CN113534762A - Applicable to the operation method of emergency fire control in areas with severe radiation pollution - Google Patents

Abstract

Translated fromChinese

本申请公开一种适用于重度辐射污染区应急消控的作业方法，该方法包括：控制遥控压制机进入污染现场；通过检测记录行进路径的辐射值变化趋势，判断污染源方向，确定污染源；确定污染种类，其中，污染种类包括近地表面大面积污染源污染、球面罐体污染源污染、高大建筑物表面和高低空大面积污染；基于污染源种类对近地表面大面积污染源污染进行地面布洒压制，对球面罐体污染源污染、高大建筑物表面或高低空大面积污染进行高远程喷射封堵压制或雾化喷洒压制。整个过程中，工作人员可以在远程控制站或在远程通过手持遥控终端对消控作业进行控制，以及通过遥控压制机录制的信息现场环境和作业状态，完成消控工作的同时保障工作人员人身安全。

The present application discloses an operation method suitable for emergency elimination and control in a heavily radiation-polluted area. The method includes: controlling a remote control press to enter the pollution site; detecting and recording the change trend of the radiation value of the travel path, judging the direction of the pollution source, and determining the pollution source; determining the pollution source Among them, the types of pollution include large-area pollution source pollution near the ground surface, spherical tank pollution source pollution, tall building surface and high and low-altitude large-area pollution; Spherical tank pollution source pollution, tall building surface or large area pollution at high and low altitudes are subjected to high-distance jet plugging suppression or atomization spraying suppression. During the whole process, the staff can control the elimination control operation at the remote control station or remotely through the hand-held remote control terminal, as well as the information on-site environment and operation status recorded by the remote control press, so as to complete the elimination control work and ensure the personal safety of the staff. .

Description

Operation method suitable for emergency elimination and control of severe radiation pollution area

Technical Field

The application relates to the field of radioactive contamination plugging control and elimination treatment, in particular to an operation method suitable for emergency elimination in a severe radiation pollution area.

Background

As is well known, with the increasing perfection of nuclear energy application technology, the development and utilization of nuclear energy bring great economic and social benefits to human beings, but at the same time, radioactive pollutants generated in the application process of nuclear energy also bring threats to the living environment of human beings; therefore, the blocking control and clearing of radioactive pollution leakage accidents become important components of nuclear-related environment safety guarantee, the membrane method technology is an advanced method for disposing nuclear accidents and nuclear terrorist attack consequences at present, long-term research is carried out according to the characteristics of the nuclear accidents and the diversity conditions of accident environments after the membrane method theory is put forward, and a set of relatively complete membrane method application system is gradually established by combining the particularity of the membrane method. However, due to technical limitations, when all equipment devices in the application system are controlled and eliminated on site, operators are required to enter the polluted site to operate in cooperation with the equipment devices, and personal safety of the operators on site cannot be guaranteed when the radioactive leakage source head heavily radiates the polluted area to operate. With the development of intelligent and unmanned technologies, a remote control press suitable for emergency rescue in severe radiation pollution areas is urgently needed to replace personnel operation.

Disclosure of Invention

The embodiment of the application provides an operation method suitable for emergency elimination of a severe radiation pollution area, which is used for solving the problem that in the prior art, the personal safety of field operators cannot be guaranteed in the process of treating the radiation pollution area to a certain extent.

In a first aspect, an embodiment of the present application provides an operation method suitable for emergency cancellation and control in a severe radiation pollution area, including:

controlling a preset remote control pressing machine to enter a polluted site; the mode of entering the polluted site comprises the automatic entering of a remote control pressing machine or the remote manual control entering based on the environmental data shot by the remote control pressing machine;

determining a pollution source based on the environmental radiation value, and simultaneously controlling the preset remote control press to move to the pollution source;

and plugging and pressing the pollution source on a preset remote sensing trolley.

Further, the determining a pollution source based on the environmental radiation value, and simultaneously controlling the preset remote control press to travel to the pollution source comprises:

detecting the radiation value of the preset remote control press in real time through a radiation detector on the preset remote control press, and recording the change trend of the radiation value in the advancing process;

if the radiation value is continuously reduced, judging that the preset remote control pressing machine is far away from the pollution source, and changing the advancing direction;

if the radiation value is continuously increased, judging that the preset remote control pressing machine is approaching to a pollution source, and keeping the advancing direction;

if the radiation value is large, and the radiation value is not increased any more when the traveling direction of the preset remote control press is changed for many times, the place is determined to be a pollution source.

Further, plugging and pressing the pollution source on the preset remote sensing trolley comprises the following steps:

determining the type of pollution; wherein the pollution types comprise near-surface large-area pollution source pollution, spherical tank pollution source pollution, high-rise building surface and high-low altitude large-area pollution;

the preset remote sensing trolley is used for carrying out ground spraying and pressing on large-area pollution source pollution close to the ground surface, and carrying out high-remote spraying, plugging and pressing or atomizing, spraying and pressing on spherical tank body pollution source pollution, high-rise building surfaces or high-low altitude large-area pollution.

Further, the method also comprises the following steps:

judging whether secondary pressing is needed or not based on the shooting data of the preset remote sensing pressing machine; if the secondary pressing is not needed, the preset remote sensing pressing machine is cleaned and then parked; and if the secondary pressing is needed, the preset remote sensing pressing machine is cleaned, and then the pressed decontamination functional material is refilled and returned to the pollution source for secondary pressing.

