CN105965547A - Engineering robot for environmental monitoring, environmental emergency handling and environmental remediation - Google Patents
Engineering robot for environmental monitoring, environmental emergency handling and environmental remediation Download PDFInfo
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- CN105965547A CN105965547A CN201610577263.8A CN201610577263A CN105965547A CN 105965547 A CN105965547 A CN 105965547A CN 201610577263 A CN201610577263 A CN 201610577263A CN 105965547 A CN105965547 A CN 105965547A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- 238000005067 remediation Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 239000002689 soil Substances 0.000 claims abstract description 41
- 238000005070 sampling Methods 0.000 claims abstract description 36
- 238000011065 in-situ storage Methods 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000005553 drilling Methods 0.000 claims description 59
- 239000003673 groundwater Substances 0.000 claims description 31
- 238000007689 inspection Methods 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 10
- 239000000945 filler Substances 0.000 claims description 8
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- 229910052760 oxygen Inorganic materials 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention provides an engineering robot for environmental monitoring, environmental emergency handling and environmental remediation. The engineering robot comprises a machine vision device, a self-alarm device, a remote control device, a GPS real-time positioning device, an air quality detection device, a soil underground water sampling detection and in-situ remediation device, a risk identification device, an environmental expert system, a data processing center, a robot body and a mobile device, wherein the machine vision device, the self-alarm device, the remote control device, the GPS real-time positioning device, the air quality detection device, the soil underground water sampling detection and in-situ remediation device, the risk identification device, the environmental expert system and the mobile device are all connected with the data processing center, and the soil underground water sampling detection and in-situ remediation device is further provided with an automatic drill stem filling device. The engineering robot integrates the multiple advanced technologies of soil underground water environmental risk detection and in-situ remediation, rapid environmental quality detection, machine vision, remote control, GPS real-time positioning, risk identification, the environmental expert system and the like, the structure is more simplified, and more comprehensive functions are achieved.
Description
Technical field
Present invention relates particularly to a kind of for environmental monitoring, environmental emergency disposal and the Engineering Robot of environment remediation
Structural principle, method for designing, integrated functionality and network software platform based on this robot and environment special
Family's system, belongs to the engineerings such as artificial intelligence, Machine Design manufacture, environmental monitoring, environmental emergency and environment remediation
Technical field.
Background technology
The leakage of hazardous chemical, burn, the generation of the accident such as blast, not only can give local resident and rescue people
Member brings harm, also can cause the pollution of soil, air and water body；When accident occurs, high temperature, dark,
The adverse circumstances such as poisonous and dense smoke, generally resulting in rescue is difficult to carry out, and also can strengthen later stage high pollution ring
The difficulty that border is administered.
When breaking out environmental pollution accident, generally require expert and carry out scene rapidly polluting to judge and make answering
To measure, this just requires site environment is carried out quick pollution detection and risk assessment.But, machine of meeting an urgent need at present
The research of device people focuses mostly in nuclear radiation environment or the application in safety fire fighting field, but in field of Environment Protection,
The robot research of reply burst complex environment accident and contaminated site is less.
Therefore, in the urgent need to a kind of environmental emergency robot, to solve the ring in complicated hazardous environment event
The problems such as the on-the-spot emergency relief of border accident, dangerous materials carrying, environmental emergency detection and environment remediation.
Summary of the invention
In order to solve current contaminated site environmental monitoring, environmental emergency process and environment remediation during operating mode
The difficult problems such as complicated, equipment needed thereby is numerous and diverse, place risk height, the invention provides a kind of for environmental monitoring, ring
Border emergency disposal and the Engineering Robot of environment remediation, its integrated soil groundwater environment risk supervision and original position are repaiied
Answer, air quality quickly detects, machine vision, remote control, automatic alarm, GPS real-time positioning, risk
The multiple advanced technologies such as identification and ENVIRONMENTAL EXPERT SYSTEMS are in one, and structure more simplifies, and function is more comprehensive, can
To solve environmental pollution accident and the environmental emergency problem of contaminated site and professional can be assisted to carry out repairing work
Make, compensate for the problem that the robot application of field of Environment Protection is not enough, can be by the injury of environment measuring personnel and labor
Fatigue resistance is preferably minimized.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of for environmental monitoring, environmental emergency disposal and the Engineering Robot of environment remediation, described construction machine
People includes Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning system, air matter
The detection of amount detecting device, soil groundwater sampling and in-situ repairing device, risk recognition system, environmentalist system
System, data processing centre, robot body and mobile device；Wherein, Vision Builder for Automated Inspection, from warning system,
Remote control system, GPS real-time positioning system, air quality detecting device, soil groundwater sampling detection and
In-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, mobile device are all connected with data processing centre.
