基于碳化硼外壳的辐射检测机器人的设计

Design of Radiation Detection Robot Based on Boron Carbide Shell

针对机器人在未知危险辐射环境的辐射检测方面,提出设计一种带有智能导航功能的仿生六足机器人模型,机器人上带有RPLIDAR A1激光雷达,STM32驱动板,OPENMV摄像头,树莓派3B+主控板,温度湿度传感器等各种传感器。通过SLAM技术及ROS机器人操作系统对地形进行扫描,以STM32控制地仿生六足为基座,使其可在大多地形中进行工作;以碳化硼外壳进行外壳涂抹,减少辐射对电子元件的影响;以及树莓派远程控制及OPENMV摄像头进行有效结合的设计。实验结果证明,设计的仿生六足辐射检测机器人有在辐射地形中有效地进行工作,减少辐射检测人员受辐射影响的意义。

In this article,a kind of bionic hexapod robot model with intelligent navigation function is proposed for radiation detection of unknown dangerous radiation environment. The robot is equipped with the Rplidar A1 lidar,the STM32 driver board,the OPENMV camera,the raspberry pie 3 B+ main control board,and the temperature and humidity sensors,etc. The landform is scanned by SLAM technology and Ros robot operating system,and the bionic hexapod controlled by STM32 is used as the base to make it work in most landforms;the boron carbide shell is used to smear the shell to reduce the influence of radiation on the electronic components;and effective combination of the raspberry pie remote control and the OPENMV camera is designed. The experimental results show that the bionic hexapod radiation detection robot designed in this paper can work effectively in the radiation terrain and reduce the radiation impact on radiation detectors.