CN105965547B - A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation - Google Patents
A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation Download PDFInfo
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- CN105965547B CN105965547B CN201610577263.8A CN201610577263A CN105965547B CN 105965547 B CN105965547 B CN 105965547B CN 201610577263 A CN201610577263 A CN 201610577263A CN 105965547 B CN105965547 B CN 105965547B
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- 238000005067 remediation Methods 0.000 title claims abstract description 18
- 238000005553 drilling Methods 0.000 claims abstract description 61
- 239000002689 soil Substances 0.000 claims abstract description 41
- 239000003673 groundwater Substances 0.000 claims abstract description 36
- 238000011065 in-situ storage Methods 0.000 claims abstract description 36
- 238000005070 sampling Methods 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 19
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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
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- 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
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- 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
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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
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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- Human Computer Interaction (AREA)
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Abstract
The invention provides a kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation, it include machine vision, from alarm, remote control, GPS are positioned in real time, Detection of Air Quality, soil groundwater sampling detect and in-situ immobilization, risk identification, ENVIRONMENTAL EXPERT SYSTEMS, data processing centre, robot body and mobile device；Wherein, machine vision system, from alarm, remote control, GPS are positioned in real time, Detection of Air Quality, soil groundwater sampling are detected and in-situ immobilization, risk identification, ENVIRONMENTAL EXPERT SYSTEMS, mobile device are connected with data processing centre；Soil groundwater sampling detects and in-situ repairing device is additionally provided with the automatic filler device of drilling rod；A variety of advanced technologies such as the integrated soil groundwater environment risk supervision of the present invention and in-situ immobilization, environmental quality quick detection, machine vision, remote control, GPS are positioned in real time, risk identification and ENVIRONMENTAL EXPERT SYSTEMS are in one, structure more simplifies, and function is more comprehensive.
Description
Technical field
Present invention relates particularly to a kind of knot of the Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation
Structure principle, design method, integrated functionality and network software platform and ENVIRONMENTAL EXPERT SYSTEMS based on this robot, belong to people
The field of engineering technology such as work intelligence, Machine Design manufacture, environmental monitoring, environmental emergency and environment remediation.
Background technology
The generation of the accidents such as the leakage of hazardous chemical, burning, blast, can not only bring to local resident and rescue personnel
Harm, can also cause the pollution of soil, air and water body；When accident occurs, high temperature, dark, poisonous and dense smoke etc. are severe
Environment, generally result in rescue and be difficult to carry out, can also increase the difficulty of later stage high pollution environmental improvement.
When breaking out environmental pollution accident, generally require expert and rapidly scene pollute judgement and make reply arranging
Apply, this requires to carry out site environment quick pollution detection and risk assessment.But the research of emergent robot collects more at present
In nuclear radiation environment or safety fire fighting field application, but in field of Environment Protection, reply burst complex environment accident with
And the robot research of contaminated site is less.
Therefore, there is an urgent need to a kind of environmental emergency robot, to solve the environment thing in complicated hazardous environment event
Therefore live emergency relief, dangerous material carry, environmental emergency detection and the problems such as environment remediation.
The content of the invention
Answered to solve the operating mode during current contaminated site environmental monitoring, environmental emergency processing and environment remediation
The problems such as miscellaneous, required equipment is numerous and diverse, place risk height, the invention provides one kind be used for environmental monitoring, environmental emergency disposal and
The Engineering Robot of environment remediation, its integrated soil groundwater environment risk supervision and in-situ immobilization, air quality quick detection,
A variety of advanced technologies such as machine vision, remote control, automatic alarm, GPS are positioned in real time, risk identification and ENVIRONMENTAL EXPERT SYSTEMS in
One, structure more simplify, and function is more comprehensive, can solve the problems, such as the environmental emergency of environmental pollution accident and contaminated site simultaneously
Professional can be assisted to carry out repair, the problem of compensate for the robot application deficiency of field of Environment Protection, environment can be examined
The injury of survey personnel and labor intensity are preferably minimized.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation, the Engineering Robot bag
Include NI Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning systems, air quality detecting device, soil
Groundwater sampling detects and in-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, data processing centre, robot master
Body and mobile device；Wherein, NI Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning systems, air matter
Amount detecting device, the detection of soil groundwater sampling and in-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, mobile dress
Put and be connected with data processing centre.