Further, the detection of described soil groundwater sampling and in-situ repairing device are provided with drilling rod and automatically load dress
Putting, the automatic filler device of drilling rod includes track plates, sliding plate, drilling rod oil cylinder, slip plate, slips, brill
Bar, installing plate, spring and turbine motor assembly；Track plates and installing plate weld together, and by bolt even
It is connected on the Working rack of the detection of described soil groundwater sampling and in-situ repairing device；Turbine motor assembly is installed
On track plates, sliding plate is arranged on the top of track plates, can pass through turbine motor between sliding plate and track plates
Assembly carries out relative motion；One end of sliding plate is provided with drilling rod oil cylinder, and drilling rod oil cylinder and sliding plate are fixedly installed；
The other end of sliding plate is provided with two slip plates, and two slip plates are mounted opposite, two slip
The centre of plate is provided with spring, and drilling rod can be vertically mounted between two slip plates；In the oil cylinder of drilling rod oil cylinder
Bar can be inserted between two slip plates.
Further, the filling process of the automatic filler device of described drilling rod is as follows: at described soil groundwater sampling
When the high-frequency hydraulic unit head of detection and in-situ repairing device is drilled downwards, two slip plates are opened, sliding plate
Rear shifting, puts into drilling rod, then slip board clamping drilling rod；Wait end of drilling, on high-frequency hydraulic unit head
Rising complete, sliding plate moves forward, and makes drilling rod arrive position of drilling, and high-frequency hydraulic unit head moves down compression drilling rod；
Slip plate is opened, and moves after sliding plate, and high-frequency hydraulic unit head starts to drill downwards, so circulates work.
Further, before the detection of described soil groundwater sampling and in-situ repairing device are positioned at robot body
Side；Described Vision Builder for Automated Inspection, from warning system, GPS real-time positioning system, air quality detecting device,
Risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS and data processing centre are arranged on robot body, robot master
Body is arranged on above mobile device.
The detection of described soil groundwater sampling and in-situ repairing device are arranged on robot body by bindiny mechanism
Dead ahead；Described bindiny mechanism includes track runner, passage support body, amplitude oil cylinder, flexion-extension oil cylinder, passage
Oil cylinder, retracting cylinder and connecting plate, connecting plate is connected with the detection of described soil groundwater sampling and in-situ repairing device,
Track runner loads in the slide rail on described robot body, and is fixed by bearing pin；Described amplitude oil cylinder, face upward
Oil cylinder of bowing can realize the detection of described soil groundwater sampling and the level of in-situ repairing device respectively with passage oil cylinder
The action swinging, pitching, move forward and backward.
Further, described remote control system includes emitter and receptor, emitter include Keysheet module,
Power module, MCU control module and wireless transmitter module；Receptor includes that wireless receiving module, MCU drive
Module and control drive module.
Further, described air quality detecting device includes oxygen content detector, ray detector, poisonous
Harmful gas detector, inhalable particles detector and Temperature and Humidity device.
Further, described mobile device is caterpillar chassis.
The Engineering Robot of the present invention is mainly concerned with the design of the following aspects, specific as follows: soil and ground
Lower water risk supervision and the design of in-situ repairing device, the design of air risk supervision module, visual system analysis,
The design of GPS real-time positioning, ENVIRONMENTAL EXPERT SYSTEMS and risk identification, shown in its technology path such as Fig. 1 (a).
