CN101476995A - Miniature vehicle-mounted sullage sampling apparatus - Google Patents
Miniature vehicle-mounted sullage sampling apparatus Download PDFInfo
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- CN101476995A CN101476995A CNA2009100281470A CN200910028147A CN101476995A CN 101476995 A CN101476995 A CN 101476995A CN A2009100281470 A CNA2009100281470 A CN A2009100281470A CN 200910028147 A CN200910028147 A CN 200910028147A CN 101476995 A CN101476995 A CN 101476995A
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Abstract
The invention relates to a minitype vehicle sewage sampling device, which comprises a minitype remote-operated movable robot, wherein the minitype remote-operated movable robot is provided with a water pump, a transparent closed container, a mechanical arm and a second camera used for acquiring images in accident sites and monitoring the capacity of the sampled sewage; the second camera is positioned on the rear side of the transparent closed container; the water pump is provided with a sampling pipe and a conduit; the water inlet of the water pump is connected with one end of the sampling pipe, and the other end of the sampling pipe is bound with the mechanical arm; one end of the conduit is connected with the water outlet of the water pump, and the other end of the conduit is connected with the transparent closed container; and the mechanical arm is provided with a first camera. The device can be applied to highly polluted and harmful environment where persons cannot approach, such as accident sites of chemicals leakage and industrial sewage pollution, and can sample sewage. The device takes the minitype remote-operated movable robot as a platform to replace environmental workers to enter pollution sites, and realizes zero casualty of the environmental workers.
Description
Technical field
The present invention relates to the sewage sampler under the high pollution hostile environment, particularly relate to the miniature vehicle-mounted sullage sampling apparatus that is equipped on the miniature mobile robot.
Background technology
Though decades appearred in mobile robot's notion and work hardware, this idea that substitutes one or more personnel with electromechanical equipment under the hostile environment or the condition that is potentially dangerous has become the important content in environment monitoring, law enforcement agency and the exploration project, but in the disaster and heavy industry sewage leakage incident that constantly take place recently, the mobile robot of a lot of units development can only enter on-the-spot detecting, and have no idea to gather contaminated liquid, thereby brought difficulty for the investigation and evidence collection work of pollution condition.This patent is exactly to have invented a kind of sewage sampler that is installed on the miniature mobile robot, is used to finish in high pollution under the harmful or hazardous environment the collection sampling of sewage, has realized the innovation of traditional acquisition means.After the remote operating mobile robot that has carried the first-class monitoring instrument of making a video recording enters the pollution scene, pass local operating platform back by the information that wireless transmission is revealed the scene of the accident with sewage, pollution source are located, far-end operation person utilizes the miniature mobile robot remote operating system, by the control mechanical arm drinking-water pipe is inserted below the contaminated liquid level, control circuit can start the micro pump power supply after obtaining gathering the instruction of liquid sample, and the carriage return of sewage sample collection is carried in the closed container.Close acquisition system behind to be collected the finishing, the control arm shifts out liquid level with drinking-water pipe, finishes the collecting work of contaminated liquid.
Summary of the invention
The present invention proposes a kind of miniature vehicle-mounted sullage sampling apparatus, so that miniature mobile robot can replace the environmental protection personnel to enter the high pollution hostile environment or the potential danger environment carries out the sewage sampling based on small-sized remote operating mobile robot.
For addressing the above problem, the present invention adopts following technical scheme:
A kind of miniature vehicle-mounted sullage sampling apparatus, comprise small-sized remote operating mobile robot, on small-sized remote operating mobile robot, be provided with water pump, transparent airtight container, mechanical arm and be used to capacity second camera that obtains the image of the scene of the accident and monitor sampled sewage, second camera is positioned at the rear of transparent airtight container, on water pump, be provided with stopple coupon and conduit, and the water inlet of water pump is connected with an end of stopple coupon, the other end of stopple coupon and mechanical arm binding, one end of conduit is connected with the water delivering orifice of water pump, the other end of conduit is connected with transparent airtight container, is provided with first camera on mechanical arm.
Compare with existing environment detection techniques, the present invention has following advantage:
The present invention is a platform with small-sized remote operating mobile robot, enters with mobile robot's alternate collar guarantor person of distant operation and pollutes on-the-spotly, has realized environmental protection personnel's zero injures and deaths; The present invention is at the scene of polluting, both can understand the sewage leak case according to the image scene that second video camera that loads passed back, also can help operating personnel to judge the pollution source position according to the microphone that is contained on the mechanical arm, the method for seeking pollution source be flexible, simple, reliable; Because the sewage sampler has been carried in the present invention, on the basis of tradition detecting, can be on-the-spot to the sewage collection, reduced the time of environmental protection personal investigation evidence obtaining.