In a first aspect, an embodiment of the present application provides a remote control press suitable for emergency elimination in a severe radiation pollution area, including: the system comprises a remote control mobile bearing platform, an beyond-the-horizon radio and internet communication system, a video recording and transmitting system, a radiation detection system, a remote operation control system, a plugging and pressing operation system and a path planning autonomous return system;

the mobile bearing platform is used for bearing the video recording transmission system, the radiation detection system and the plugging pressing operation system and automatically or under the control of the remote operation control system, and moves to a pollution source in a radioactive pollution area;

the over-the-horizon radio and internet communication system comprises a handheld remote control terminal, a remote control station and a vehicle-mounted controller arranged on the remote control mobile bearing platform, and is used for realizing communication among the handheld remote control terminal, the remote control station and the remote control press;

the video recording and transmitting system is arranged on the remote control mobile bearing platform and is used for recording the surrounding environment in real time in the process that the remote control press goes to a radioactive pollution source, and transmitting the recorded data to a handheld terminal or a remote control station through the beyond-the-horizon radio and internet communication system so as to provide guidance for a worker to travel a route and know the environmental condition of a pollution area;

the radiation detection system comprises a vehicle-mounted high-range radiation detector arranged on the remote control mobile bearing platform and is used for monitoring an environment radiation value and determining the position of a pollution source;

the remote operation control system is used for controlling the remote control pressing machine to seal and press the radioactive pollution area through the beyond-the-horizon radio and the internet communication system;

the plugging and pressing operation system comprises a storage box and a pressing system, and is used for automatically or under the control of the remote operation control system, distributing or spraying functional materials in the storage box at a leakage source to plug and press pollution;

the path planning automatic return system is arranged on the remote control mobile bearing platform and used for recording historical advancing paths of the remote control pressing machine and determining a return route based on the historical advancing paths.

Further, in the over-the-horizon radio and internet communication system:

the hand-held remote control terminal is communicated with the remote control station through a 4G network or a local wireless area network; the hand-held remote control terminal is communicated with the vehicle-mounted controller through a radio station or a wired network; and the vehicle-mounted controller is communicated with the remote control station through a 4G network or a local wireless area network.

Further, an automatic obstacle avoidance system is also included;

the automatic obstacle avoidance system comprises an infrared radar and is used for detecting obstacles around the remote control press to realize automatic obstacle avoidance.

Further, the cleaning system is arranged on the remote control mobile bearing platform;

the cleaning system comprises a cleaning liquid pump and a high-pressure flushing system and is used for cleaning the remote control pressing machine when the remote control pressing machine returns to a cleaning area.

Further, the remote control press also comprises a radiation protection system arranged on the remote control press;

the radiation protection system comprises a radiation protection material and an aluminum plate which are arranged in the shell of the remote control press, a radiation-resistant reinforcing protection material arranged on the components and an electric cabinet with a radiation protection function.

Further, the spraying and distributing system comprises a remote spraying system and a ground spraying system;

the remote spraying system comprises a laser aiming and ranging device and is used for carrying out remote columnar spraying or large-area atomization spraying on the pressing functional material in the storage box aiming at large-area pollution on a spherical tank body or the surface of a tall building or high-low altitude;

the ground spreading system is used for spreading the pressing functional materials in the storage box on the ground aiming at the pollution near the ground surface.

The operation method suitable for emergency elimination of the severe radiation pollution area provided by the embodiment of the application comprises the following steps: controlling the remote control pressing machine to enter a polluted site; judging the direction of a pollution source by detecting and recording the variation trend of the radiation value of the advancing path, and determining the pollution source; determining pollution types, wherein the pollution types comprise near-surface large-area pollution source pollution, spherical tank pollution source pollution, high-rise building surfaces and high-low altitude large-area pollution; the method is used for carrying out ground spraying and pressing on large-area pollution source pollution close to the ground surface based on pollution source types, and carrying out high-remote spraying, plugging and pressing or atomizing, spraying and pressing on the spherical tank body pollution source pollution, the surface of a high-rise building or the high-low altitude large-area pollution. In the whole process, the worker can control the control operation at a remote control station or remotely through the handheld remote control terminal, and the personal safety of the worker is guaranteed while the control operation is finished through the information field environment and the operation state recorded by the remote control press.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of an operation method for emergency elimination in a severe radiation pollution area according to an embodiment of the present application;

fig. 2 is a schematic flow chart of an operation method suitable for emergency elimination in a severe radiation pollution area according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a remote control press suitable for emergency elimination in a severe radiation pollution area according to an embodiment of the present application;

fig. 4 is a schematic view of an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control in a severe radiation pollution area according to an embodiment of the present application;

fig. 5 is a schematic diagram of internet communication in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control in a severe radiation pollution area according to an embodiment of the present application;

fig. 6 is a schematic diagram of a network topology form of a wireless network bridge in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control in a severe radiation pollution area according to an embodiment of the present application;

fig. 7 is a schematic view of remote operation control and data transmission in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control in a severe radiation pollution area according to an embodiment of the present application;

fig. 8 is a schematic diagram of a blocking pressing operation system in a remote control pressing machine suitable for emergency elimination in a severe radiation pollution area according to an embodiment of the present application.