The Engineering Robot structural refinement of the present invention, integrated result are good, complete function, it is possible to meet environment measuring
The requirement of complex working condition, emergency response and environment remediation, ratio is if independently carrying out the unmanned of seriously polluted area
Operate, carry dangerous chemical, complete contamination accident emergent management etc., can be by the wound of environment measuring personnel
Evil and labor intensity are preferably minimized, and practical value is high, very convenient；The concrete advantage of the present invention is as follows:
(1) present invention robot use hybrid power system, can in anoxia or oxygen-free environment free walker
Walk；Additionally, the present invention is provided with mobile device, can freely walk, it is not necessary to crane lifting, very convenient.
(2) robot body of the present invention can pass through GPS real-time positioning.
(3) the site environment data of contaminated site and the running status of robot self can be real-time transmitted to control
Center processed, control centre can pass through environmental risk identification system, and the region or the target location that arrive robot are entered
Row environmental risk assessment.
(4) excessive risk chemicals and high-risk environment can also be identified, also by the robot of the present invention automatically
The risk zones of acceptable risk identification system and the coordinate parameters of target, take automatic protection measure in good time.
(5) robot of the present invention not only can realize soil and groundwater undisturbed sampling and environmental risk fast
Speed detection；Also can realize original position emergency processing and reparation, the complete function of soil and groundwater environment.
(6) toxic and harmful in air and main atmospheric parameter can be entered by the robot of the present invention
Row quickly detection；Air quality detecting device can in real time, timing detect a certain place sky in certain time period
Gas pollutant numerical value.
(7) robot of the present invention can be with the risk recognition system of control centre and environmental emergency and reparation
Specialist system real-time communication works.
(8) robot of the present invention can realize the automatic filling of drilling rod: conventional drill loads operation needs people
Work is accurately positioned, tightens, and this process wastes time and energy, and labor strength is big.The drilling rod of the present invention loads automatically
Device only needs that drilling rod is inserted in slips by workman's timing, and remaining positions, tighten etc. operates and automatically filled out by drilling rod
Assembling device and the detection of soil groundwater sampling and in-situ repairing device have coordinated, and can significantly reduce labor intensity,
Save manpower.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the Engineering Robot of the present invention: (a) is design development drawing；B () is population structure
Schematic diagram；
Fig. 2 is the schematic diagram of Vision Builder for Automated Inspection: (a) is main assembly schematic diagram；B () is that hardware composition shows
It is intended to；C () is that software forms schematic diagram；D () is location-based vision closed loop control block diagram；
Fig. 3 is the schematic diagram from warning system；
Fig. 4 is the circuit structure diagram of remote control system；
Fig. 5 is the schematic diagram of GPS real-time positioning system；
Fig. 6 is the frame diagram of air quality detecting device；
Fig. 7 is the schematic diagram of risk recognition system；
Fig. 8 is the structural representation of ENVIRONMENTAL EXPERT SYSTEMS；
Fig. 9 is the detection of soil groundwater sampling and the structural representation of prosthetic device；
Figure 10 is the schematic diagram of bindiny mechanism: (a) is the front view of bindiny mechanism；B () is bindiny mechanism
Top view；
Figure 11 is the schematic diagram of drilling rod filler device；
Wherein, the detection of 1-soil groundwater sampling and in-situ repairing device；2-single-chip microcomputer；3-data processor；
4-air quality detecting device；5-data collecting card；6-sensor；7-photographic head；8-GPS real-time positioning system
System；9-robot body；10-mobile device；11-high-frequency hydraulic unit head assembly；12-handles control station；
13-push action cylinder；14-Working rack；15-bindiny mechanism；151-track runner；152-elapses support body；153-
Amplitude oil cylinder；154-pitches oil cylinder；155-elapses oil cylinder；156-retracting cylinder；157-connecting plate；16-drilling rod
Automatically filler device；161-track plates；162-sliding plate；163-drilling rod oil cylinder；Bar in 163a-oil cylinder；164-
Slip plate；165-slips；166-drilling rod；167-installing plate；168-spring；169-turbine motor assembly；
Axle 170 is installed.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
The robot of the present embodiment includes Vision Builder for Automated Inspection, from warning system, remote control system, GPS reality
Time alignment system 8, air quality detecting device 4, soil groundwater sampling detection and in-situ repairing device 1,
Risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, data processing centre, robot body 9 and mobile device 10；
Wherein, Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning system 8, air
The detection of quality detection device 4, soil groundwater sampling and in-situ repairing device 1, risk recognition system, environment
Specialist system and mobile device 10 are all connected with data processing centre.
