampled by the cooperation of the mechanical arm and the mechanical claw, the nuclear pollutants and the biochemical pollutants can be respectively placed in the nuclear sample tank and the biochemical tank for classification and analysis, and the next disposal scheme is determined. For simple special conditions, simple actions such as pollutant landfill, pollution sealing and the like can be completed through the mechanical claw, and emergency disposal of pollution sources is realized.
Nuclear sample cover and biochemical cover seal nuclear sample jar and biochemical jar respectively, can realize simultaneously that automatic opening and closing, and the in-process of sampling carries out automatic classification, and the automation is put into corresponding nuclear sample jar and biochemical jar in, need not to send the operator alone and operates, realizes intelligent sampling to monitor the sampling process, whether monitoring sampling process in the sample drops, ensures to gather the sample smoothly.
Drawings
Fig. 1 is a structural diagram of a nuclear biochemical sampling robot.
The system comprises a wireless antenna 1, a first in-place switch 2, a camera 3, a camera 4, a first hinged block 5, a first electric push rod 6, a biochemical tank cover 7, a first trigger piece 8, a second electric push rod 9, a nuclear sample tank cover 10, a second hinged block 11, a nuclear sample tank 12, a mechanical arm 13, a sampling camera 14, a mechanical claw 15, a nuclear radiation sensor 16, a vehicle body 17, a driving crawler 18, a second auxiliary wheel 19, an auxiliary crawler 20, a first auxiliary wheel 21 and a sampling controller.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, the nuclear biochemical sampling robot of the present embodiment includes a vehicle body 16, driving crawlers 17 are disposed on two sides of the vehicle body 16, two ends of the driving crawlers 17 are mounted on driving wheels, the driving wheels are mounted on a rotating shaft of a driving motor through a driving shaft, the driving motor is mounted in the vehicle body 16, the driving shaft is provided with a first auxiliary wheel 20, the first auxiliary wheel 20 is provided with an auxiliary crawler 19 tilted upwards, the auxiliary crawler 19 is connected with a second auxiliary wheel 18 and the first auxiliary wheel 20, and the second auxiliary wheel 18 is mounted on the vehicle body 16 through a bracket; the sampling robot of this scheme moves through the track drive, adapts to multiple topography to through the setting of supplementary track 19, have good climbing ability and the ability of crossing the obstacle.
The upper end of the vehicle body 16 is provided with a sampling system, the sampling system comprises a biochemical tank, a nuclear sample tank 11 and a mechanical arm 12, the end part of the mechanical arm 12 is provided with a mechanical claw 14, and the upper end of the biochemical tank is provided with a biochemical tank cover 6 which can be opened in a turnover way; the upper end of the nuclear sample tank 11 is provided with a nuclear sample tank cover 9 which can be turned and opened, the upper end of the vehicle body 16 is provided with a wireless antenna 1, the mechanical arm 12 and the mechanical claw 14 are all electrically connected with a sampling controller 21, and the sampling controller 21, the wireless antenna 1 and the driving motor are all electrically connected with a sampling robot controller. The collected nuclear pollution sample and biochemical pollution sample can be stored in different containers, so that classified transportation is achieved, and cross contamination is avoided.
A first electric push rod 5 is arranged between the side surface of the biochemical tank cover 6 and the vehicle body 16, a second electric push rod 8 is arranged between the side surface of the nuclear sample tank cover 9 and the vehicle body 16, the bottoms of the first electric push rod 5 and the second electric push rod 8 are both hinged on a third hinge seat arranged on the vehicle body 16, the upper end of the first electric push rod 5 is hinged with the side surface of the biochemical tank cover 6, and the upper end of the second electric push rod 8 is hinged with the side surface of the nuclear sample tank cover 9; the first electric push rod 5 and the second electric push rod 8 are electrically connected with a sampling controller 21 on the vehicle body 16.
A first hinge block 4 is arranged on the side surface of the biochemical tank cover 6, the first hinge block 4 is hinged on a first hinge seat on the outer wall of the upper end of the biochemical tank, a first in-place switch 2 triggered by the rotation of the first hinge block 4 is arranged beside the first hinge seat, a second in-place switch is arranged on the opposite side of the first in-place switch 2 on the biochemical tank, and a first trigger piece 7 for triggering the second in-place switch is arranged on the side surface of the biochemical tank cover 6; the first in-place switch 2 and the second in-place switch are both electrically connected with the sampling controller 21.