The present invention can be applicable under the high pollution hostile environment, and personnel can't be approaching, as disaster, chemical spill and industrial sewage contamination accident scene, and realizes sewage is taken a sample.
Description of drawings
Fig. 1 is in an embodiment of the present invention, the installation of micro pump, closed container, camera, mechanical arm and the connection diagram of conduit;
Fig. 2 is in an embodiment of the present invention, sewage sampling Long-distance Control synoptic diagram;
Fig. 3 utilizes miniature vehicle-mounted sullage sampling apparatus to gather the operating process synoptic diagram of sewage in an embodiment of the present invention.
Embodiment
A kind of miniature vehicle-mounted sullage sampling apparatus, comprise small-sized remote operating mobile robot 9, on small-sized remote operating mobile robot 9, be provided with water pump 1, transparent airtight container 2, mechanical arm 5 and be used to capacity second camera 6 that obtains the image of the scene of the accident and monitor sampled sewage, second camera 6 is positioned at the rear of transparent airtight container 2, on water pump 1, be provided with stopple coupon 4 and conduit 3, and the water inlet of water pump 1 is connected with an end of stopple coupon 4, the other end of stopple coupon 4 and mechanical arm 5 bindings, one end of conduit 3 is connected with the water delivering orifice of water pump 1, the other end of conduit 3 is connected with transparent airtight container 2, is provided with first camera 7 on mechanical arm 5.Present embodiment also is provided with microphone 8 on first camera 7.
Specifically, the present invention includes:
One, micro pump is positioned at the miniature mobile robot front end, and the bottom is fixed on the miniature mobile robot robot drives control device, and its control line interface is connected into the robot mechanical arm driving control device, is used for the collection to need sampling sewage;
Two, transparent airtight container is fixed on the miniature mobile robot vehicle-mounted instrument cabin, is used for the sewage of collecting and sampling;
Three, stopple coupon and conduit connect described micro pump and transparent airtight container, and wherein, connect the draw water stopple coupon of end of micro pump and extend to the vehicle-mounted mechanical paw of miniature mobile robot place, and binding with it, so that accurately control the extraction of sewage; Conduit connects states micro pump water side and transparent airtight container;
Four, video camera and image delivering system are installed two video cameras, and first position for video camera is in mechanical wrist part, with the motion of real-time control drinking-water pipe; Second video camera is installed in the transparent airtight container rear, with image that obtains the scene of the accident and the capacity of monitoring sampled sewage; Image delivering system is passed to far-end operation person by wireless transmission method with image;
Five, mechanical arm, mechanical arm have two joints, and moving range is big, can guide the motion of drinking-water pipe flexibly; The instrument that the mechanical arm front end is installed can be changed as required flexibly.Mechanical wrist part is equipped with a video camera, is used for the close-ups operand, obtains the more careful image of operand.In addition, lapel mike is equipped with in the mechanical arm top, passes small-sized remote operating mobile robot contamination accident on-the-spot voice of living in signal back to far-end operation person, as the leakage sound of contaminated liquid, be convenient to operator person and finish investigation and evidence collection work quickly, increase work efficiency.
Described miniature vehicle-mounted sullage sampling apparatus, wherein, described micro pump is fixed on the miniature mobile robot Vehicular body front, and its outer control line interface inserts the robot mechanical arm driving governor by lead;
Described miniature vehicle-mounted sullage sampling apparatus, wherein, described closed container is fixed on the miniature mobile robot vehicle-mounted instrument cabin;
Described miniature vehicle-mounted sullage sampling apparatus, wherein, described connection micro pump draw water the end stopple coupon extend to the vehicle-mounted mechanical paw of miniature mobile robot place, and with it the binding; Conduit connects states micro pump water side and transparent airtight container;
Described miniature vehicle-mounted sullage sampling apparatus, wherein, described two video cameras, first position for video camera is in mechanical wrist part, with the motion of real-time control drinking-water pipe; Second video camera is installed in the transparent airtight container rear, with image that obtains the scene of the accident and the capacity of monitoring sampled sewage;
Described miniature vehicle-mounted sullage sampling apparatus, wherein, described mechanical arm arm has two joints, and first video camera is equipped with in the mechanical arm top, is used for the close-ups operand, obtains the more careful image of operand.In addition, lapel mike is equipped with in the mechanical arm top, passes small-sized remote operating mobile robot contamination accident on-the-spot voice of living in signal back to far-end operation person, as contaminated liquid leakage sound;
The present invention in use, the wireless transmitting system that far-end operation person carries by small-sized teleoperation robot earlier, obtain sewage and reveal scene of the accident image, determine pollution source, after searching out the sample position, utilize miniature mobile robot remote tele-operation system again, drinking-water pipe is inserted below the liquid level by the control mechanical arm, control circuit can start the micro pump power supply after obtaining gathering the instruction of contaminated liquid sample, and the carriage return of sewage sample collection is carried in the closed container.Close acquisition system behind to be collected the finishing, the control arm shifts out liquid level with drinking-water pipe, finishes the collecting work of liquid, and last small-sized teleoperation robot carries vehicle-mounted sewage sampler and returns.