Further, the soil groundwater sampling detection and in-situ repairing device are provided with the automatic filler device of drilling rod,
The automatic filler device of drilling rod include track plates, sliding plate, drilling rod oil cylinder, slip plate, slips, drilling rod, installing plate, spring and
Turbine motor component；Track plates and installing plate weld together, and are bolted and are detected in the soil groundwater sampling
And on the Working rack of in-situ repairing device；Turbine motor component is arranged on track plates, and sliding plate is arranged on the upper of track plates
Side, relative motion can be carried out by turbine motor component between sliding plate and track plates；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, two slip plate phases
To installation, the centre of two slip plates is provided with spring, and drilling rod can be vertically mounted between two slip plates；Drilling rod oil
The oil cylinder interior bar of cylinder can be inserted between two slip plates.
Further, the filling process of the automatic filler device of the drilling rod is as follows：Detected in the soil groundwater sampling
And the high-frequency hydraulic unit head of in-situ repairing device, when drilling downwards, two slip plates are opened, moved after sliding plate, drilling rod is put
Enter, then slip board clamping drilling rod；To the end of drilling, high-frequency hydraulic unit head, which rises, to be finished, and sliding plate reach, makes drilling rod
Arrival is drilled position, and high-frequency hydraulic unit head moves down compression drilling rod；Slip plate is opened, and is moved after sliding plate, high frequency liquid
Pressure power head starts to drill downwards, such circulation work.
Further, the soil groundwater sampling detection and in-situ repairing device are located at the front of robot body；Institute
State NI Vision Builder for Automated Inspection, from warning system, GPS real-time positioning systems, air quality detecting device, risk recognition system, environment
Expert system and data processing centre are arranged on robot body, and robot body is arranged on above mobile device.
The soil groundwater sampling detection and in-situ repairing device are being arranged on robot body just by bindiny mechanism
Front；The bindiny mechanism includes track runner, passage support body, amplitude oil cylinder, flexion-extension oil cylinder, passage oil cylinder, retracting cylinder and company
Fishplate bar, connecting plate is detected with the soil groundwater sampling and in-situ repairing device is connected, and track runner loads the robot
In slide rail in main body, and fixed by bearing pin；The soil can be achieved in the amplitude oil cylinder, flexion-extension oil cylinder and passage oil cylinder respectively
Earth groundwater sampling detects and the horizontal hunting of in-situ repairing device, flexion-extension, movable action.
Further, the remote control system includes transmitter and receiver, and transmitter includes Keysheet module, power supply mould
Block, MCU control module and wireless transmitter module；Receiver includes wireless receiving module, MCU drive modules and control driving mould
Block.
Further, the air quality detecting device includes oxygen content detector, ray detector, poisonous and harmful gas
Detector, inhalable particles detector and Temperature and Humidity device.
Further, the 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 groundwater
Design, the air risk supervision module of risk supervision and in-situ repairing device are designed, vision system is analyzed, GPS is positioned in real time, ring
The design of border expert system and risk identification, shown in its technology path such as Fig. 1 (a).
Engineering Robot structural refinement, the integrated result of the present invention is good, full-featured, disclosure satisfy that the complexity of environment measuring
Operating mode, emergency response and the requirement of environment remediation, than if independently the unattended of progress seriously polluted area, carrying are hazardous
Learn article, complete contamination accident emergent management etc., the injury of environment measuring personnel and labor intensity can be preferably minimized, it is practical
Value is high, very convenient；Specific advantage of the invention is as follows：
(1) robot of the invention uses hybrid power system, can freely be walked in anoxic or oxygen-free environment；This
Outside, the present invention is provided with mobile device, can freely walk, it is not necessary to crane lifting, it is very convenient.
(2) robot body of the invention can be positioned in real time by GPS.
(3) the site environment data of contaminated site and the running status of robot itself can be real-time transmitted in control
The heart, control centre can be by environmental risk identifying systems, and the region reached to robot or target location progress environmental risk are commented
Estimate.