The method comprises the steps of 1-remotely controlling a mobile bearing platform, 2-beyond-visual-range radio and internet communication system, 3-video recording and transmitting system, 4-radiation detecting system, 5-remote operation control system, 6-blocking and pressing operation system, 7-path planning and automatic returning system, 8-automatic obstacle avoiding system, 9-cleaning system, 10-radiation protection system, 11-handheld remote control terminal, 12-remote control station, 13-vehicle-mounted controller, 14-transmission link, 15-power pumping system, 16-dynamic online mixing system, 17-pipeline system, 18-material storage box, 19-remote spraying system, 20-ground spraying system and 21-pressing decontamination functional material.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.

Example (b):

fig. 1 is a schematic diagram of a principle of an operation method suitable for emergency cancellation in a severe radiation pollution area according to an embodiment of the present application, and as shown in fig. 1, the operation method suitable for emergency cancellation in a severe radiation pollution area according to the embodiment of the present application includes:

s101, controlling a preset remote control pressing machine to enter a polluted site; the mode of entering the polluted site comprises the automatic entering of a remote control pressing machine or the remote manual control entering based on the environmental data shot by the remote control pressing machine.

S102, determining a pollution source based on the environmental radiation value, and controlling the preset remote control press to move to the pollution source.

Specifically, a radiation detector on a preset remote control press is used for detecting the radiation value at the preset remote control press in real time, and the change trend of the radiation value in the advancing process is recorded; if the radiation value is continuously reduced, judging that the preset remote control pressing machine is far away from the pollution source, and changing the advancing direction; if the radiation value is continuously increased, judging that the preset remote control pressing machine is approaching to a pollution source, and keeping the advancing direction; if the radiation value is large, and the radiation value is not increased any more when the traveling direction of the preset remote control press is changed for multiple times, the place is determined to be a pollution source.

S103, plugging and pressing the pollution source on a preset remote sensing trolley.

Specifically, firstly, determining the pollution type; wherein the pollution types comprise near-surface large-area pollution source pollution, spherical tank pollution source pollution, high-rise building surface or high-low altitude large-area pollution; the ground spraying and pressing are carried out on the pollution of a large-area pollution source close to the ground surface through a preset remote control pressing machine, and the high-remote spraying, plugging and pressing or atomizing, spraying and pressing are carried out on the pollution of a spherical tank body pollution source, the surface of a high-rise building or the high-low altitude large-area pollution.

Further, the operation method suitable for emergency elimination in the severe radiation pollution area provided by the embodiment of the application further comprises the following steps: judging whether secondary pressing is needed or not based on preset shooting data of the remote sensing pressing machine; if the secondary pressing is not needed, the preset remote sensing pressing machine is cleaned and then parked; and if the secondary pressing is needed, the preset remote sensing pressing machine is cleaned, and then the pressed decontamination functional material is refilled and returned to the pollution source for secondary pressing.

The following describes the operation method provided by the present application, which is suitable for emergency control in a heavily radiation-polluted area, with a specific implementation process, as shown in fig. 2:

firstly, filling a leakage plugging agent or pressing a decontamination functional material in a clean area by a remote control pressing machine;

then, the remote control press enters a polluted site automatically or in a state of remote control by remote workers, and the video and the state parameters are transmitted in real time in the process of moving the remote control press, so that the workers can adjust the moving direction of the remote control press according to the video condition.

Specifically, a worker can be in a clean area to control the remote control press to enter a polluted site, and the advancing speed and direction of the remote control press are corrected according to images of an accident site shot and transmitted by a vehicle-mounted three-way panoramic high-definition camera on the remote control press in real time and indication values of a radiation detector; the method for correcting the advancing speed and direction of the remote control press comprises the following steps: if the image of the site shows that no barrier exists in front of the remote control press, the robot continuously advances along the original advancing direction, and if the image of the site shows that a barrier exists in front of the remote control press, the robot decelerates and changes the advancing direction to bypass the barrier; in addition, the remote control pressing machine can automatically avoid the barrier through equipment such as an infrared radar in the internal automatic barrier avoiding system.

And detecting the change of the radiation value by the radiation detector, adjusting the advancing direction according to the change of the detection value, searching for a pollution source until the pollution source is found, and positioning the target of the pollution source.

Specifically, in the advancing process of the remote control pressing machine, if the indication value of the radiation detector is increased, the remote control pressing machine is judged to enter a polluted area, and the remote control pressing machine is controlled to continue to advance along the original advancing direction; if the instrument indication value is reduced, judging that the remote control press is far away from the pollution source, changing the advancing direction of the remote control press and advancing along the changed advancing direction until the instrument indication value starts to increase, controlling the remote control press to advance along the advancing direction when the instrument indication value starts to increase, and automatically recording the path coordinates of the remote control press in the running process. If the indication value of the radiation detector is larger in the radioactive contamination accident site where the remote control press is located, and when the method for adjusting the advancing direction of the remote control press is used, no matter how the advancing direction of the remote control press is changed, the indication value of the radiation detector is not increased any more, the radioactive leakage pollution source is determined to be in front of the remote control press, and at the moment, the remote control press is moved to closely observe the surrounding area through the three panoramic high-definition cameras, so that the leakage source is found and accurately positioned.

And then, remotely starting a plugging pressing operation system on the remote control pressing machine to implement ground spraying or high-remote spraying pressing.

