CN106945058A - A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system - Google Patents
A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system Download PDFInfo
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- CN106945058A CN106945058A CN201710378576.5A CN201710378576A CN106945058A CN 106945058 A CN106945058 A CN 106945058A CN 201710378576 A CN201710378576 A CN 201710378576A CN 106945058 A CN106945058 A CN 106945058A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 121
- 231100000331 toxic Toxicity 0.000 title claims abstract description 21
- 230000002588 toxic effect Effects 0.000 title claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 231100000614 poison Toxicity 0.000 claims description 24
- 230000007096 poisonous effect Effects 0.000 claims description 24
- 230000010354 integration Effects 0.000 claims description 8
- 230000002528 anti-freeze Effects 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 108010053481 Antifreeze Proteins Proteins 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 206010014405 Electrocution Diseases 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 46
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 10
- 239000003344 environmental pollutant Substances 0.000 description 9
- 231100000719 pollutant Toxicity 0.000 description 9
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 6
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 5
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 5
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 4
- 229910021529 ammonia Inorganic materials 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000009792 diffusion process Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- PPBRXRYQALVLMV-UHFFFAOYSA-N Styrene Chemical compound C=CC1=CC=CC=C1 PPBRXRYQALVLMV-UHFFFAOYSA-N 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- WQOXQRCZOLPYPM-UHFFFAOYSA-N dimethyl disulfide Chemical compound CSSC WQOXQRCZOLPYPM-UHFFFAOYSA-N 0.000 description 2
- 229910000069 nitrogen hydride Inorganic materials 0.000 description 2
- 239000008188 pellet Substances 0.000 description 2
- GETQZCLCWQTVFV-UHFFFAOYSA-N trimethylamine Chemical compound CN(C)C GETQZCLCWQTVFV-UHFFFAOYSA-N 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- QMMFVYPAHWMCMS-UHFFFAOYSA-N Dimethyl sulfide Chemical compound CSC QMMFVYPAHWMCMS-UHFFFAOYSA-N 0.000 description 1
- 241000219098 Parthenocissus Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 239000005864 Sulphur Substances 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- QGJOPFRUJISHPQ-NJFSPNSNSA-N carbon disulfide-14c Chemical compound S=[14C]=S QGJOPFRUJISHPQ-NJFSPNSNSA-N 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000855 fermentation Methods 0.000 description 1
- 230000004151 fermentation Effects 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 125000004435 hydrogen atom Chemical class [H]* 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- -1 smelly level Inorganic materials 0.000 description 1
- 239000004071 soot Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system, robot includes crawler travel pedestal and the mechanical arm being connected on crawler travel pedestal, mechanical arm tail end is connected with multifunctional quick terminal, multifunctional monitoring system monitors big module, base end including mechanical arm end and monitors big module and data acquisition and the big module of transmission, and remote monitoring center includes integrated industrial computer, module and control platform, alarm and voice cue module and terminal shows large-size screen monitors.The advantage of the invention is that:All kinds of toxic and harmful gas, flame monitoring, meteorological condition and the vision that refuse landfill can be monitored are shot with video-corder, and environmental factor are controlled comprehensive.It is not only safe but also convenient using the pattern of remote monitoring.Refuse landfill dynamic is controlled in real time, while also warning device, it is ensured that the safety work in refuse landfill.
Description
Technical field
The present invention relates to toxic and harmful gas monitoring technical field, more particularly to a kind of poisonous and harmful gas of refuse landfill
Body monitors special purpose robot and control information system.
Background technology
With the development of national economy, living standards of the people are increasingly improved, the continuous growth of urban population, urban life rubbish
Rubbish is more and more, in order to prevent that rubbish from polluting to environment, it is necessary to which rubbish is handled.Domestic rubbish disposal for a long time
The overwhelming majority is using simple landfill, and the composition of rubbish is sufficiently complex, by the reaction such as anoxic, fermentation after landfill, and generation is oozed
It is the most complicated most intractable sewage of composition to drip liquid.One soot without harmless treatment, as a long-term pollution
Source, severe contamination underground water.The pernicious gas that rubbish is produced directly is discharged, and contaminated air has a strong impact on surrounding environment.In rubbish
The biogas of generation is because without dredging processing, horizontal empty migration, when concentration reaches 5-15%, causes rubbish to cause blast to burn oneself to death, this
Phenomenon all once occurred in refuse landfill quite a lot.