(4) robot of the invention can also carry out automatic identification to excessive risk chemicals and high-risk environment, also be subjected to
The risk zones of risk recognition system and the coordinate parameters of target, take automatic protection measure in good time.
(5) robot of the invention can not only realize that the undisturbed sampling of soil and groundwater and environmental risk are quickly examined
Survey；The emergency processing and reparation in situ of soil and groundwater environment can be also realized, it is full-featured.
(6) robot of the invention can be carried out quick to the toxic and harmful gas in air and main atmospheric parameter
Detection；Air quality detecting device can in real time, regularly detect air pollutants numerical value of a certain place in certain time period.
(7) robot of the invention can be with repairing expert with the risk recognition system and environmental emergency of control centre
Real-time communication of uniting works.
(8) robot of the invention can realize the automatic filling of drilling rod：It is artificial accurate that conventional drill loads operation needs
Position, tighten, this process wastes time and energy, and labor strength is big.The automatic filler device of drilling rod of the present invention only needs worker's timing
Drilling rod is inserted in slips, the operations such as remaining positions, tightened are examined by the automatic filler device of drilling rod and soil groundwater sampling
Survey and in-situ repairing device coordinates completion, can significantly reduce labor intensity, save manpower.
Brief description of the drawings
Fig. 1 is the schematic diagram of the Engineering Robot of the present invention：(a) it is design development drawing；(b) it is general structure schematic diagram；
Fig. 2 is the schematic diagram of NI Vision Builder for Automated Inspection：(a) it is main assembly schematic diagram；(b) it is hardware composition schematic diagram；(c)
For software composition schematic diagram；(d) it 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 systems；
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 structural representation of the detection of soil groundwater sampling and in-situ repairing device；
Figure 10 is the schematic diagram of bindiny mechanism：(a) it is the front view of bindiny mechanism；(b) it is the top view of bindiny mechanism；
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 microcomputers；3- data processors；4- air
Quality detection device；5- data collecting cards；6- sensors；7- cameras；8-GPS real-time positioning systems；9- robot bodies；
10- mobile devices；11- high-frequency hydraulic unit head assemblies；12- manipulates console；13- push action cylinders；14- Working racks；15- connects
Connection mechanism；151- track runners；152- elapses support body；153- amplitude oil cylinders；154- pitches oil cylinder；155- passage oil cylinders；156-
Retracting cylinder；157- connecting plates；The automatic filler device of 16- drilling rods；161- track plates；162- sliding plates；163- drilling rod oil cylinders；
163a- oil cylinder interior bars；164- slip plates；165- slips；166- drilling rods；167- installing plates；168- springs；169- turbine horses
Up to component；Installation axle 170.
Embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
The robot of the present embodiment includes NI Vision Builder for Automated Inspection, positioned in real time from warning system, remote control system, GPS
System 8, air quality detecting device 4, the detection of soil groundwater sampling and in-situ repairing device 1, risk recognition system, environment are special
Family's system, data processing centre, robot body 9 and mobile device 10；Wherein, NI Vision Builder for Automated Inspection, from warning system, long-range
Control system, GPS real-time positioning systems 8, air quality detecting device 4, the detection of soil groundwater sampling and in-situ repairing device
1st, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS and mobile device 10 are connected with data processing centre.
Wherein, the detection of soil groundwater sampling and in-situ repairing device 1 are located at the front of robot body 9；Robot
Main body 9 is used as carrier, and power is provided for robot, NI Vision Builder for Automated Inspection, fixed in real time from warning system, remote control system, GPS
Position system 8, air quality detecting device 4, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS and data processing centre are arranged at machine
On human agent 9, robot body 9 is arranged on above mobile device 10, and mobile device 10 can improve work effect from walking
Rate, it is dangerous to reduce work；Mobile device 11 is caterpillar chassis.
Each system is described in detail below.
(1) NI Vision Builder for Automated Inspection
NI Vision Builder for Automated Inspection is innovatively applied on Green Machine people by the present embodiment, is designed according to the characteristics of robot
Corresponding algorithm and controller, the image of its vision collecting are combined with the motion control of robot, as a control signal
The motion control of robot is realized after controller computing, determines that Emergency avoidance is also to continue with moving ahead.