Specifically, after the target is determined, if the ground surface is polluted in a large area, a ground spreading system in the plugging and pressing operation system is started, and pressing operation is carried out on the ground surface at a preset running speed. If the tank body is a spherical tank body, the surface of a tall building or the surface of a high-low altitude is polluted in a large area, the remote injection system is started, and high-remote injection plugging pressing or atomizing spraying switching is performed to perform large-area pressing on a target area. And after the operation is finished, the functional part of the plugging and pressing operation system returns to the initial position.

Subsequently, the job transitions and effects are recorded. The operation effect is shot and recorded and transmitted through the high-definition camera, and the change condition of the radiation dose around the operation pollution area is detected by moving the remote control pressing machine, so that an operator can analyze whether secondary operation is needed or not according to the received information.

And then, the remote control pressing machine autonomously plans a return path and autonomously returns.

Specifically, in the process that the remote control press enters the polluted site, the path of the remote control press is recorded, and after plugging and pressing are completed, an optimal return route is planned according to the driving path and the current coordinate position of the remote control press in the process that the remote control press enters the polluted site, and the remote control press returns automatically.

And finally, cleaning the returned remote control press in a preset cleaning area to prevent radioactive contaminants from polluting the cleaning area.

In addition, in the process, based on operation state and effect, after whether secondary operation is needed or not is determined, if the secondary operation is needed, after cleaning is finished, pressing decontamination functional materials are refilled, a driving path is planned according to the searched position of the pollution leakage source, and the target area is automatically entered to perform plugging and pressing operation; if the plugging pressing operation system does not need to be continuously operated, the plugging pressing operation system can directly enter a parking area after being cleaned. And in other cases, if the leakage pollution position is determined before the remote control press enters the pollution site, the remote control press can autonomously travel to a target area, and the remote control of workers is not needed.

Based on the same inventive concept, the present application further provides a remote control press suitable for emergency cancellation control of a severe radiation pollution area, and fig. 3 is a schematic structural diagram of the remote control press suitable for emergency cancellation control of a severe radiation pollution area provided in the embodiment of the present application, as shown in fig. 3: the remote control briquetting machine that is applicable to emergent elimination in severe radiation pollution district that this application embodiment provided includes: the system comprises a remote control mobile bearing platform 1, an over-the-horizon radio and internet communication system 2, a video recording and transmitting system 3, a radiation detection system 4, a remote operation control system 5, a plugging and pressing operation system 6 and a path planning autonomous return system 7.

The remote control mobile bearing platform 1 is used for bearing a video recording transmission system 3, a radiation detection system 4 and a plugging pressing operation system 6, and moves to a pollution source in a radioactive pollution area under the control of a remote operation control system 5.

The specific remote control moving bearing platform 1 is used for carrying various functional components, can be remotely controlled to run, can specifically adopt an electric wheel type driving all-terrain bearing platform, adopts sliding driving, supports 360-degree steering in situ, has strong obstacle crossing property, adapts to various complex terrain environments, and adopts a mixed mode as a whole machine, thereby meeting the requirement of long-time endurance and reducing the exhaust emission. In practical application, the machine can automatically enter a radiation pollution area under the support of other systems, and can also receive remote control to enter the radiation pollution area under the control of workers, so that the flexibility of remote control of the press machine is improved.

The over-the-horizon radio and internet communication system 2 comprises a handheld remote control terminal 11, a remote control station 12, a vehicle-mounted controller 13 arranged on the remote control mobile bearing platform 1 and a transmission link 14, and is used for realizing communication among the handheld remote control terminal 11, the remote control station 12 and the remote control press. The remote control pressing machine transmits environment shooting data, environment radiation value detection data and various state parameters to the handheld remote control terminal 11 or the remote control station 12 and receives instructions of the handheld remote control terminal 11 or the remote control station 12.

At the initial stage of the radioactive pollution accident, the remote control press enters the accident site, video recording is carried out on the surrounding environment through the video recording and transmitting system 3, the radiation dose of the accident area is detected through the radiation detecting system 4, the radioactive pollution leakage source is searched, and recorded data and detected data are transmitted to the handheld remote control terminal 11 or the remote control station 12 through the beyond-the-horizon radio and the internet communication system 2, so that a worker can know the accident state and further determine an action scheme.

Specifically, the video recording transmission system 3 comprises three panoramic high-definition cameras, records the surrounding environment in real time in the running process of the remote control press to obtain environment data, and transmits the data to the handheld remote control terminal 11 or the remote control station 12 through the vehicle-mounted controller 13; the radiation detection system 4 comprises a vehicle-mounted high-range radiation detector, the radiation value of the surrounding environment of the operation is monitored in real time through the vehicle-mounted high-range radiation detector, the search direction of the leakage source is guided according to the change of the detected radiation value, the monitored data value is fed back to system software, and the radiation source or the leakage state and the leakage source direction are judged according to the radiation dose value in the detection process of the pollution source.