Wherein, the detection of soil groundwater sampling and in-situ repairing device 1 are positioned at the dead ahead of robot body 9；
Robot body 9 as carrier, provides power for robot, Vision Builder for Automated Inspection, from warning system, remotely
Control system, GPS real-time positioning system 8, air quality detecting device 4, risk recognition system, environment are special
Family's system and data processing center are arranged on robot body 9, and robot body 9 is arranged on mobile device
Above 10, mobile device 10 can improve work efficiency from walking, reduces work dangerous；Mobile device
11 is caterpillar chassis.
Below each system is described in detail.
(1) Vision Builder for Automated Inspection
Vision Builder for Automated Inspection is applied on Green Machine people by the present embodiment innovatively, according to the feature of robot
Design corresponding algorithm and controller, the image of its vision collecting is combined with the motor control of robot, as
One control signal realizes the motor control of robot after controller computing, determines that Emergency avoidance is also to continue with
Move ahead.
In order to improve robot motility in environment complicated and changeable and accuracy, acquisition local environment complete
Whole information, applies Vision Builder for Automated Inspection on robot body 9, and Vision Builder for Automated Inspection plays ring in navigation
Border detection and the effect of identification.Shown in the main assembly of Vision Builder for Automated Inspection such as Fig. 2 (a).The machine of this example
The field condition of contaminated site can be real-time transmitted to central control room by device visual system, by computer and engineer
Data according to collection in worksite adjust the attitude of equipment in time, control the walking of integral device；Additionally, robot
Itself excessive risk chemicals and high-risk environment can also be identified automatically, and directly make alarm reaction, root
Select to stop, dodging, withdraw or take corresponding self-shield measure to eliminate danger according to needs.
Vision Builder for Automated Inspection is analyzed in terms of hardware and software two: hardware components comprises photographic head, collection
Card and relevant processor, as shown in Fig. 2 (b)；Software section mainly includes computer system software, regards
Visual information Processing Algorithm etc., as shown in Fig. 2 (c), it is on-the-spot and dirty that software section incorporates a large amount of environmental accident
The danger feature in dye place, and by these features by the scene of the accident and the type of contaminated site and key parameter,
And pollutant type and key parameter classify.When Vision Builder for Automated Inspection works, by manually arranging thing
Therefore the on-the-spot and type of contaminated site and key parameter and pollutant and key parameter, software section can extract phase
The danger feature database answered and contrast algorithm, thus realize the automatic identification to danger.
When environmental condition is good, when Vision Builder for Automated Inspection is working properly, the target location of given robot motion,
First pass through graphical analysis to combine robot motion model and estimate the error of target location and physical location, produce
Site error amount send into visual spatial attention module produce distance, rate signal, the control of robot body 9 hold
Row mechanism completes the action specified, and eventually arrives at appointment target location.Working as bad environments, Vision Builder for Automated Inspection is adopted
Collection data arrive central control room, engineer site environment is difficult to differentiate time, open robot from master control
Molding formula, realizes the movement of robot by the position-force control device of robot.Location-based closed loop control
Shown in block diagram such as Fig. 2 (d).
(2) from warning system
Alarm detection module (i.e. from warning system) is installed on robot body 9, can be according to field condition number
Alarm is provided by the signal lights of different conditions color according to being analyzed processing.From warning system mainly for
High temperature, explode, radiate, machine endurance distance, electric power cruising time, oxygen content and the driving gradient are carried out
Process (as shown in Figure 3).