The side of nuclear sample cover 9 is provided with the articulated piece 10 of second, the articulated piece 10 of second articulates on the articulated seat of second that the side set up in nuclear sample jar 11 upper end, the articulated seat of second is other to be provided with the third through the articulated piece 10 rotation trigger of arriving at the position switch, the third on the nuclear sample jar 11 switch opposite side that targets at the position is provided with the fourth switch that targets at, the side of nuclear sample cover 9 is provided with the second trigger piece that triggers the fourth switch that targets at, the third switch that targets at and the fourth switch that targets at all are connected with sampling controller 21 electricity.
The nuclear sample tank cover 9 and the biochemical tank cover 6 can be automatically opened and closed, and the opening and closing positions are monitored through four in-place switches, so that excessive opening and closing are avoided.
The front end and the rear end of the vehicle body 16 are provided with the cameras 3, the mechanical claw 14 is provided with the sampling cameras 13, the cameras 3 and the sampling cameras 13 are electrically connected with the sampling robot controller, the cameras 3 are used for collecting video images of the front and the rear of the sampling robot, and the sampling cameras 13 are used for collecting images on the mechanical claw 14.
A nuclear radiation sensor 15 is arranged on the side face of the vehicle body 16, weight sensors are arranged at the bottoms of the nuclear sample tank 11 and the biochemical tank, an infrared distance measuring sensor and an inclination angle sensor are arranged at the center of the front end of the mechanical claw 14, and the nuclear radiation sensor 15 and the weight sensors are electrically connected with a sampling controller 21; the infrared distance measurement sensor and the inclination angle sensor are both electrically connected with the sampling robot controller. The sample collected by the mechanical claw 14 is detected by the nuclear radiation sensor 15, whether the sample carries nuclear pollution or not is detected, automatic classification is realized, and whether sampling is successful or not is monitored by the weight sensor. The infrared distance measuring sensor is used for assisting in positioning a sampling target, and both the infrared distance measuring sensor and the inclination angle sensor are arranged in the palm of the mechanical claw 14.
The sampling method adopting the nuclear biochemical sampling robot comprises the following steps:
s1: the sampling robot controller downloads a GIS map, inputs position information of sampling points on the GIS map and positions a sample collection area; the GIS map has an open environment and strong expandability and connectability. Supporting various database management systems, such as large databases like ORACLE, SYBASE, SQLSERVER, etc.; the platform of the GIS map adopts a computer graphic technology, a database technology, a network technology and a geographic information processing technology which are synchronous with the world. The system supports remote data and drawing query, and can directly print maps, statistical reports, various data and the like by utilizing the powerful chart output function provided by the system. The functions of drawing control, stepless zooming, roaming support, direct positioning selection and the like can be hierarchically controlled. The map precision is high, and the scale of provincial map reaches 1:10000 or 1:5000, the city-level map scale reaches 1:1000 or 1:500, the map can display a mountain, a water system, a road, a building, an administrative area, and the like in layers. Has strong expandability and connectability. In the application development process, further development after system success is considered, and the system comprises maintainability extension functions and convenience of connection and integration with other application systems.
S2: the sampling robot reaches a sample collection area according to the positioning;
s3: the camera 3 at the front end of the vehicle body 16 acquires an image of a sample acquisition area and feeds the image back to the sampling robot controller, and the sampling robot controller identifies a sampling target in the image of the sample acquisition area;
s4: the sampling robot adjusts the position and the posture, and a sampling target is positioned in the center of an image shot by the camera 3;
s5: the infrared distance measuring sensor emits infrared rays to the center of an image shot by the camera 3, and the linear distance L from the center of the mechanical claw 14 to the sampling target is measured;
s6: the tilt angle sensor detects the tilt angle θ of the gripper 14 at this time, and calculates the horizontal movement distance a and the vertical movement distance B of the gripper 14 based on the tilt angle θ: a = L × cos θ, B = L × sin θ;
s7: judging whether the inclination angle theta is larger than 0, if the inclination angle theta is larger than 0, proving that the mechanical claw 14 inclines upwards, the sampling target is positioned above the mechanical claw 14, and the mechanical arm 12 drives the mechanical claw 14 to horizontally extend for a distance A and then upwards move for a distance B to reach a sampling target point;
s8: if the inclination angle theta is less than 0, the mechanical claw 14 is proved to incline downwards, the sampling target is positioned below the mechanical claw 14, the mechanical arm 12 drives the mechanical claw 14 to horizontally extend for a distance A, and then moves downwards for a distance B to reach a sampling target point;
s9: if the inclination angle theta =0, it is proved that the sampling target is located right in front of the mechanical claw 14, the mechanical arm 12 drives the mechanical claw 14 to horizontally extend for a distance a to reach a sampling target point, and the inclination angle theta =0 when the mechanical claw 14 is horizontal;
s10: the infrared distance measuring sensor measures the distance l from the sampling target again, and whether the distance l is greater than the depth D of the mechanical claw 14 is judged; if the distance l is larger than or equal to the depth D, judging that the moving distance is insufficient, and the sampling target is not in the mechanical claw 14, and continuing to extend the mechanical claw 14 to enable the distance l to be smaller than the depth D; in the moving process of the mechanical claw 14, there may be an error, and after the mechanical claw 14 reaches the sampling target point, in order to ensure that the mechanical claw 14 can wrap the sampling target and smoothly grab the sampling target, the distance from the mechanical claw 14 to the sampling target needs to be further adjusted.