With reference to the accompanying drawings, the present invention is more described in detail:
Fig. 1 is in an embodiment of the present invention, the installation of micro pump, transparent airtight container, camera, mechanical arm and the connection diagram of conduit.As shown in Figure 1, micro pump 1 is fixed on the miniature mobile robot front end; Transparent airtight container 2 is attached on the miniature mobile robot vehicle-mounted instrument cabin; Connect the draw water stopple coupon 4 of end of micro pump and extend to the vehicle-mounted mechanical paw of miniature mobile robot place, and binding with it, so that accurately control the extraction of sewage; Conduit 3 connects states micro pump water side and transparent airtight container; Video camera 7 is positioned at mechanical wrist part, with the motion of real-time control drinking-water pipe; Camera 6 is installed in the transparent airtight container rear, with image that obtains the scene of the accident and the capacity of monitoring sampled sewage.Lapel mike 8 is installed in the mechanical arm top, to the voice signal that far-end operation person passes the small-sized remote operating mobile robot liquid contamination of living in scene of the accident back, so that the operator seeks pollution source, determines the sample position.
Fig. 2 is in an embodiment of the present invention, sewage sampling Long-distance Control synoptic diagram.As shown in Figure 2, far-end operation person utilizes the remote tele-operation controller to send the instruction of gathering the sewage sample to micro pump, and the micro pump power initiation is behind to be collected the finishing, far-end operation person sends out code by the remote tele-operation controller to micro pump again, and the sewage sampling is finished.
As shown in Figure 3, in embodiments of the present invention, the operating process of utilizing miniature vehicle-mounted sullage sampling apparatus to gather sewage comprises the steps:
Utilize device of the present invention to can be implemented under the high pollution hostile environment or the condition that is potentially dangerous, sewage sampling unmanned improved the detecting of miniature mobile robot environmental pollution and greatly to the processing power of burst contamination accident.Reveal incident for present recurrent sewage, because the mobile robot of a lot of units development does not have the sewage acquisition function, tend to incur loss through delay the investigation and evidence collection time, the present invention can effectively solve the sewage problem of sampling on the basis of tradition detecting.
Certainly; the present invention can also have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (2)
1. miniature vehicle-mounted sullage sampling apparatus, it is characterized in that comprising small-sized remote operating mobile robot (9), on small-sized remote operating mobile robot (9), be provided with water pump (1), transparent airtight container (2), mechanical arm (5) and be used to capacity second camera (6) that obtains the image of the scene of the accident and monitor sampled sewage, second camera (6) is positioned at the rear of transparent airtight container (2), on water pump (1), be provided with stopple coupon (4) and conduit (3), and the water inlet of water pump (1) is connected with an end of stopple coupon (4), the other end of stopple coupon (4) and mechanical arm (5) binding, one end of conduit (3) is connected with the water delivering orifice of water pump (1), the other end of conduit (3) is connected with transparent airtight container (2), is provided with first camera (7) on mechanical arm (5).
2. miniature vehicle-mounted sullage sampling apparatus according to claim 1 is characterized in that being provided with microphone (8) on first camera (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2009100281470A CN101476995A (en) | 2009-01-16 | 2009-01-16 | Miniature vehicle-mounted sullage sampling apparatus |
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| CNA2009100281470A CN101476995A (en) | 2009-01-16 | 2009-01-16 | Miniature vehicle-mounted sullage sampling apparatus |
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| CN101476995A true CN101476995A (en) | 2009-07-08 |
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| CNA2009100281470A Pending CN101476995A (en) | 2009-01-16 | 2009-01-16 | Miniature vehicle-mounted sullage sampling apparatus |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189546A (en) * | 2011-05-26 | 2011-09-21 | 江苏科技大学 | Multifunctional mechanical arm for planet exploration vehicle |