For the complete letter for improving flexibility and accuracy of the robot in environment complicated and changeable, obtaining local environment
Breath, applies NI Vision Builder for Automated Inspection on robot body 9, and NI Vision Builder for Automated Inspection plays environment detection and identification in navigation
Effect.Shown in the main assembly of NI Vision Builder for Automated Inspection such as Fig. 2 (a).The NI Vision Builder for Automated Inspection of this example can showing contaminated site
Situation is real-time transmitted to central control room, the appearance by computer and engineer according to the timely adjusting device of data of collection in worksite
State, the walking for controlling integral device；In addition, robot can also be known automatically to excessive risk chemicals and high-risk environment in itself
Not, and alarm reaction is directly made, selection as needed stops, avoiding, withdraw or taken corresponding self-shield measure to eliminate
It is dangerous.
NI Vision Builder for Automated Inspection is analyzed in terms of hardware and software two：Hardware components include camera, capture card and
Related processor, as shown in Fig. 2 (b)；Software section mainly includes computer system software, Vision information processing algorithm etc.,
As shown in Fig. 2 (c), software section incorporates the danger feature of a large amount of environmental accident scenes and contaminated site, and these are special
Sign is classified by the scene of the accident and the type and key parameter of contaminated site, and pollutant type and key parameter.Work as machine
When device vision system works, by the type and key parameter and pollutant and the pass that manually set the scene of the accident and contaminated site
Bond parameter, software section can extract corresponding danger feature database and contrast algorithm, so as to realize the automatic identification to danger.
When environmental condition is good, when NI Vision Builder for Automated Inspection is working properly, the target location of given robot motion is logical first
The error that graphical analysis combination robot moving description goes out target location and physical location is crossed, caused site error amount is sent
Enter visual spatial attention module and produce distance, rate signal, the action for completing to specify by the control executing agency of robot body 9, most
Zhongdao, which reaches, specifies target location.Work as bad environments, the data of NI Vision Builder for Automated Inspection collection reach central control room, and engineer is to existing
When field environment is not easy to differentiate, the autonomous control pattern of robot is opened, machine is realized by the position-force control device of robot
The movement of people.Shown in location-based closed-loop control 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 carried out according to field condition data
Analyzing and processing provides alarm by the signal lamp of different conditions color.From warning system mainly for high temperature, blast, spoke
Penetrate, machine endurance distance, electric power cruising time, oxygen content and driving the gradient handled (as shown in Figure 3).
(3) remote control system
With the artificial platform of construction machine, using with remote, high reliability the unlimited remote control system of multichannel, it is possible to achieve
To the remote control of robot.Operating personnel can be launched by handheld terminal button operation or PC interface operation both of which to be sent out
The instruction gone out, digital code is formed by processing such as parallel, serial converted, signal procedure control, error correction signals, by carrier modulation
Gone out afterwards with radio wave transmission.Control terminal receives the electric wave sent by transmitter, and the carrier signal that reading transmitter is sent is simultaneously
Demodulation coding is the data signal for representing operating content, and relay control signal is sent after the processing such as drive amplification, and then
Relay is completed to act the on/off of electromagnetic valve, to realize the controlled in wireless of robot.
Fig. 4 is the circuit structure diagram of remote control system, and remote control system is made up of transmitter and receiver two parts,
Wherein emitting portion includes Keysheet module, power module, MCU control module and wireless transmitter module；Receiving portion includes wireless
Receiving module, MCU drive modules and control drive module.Using modular construction, the method being combined using software and hardware is realized
The design of remote control system；Operating personnel can monitor reception situation, operator in real time by the status indicator lamp of handheld terminal
Can freely be walked about selection best angle, avoided poor visibility, seriously polluted, dangerous operating position, improved the work of operating personnel
Make environment.
(4) GPS real-time positioning systems
GPS real-time positioning systems 8 are installed below robot body 9, robot carried out using GPS technology real-time
Locating and monitoring, real-time Data Transmission is carried out using GSM digital mobile communication networks, Surveillance center is understood robot in real time
Running status, robot is controlled and dispatched, ensure robot security；Meanwhile robot can immediately with monitoring
The heart is kept in touch and linked up, and is obtained information, in emergency circumstances can quickly help, make traveling process it is quick, stably, pacify
Entirely.