S11: if the distance l is less than the depth D, the sampling target is judged to be in the mechanical claw 14;
s12: the mechanical claw 14 is tightened up to grab up the sampling target, and the sampling target is moved to the position of the nuclear radiation sensor 15 on the side face of the vehicle body 16 to detect whether the sampling target is polluted by nuclear radiation;
s13: if the sampling target has nuclear radiation, the second electric push rod 8 extends, the nuclear sample tank cover 9 is opened until the second hinge block 10 triggers the third in-place switch, and the second electric push rod 8 stops extending; meanwhile, the mechanical arm 12 drives the mechanical claw 14 to move to the upper part of the nuclear sample tank 11, and a sampling target is placed in the nuclear sample tank 11;
s14: a gravity sensor at the bottom of the nuclear sample tank 11 detects whether the weight of the nuclear sample tank 11 changes, if so, the mechanical arm 12 drives the mechanical claw 14 to reset, the second electric push rod 8 is shortened, the nuclear sample tank cover 9 is closed, and the second electric push rod 8 stops shortening until the second trigger piece triggers the fourth in-place switch;
s15: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw 14, generating alarm information by the sampling robot controller and feeding the alarm information back to a sampling robot control center, and then driving the mechanical claw 14 to reset by the mechanical arm 12; the second electric push rod 8 is shortened, the nuclear sample tank cover 9 is closed until the second trigger piece triggers the fourth in-place switch, and the second electric push rod 8 stops shortening;
s16: if the sampling target does not have nuclear radiation, the first electric push rod 5 extends, the biochemical tank cover 6 is opened until the first hinge block 4 triggers the first in-place switch 2, and the first electric push rod 5 stops extending; meanwhile, the mechanical arm 12 drives the mechanical claw 14 to move above the biochemical tank, and a sampling target is placed in the biochemical tank;
s17: a gravity sensor at the bottom of the biochemical tank detects whether the weight of the biochemical tank changes, if so, the mechanical arm 12 drives the mechanical claw 14 to reset, the first electric push rod 5 is shortened, the biochemical tank cover 6 is closed until the first trigger piece 7 triggers the second in-place switch, and the first electric push rod 5 stops shortening;
s18: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw 14, generating alarm information by the sampling robot controller and feeding the alarm information back to the sampling robot control center, and then driving the mechanical claw 14 to reset by the mechanical arm 12; the first electric push rod 5 is shortened, the biochemical tank cover 6 is closed until the first trigger sheet 7 triggers the second in-place switch, and the first electric push rod 5 stops shortening.
This scheme is used for carrying out work in nuclear biochemical pollution area, can sample in nuclear biochemical pollution area, and sampling robot can adopt wireless mode to control according to the site conditions simultaneously, and sampling robot accessible automatic positioning gets into the nuclear biochemical pollution area, passes the site conditions through camera 3 and passes back, instructs sampling robot action on next step. The suspected dangerous substances can be sampled by the cooperation of the mechanical arm 12 and the mechanical claw 14, the nuclear pollutants and the biochemical pollutants can be respectively placed in the nuclear sample tank 11 and the biochemical tank for classification and analysis, and the next disposal scheme is determined. For simple special conditions, simple actions such as pollutant landfill and pollution sealing can be completed through the mechanical claw 14, and emergency disposal of pollution sources is realized.