(3) remote control system
With the artificial platform of construction machine, use and there is remote, the unlimited remote control system of multichannel of high reliability, can
To realize the long-range control to robot.Can be sent out by handheld terminal button operation or PC interface operation both of which
Penetrate the instruction that operator are sent, through parallel, the control of serial converted, signal procedure, error correction signal etc.
Reason forms digital code, goes out by radio wave transmission after carrier modulation.Control end reception to be sent by emitter
Electric wave, read the carrier signal that sends of emitter and demodulation coding be the digital signal representing operating content, warp
Overdrive after amplification etc. processes and send relay control signal, and then relay completes to lead to electromagnetic valve
/ disconnected action, to realize the controlled in wireless of robot.
Fig. 4 is the circuit structure diagram of remote control system, and remote control system is by emitter and receptor two parts
Composition, wherein emitting portion includes Keysheet module, power module, MCU control module and wireless transmitter module；
Receiving portion includes that wireless receiving module, MCU drive module and control to drive module.Use modular construction,
The method utilizing software and hardware to combine realizes the design of remote control system；Operator can be by handheld terminal
Reception situation monitored in real time by status indicator lamp, and operator can freely walk about selection best angle, it is to avoid poor visibility,
Seriously polluted, dangerous operating position, improves the working environment of operator.
(4) GPS real-time positioning system
It is mounted below GPS real-time positioning system 8 robot body 9, uses GPS technology to robot
Carry out real-time positioning monitoring, utilize GSM digital mobile communication network to carry out real-time Data Transmission, make in monitoring
The heart can understand the running status of robot in real time, is controlled robot and dispatches, and ensures robot security；
Meanwhile, robot immediately can keep in touch with Surveillance center and link up, and obtains information, in emergency circumstances can
Quickly obtain assistance, make driving process quickly, stable, safety.
GPS real-time positioning system is mainly made up of with space segment User Part, control part, its structure such as figure
Shown in 5.The location data of GPS are processed by GPS real-time positioning system, pass to prison by 3G radio network technique
Control center；After Surveillance center receives information, it is delivered to the car-mounted terminal data module of robot, thus controls machine
The particular state of device people, monitors in real time.
(5) air quality detecting device
Be provided with air quality detecting device 4 at the top of robot body 9, air quality risk supervision is main
Including the several aspect of oxygen content, ray, toxic and harmful, inhalable particles and Temperature and Humidity.Monitoring
System includes sensor, data collection station, control station, signal transmission system and control centre station, general frame
Figure is as shown in Figure 6.
(6) risk recognition system
Risk identification is top priority and the element task of risk assessment, for risk profile and evaluate provide data and
Other basic datas；It is next step Sources term analysis by risk identification, it was predicted that the loss that risk accidents causes is big
Little lay a good foundation.The concrete principle of risk identification is as shown in Figure 7.
(7) ENVIRONMENTAL EXPERT SYSTEMS
As shown in Figure 8, ENVIRONMENTAL EXPERT SYSTEMS is a kind of based on knowledge, can provide for the problem in a certain field
The computer program of " expert's level " solution.Set up all kinds of poisonous, harmful, inflammable, the change of explosive material
Learning property database, polluter may pollute the model library of environment and burn and bang model storehouse.
ENVIRONMENTAL EXPERT SYSTEMS sets up the model of each subsystem, constantly improves specialist system.Permissible by specialist system
Realize prevention in advance and the monitoring in real time of environmental pollution accident.After accident once occurs, it is possible to the property to accident
The factors such as matter, damaging range, diffusion way and place where the accident occurred natural environment influence are analyzed timely and effectively,
The aspect conductive suggestions such as personnel placement, equipment use, emergent management prediction scheme are provided for policymaker, final for place
Reason Sudden Pollution Accident provides scientific basis and processing scheme, make policymaker can process accident in time, subtract
The harm that light accident is brought.
