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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- environmental
- drilling rod
- robot
- oil cylinder
- sliding plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007613 environmental effect Effects 0.000 title claims abstract description 56
- 238000012544 monitoring process Methods 0.000 title claims abstract description 19
- 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
- 239000000945 filler Substances 0.000 claims abstract description 13
- 238000007689 inspection Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 3
- 239000001301 oxygen Substances 0.000 claims description 3
- 229910052760 oxygen Inorganic materials 0.000 claims description 3
- 239000002245 particle Substances 0.000 claims description 3
- 231100000331 toxic Toxicity 0.000 claims description 3
- 230000002588 toxic effect Effects 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000005429 filling process Methods 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 claims 1
- 238000000576 coating method Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 7
- 239000003570 air Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 230000006378 damage Effects 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 239000000126 substance Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000003912 environmental pollution Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 231100000614 poison Toxicity 0.000 description 3
- 230000007096 poisonous effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012502 risk assessment Methods 0.000 description 2
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 1
- 239000000809 air pollutant Substances 0.000 description 1
- 231100001243 air pollutant Toxicity 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 229910001882 dioxygen Inorganic materials 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Description
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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610577263.8A CN105965547B (en) | 2016-07-20 | 2016-07-20 | A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610577263.8A CN105965547B (en) | 2016-07-20 | 2016-07-20 | A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105965547A CN105965547A (en) | 2016-09-28 |
CN105965547B true CN105965547B (en) | 2018-01-23 |
Family
ID=56952711
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610577263.8A Active CN105965547B (en) | 2016-07-20 | 2016-07-20 | A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105965547B (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN114378844B (en) * | 2022-02-08 | 2024-06-14 | 苏州恒锐环境科技有限公司 | Intelligent detection robot under building environment |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1329148A1 (en) * | 2001-12-19 | 2003-07-23 | Deere & Company | Robot for sampling and analyzing soil |
CN102628783A (en) * | 2012-03-26 | 2012-08-08 | 北京农业智能装备技术研究中心 | Robot for testing soil hardness |
CN105443036A (en) * | 2016-01-08 | 2016-03-30 | 南京市宜德思环境科技有限责任公司 | High-frequency hydraulic power head and soil restoration sampling drilling machine using power head |
CN105511472A (en) * | 2015-09-21 | 2016-04-20 | 桂林电子科技大学 | Underground detection robot capable of adapting to various extreme environments |
CN205889251U (en) * | 2016-07-20 | 2017-01-18 | 南京市宜德思环境科技有限责任公司 | Be used for environmental monitoring, emergent processing of environment and prosthetic engineering machine ware people of environment |
-
2016
- 2016-07-20 CN CN201610577263.8A patent/CN105965547B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1329148A1 (en) * | 2001-12-19 | 2003-07-23 | Deere & Company | Robot for sampling and analyzing soil |
CN102628783A (en) * | 2012-03-26 | 2012-08-08 | 北京农业智能装备技术研究中心 | Robot for testing soil hardness |
CN105511472A (en) * | 2015-09-21 | 2016-04-20 | 桂林电子科技大学 | Underground detection robot capable of adapting to various extreme environments |
CN105443036A (en) * | 2016-01-08 | 2016-03-30 | 南京市宜德思环境科技有限责任公司 | High-frequency hydraulic power head and soil restoration sampling drilling machine using power head |
CN205889251U (en) * | 2016-07-20 | 2017-01-18 | 南京市宜德思环境科技有限责任公司 | Be used for environmental monitoring, emergent processing of environment and prosthetic engineering machine ware people of environment |
Also Published As
Publication number | Publication date |
---|---|
CN105965547A (en) | 2016-09-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105965547B (en) | A kind of Engineering Robot for environmental monitoring, environmental emergency disposal and environment remediation | |
CN111897318B (en) | Unmanned ship-based intelligent water pollution investigation method and device | |
CN103523676B (en) | Real-time monitoring and pre-warning system for security risks of gantry crane operation of metro shield tunnel and working method of system | |
CN105951569B (en) | Independently detect robot system and detection method in crawler type road face | |
WO2017088555A1 (en) | Intelligent pipe network system based on orbital robot | |
CN102621571B (en) | Method for distributing wireless sensor nodes for nuclear pollution detection | |
CN106896145A (en) | Toxic and harmful unmanned plane detecting system and detection method | |
CN205889251U (en) | Be used for environmental monitoring, emergent processing of environment and prosthetic engineering machine ware people of environment | |
CN206945690U (en) | A kind of soil environment detection means | |
CN109146331A (en) | A kind of contaminated site repair intelligence control platform based on technology of Internet of things | |
CN111650344A (en) | Underground information acquisition system and method based on crawler-type intelligent robot | |
CN112097823A (en) | Based on big dipper high accuracy location and BIM construction multiple spot synchronous monitoring system | |
CN206920429U (en) | A kind of remote online water monitoring device | |
CN113569428A (en) | Tunnel abnormity detection method, device and system | |
CN107860892A (en) | Soil analysis and investigation robot | |
CN207650205U (en) | Soil analysis and investigation robot | |
CN204287909U (en) | A kind of tower crane service life evaluation system based on Internet of Things | |
CN108189924A (en) | A kind of water power crusing robot and its method for inspecting | |
Zhang et al. | A framework of on-site construction safety management using computer vision and real-time location system | |
CN219085499U (en) | Automatic management and control system for tunnel construction | |
CN109667623B (en) | Online detection system for detecting underground roadway and tunnel | |
CN106480873B (en) | Dynamic compaction machinery automatic control system and method | |
CN110260169A (en) | A kind of fuel gas pipeline leakage Tube Bundle Monitoring System | |
CN115524698A (en) | Rail transit tunnel damage identification system and method | |
CN112184078B (en) | Automatic inspection system for closed water treatment facility |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
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 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
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 |