Refuse landfill excavates the concentration of operation field pollutant by Meteorological Elements in China, such as temperature, humidity, wind-force and wind
To influence it is very big.When temperature is low（Winter）, excavate the volatilization of operation field gas pollutant relatively slowly, instantaneous concentration is relatively low；Temperature
Gao Shi（Summer）, excavate the volatilization of operation field gas pollutant comparatively fast, instantaneous concentration is higher.Meteorological condition is conducive to pollutant to expand
When dissipating（Air pressure is high, humidity is small, wind-force is big）, comparatively fast, the gas concentration monitored is relatively for the diffusion of operation field gaseous contamination area
It is low；When meteorological condition is unfavorable for pollutant diffusion（Low pressure, high humidity, wind-force are small）, operation field gas pollutant diffusion compared with
Slowly, the of a relatively high height of gas concentration monitored.Meanwhile, when wind-force is larger, the dispersal direction of pollutant is influenceed by wind direction, under
Wind direction pollutant concentration is higher.
The monitoring project being related to reference to country or industry relevant criterion, technical specification etc.：
（1）《The requirement of Sanitary Landfill environmental monitoring technology》（GB/T18772-2008）Atmosphere pollution monitors item
Mesh：Including odor concentration, methane, overall suspended pellet, hydrogen sulfide, ammonia, methyl mercaptan, nitrogen oxides.Landfill gas monitors item
Mesh：Including methane, carbon dioxide, oxygen, hydrogen sulfide, ammonia.
（2）《Household refuse landfill sites environmental monitoring technology standard》（CJ/T3037-1995）
Atmosphere pollution monitoring project：Including overall suspended pellet, sulfur dioxide, nitrogen oxides, carbon monoxide, methane gas, sulphur
Change hydrogen, smelly level, ammonia.
（3）《Emission standard for odor pollutants》（GB14554-93）Ammonia, trimethylamine, hydrogen sulfide, methyl mercaptan, methyl sulfide,
Methyl disulfide, carbon disulfide, styrene, odor concentration.
One kind is used to detect that refuse landfill toxic and harmful gas detection robot and control information system urgently need.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the invention provides a kind of monitoring of refuse landfill toxic and harmful gas
Special purpose robot and control information system.Its main purpose be difficult to effectively monitoring excavation refuse landfill it is poisonous and harmful
Gas is to ensure the defect of safe excavation.
The technical solution adopted in the present invention is：A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control
Information system processed, including robot, multifunctional monitoring system and remote monitoring center；
The robot includes crawler travel pedestal and the mechanical arm being connected on crawler travel pedestal, and mechanical arm tail end is connected with
Multifunctional quick terminal；
The multifunctional monitoring system includes mechanical arm end and monitors big module, the big module of base end monitoring and data acquisition and transmission
Big module；The mechanical arm end monitors wind direction monitoring modular, the wind speed prison that big module includes being integrated in multifunctional quick terminal
Survey module, odor concentration monitoring modular, combustible gas monitoring module, the first monitoring poisonous gas module and can GPS location regard
Feel camera device；The base end monitors atmospheric pressure monitoring modular, the temperature-humidity monitoring mould that big module includes being arranged on pedestal
Block, flame detecting module and the second monitoring poisonous gas module；The data acquisition and the big module of transmission include being arranged on pedestal
On vehicle carried data collecting and remote transmission module, power supply adaptor, vehicle-mounted embedded type industrial computer and the small screen display of robot body
Show module；Mechanical arm end monitors big module and base end monitors the data output end of big module with data acquisition and transmitting big mould
The data input pin connection of block；Mechanical arm end monitors big module and the power input of the big module of base end monitoring is adopted with data
Collect and transmit the power output end connection of big module；
It is integrated aobvious with control platform, alarm and voice cue module and terminal that the remote monitoring center includes industrial computer, module
Show large-size screen monitors；The industrial computer is built-in with GPRS+GPS receiver modules, physical message storage matrix, the pretreatment of multiple types Monitoring Data
Software, plan for emergency handling design and programming, Human Machine Interface programming and artificial intelligence software's programming；The module it is integrated with
Control platform is built-in with and data record and recovering and analysis software；It is described alarm and voice cue module include audible-visual annunciator and
Voice prompting device；Industrial computer is connected with integrated communicated with control platform of module, the integrated output end and report with control platform of module
Alert and voice cue module and terminal show the input connection of large-size screen monitors；
The multifunctional monitoring system is connected in robot, multifunctional monitoring system and remote monitoring center wireless connection.