(8) soil groundwater sampling, detection and in-situ repairing device
As it is shown in figure 9, the detection of soil groundwater sampling and in-situ repairing device 1 are installed by bindiny mechanism 15
Dead ahead robot body 9.The concrete structure of bindiny mechanism 15 as shown in Figure 10, connecting plate 157 with
The detection of soil groundwater sampling and in-situ repairing device 1 connect, and track runner 151 loads on robot body 9
Slide rail in, then fixed by bearing pin.Three class oil cylinders in bindiny mechanism 15 (i.e. amplitude oil cylinder 153,
Pitch oil cylinder 154 and passage oil cylinder 155) detection of soil groundwater sampling and in-situ repairing device can be realized respectively
Move before and after 1, pitch, the action of horizontal hunting.
The detection of soil groundwater sampling and in-situ repairing device 1 are provided with high-frequency hydraulic unit head assembly 11, can
To realize the sampling of the undisturbed to soil or subsoil water, it is possible to solve tradition the gathered pedotheque of sampling equipment and hand over
Fork pollutes, the problem of sample representativeness difference；High-frequency hydraulic unit head assembly 11 also solves in sampling process high
Frequency impact and the compound work problem of revolution, and during impact pressure probe tube down, thrust conduction route and stress knot
The optimization problem of structure, it makes sampling tube, detection probe or fix tool rapidly enter the position that underground is predetermined,
Reaction is fast, and efficiency is high, and high-frequency hydraulic unit head assembly can be in the drive of hydraulic motor when being necessary
Under rotate, formed impact and rotate composite move to adapt to some special environment.
The concrete structure of high-frequency hydraulic unit head assembly 11 sees patent ZL2016100122493, a kind of high frequency
Hydraulic power head and apply the soil remediation sampler drill of this unit head.
As shown in figure 11, the detection of soil groundwater sampling and in-situ repairing device 1 are provided with drilling rod and automatically load dress
Putting 16, the automatic filler device of drilling rod 16 includes track plates 161, sliding plate 162, drilling rod oil cylinder 163, oil cylinder
Interior bar 163a, slip plate 164, slips 165, drilling rod 166, installing plate 167, spring 168 and whirlpool
Wheel motor assemblies 169；
Wherein, track plates 161 and installing plate 167 weld together, by bolt being connected on Working rack 14
On；Turbine motor assembly 169 is arranged on track plates 161, and sliding plate 162 is arranged on the cunning of track plates 161
On rail, sliding plate 162 can be realized relative to track plates by turbine motor assembly 169 and the worm structure of itself
Move before and after 161.Drilling rod oil cylinder 163 is installed on one end of sliding plate 162；Another of sliding plate 162
End is provided with two slip plates 164, and two slip plates 164 are mounted opposite, single slip plate 164
Can rotate around installing axle 170, the centre of two slip plates 164 is provided with spring 168, slip plate 164
On be fitted with slips 165, drilling rod 166 can be clamped by two slip plates 164；Drilling rod oil cylinder 163
In oil cylinder, bar 163a can be inserted between two slip plates 164.
When drilling rod oil cylinder 163 rodless cavity oil-feed, in the oil cylinder of drilling rod oil cylinder 163, bar 163a stretches out, and two bore
Bar grip block 164 rotates to both sides, unclamps drilling rod 166；When drilling rod oil cylinder 163 rod chamber oil-feed, oil cylinder
Interior bar 163a bounces back, and two slip plates 164 lean on the spring force of spring 168 to central rotational, clamp drilling rod
166。
When high-frequency hydraulic unit head 11 is drilled downwards, two slip plates 164 are opened, after sliding plate 162
Moving, put into by drilling rod 166, then slip plate 164 clamps drilling rod 166；Wait end of drilling, high frequency liquid
Pressure power head 11 rises complete, and sliding plate 162 moves forward, and makes drilling rod 166 arrive position of drilling, high-frequency hydraulic
Unit head 11 moves down compression drilling rod 166；Slip plate 164 is opened, and moves after sliding plate 162, high
Frequently hydraulic power head 11 starts to drill downwards, so circulates work.
Wherein, move for track plates 161 before and after sliding plate 162, sliding during this
Plate 162 invariant position relative with drilling rod oil cylinder 163, is not related to bar 163a in the oil cylinder of drilling rod oil cylinder 163
Stretch out or the problem bounced back.As long as the obstructed oil of drilling rod oil cylinder 163, in oil cylinder bar 163a be will not stretch out or
Person's retraction.