GPS real-time positioning systems are mainly made up of User Part, control section and space segment, and its structure is as shown in Figure 5.
GPS real-time positioning systems handle GPS location data, and Surveillance center is passed to by 3G radio network techniques；Surveillance center receives
To after information, the car-mounted terminal data module of robot is delivered to, so as to the particular state of control machine people, is supervised in real time
Control.
(5) air quality detecting device
Air quality detecting device 4 is installed at the top of robot body 9, air quality risk supervision mainly includes oxygen
Gas content, ray, toxic and harmful gas, inhalable particles and the several aspects of Temperature and Humidity.Monitoring system includes sensor, number
Stood according to acquisition station, control station, signal transmission system and control centre, 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, and data and other are provided for risk profile and evaluation
Basic data；By the Sources term analysis that risk identification is next step, loss size is laid a good foundation caused by forecasting risk accident.
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, " expert can be provided for the problem of a certain field
The computer program of level " solution.The chemical characteristic data storehouse of all kinds of poisonous, harmful, inflammable, explosive materials is established, is polluted
Material may pollute model library and burning and the bang model storehouse of environment.
ENVIRONMENTAL EXPERT SYSTEMS establishes the model of each subsystem, constantly improve expert system.It can be realized by expert system
The prevention in advance of environmental pollution accident and in real time monitoring.Accident Yi Dan occur after, can to the property of accident, damaging range,
The factor such as diffusion way and place where the accident occurred natural environment influence is timely and effectively analyzed, and personnel's peace is provided for policymaker
Row, equipment use, emergent management prediction scheme etc. conductive suggestion, it is final to provide science for processing Sudden Pollution Accident
Foundation and processing scheme, enable policymaker's timely processing accident, the harm that mitigation accident is brought.
(8) soil groundwater sampling, detection and in-situ repairing device
As shown in figure 9, the detection of soil groundwater sampling and in-situ repairing device 1 are arranged on robot by bindiny mechanism 15
The front of main body 9.The concrete structure of bindiny mechanism 15 is as shown in Figure 10, connecting plate 157 and soil groundwater sampling detect and
In-situ repairing device 1 connects, and track runner 151 loads in the slide rail on robot body 9, is then fixed by bearing pin.Connection
Soil underground can be achieved in three class oil cylinders (i.e. amplitude oil cylinder 153, flexion-extension oil cylinder 154 and passage oil cylinder 155) in mechanism 15 respectively
Water sample detecting and the movable of in-situ repairing device 1, flexion-extension, the action of horizontal hunting.
High-frequency hydraulic unit head assembly 11 is provided with the detection of soil groundwater sampling and in-situ repairing device 1, it is possible to achieve
The undisturbed of soil or underground water is sampled, can solve the problem that traditional sampling equipment gathers pedotheque cross pollution, sample generation
The problem of table difference；High-frequency hydraulic unit head assembly 11 also solves the impact of sampling process medium-high frequency and turns round compound work and asks
Topic, and impact, when pushing probe tube, the optimization problem of thrust conduction route and force structure, it causes sampling pipe, detection
Probe or fix tool rapidly enter the predetermined position in underground, and reaction is fast, efficiency high, and high-frequency hydraulic moves when being necessary
Power head assembly can be rotated under the drive of hydraulic motor, and the composite move for forming impact and rotation is some special to adapt to
Environment.
The concrete structure of high-frequency hydraulic unit head assembly 11 moves referring to patent ZL2016100122493, a kind of high-frequency hydraulic
The soil remediation sampler drill of power head and the application unit head.