After the radiation source is determined, the pollution source and the polluted area are pressed through the plugging pressing operation system 6. Specifically, the plugging and pressing operation system comprises a power pumping system 15, a dynamic online mixing system 16, a pipeline system 17, a storage tank 18, a remote spraying system 19, a ground sprinkling system 20, an auxiliary heating system and a telescopic filling system, and is each execution component for realizing the task of plugging and pressing operation;

specifically, the storage box 18 is used for storing and carrying the pressed decontamination functional material, and the power pumping system 15 adopts an electric high-viscosity large-flow delivery pump, so that the pumping requirements of various functional materials with different performances are met; the remote spraying system 19 comprises a laser aiming and distance measuring device, and can realize the switching of remote columnar spraying and large-area atomization spraying states by adjusting a spray head; in practical application, the remote control press can automatically press according to the type of a pollution source based on a preset scheme, and also can receive a control instruction of the handheld control end 11 or the remote control station 12 through the beyond-the-horizon radio and internet communication system 2, and based on the instruction, different operation functions such as filling, plugging, remote spraying and the like are realized by controlling the opening and closing of the electric control valve, so that the pollution source and a pollution area are plugged and pressed.

In practical application, after the remote control press enters a polluted area, the traveling route of the remote control press is positioned and recorded, and after the plugging and pressing of a pollution source and the polluted area are finished, the path planning and automatic return system 7 automatically plans an optimal return path according to the recorded traveling route and the current position of the remote control press through preset line planning software, so that the automatic return is realized.

It should be noted that, the remote control press suitable for emergency elimination in a severe radiation pollution area provided by the application further comprises an automatic obstacle avoidance system 8. Specifically, the automatic obstacle avoidance system 8 includes an infrared radar. When the remote control pressing machine is in remote control driving or autonomous driving, the infrared radar is used for detecting obstacles around the remote control pressing machine, the preset system can send an execution command according to the detection condition through the beyond-the-horizon radio and the internet communication system 2 to reduce the speed, stop or change the route, and therefore the safety of the remote control pressing machine in a pollution area and a return journey process is guaranteed.

In addition, in the process that the remote control pressing machine enters a pollution area, travels in the pollution area, determines a pollution source, blocks, presses and returns the pollution source and the pollution area, the remote control pressing machine can be communicated with the handheld control end 11 and the remote control station 12 through the over-the-horizon radio and internet communication system 2, receives the instruction of a worker, and provides the worker for remotely controlling the blocking operation system 6 to carry out radioactive pollution ground spreading, high-remote spraying pressing, atomization spraying diffusion control and the like.

The remote control pressing machine suitable for emergency elimination of the severe radiation pollution area comprises an internal remote control mobile bearing platform 1 and functional components on the internal remote control mobile bearing platform, automatically or remotely enters the pollution area, the surrounding environment is shot and recorded through a video shooting and recording transmission system 3 and a radiation detection system 4, the radiation value of the environment is detected, the pollution state is detected, data is transmitted to a handheld control end or a remote control station through an over-the-horizon radio and internet communication system 2, and workers can remotely know the field condition and formulate a blocking and pressing scheme; under the assistance of the automatic obstacle avoidance system, the robot moves to a pollution source, and the plugging and pressing operation system 6 adopts different pressing modes to plug and press the polluted area based on different pollution types; and after the plugging and pressing are finished, an optimal return path is automatically planned and automatically returned through the path planning and automatic return system 7 and the recorded travel path. In the whole process, workers can know the field situation in real time through the beyond-the-horizon radio and internet communication system 2 and the remote operation control system 5, and change the working mode of the remote control press, namely, the working mode is switched from automatic to remote manual remote control or from remote manual remote control to automatic, so that the pollution source or the pollution area is automatically or remotely blocked and suppressed, the detection, video image recording and transmission, pollution leakage release source search and leakage source blocking control of self-carried materials on the accident phenomenon of a heavily polluted area which cannot be entered by high-risk and high-toxicity rescuers and the like are conveniently and reliably carried out, and the radioactive pollution membrane method emergency disposal technology and the application system are perfected.

Further, the remote control press suitable for emergency elimination in the severe radiation pollution area provided by the embodiment of the application further comprises a cleaning system 9 arranged on the remote control movable carrying platform.

Specifically, the cleaning system 9 comprises a cleaning liquid pump and a high-pressure flushing system, after the pressing operation is completed, the remote control pressing machine automatically returns to a cleaning area, and the pipeline is quickly cleaned by using a special cleaning liquid to prevent the pipeline from being blocked; and a self-contained high-pressure flushing system is used for flushing residual liquid in the pipeline system before warehousing, and the pipeline is dried.

In practical application, the remote control press suitable for emergency elimination in a severe radiation pollution area provided by the embodiment of the application also performs radiation protection on the remote control press through the radiation protection system 10.

Specifically, the radiation protection system 10 ensures normal operation of the remote control press in a radiation environment through a multilayer protection design, firstly, integral protection is performed, a certain amount of radiation protection material is added into a shell raw material, and a lead plate is additionally arranged inside during forming so as to achieve irradiation protection outside the whole press; secondly, individual protection, namely, selecting semiconductor components and electronic circuits which have great influence on functional operation, especially MOS, integrated chips or optical instruments and other components to perform individual anti-radiation reinforcement protection; thirdly, centralized protection is carried out, and the electronic components are centralized in an electric cabinet with a radiation protection function for centralized protection; and the fourth replacement type protection is used for rapidly replacing the easily damaged elements on the premise of meeting the requirement of one complete operation task for the elements which cannot be subjected to centralized protection, so that the multi-task execution of the remote control press is ensured.