| CN104062145A (en) * | 2014-06-09 | 2014-09-24 | 宗亚敏 | Environmentally-friendly automatic shooting and sampling device |
| CN105092304A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Water sampling robot of sewage treatment plant |
| CN106607907A (en) * | 2016-12-23 | 2017-05-03 | 西安交通大学 | Mobile vision robot and measurement and control method thereof |
| CN106644588A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Quantitative liquid taking device for dangerous chemical solution extraction |
| CN106813943A (en) * | 2017-02-10 | 2017-06-09 | 中国东方电气集团有限公司 | A kind of method that dangerization solution based on mobile robot is automatically positioned and quantitatively extracts |
| CN106843213A (en) * | 2017-02-10 | 2017-06-13 | 中国东方电气集团有限公司 | The method that a kind of movement and courses of action based on mobile robot are planned automatically |
| CN106873588A (en) * | 2017-02-10 | 2017-06-20 | 中国东方电气集团有限公司 | A kind of danger solution extracting method based on mobile robot |
| CN107088876A (en) * | 2017-04-18 | 2017-08-25 | 东莞产权交易中心 | A kind of pollution detection robot |
| CN107344355A (en) * | 2017-08-03 | 2017-11-14 | 深圳市施罗德工业测控设备有限公司 | A kind of water and soil sampling robot |
| CN107664685A (en) * | 2017-11-08 | 2018-02-06 | 浙江索奥环境技术有限公司 | Waste water law enforcement evidence obtaining sampling robot |
| CN110160820A (en) * | 2019-07-03 | 2019-08-23 | 华北电力大学（保定） | Arm carries formula insulator contamination object Sampling Machine |
| CN111673756A (en) * | 2020-05-15 | 2020-09-18 | 深圳国信泰富科技有限公司 | Chemical leakage disaster relief robot and control method thereof |
| CN112665909A (en) * | 2019-10-15 | 2021-04-16 | 亚洲硅业(青海)股份有限公司 | Online liquid soft sampling system |
| CN116929853A (en) * | 2023-09-14 | 2023-10-24 | 中璞软件(海南)有限公司 | Automatic fixed-point water taking device for water quality monitoring shore station |
-
2009
- 2009-01-16 CN CNA2009100281470A patent/CN101476995A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102189546A (en) * | 2011-05-26 | 2011-09-21 | 江苏科技大学 | Multifunctional mechanical arm for planet exploration vehicle |
| CN104062145A (en) * | 2014-06-09 | 2014-09-24 | 宗亚敏 | Environmentally-friendly automatic shooting and sampling device |
| CN105092304A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Water sampling robot of sewage treatment plant |
| CN105092304B (en) * | 2015-09-01 | 2018-01-30 | 江苏新光数控技术有限公司 | the water sampling robot of sewage treatment plant |
| CN106607907A (en) * | 2016-12-23 | 2017-05-03 | 西安交通大学 | Mobile vision robot and measurement and control method thereof |
| CN106813943A (en) * | 2017-02-10 | 2017-06-09 | 中国东方电气集团有限公司 | A kind of method that dangerization solution based on mobile robot is automatically positioned and quantitatively extracts |
| CN106873588B (en) * | 2017-02-10 | 2020-06-12 | 中国东方电气集团有限公司 | Hazardous chemical solution extraction method based on mobile robot |
| CN106873588A (en) * | 2017-02-10 | 2017-06-20 | 中国东方电气集团有限公司 | A kind of danger solution extracting method based on mobile robot |
| CN106644588A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Quantitative liquid taking device for dangerous chemical solution extraction |
| CN106843213A (en) * | 2017-02-10 | 2017-06-13 | 中国东方电气集团有限公司 | The method that a kind of movement and courses of action based on mobile robot are planned automatically |
| CN106843213B (en) * | 2017-02-10 | 2020-01-10 | 中国东方电气集团有限公司 | Method for automatically planning movement and operation paths based on mobile robot |
| CN107088876A (en) * | 2017-04-18 | 2017-08-25 | 东莞产权交易中心 | A kind of pollution detection robot |
| CN107344355A (en) * | 2017-08-03 | 2017-11-14 | 深圳市施罗德工业测控设备有限公司 | A kind of water and soil sampling robot |
| CN107664685A (en) * | 2017-11-08 | 2018-02-06 | 浙江索奥环境技术有限公司 | Waste water law enforcement evidence obtaining sampling robot |
| CN110160820A (en) * | 2019-07-03 | 2019-08-23 | 华北电力大学（保定） | Arm carries formula insulator contamination object Sampling Machine |
| CN110160820B (en) * | 2019-07-03 | 2024-01-02 | 华北电力大学（保定） | Arm-carried insulator filth sampling machine |
| CN112665909A (en) * | 2019-10-15 | 2021-04-16 | 亚洲硅业(青海)股份有限公司 | Online liquid soft sampling system |
| CN111673756A (en) * | 2020-05-15 | 2020-09-18 | 深圳国信泰富科技有限公司 | Chemical leakage disaster relief robot and control method thereof |
| CN111673756B (en) * | 2020-05-15 | 2022-03-04 | 深圳国信泰富科技有限公司 | Chemical leakage disaster relief robot and control method thereof |
| CN116929853A (en) * | 2023-09-14 | 2023-10-24 | 中璞软件(海南)有限公司 | Automatic fixed-point water taking device for water quality monitoring shore station |
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Application publication date: 20090708 |