CN106799737B - Safe storage, transportation and fixed-point placement method for hazardous chemical liquid based on mobile robot - Google Patents

Safe storage, transportation and fixed-point placement method for hazardous chemical liquid based on mobile robot Download PDF

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Publication number
CN106799737B
CN106799737B CN201710073654.0A CN201710073654A CN106799737B CN 106799737 B CN106799737 B CN 106799737B CN 201710073654 A CN201710073654 A CN 201710073654A CN 106799737 B CN106799737 B CN 106799737B
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China
Prior art keywords
chemical solution
hazardous chemical
mechanical arm
trolley
storage
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CN106799737A (en
Inventor
吴文亮
陈兵
李晋航
殷庆文
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Dongfang Electric Corp
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Dongfang Electric Corp
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/002Manipulators for defensive or military tasks
    • B25J11/0025Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed

Abstract

The invention relates to a safe storage, transportation and fixed-point placement method for hazardous chemical solution based on a mobile robot, which comprises the following steps that a mobile trolley system moves from a designated hazardous chemical solution point to a designated detection point according to a planned path; opening a hazardous chemical solution storage system; the multi-joint mechanical arm system receives a liquid discharging instruction and moves to the position above the hazardous chemical solution storage system; and the multi-joint mechanical arm system controls the clamp system and puts the hazardous chemical solution to a specified detection point. The method is suitable for the high-risk hazardous chemical solution sampling and detecting stage, and by introducing the hazardous chemical solution extraction system based on the mobile robot, the fixed hazardous chemical solution extraction device used in the high-risk environment is replaced by the radiation-proof corrosion-resistant mobile robot hazardous chemical solution extraction device, so that the high-efficiency, quantitative and visual extraction operation of the hazardous chemical solution is realized.