Fig. 4 is a schematic diagram of an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control of a severe radiation pollution area provided by an embodiment of the present application, fig. 5 is a schematic diagram of internet communication in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control of a severe radiation pollution area provided by an embodiment of the present application, fig. 6 is a schematic diagram of a network topology form of a wireless bridge in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control of a severe radiation pollution area provided by an embodiment of the present application, fig. 7 is a schematic diagram of remote operation control and data transmission in an over-the-horizon radio and internet communication system in a remote control press suitable for emergency control of a severe radiation pollution area provided by an embodiment of the present application, as shown in fig. 4, fig. 5, fig. 6, and fig. 7, in a remote control press suitable for emergency control of a severe radiation pollution area provided by an embodiment of the present application, the over-the-horizon radio and internet communication system 2 for remote communication includes: the hand-held remote control terminal 11, the remote control station 12, and the onboard controller 13 represent a hand-held remote control terminal, a remote control station terminal, and a robot terminal (i.e., a remote control press terminal), respectively.

Specifically, a 4G network is covered between the handheld remote control end and the remote control station, the 4G network or a local wireless area network is adopted for communication, the handheld remote control end and the robot end are communicated in a wired or wireless radio station mode, the robot end is communicated in the 4G network or the local wireless area network, a communication mode combining radio and internet is adopted, remote operation control and audio and video real-time reliable transmission of the remote control press are realized in an available network coverage range through the internet communication technology, and the communication distance is not limited if signals are met; in the coverage areas without the Internet, such as the open air, the ruins and the like, the high-power radio and relay technology is adopted to realize the real-time reliable transmission of remote control audio and video within 3-5 km of open air environment and 1km of complex environment, thereby ensuring the normal communication and increasing the application range of the remote control press.

It should be noted that, in the process of pressing the radiation pollution area by the remote control press, both the handheld control end and the remote control station can control the remote control press, and if the handheld control end and the remote control station send control commands to the remote control press at the same time, the commands are necessarily confused. Therefore, the priority of the control instruction is set in the present application.

Specifically, in the process of controlling the mobile bearing platform to run and blocking and pressing the operation system, and detecting and transmitting the ambient environment information, as shown in fig. 2, the remote control press can receive a control instruction B from the handheld remote control terminal and can also receive a control instruction C from the remote control station, but the control instruction B has the highest priority and is set by default. The remote control station can control the robot only after acquiring the communication priority of the handheld remote control end. And after the communication between the handheld remote control end and the robot end is disconnected, the robot end automatically searches a control instruction C of the remote control station. And under the condition that the remote control station is disconnected, the handheld remote control end automatically takes over the control right.

In some specific implementations, in the remote control press suitable for emergency control in heavy radiation pollution areas, the plugging and pressing operation system 6 includes a power pumping system 15, a dynamic online mixing system 16, a pipeline system 17, a storage tank 18, a spraying and distributing system and an auxiliary heating system. The spray distribution system comprises a remote spray system 19 and a ground distribution system 20; the remote spraying system 19 comprises a laser aiming and ranging device and is used for carrying out remote columnar spraying or large-area atomization spraying on the pressing functional material in the storage box 18 aiming at large-area pollution on a spherical tank body or the surface of a tall building or high-low altitude; the floor distribution system 20 is used to floor distribute the compacted functional material in the storage bin 18 in response to near-surface contamination.

Fig. 8 is a schematic diagram of a plugging and pressing operation system in a remote control press suitable for emergency cancellation in a severe radiation pollution area according to an embodiment of the present application, and as shown in fig. 8: functional materials are stored in a cleaning fluid tank and a storage tank (namely a consumable storage tank), transported through a ball valve and a pipeline, and subjected to ground spraying or high-and-far spraying according to different radiation pollution types after passing through a dynamic mixer and a power delivery pump, so that a pollution source or a pollution area is blocked and pressed. In particular, solenoid valves, pressure transducers, flow meters, etc., specific connection principles and remote control press valve status are also used, which have been disclosed in detail in fig. 8 and can be understood with reference to fig. 8 and will not be described in further detail herein.

In addition, in the practical use process, the remote control pressing machines suitable for emergency elimination in the severe radiation pollution area can work simultaneously, for example, one path of audio and video can be emphatically displayed through the handheld remote control terminal 11, and three paths of audio and video information and state parameters can be received and displayed simultaneously to control the work of the remote control pressing machines; on the other hand, the remote control station 12 can also receive the audio and video signals and the state parameters transmitted by the six remote control presses at the same time, and certainly, can also select to emphasize and display the single condition, thereby improving the actual radiation pollution plugging and pressing efficiency.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