As shown in figure 11, the detection of soil groundwater sampling and in-situ repairing device 1 are provided with the automatic filler device 16 of drilling rod, bore
The automatic filler device 16 of bar includes track plates 161, sliding plate 162, drilling rod oil cylinder 163, oil cylinder interior bar 163a, slip plate
164th, slips 165, drilling rod 166, installing plate 167, spring 168 and turbine motor component 169；
Wherein, track plates 161 and installing plate 167 weld together, and are bolted on Working rack 14；Turbine horse
It is arranged on up to component 169 on track plates 161, sliding plate 162 is arranged on the slide rail of track plates 161, and sliding plate 162 passes through turbine
Motor sub-assembly 169 and the worm structure of itself can be realized relative to the movable of track plates 161.On one end of sliding plate 162
Drilling rod oil cylinder 163 is installed；The other end of sliding plate 162 is provided with two slip plates 164, two phases of slip plate 164
To installation, single slip plate 164 can rotate around installation axle 170, and the centre of two slip plates 164 is provided with spring 168,
Slips 165 is fitted with slip plate 164, drilling rod 166 can be clamped by two slip plates 164；Drilling rod oil cylinder 163
Oil cylinder interior bar 163a can be inserted between two slip plates 164.
When the 163 rodless cavity oil-feed of drilling rod oil cylinder, the oil cylinder interior bar 163a of drilling rod oil cylinder 163 stretches out, two slip plates
164 rotate to both sides, unclamp drilling rod 166；When the 163 rod chamber oil-feed of drilling rod oil cylinder, oil cylinder interior bar 163a retractions, two drilling rods folder
Plate 164 is held by the spring force of spring 168 to central rotational, clamps drilling rod 166.
When high-frequency hydraulic unit head 11 is drilled downwards, two slip plates 164 are opened, and are moved after sliding plate 162, by drilling rod
166 are put into, and then slip plate 164 clamps drilling rod 166；To the end of drilling, high-frequency hydraulic unit head 11, which rises, to be finished, and is slid
Plate 162 moves forward, and drilling rod 166 is reached position of drilling, and high-frequency hydraulic unit head 11, which moves down, compresses drilling rod 166；Slip
Plate 164 is opened, and is moved after sliding plate 162, and high-frequency hydraulic unit head 11 starts to drill downwards, such circulation work.
Wherein, the movable of sliding plate 162 is He of sliding plate 162 during this for track plates 161
The relative position of drilling rod oil cylinder 163 is constant, and the oil cylinder interior bar 163a for not being related to drilling rod oil cylinder 163 stretches out the problem of still bouncing back.
As long as 163 obstructed oil of drilling rod oil cylinder, oil cylinder interior bar 163a will not stretch out or bounce back.
The robot of the present embodiment realizes the automatic filling of drilling rod 166 in structure；In addition, functionally use learn more
The cross reference of the multi-field technology of section, allow the robot to carry out automatic identification to excessive risk chemicals and high-risk environment, also may be used
Receive the risk zones of risk recognition system and the coordinate parameters of target, take automatic protection measure (to make urgent emergent in good time
Action or automatic avoidance), while the real-time Transmission of row information can also be entered with control centre, facilitate comprehensive pipe of control centre
Reason；Final realize integrates control, multi-functional and intelligent environment measuring and the emergent robot of construction, must not for solution
Adapt to high-risk environment problem and new method is provided.
The preference embodiment of the present invention is the foregoing is only, is not intended to limit the scope of the present invention..Appoint
All any modification, equivalent and improvement what is made within the spirit and principles in the present invention etc., it should be included in the present invention's
Within claims.
Claims (7)
- A kind of 1. Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation, it is characterised in that the engineering Robot includes NI Vision Builder for Automated Inspection, filled from warning system, remote control system, GPS real-time positioning systems, Detection of Air Quality Put, soil groundwater sampling detects and in-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, data processing centre, machine Device human agent and mobile device；Wherein, NI Vision Builder for Automated Inspection, from warning system, remote control system, GPS real-time positioning systems, Air quality detecting device, soil groundwater sampling detection and in-situ repairing device, risk recognition system, ENVIRONMENTAL EXPERT SYSTEMS, Mobile device is connected with data processing centre；It is automatic that the soil groundwater sampling detection and in-situ repairing device are provided with drilling rod Filler device, the automatic filler device of drilling rod include track plates, sliding plate, drilling rod oil cylinder, slip plate, slips, drilling rod, installation Plate, spring and turbine motor component；Track plates and installing plate weld together, and are bolted in the soil underground water On the Working rack of sample detecting and in-situ repairing device；Turbine motor component is arranged on track plates, and sliding plate sets in-orbit The top of guidance tape, relative motion is carried out by turbine motor component between sliding plate and track plates；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, two drilling rod folders Hold plate to be mounted opposite, the centre of two slip plates is provided with spring, is fitted with slips on slip plate, drilling rod is vertically pacified Between two slip plates and insert in slips；The oil cylinder interior bar of drilling rod oil cylinder is inserted between two slip plates.