The robot of the present embodiment structurally achieves the automatic filling of drilling rod 166；In addition, functionally adopt
With the cross reference of multidisciplinary multi-field technology, allow the robot to excessive risk chemicals and high-risk environment are carried out
Automatically identify, it is possible to accept the risk zones of risk recognition system and the coordinate parameters of target, take automatically in good time
Safeguard procedures (are made urgent emergency action or automatically dodge), can also carry out information with control centre simultaneously
Real-time Transmission, facilitates the comprehensive management of control centre；Final realization integrates control, multi-functional and intellectuality
Environment measuring and construction with emergent robot, must not adapt to high-risk environment problem for solution provides new method.
The foregoing is only the preference embodiment of the present invention, be not intended that the limit to scope
Fixed.Any any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, all should
Within being included in the claims of the present invention.
Claims (8)
1. dispose and the Engineering Robot of environment remediation for environmental monitoring, environmental emergency for one kind, it is characterised in that
Described Engineering Robot includes Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning
System, air quality detecting device, soil groundwater sampling detection and in-situ repairing device, risk recognition system,
ENVIRONMENTAL EXPERT SYSTEMS, data processing centre, robot body and mobile device；Wherein, Vision Builder for Automated Inspection,
From warning system, remote control system, GPS real-time positioning system, air quality detecting device, soil underground
Water sample detecting and in-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, mobile device are all and data
Processing center connects.
A kind of for environmental monitoring, environmental emergency disposal and the work of environment remediation
Journey robot, it is characterised in that it is automatic that the detection of described soil groundwater sampling and in-situ repairing device are provided with drilling rod
Filler device, the automatic filler device of drilling rod includes track plates, sliding plate, drilling rod oil cylinder, slip plate, card
Watt, drilling rod, installing plate, spring and turbine motor assembly；Track plates and installing plate weld together, and pass through
It is bolted on the Working rack of the detection of described soil groundwater sampling and in-situ repairing device；Turbine motor group
Part is arranged on track plates, and sliding plate is arranged on the top of track plates, can pass through whirlpool between sliding plate and track plates
Wheel motor assemblies carries out relative motion；It is solid that one end of sliding plate is provided with drilling rod oil cylinder, drilling rod oil cylinder and sliding plate
Fixed setting；The other end of sliding plate is provided with two slip plates, and two slip plates are mounted opposite, two
The centre of slip plate is provided with spring, and drilling rod can be vertically mounted between two slip plates；Drilling rod oil cylinder
Oil cylinder in bar can be inserted between two slip plates.
A kind of for environmental monitoring, environmental emergency disposal and the work of environment remediation
Journey robot, it is characterised in that the filling process of the automatic filler device of described drilling rod is as follows: on described soil ground
When the high-frequency hydraulic unit head of lower water sample detecting and in-situ repairing device is drilled downwards, two slip plates are beaten
Open, move after sliding plate, drilling rod is put into, then slip board clamping drilling rod；Wait end of drilling, high frequency liquid
Pressure power head rises complete, and sliding plate moves forward, and makes drilling rod arrive position of drilling, and high-frequency hydraulic unit head is to moving down
The tight drilling rod of dynamic pressure；Slip plate is opened, and moves after sliding plate, and high-frequency hydraulic unit head starts to drill downwards, as
This circulates work.
4. the one as described in claim 1,2 or 3 is repaiied for environmental monitoring, environmental emergency disposal and environment
Multiple Engineering Robot, it is characterised in that the detection of described soil groundwater sampling and in-situ repairing device are positioned at machine
The front of device human agent；Described Vision Builder for Automated Inspection, from warning system, GPS real-time positioning system, air matter
Amount detecting device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS and data processing centre are arranged at robot body
On, robot body is arranged on above mobile device.