The robotic surface is made by resistance to toxic and harmful gas corrosion material, while having applied anticreep, moistureproof, anti-
Dirt, electrocution-proof protection and antifreeze anti-freeze measure.
The maximum translational speed of the crawler travel pedestal is not less than 0.6 m/s；Mechanical arm translational speed is not less than crawler belt row
Walk the translational speed of pedestal.
The mechanical arm vertical stretching is highly 4m；Robotic arm is bent to level ground, and terminal part is away from crawler travel pedestal
Close end distance is not less than 1m；With being not less than Φ 32mm's provided with internal diameter size in the interface of multifunctional quick terminal on mechanical arm
Data wire and cord channel are not less than Φ 40mm reserved passageway with internal diameter size, and the size of interface is Φ 100mm.
The multifunctional quick terminal integrally includes hardware integration, power supply device, data wire and quick change in square
Joint；The hardware integration includes the wind direction monitoring modular and air monitoring module installed in top, the foul smell installed in side
Concentration monitor module, combustible gas monitoring module and the first monitoring poisonous gas module, installed in front end can GPS location regard
Feel camera device, be placed in the hydraulic quick coupler of rear end；The power input line end of power supply device is in hydraulic quick coupler with data wire
The interface opened up.
The first monitoring poisonous gas module monitors gas is：H2S and NH3。
It is in cuboid that the base end, which monitors big module and data acquisition and transmits big module and integrate overall, including
Atmospheric pressure monitoring modular and temperature-humidity monitoring module installed in top are poisonous installed in the flame detecting module of front side and second
Gas-monitoring module, the robot body smaller screen display module above right side, installed in the vehicle-mounted insertion of lower right-hand side
Formula industrial computer, built-in vehicle carried data collecting and remote transmission module, power supply adaptor.
The second monitoring poisonous gas module monitors gas is：CO and SO2。
Compared with prior art, the beneficial effects of the invention are as follows:
1. all kinds of toxic and harmful gas, flame monitoring, meteorological condition and the vision that can monitor refuse landfill are shot with video-corder, to environment because
Element is controlled comprehensive.
2. by the way of creeper truck and mechanical arm, the monitoring planar range that can walk is wide, adjustable point monitoring three dimensions model
Enclose big.
3. use multifunctional quick terminal, installation, maintenance and renew it is more convenient, it is ensured that the functional reliability of robot.
4. it was not only safe but also convenient using the pattern of remote monitoring.Refuse landfill dynamic is controlled in real time, is alarmed while also having
Device, it is ensured that the safety work in refuse landfill.
5. robot can also be started manual-remote operation, can be tackled complex situations and emergency situations with automatic running.
Brief description of the drawings
Fig. 1 is that robot schematic diagram of the present invention includes robot and multifunctional monitoring system schematic diagram.
Fig. 2 is remote monitoring center schematic diagram of the present invention.
Fig. 3 is that mechanical arm end of the present invention monitors big module diagram.
Fig. 4 is that base end of the present invention monitors big module diagram.
Fig. 5 is functional sequence schematic diagram of the present invention.
Fig. 1 is into Fig. 4：1 robot, 2 multifunctional monitoring systems, 3 remote monitoring centers, 4 crawler travel pedestals, 5 machineries
Arm, 6 multifunctional quick terminals, 7 wind direction monitoring modulars, 8 air monitoring modules, 9 odor concentration monitoring modulars, 10 fuel gas prison
Survey module, 11 first monitoring poisonous gas modules, 12 can GPS location vision camera device, 13 atmospheric pressure monitoring modulars, 14 temperature
Humidity monitoring module, 15 flame detecting modules, 16 second monitoring poisonous gas modules, 17 vehicle carried data collectings and remote transmission mould
Block, 18 power supply adaptors, 19 vehicle-mounted embedded type industrial computers, 20 robot body smaller screen display modules, 21 industrial computers, 22 module collection
Alarmed and voice cue module into control platform, 23,24 terminals show large-size screen monitors, 25 hydraulic quick couplers, 26 audible-visual annunciators, 27 languages
Sound prompting device.