Translated fromChinese

1.一种适用于重度辐射污染区应急消控的作业方法，其特征在于，包括：1. an operation method applicable to emergency elimination and control of heavily radiation-polluted areas, characterized in that, comprising:控制预设遥控压制机进入污染现场；其中进入污染现场的方式包括遥控压制机自动进入，或基于遥控压制机拍摄的环境数据远程人工控制进入；Control the preset remote control machine to enter the pollution site; the way to enter the pollution site includes automatic entry by the remote control machine, or remote manual control based on the environmental data captured by the remote control machine;基于所述环境辐射值，确定污染源，同时控制所述预设遥控压制机行进至污染源处；determining a pollution source based on the environmental radiation value, and simultaneously controlling the preset remote control press to travel to the pollution source;通过预设遥感小车上对污染源进行封堵压制。The pollution source is blocked and suppressed by the preset remote sensing trolley.2.根据权利要求1所述的适用于重度辐射污染区应急消控的作业方法，其特征在于，所述基于所述环境辐射值，确定污染源，同时控制所述预设遥控压制机行进至污染源处，包括：2 . The method of claim 1 , wherein the pollution source is determined based on the environmental radiation value, and the preset remote control press is controlled to travel to the pollution source at the same time. 3 . , including:通过所述预设遥控压制机上的辐射探测仪实时检测所述预设遥控压制机处的辐射值，记录行进过程中辐射值的变化趋势；The radiation value at the preset remote control press is detected in real time by the radiation detector on the preset remote control press, and the change trend of the radiation value during the traveling process is recorded;若辐射值不断减小，判断所述预设遥控压制机正远离污染源，则改变行进方向；If the radiation value continues to decrease, it is judged that the preset remote control pressing machine is moving away from the pollution source, and the traveling direction is changed;若辐射值不断增加，判断所述预设遥控压制机正靠近污染源，则保持行进方向；If the radiation value continues to increase, it is determined that the preset remote control press is approaching the pollution source, and the traveling direction is maintained;若辐射值较大，多次改变所述预设遥控压制机行进方向时，辐射值不再增加，则确定该处为污染源。If the radiation value is relatively large, and the radiation value no longer increases when the traveling direction of the preset remote-controlled pressing machine is changed many times, it is determined that this place is a pollution source.3.根据权利要求1所述的适用于重度辐射污染区应急消控的作业方法，其特征在于，所述通过预设遥感小车上对污染源进行封堵压制，包括：3. The operation method suitable for emergency elimination and control in heavily radiation-polluted areas according to claim 1, wherein the blocking and suppressing the pollution source on the preset remote sensing trolley comprises:确定污染类型；其中，所述污染类型包括近地表面大面积污染源污染、球面罐体污染源污染、高大建筑物表面和高低空大面积污染；Determining the type of pollution; wherein, the types of pollution include pollution from large-area pollution sources near the ground surface, pollution from spherical tank bodies, surfaces of tall buildings, and large-area pollution at high and low altitudes;通过所述预设遥感小车对近地表面大面积污染源污染进行地面布洒压制，对球面罐体污染源污染、高大建筑物表面或高低空大面积污染进行高远程喷射封堵压制或雾化喷洒压制。The preset remote sensing trolley is used to carry out ground spraying and suppression of large-area pollution source pollution on the near-surface surface, and high-long-range jet plugging suppression or atomization spraying suppression of spherical tank pollution source pollution, tall building surface or high and low-altitude large-area pollution. .4.根据权利要求1所述的适用于重度辐射污染区应急消控的作业方法，其特征在于，还包括：4. The operation method suitable for emergency elimination and control in heavily radiation-polluted areas according to claim 1, further comprising:基于所述预设遥感压制机拍摄数据，判断是否需要进行二次压制；若不需要二次压制，则将所述预设遥感压制机清洗后进行停放；若需要二次压制，则将所述预设遥感压制机清洗后，重新填装压制去污功能材料返回污染源处进行二次压制。Based on the shooting data of the preset remote sensing pressing machine, it is judged whether secondary pressing is required; if no secondary pressing is required, the preset remote sensing pressing machine is cleaned and then parked; After the preset remote sensing pressing machine is cleaned, refill the pressing and decontamination functional material and return it to the pollution source for secondary pressing.5.一种适用于重度辐射污染区应急消控的遥控压制机，其特征在于，包括：遥控移动承载平台、超视距无线电与互联网通讯系统、视频摄录传输系统、辐射探测系统、远程操作控制系统、封堵压制作业系统和路径规划自主返航系统；5. A remote control pressing machine suitable for emergency elimination and control in heavily radiation-polluted areas, characterized in that it includes: a remote-controlled mobile carrying platform, an over-the-horizon radio and Internet communication system, a video recording transmission system, a radiation detection system, a remote operation Control system, blocking and suppressing operation system and path planning autonomous return system;所述移动承载平台用于承载所述视频摄录传输系统、所述辐射探测系统和所述封堵压制作业系统，自动或在所述远程操作控制系统的控制下，行进至放射性污染区中的污染源处；The mobile carrying platform is used to carry the video recording and transmission system, the radiation detection system and the plugging and suppressing operation system, and travel to the radioactive contamination area automatically or under the control of the remote operation control system. the source of pollution;所述超视距无线电与互联网通讯系统包括手持遥控终端、远程控制站和设置在所述遥控移动承载平台上的车载控制器，用于实现所述手持遥控终端、所述远程控制站和所述遥控压制机之间的通讯；The over-the-horizon radio and Internet communication system includes a hand-held remote control terminal, a remote control station and a vehicle-mounted controller arranged on the remote control mobile carrying platform, for realizing the hand-held remote control terminal, the remote control station and the Communication between remote control