- 2. a kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 1, its It is characterised by, the filling process of the automatic filler device of drilling rod is as follows：Repaiied in soil groundwater sampling detection and original position When the high-frequency hydraulic unit head of apparatus for coating is drilled downwards, two slip plates are opened, and are moved, drilling rod are put into, then after sliding plate Slip board clamping drilling rod；To the end of drilling, high-frequency hydraulic unit head, which rises, to be finished, and sliding plate reach, is reached drilling rod and is beaten Position is bored, high-frequency hydraulic unit head moves down compression drilling rod；Slip plate is opened, and is moved after sliding plate, high-frequency hydraulic power Head starts to drill downwards, such circulation work.
- A kind of 3. construction machine for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 1 or 2 People, it is characterised in that soil groundwater sampling detection and in-situ repairing device are located at the front of robot body；The machine Device vision system, from warning system, GPS real-time positioning systems, air quality detecting device, risk recognition system, environmentalist System and data processing centre are arranged on robot body, and robot body is arranged on above mobile device.
- 4. a kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 3, its It is characterised by, the soil groundwater sampling detection and in-situ repairing device are being arranged on robot body just by bindiny mechanism Front；The bindiny mechanism includes track runner, passage support body, amplitude oil cylinder, flexion-extension oil cylinder, passage oil cylinder, retracting cylinder and company Fishplate bar, connecting plate is detected with the soil groundwater sampling and in-situ repairing device is connected, and track runner loads the robot In slide rail in main body, and fixed by bearing pin；The soil can be achieved in the amplitude oil cylinder, flexion-extension oil cylinder and passage oil cylinder respectively Earth groundwater sampling detects and the horizontal hunting of in-situ repairing device, flexion-extension, movable action.
- A kind of 5. construction machine for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 1 or 2 People, it is characterised in that the remote control system includes transmitter and receiver, transmitter include Keysheet module, power module, MCU control module and wireless transmitter module；Receiver includes wireless receiving module, MCU drive modules and control drive module.
- A kind of 6. construction machine for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 1 or 2 People, it is characterised in that the air quality detecting device includes oxygen content detector, ray detector, toxic and harmful gas Detector, inhalable particles detector and Temperature and Humidity device.
- A kind of 7. construction machine for environmental monitoring, environmental emergency disposal and environment remediation as claimed in claim 1 or 2 People, it is characterised in that the mobile device is caterpillar chassis.
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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 |
| CN107470347B (en) * | 2017-08-31 | 2022-12-27 | 武汉市园林建筑工程公司 | Contaminated soil remediation system and method based on GPS positioning |
| 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 |
| CN108274470B (en) * | 2018-04-23 | 2021-10-08 | 上海工程技术大学 | Indoor scientific investigation robot |
| CN109945918A (en) * | 2019-02-20 | 2019-06-28 | 天津科技大学 | Soil K+adsorption intelligent robot |
| CN110065077B (en) * | 2019-04-25 | 2021-03-26 | 王荩立 | Environment detection method and system for archaeology |
| CN111309942B (en) * | 2020-01-22 | 2020-11-24 | 清华大学 | Data acquisition method, device and system for construction site |
| CN111897345B (en) * | 2020-08-13 | 2023-10-10 | 深圳国信泰富科技有限公司 | High-intelligent disaster field environment pre-exploration system |
| CN112139232B (en) * | 2020-09-08 | 2022-02-15 | 东北大学 | Automatic operation system and method for in-situ remediation of complex terrain soil |
| 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 |
| 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 |
| CN114147737B (en) * | 2021-11-24 | 2023-04-18 | 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 |
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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 |
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Denomination of invention: An engineering robot for environmental monitoring, emergency response, and restoration Granted publication date: 20180123 Pledgee: Shandong Ningjin Rural Commercial Bank Co.,Ltd. Pledgor: DEZHOU YEXIN CONSTRUCTION MACHINERY CO.,LTD. Registration number: Y2024980016277 |