Embodiment
1 to accompanying drawing 5, the present invention is further described below in conjunction with the accompanying drawings.
A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system, including it is robot 1, many
Function monitoring system 2 and remote monitoring center 3；
Robot 1 includes crawler travel pedestal 4 and the mechanical arm 5 being connected on crawler travel pedestal 4, the connection of the end of mechanical arm 5
There is multifunctional quick terminal 6；
Multifunctional monitoring system 2 includes mechanical arm end and monitors big module, the big module of base end monitoring and data acquisition and transmission greatly
Module；The mechanical arm end monitors wind direction monitoring modular 7, the wind speed prison that big module includes being integrated in multifunctional quick terminal 6
Survey module 8, odor concentration monitoring modular 9, combustible gas monitoring module 10, the first monitoring poisonous gas module 11 and can GPS determine
The vision camera device 12 of position；The base end monitors atmospheric pressure monitoring modular 13, the temperature that big module includes being arranged on pedestal
Humidity monitoring module 14, the monitoring poisonous gas module 16 of flame detecting module 15 and second；The data acquisition and the big mould of transmission
Block includes vehicle carried data collecting and remote transmission module 17, power supply adaptor 18, the vehicle-mounted embedded type industry control being arranged on pedestal
Machine 19 and robot body smaller screen display module 20；Mechanical arm end monitors big module and base end monitors the data output of big module
Data input pin of the end with data acquisition and the big module of transmission is connected；Mechanical arm end monitors big module and base end monitors big mould
Power output end of the power input of block with data acquisition and the big module of transmission is connected；
Remote monitoring center 3 includes integrated industrial computer 21, module and control platform 22, alarm and voice cue module 23 and terminal
Show large-size screen monitors 24；It is pre- that the industrial computer is built-in with GPRS+GPS receiver modules, physical message storage matrix, multiple types Monitoring Data
Handle software, plan for emergency handling design and programming, Human Machine Interface programming and artificial intelligence software's programming；The module collection
It is built-in with and data record and recovering and analysis software into control platform；The alarm and voice cue module 23 include acousto-optic report
Alert device 26 and voice prompting device 27；Industrial computer 21 is connected with integrated communicated with control platform 22 of module, and module is integrated flat with control
The output end of platform 22 shows that the input of large-size screen monitors 24 is connected with alarm and voice cue module 23 and terminal；
Multifunctional monitoring system 2 is connected in robot 1, multifunctional monitoring system 2 and the wireless connection of remote monitoring center 3.
The surface of robot 1 is made by resistance to toxic and harmful gas corrosion material, while having applied anticreep, moistureproof, dust-proof, anti-
Electrical shock protection and antifreeze anti-freeze measure.
The maximum translational speed of crawler travel pedestal 4 is not less than 0.6 m/s；The translational speed of mechanical arm 5 is not less than crawler travel
The translational speed of pedestal.
The vertical stretching of mechanical arm 5 is highly 4m；Robotic arm 5 is bent to level ground, and terminal part is near away from crawler travel pedestal 4
Threshold value is not less than 1m；With being not less than Φ 32mm's provided with internal diameter size in the interface of multifunctional quick terminal 6 on mechanical arm 5
Data wire and cord channel are not less than Φ 40mm reserved passageway with internal diameter size, and the size of interface is Φ 100mm.
Multifunctional quick terminal 6 is overall to include hardware integration, power supply device, data wire and hydraulic quick coupler in square
25；The hardware integration includes the wind direction monitoring modular 7 and air monitoring module 8 installed in top, the foul smell installed in side
Concentration monitor module 9, the monitoring poisonous gas module 11 of combustible gas monitoring module 10 and first, installed in front end can GPS determine
The vision camera device 12 of position, is placed in the hydraulic quick coupler 25 of rear end；At the power input line end and data wire of power supply device
The interface opened up in hydraulic quick coupler.