presses;所述视频摄录传输系统设置在所述遥控移动承载平台上，用于在所述遥控压制机前往放射性污染源的过程中对周围环境进行实时摄录，并通过所述超视距无线电与互联网通讯系统将摄录数据传输至手持终端或远程控制站，供工作人员指导行进路线和了解污染区环境情况；The video recording and transmission system is arranged on the remote-controlled mobile carrying platform, and is used for real-time recording of the surrounding environment during the process of the remote-controlled press going to the radioactive pollution source, and communicates with the Internet through the over-the-horizon radio. The system transmits the recorded data to the handheld terminal or remote control station for the staff to guide the route and understand the environmental conditions of the polluted area;所述辐射探测系统包括设置在所述遥控移动承载平台上的车载高量程辐射探测仪，用于对环境辐射值进行监测，确定污染源位置；The radiation detection system includes a vehicle-mounted high-range radiation detector arranged on the remote-controlled mobile carrying platform, which is used to monitor the environmental radiation value and determine the location of the pollution source;所述远程操作控制系统用于通过所述超视距无线电与互联网通讯系统，控制所述遥控压制机对放射性污染区进行封堵压制；The remote operation control system is used to control the remote control press to block and suppress the radioactive pollution area through the over-the-horizon radio and Internet communication system;所述封堵压制作业系统包括储料箱和压制系统，用于自动或在所述远程操作控制系统的控制下，将所述储料箱中的功能材料在泄露源处进行布洒或喷射，对污染进行封堵压制；The plugging and pressing operation system includes a storage tank and a pressing system for automatically or under the control of the remote operation control system, the functional material in the storage tank is sprayed or sprayed at the leakage source, Blocking and suppressing pollution;所述路径规划自主返航系统设置在所述遥控移动承载平台上，用于记录所述遥控压制机的历史行进路径，并基于所述历史行进路径确定返航路线。The path planning autonomous return-to-home system is arranged on the remote-controlled mobile carrier platform, and is used to record the historical travel path of the remote-controlled press, and to determine the return route based on the historical travel path.6.根据权利要求5所述的适用于重度辐射污染区应急消控的遥控压制机，其特征在于，所述超视距无线电与互联网通讯系统中：6. The remote-control pressing machine suitable for emergency elimination and control in heavily radiation-polluted areas according to claim 5, is characterized in that, in the described over-the-horizon radio and Internet communication system:所述手持遥控终端与所述远程控制站通过4G网络或区域内无线局域网通讯；所述手持遥控终端与所述车载控制器通过无线电台或有线网络通讯；所述车载控制器与所述远程控制站通过4G网络或区域内无线局域网通讯。The handheld remote control terminal communicates with the remote control station through a 4G network or an intra-regional wireless local area network; the handheld remote control terminal communicates with the vehicle-mounted controller through a radio station or a wired network; the vehicle-mounted controller communicates with the remote control The station communicates through the 4G network or the wireless local area network in the area.7.根据权利要求5所述的适用于重度辐射污染区应急消控的遥控压制机，其特征在于，还包括自动避障系统；7. The remote control press suitable for emergency elimination and control in heavily radiation-polluted areas according to claim 5, characterized in that, further comprising an automatic obstacle avoidance system;所述自动避障系统包括红外雷达，用于探测所述遥控压制机周围障碍物，实现自动避障。The automatic obstacle avoidance system includes an infrared radar, which is used to detect obstacles around the remote control pressing machine to realize automatic obstacle avoidance.8.根据权利要求5所述的适用于重度辐射污染区应急消控的遥控压制机，其特征在于，还包括设置在所述遥控移动承载平台上的清洗系统；8. The remote control press suitable for emergency control of heavily radiation-polluted areas according to claim 5, further comprising a cleaning system arranged on the remote-controlled mobile carrying platform;所述清洗系统包括清洗液泵和高压冲洗系统，用于在所述遥控压制机返航至清洗区域时，对所述遥控压制机进行清洗。The cleaning system includes a cleaning liquid pump and a high-pressure flushing system for cleaning the remote-controlled pressing machine when the remote-controlled pressing machine returns to the cleaning area.9.根据权利要求5所述的适用于重度辐射污染区应急消控的遥控压制机，其特征在于，还包括设置在所述遥控压制机上的辐射防护系统；9 . The remote control suppressor suitable for emergency control in heavily radiation-polluted areas according to claim 5 , further comprising a radiation protection system arranged on the remote control suppressor; 10 .所述辐射保护系统包括设置在所述遥控压制机机壳内的辐射防护材料和铝板、设置在元器件上的抗辐射加固防护材料、具有辐射防护功能的电控箱。The radiation protection system includes radiation protection materials and aluminum plates arranged in the casing of the remote control press, radiation-resistant reinforcement protection materials arranged on the components, and an electric control box with radiation protection function.10.根据权利要求5所述的适用于重度辐射污染区应急消控的遥控压制机，其特征在于，所述喷射布洒系统包括远程喷射系统和地面布洒系统；10 . The remote control press suitable for emergency control of heavily radiation-polluted areas according to claim 5 , wherein the spraying and spraying system comprises a remote spraying system and a ground spraying system; 10 .所述远程喷射系统包括激光瞄准与测距装置，用于针对球面罐体或高大建筑物表面或高低空大面积污染，将所述储料箱中的压制功能材料进行远程柱状喷射或大面积雾化喷洒；The remote spraying system includes a laser aiming and ranging device, which is used for remote column spraying or large-area fog for the pressed functional materials in the storage tank for spherical tank or tall building surface or large area pollution at high and low altitudes. chemical spraying;所述地面布洒系统用于针对近地表面污染，将所述储料箱中的压制功能材料进行地面布洒。The ground spraying system is used to spray the pressed functional material in the storage box on the ground for near-ground surface pollution.

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