Nuclear sample cover 9 and biochemical cover 6 are sealed nuclear sample jar 11 and biochemical jar respectively, can realize simultaneously that automatic opening and closing, and the in-process of sampling carries out automatic classification, and the automatic nuclear sample jar 11 and the biochemical jar of putting into corresponding are in, need not to send the operator alone to operate, realize intelligent sampling to monitor the sampling process, whether the monitoring sampling in-process sample drops, ensure to gather the sample smoothly.
Claims (6)
1. The sampling method of the nuclear biochemical sampling robot is characterized in that the nuclear biochemical sampling robot comprises a vehicle body, driving crawler belts are arranged on two sides of the vehicle body, two ends of the driving crawler belts are installed on driving wheels, the driving wheels are installed on rotating shafts of driving motors through driving shafts, the driving motors are installed in the vehicle body, first auxiliary wheels are arranged on the driving shafts, upwards-tilted auxiliary crawler belts are arranged on the first auxiliary wheels, the auxiliary crawler belts are connected with second auxiliary wheels and the first auxiliary wheels, and the second auxiliary wheels are installed on the vehicle body through supports;
the sampling system is arranged at the upper end of the vehicle body and comprises a biochemical tank, a nuclear sample tank and a mechanical arm, a mechanical claw is arranged at the end part of the mechanical arm, and a biochemical tank cover which can be opened in a turnover mode is arranged at the upper end of the biochemical tank; the upper end of the nuclear sample tank is provided with a nuclear sample tank cover which can be turned over and opened, the upper end of the vehicle body is provided with a wireless antenna, the mechanical arm and the mechanical claw are electrically connected with a sampling controller, and the sampling controller, the wireless antenna and the driving motor are electrically connected with a sampling robot controller;
the sampling method of the nuclear biochemical sampling robot comprises the following steps:
s1: the sampling robot controller downloads a GIS map, and the position information of sampling points is input on the GIS map to position a sample collection area;
s2: the sampling robot reaches a sample collection area according to the positioning;
s3: a camera at the front end of the vehicle body acquires an image of a sample acquisition area and feeds the image back to the sampling robot controller, and the sampling robot controller identifies a sampling target in the image of the sample acquisition area;
s4: the sampling robot adjusts the position and the posture, and a sampling target is positioned in the center of an image shot by the camera;
s5: the infrared distance measuring sensor emits infrared rays to the center of an image shot by the camera, and the linear distance L from the center of the mechanical claw to the sampling target is measured;
s6: the inclination angle sensor detects the inclination angle theta of the mechanical claw at the moment, and the horizontal moving distance A and the vertical moving distance B of the mechanical claw are calculated according to the inclination angle theta: a = L × cos θ, B = L × sin θ;
s7: judging whether the inclination angle theta is larger than 0, if the inclination angle theta is larger than 0, driving the mechanical claw to horizontally extend for a distance A by the mechanical arm, and then moving the mechanical claw upwards for a distance B to reach a sampling target point;
s8: if the inclined angle theta is smaller than 0, the mechanical arm drives the mechanical claw to horizontally extend for a distance A, then moves downwards for a distance B and reaches a sampling target point;
s9: if the oblique angle theta =0, the mechanical arm drives the mechanical claw to horizontally extend for a distance A to reach a sampling target point;
s10: the infrared distance measuring sensor measures the distance l from the sampling target again, and whether the distance l is greater than the depth D of the mechanical claw is judged; if the distance l is larger than or equal to the depth D, judging that the moving distance is insufficient, and if the sampling target is not in the mechanical claw, continuing to extend the mechanical claw to enable the distance l to be smaller than the depth D;
s11: if the distance l is less than the depth D, judging that the sampling target is in the mechanical claw;
s12: the mechanical claw is tightened to grab the sampling target, and the sampling target is moved to the position of a nuclear radiation sensor on the side face of the vehicle body to detect whether the sampling target is polluted by nuclear radiation;
s13: if the sampling target has nuclear radiation, the second electric push rod extends, the nuclear sample tank cover is opened until the second hinge block triggers the third in-place switch, and the second electric push rod stops extending; meanwhile, the mechanical arm drives the mechanical claw to move above the nuclear sample tank, and a sampling target is placed into the nuclear sample tank;
s14: a gravity sensor at the bottom of the nuclear sample tank detects whether the weight of the nuclear sample tank changes, if so, the mechanical arm drives the mechanical claw to reset, the second electric push rod is shortened, the nuclear sample tank cover is closed until the second trigger piece triggers the fourth in-place switch, and the second electric push rod stops shortening;