First monitoring poisonous gas module 11 monitors gas：H2S and NH3。
It is in cuboid that base end, which monitors big module and data acquisition and transmits big module and integrate overall, including is installed
Atmospheric pressure monitoring modular 13 and temperature-humidity monitoring module 14 at top, have installed in the flame detecting module 15 of front side and second
Poisonous gas monitoring modular 16, the robot body smaller screen display module 20 above right side, installed in the car of lower right-hand side
Carry built-in industrial control machine 19, built-in vehicle carried data collecting and remote transmission module 17, power supply adaptor 18.
Second monitoring poisonous gas module 16 monitors gas：CO and SO2。
One, two two-stages are set to alarm respectively according to the different danger levels of monitored object.
1）The alarm limits of combustible gas monitoring module 10：One-level alarm setting value is less than or equal to 25% LEL；Two grades
Alarm setting value is less than or equal to 50% LEL.
2）First monitoring poisonous gas module 11 and the alarm limits of the second monitoring poisonous gas module 16：One-level alarm settings
Value preferably less than or equal to 100% maximum permissible concentration/short time allows exposure concentration；It is straight that secondary alarm setting value must not exceed 10%
Connect cause evil concentration.
3）The alarm limits of flame detecting module 15：There is small flame and directly send secondary alarm.
When returning to normal level, stop alarm.
Emergency situations one：When monitoring finds that interlayer gas gas concentration exceeds limit value
Emergency plan：
Region is excavated 1. changing.
2. Suspend Job.
Emergency situations two：One-level is alarmed
Emergency plan：
1. slow down a rate of advance.
2. a pair foul gas is sprayed（When having ready conditions）.
Emergency situations three：Secondary alarm
Emergency plan：
Place is excavated 1. changing（It is normally limited to excavating change excavation place within region）.
2. Suspend Job, operating personnel are temporarily from operation field.
Implementation process：
1）During non-operation, robot 1 and multifunctional monitoring module 2 are located at region in place, in ready state.First, remotely
Startup monitoring task signal instruction is sent to robot 1 in Surveillance center 3, robot 1 is travelled after being connected to instruction by region in place
To region to be monitored（Excavate region or excavate region）；
2）Robot 1 is reached after designated area, stretches its folding mechanism arm 5 to specified three-dimensional space coordinate point（60m can be covered
× 50m × 4m excavates arbitrfary point position in unit）, the ready signal of fed remote Surveillance center 3 after robot 1 is in place, by remotely supervising
Control center 3 is issued to multifunctional monitoring system 2 and instructed, and starts monitoring object, prison that multifunctional monitoring system 2 is indicated according to task
The specific detection requirement such as measured frequency carries out on-line real time monitoring, and measurement result real time remote is transmitted to remote monitoring center 3,
3 pairs of monitoring signals received of remote monitoring center are handled, and result visualization is shown in into remote monitoring center 3
Terminal shows large-size screen monitors 24, and remote monitoring center 3 further feeds back robot 1, multifunctional monitoring system 2 according to result, referred to
Show next step monitoring task, for abnormal conditions, send system alarm, start emergency plan.
3）Robot 1, multifunctional monitoring system 2 have been performed after all assignment instructions, and remote monitoring center 3 is sent to it
Playback instruction, the institute of multifunctional monitoring system 2 is stateful to recover initial, and the mechanical arm 5 of robot 1 recovers folded state, and returns
Region in place, waits new assignment instructions at any time.
The embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change that unsubstantiality is carried out to invention, the behavior for invading the scope of the present invention all should be belonged to.