A kind of for environmental monitoring, environmental emergency disposal and the work of environment remediation
Journey robot, it is characterised in that the detection of described soil groundwater sampling and in-situ repairing device pass through bindiny mechanism
It is arranged on the dead ahead of robot body；Described bindiny mechanism include track runner, passage support body, amplitude oil cylinder,
Pitching oil cylinder, passage oil cylinder, retracting cylinder and connecting plate, connecting plate detects and former with described soil groundwater sampling
Position prosthetic device connects, and track runner loads in the slide rail on described robot body, and is fixed by bearing pin；
Described amplitude oil cylinder, flexion-extension oil cylinder and passage oil cylinder can realize the detection of described soil groundwater sampling and original position respectively
The horizontal hunting of prosthetic device, pitch, movable action.
6. the one as described in claim 1,2 or 3 is repaiied for environmental monitoring, environmental emergency disposal and environment
Multiple Engineering Robot, it is characterised in that described remote control system includes emitter and receptor, emitter
Including Keysheet module, power module, MCU control module and wireless transmitter module；Receptor includes wireless receiving
Module, MCU drive module and control to drive module.
7. the one as described in claim 1,2 or 3 is repaiied for environmental monitoring, environmental emergency disposal and environment
Multiple Engineering Robot, it is characterised in that described air quality detecting device includes oxygen content detector, penetrates
Thread detector, toxic and harmful detector, inhalable particles detector and Temperature and Humidity device.
8. the one as described in claim 1,2 or 3 is repaiied for environmental monitoring, environmental emergency disposal and environment
Multiple Engineering Robot, it is characterised in that described mobile device is caterpillar chassis.
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| CN107470347A (en) * | 2017-08-31 | 2017-12-15 | 武汉市园林建筑工程公司 | A kind of contaminated soil remediation system adopting recirculating and method based on GPS location |
| CN108132670A (en) * | 2018-01-30 | 2018-06-08 | 天津中德应用技术大学 | Multifunctional inspecting robot and method of work based on distributed AC servo system |
| CN108274470A (en) * | 2018-04-23 | 2018-07-13 | 上海工程技术大学 | A kind of interior scientific investigation robot |
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| CN106825025A (en) * | 2017-01-12 | 2017-06-13 | 亿利生态修复股份有限公司 | Soil pollution processing method and equipment |
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| CN111309942B (en) * | 2020-01-22 | 2020-11-24 | 清华大学 | Data acquisition method, device and system for construction site |
| CN111309942A (en) * | 2020-01-22 | 2020-06-19 | 清华大学 | Data acquisition method, device and system for construction site |
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| CN112139232A (en) * | 2020-09-08 | 2020-12-29 | 东北大学 | Automatic operation system and method for in-situ remediation of complex terrain soil |
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| CN112966765A (en) * | 2021-03-18 | 2021-06-15 | 四川虹美智能科技有限公司 | Service information processing method, device and computer readable medium |
| CN113110481A (en) * | 2021-04-26 | 2021-07-13 | 上海智蕙林医疗科技有限公司 | Emergency avoidance implementation method and system, robot and storage medium |
| CN113110481B (en) * | 2021-04-26 | 2024-02-06 | 上海智蕙林医疗科技有限公司 | Emergency avoidance implementation method, system, robot and storage medium |
| CN114147737A (en) * | 2021-11-24 | 2022-03-08 | 广州多钛克机械科技有限公司 | Early warning method, system and medium for drainage robot and drainage robot |
| CN114378844A (en) * | 2022-02-08 | 2022-04-22 | 徐州大成环境科技有限公司 | Intelligent detection robot under building environment |
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Effective date of registration: 20240401 Address after: 253400 Southeast corner of the intersection of Xiangjiang Street and Gongye 1st Road in Ningjin County, Dezhou City, Shandong Province Patentee after: DEZHOU YEXIN CONSTRUCTION MACHINERY CO.,LTD. Country or region after: China Address before: Room 1609, Building 1, Deying International Plaza, Yuhuatai District, Nanjing City, Jiangsu Province, China Patentee before: NANJING ETS ENVIRONMENTAL TECHNOLOGY Co.,Ltd. Country or region before: China |