s15: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw, generating alarm information by the sampling robot controller and feeding the alarm information back to the sampling robot control center, and driving the mechanical claw to reset by the mechanical arm; the second electric push rod is shortened, the nuclear sample tank cover is closed until the second trigger piece triggers the fourth in-place switch, and the second electric push rod stops shortening;
s16: if the sampling target does not have nuclear radiation, the first electric push rod extends, the biochemical tank cover is opened until the first hinge block triggers the first in-place switch, and the first electric push rod stops extending; meanwhile, the mechanical arm drives the mechanical claw to move above the biochemical tank, and a sampling target is placed in the biochemical tank;
s17: a gravity sensor at the bottom of the biochemical tank detects whether the weight of the biochemical tank changes, if so, the mechanical arm drives the mechanical claw to reset, the first electric push rod is shortened, the biochemical tank cover is closed until the first trigger piece triggers the second in-place switch, and the first electric push rod stops shortening;
s18: otherwise, judging that the sampling target falls off accidentally in the moving process of the mechanical claw, generating alarm information by the sampling robot controller and feeding the alarm information back to a sampling robot control center, and then driving the mechanical claw to reset by the mechanical arm; and the first electric push rod is shortened, the biochemical tank cover is closed until the first trigger piece triggers the second in-place switch, and the first electric push rod stops shortening.
2. The sampling method of the nuclear biochemical sampling robot according to claim 1, wherein a first electric push rod is arranged between the side surface of the biochemical tank cover and the vehicle body, a second electric push rod is arranged between the side surface of the nuclear biochemical sampling tank cover and the vehicle body, the bottoms of the first electric push rod and the second electric push rod are both hinged to a third hinge seat arranged on the vehicle body, the upper end of the first electric push rod is hinged to the side surface of the biochemical tank cover, and the upper end of the second electric push rod is hinged to the side surface of the nuclear sample tank cover; the first electric push rod and the second electric push rod are electrically connected with a sampling controller on the vehicle body.
3. The sampling method of the nuclear biochemical sampling robot according to claim 1, wherein a first hinge block is arranged on the side surface of the biochemical tank cover, the first hinge block is hinged on a first hinge seat on the outer wall of the upper end of the biochemical tank, a first in-place switch triggered by the rotation of the first hinge block is arranged beside the first hinge seat, a second in-place switch is arranged on the opposite side of the first in-place switch on the biochemical tank, and a first trigger piece for triggering the second in-place switch is arranged on the side surface of the biochemical tank cover; the first in-place switch and the second in-place switch are electrically connected with the sampling controller.
4. The sampling method of the nuclear biochemical sampling robot according to claim 1, wherein a second hinge block is arranged on the side surface of the nuclear sample tank cover, the second hinge block is hinged on a second hinge seat arranged on the side surface of the upper end of the nuclear sample tank, a third in-place switch triggered by the rotation of the second hinge block is arranged beside the second hinge seat, a fourth in-place switch is arranged on the opposite side of the third in-place switch on the nuclear sample tank, a second trigger piece for triggering the fourth in-place switch is arranged on the side surface of the nuclear sample tank cover, and the third in-place switch and the fourth in-place switch are both electrically connected with the sampling controller.
5. The sampling method of the nuclear biochemical sampling robot according to claim 1, wherein cameras are arranged at the front end and the rear end of the vehicle body, sampling cameras are arranged on the gripper, and the cameras and the sampling cameras are electrically connected with a sampling robot controller.
6. The sampling method of the nuclear biochemical sampling robot according to claim 1, wherein a nuclear radiation sensor is arranged on the side surface of the vehicle body, weight sensors are arranged at the bottoms of the nuclear sample tank and the biochemical tank, an infrared distance measuring sensor and an inclination angle sensor are arranged at the center of the front end of the gripper, and the nuclear radiation sensor and the weight sensor are electrically connected with a sampling controller; and the infrared distance measurement sensor and the inclination angle sensor are electrically connected with the sampling robot controller.
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| CN107263438A (en) * | 2017-07-24 | 2017-10-20 | 中广核研究院有限公司 | Nuclear power station underwater operation robot |
| CN109333564A (en) * | 2018-11-27 | 2019-02-15 | 西南科技大学 | A kind of nuclear radiation environment monitoring sampling robots |
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