Claims (8)
1. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system, it is characterised in that：Including
Robot, multifunctional monitoring system and remote monitoring center；
The robot includes crawler travel pedestal and the mechanical arm being connected on crawler travel pedestal, and mechanical arm tail end is connected with
Multifunctional quick terminal；
The multifunctional monitoring system includes mechanical arm end and monitors big module, the big module of base end monitoring and data acquisition and transmission
Big module；The mechanical arm end monitors wind direction monitoring modular, the wind speed prison that big module includes being integrated in multifunctional quick terminal
Survey module, odor concentration monitoring modular, combustible gas monitoring module, the first monitoring poisonous gas module and can GPS location regard
Feel camera device；The base end monitors atmospheric pressure monitoring modular, the temperature-humidity monitoring mould that big module includes being arranged on pedestal
Block, flame detecting module and the second monitoring poisonous gas module；The data acquisition and the big module of transmission include being arranged on pedestal
On vehicle carried data collecting and remote transmission module, power supply adaptor, vehicle-mounted embedded type industrial computer and the small screen display of robot body
Show module；Mechanical arm end monitors big module and base end monitors the data output end of big module with data acquisition and transmitting big mould
The data input pin connection of block；Mechanical arm end monitors big module and the power input of the big module of base end monitoring is adopted with data
Collect and transmit the power output end connection of big module；
It is integrated aobvious with control platform, alarm and voice cue module and terminal that the remote monitoring center includes industrial computer, module
Show large-size screen monitors；The industrial computer is built-in with GPRS+GPS receiver modules, physical message storage matrix, the pretreatment of multiple types Monitoring Data
Software, plan for emergency handling design and programming, Human Machine Interface programming and artificial intelligence software's programming；The module it is integrated with
Control platform is built-in with and data record and recovering and analysis software；It is described alarm and voice cue module include audible-visual annunciator and
Voice prompting device；Industrial computer is connected with integrated communicated with control platform of module, the integrated output end and report with control platform of module
Alert and voice cue module and terminal show the input connection of large-size screen monitors；
The multifunctional monitoring system is connected in robot, multifunctional monitoring system and remote monitoring center wireless connection.
2. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The robotic surface is made by resistance to toxic and harmful gas corrosion material, while having applied anticreep, anti-
Damp, dust-proof, electrocution-proof protection and antifreeze anti-freeze measure.
3. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The maximum translational speed of the crawler travel pedestal is not less than 0.6 m/s；Mechanical arm translational speed is not less than
The translational speed of crawler travel pedestal.
4. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The mechanical arm vertical stretching is highly 4m；Robotic arm is bent to level ground, and terminal part is away from crawler belt row
Walk pedestal close end distance and be not less than 1m；With being not less than Φ provided with internal diameter size in the interface of multifunctional quick terminal on mechanical arm
32 mm data wire and cord channel is not less than Φ 40mm reserved passageway with internal diameter size, and the size of interface is Φ
100mm。
5. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The multifunctional quick terminal integrally includes hardware integration, power supply device, data wire in square
And hydraulic quick coupler；The hardware integration includes being arranged on the wind direction monitoring modular and air monitoring mould at the top of multifunctional quick terminal
Block, installed in the odor concentration monitoring modular of side, combustible gas monitoring module and the first monitoring poisonous gas module, is arranged on
Front end can GPS location vision camera device；The hydraulic quick coupler is placed in multifunctional quick terminal rear end；The power supply is powered
Device is placed in multifunctional quick terminal inner, and the power output end of power supply device and the power input of hardware integration connect
Connect；The data output end connection of the data wire and hardware integration；Power input line end and the data wire of power supply device are set
The interface opened up in hydraulic quick coupler.
6. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The first monitoring poisonous gas module monitors gas is：H2S and NH3。
7. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：It is in rectangular that the base end, which monitors big module and data acquisition and transmits big module and integrate overall,
Body, including atmospheric pressure monitoring modular and temperature-humidity monitoring module installed in top, installed in front side flame detecting module and
Second monitoring poisonous gas module, the robot body smaller screen display module above right side, installed in lower right-hand side
Vehicle-mounted embedded type industrial computer, built-in vehicle carried data collecting and remote transmission module, power supply adaptor.
8. a kind of refuse landfill toxic and harmful gas monitoring special purpose robot according to claim 1 and control information system
System, it is characterised in that：The second monitoring poisonous gas module monitors gas is：CO and SO2。
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| CN201710378576.5A CN106945058A (en) | 2017-05-25 | 2017-05-25 | A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system |
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| CN201710378576.5A CN106945058A (en) | 2017-05-25 | 2017-05-25 | A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system |
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| CN106945058A true CN106945058A (en) | 2017-07-14 |
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| CN201710378576.5A Pending CN106945058A (en) | 2017-05-25 | 2017-05-25 | A kind of refuse landfill toxic and harmful gas monitoring special purpose robot and control information system |
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