Description

Safe storage, transportation and fixed-point placement method for hazardous chemical liquid based on mobile robot
Technical Field
The invention relates to the field of extraction and detection of hazardous chemical solutions, in particular to a method for safely storing, transporting and placing hazardous chemical solutions at fixed points based on a mobile robot.
Background
In various places of the industries such as production and manufacturing, medical sanitation, nuclear test, nuclear power, metallurgy and chemical industry and the like, a large amount of hazardous chemical solution with complex components, uneven concentration, high corrosivity and high radioactivity is generated, and serious damage is easily caused to people, animals and the environment. The hazardous chemical solution is generally stored in a closed space by adopting an isolation method, is treated by the steps of collection and storage, sampling detection, purification treatment, discharge and the like by the methods of dilution or solidification and the like, is converted into a small-volume concentrate and is stored, and after the corrosivity and the radioactivity are less than the maximum allowable discharge index, the concentrate is discharged into the environment for burying or diffusion. Sampling and detecting hazardous chemical solution is an important link in the treatment process, the components and the content of the hazardous chemical solution are detected at this stage, an effective hazardous chemical solution treatment method can be found only after full detection, and the harm can be reduced to the minimum only after strict treatment.
When sampling and detecting the hazardous chemical solution, a small amount of solution needs to be extracted by adopting an advanced method and means for analyzing the components and the content. From published records and data, most dangerous chemical solution extraction adopts a fixed dangerous chemical solution extraction device constructed based on a vacuum suction mode, the device mainly comprises a vacuum pump, a suction pipe, a control switch, a camera and the like, is fixed at a certain place together with dangerous chemical solution processing equipment, and finishes extraction of dangerous chemical solutions under the participation of manpower. Lack nimble means of drawing and unable accurate ration and draw the scheduling problem and become the bottleneck that restricts dangerization solution treatment efficiency and promote, owing to adopt fixed solution extraction element, can not freely remove the operation, under the condition that the device broke down or dangerization solution component changes, fixed solution extraction element can't be competent in the spot check work, causes dangerization solution to handle when serious and pauses, and the production line is shut down, brings huge economic loss.
In addition, many occasions are not provided with fixed hazardous chemical solution extraction equipment, when the types of extracted hazardous chemical solutions are more, the distances are longer, and the working environment is severe, people are required to enter different environments and even high-risk environments for manual operation, and (1) people work in the severe environment for a long time and are easy to be damaged; (2) the hazardous chemical solution is inaccurate in taking amount, and the operation efficiency is low; (3) the redundant hazardous chemical solution is not easy to process, and the like. These problems have seriously affected the processing efficiency and human safety of the hazardous chemical solution detection process.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a method for safely storing, transporting and placing hazardous chemical solution at fixed points based on a mobile robot, which realizes the automation, quantification and standardization operation of repeatedly carrying out quantitative extraction of hazardous chemical solution under different high-risk environments by using the mobile robot, thereby completely isolating the contact between people and the high-risk environments and meeting the requirement of fully detecting the hazardous chemical solution.
The invention is realized by the following technical scheme:
a method for safe storage, transportation and fixed-point placement of hazardous chemical solution based on a mobile robot is characterized in that the mobile robot comprises a mobile trolley system, a multi-joint mechanical arm system, a clamp system, a visual ultrasonic detection system and a hazardous chemical solution storage system; the mobile robot is in communication connection with the master control console system; the method comprises the following steps:
a) the moving trolley system moves from a designated hazardous chemical solution point to a designated detection point according to a planned path;
b) opening a hazardous chemical solution storage system;
c) the moving trolley system sends an instruction to the joint mechanical arm system, and the multi-joint mechanical arm system drives the clamp system to move above the hazardous chemical solution storage system;
d) and the multi-joint mechanical arm system operates the clamp system under the guidance of the visual ultrasonic detection system, takes out the hazardous chemical solution from the hazardous chemical solution storage system and puts the hazardous chemical solution to a specified detection point.
e) Checking whether the storage hazardous chemical solution exists in the hazardous chemical solution storage system, and repeating the steps c) and d).
Furthermore, PLC controllers are arranged in the mobile trolley system and the multi-joint mechanical arm system; the PLC of the mobile trolley system and the PLC of the multi-joint mechanical arm system are in a master-slave control mode.
Further, the movement planning path is stored in a PLC controller of the mobile trolley system.
Further, the storage system for hazardous chemical solutions comprises a storage body, a liquid taking measuring cup, a weight sensor and a pneumatic device; the liquid taking measuring cup is arranged in the storage body; the weight sensor is arranged at the bottom of the liquid taking measuring cup; one end of the pneumatic device is connected with the PLC of the mobile trolley system, and the other end of the pneumatic device is connected with the storage body; the weight sensor is connected with a PLC (programmable logic controller) of the mobile trolley system; the PLC controller of the mobile trolley system opens the sealed pneumatic top cover of the storage body through a pneumatic device.
Further, the PLC of the mobile trolley system sends an instruction to the PLC of the multi-joint mechanical arm system, and the multi-joint mechanical arm system drives the clamp device to move above the hazardous chemical solution storage system.
Further, the clamp system comprises a clamp body, a rotating device, a quantitative liquid taking device and a pneumatic three-jaw chuck device; the PLC controller of the multi-joint mechanical arm system controls a clamp body of the clamp system to rotate, and the pneumatic three-jaw chuck device rotates to a working position; the multi-joint mechanical arm PLC controller controls the pneumatic three-jaw chuck device to clamp a liquid taking measuring cup for storing hazardous chemical solution from a hazardous chemical solution storage system to a certain height, a specified liquid discharging point and a specified liquid discharging height are found under the guidance of the visual ultrasonic detection system, and finally a detection table fixed-point liquid discharging program block in the multi-joint mechanical arm PLC controller is called to place the liquid taking measuring cup at the specified detection point.
Compared with the prior art, the invention has the following beneficial effects:
the PLC of the mobile trolley system and the PLC of the multi-joint mechanical arm system adopt a master-slave control mode, so that the control logics are strict, the data transmission is smooth, the actions are matched and coordinated with each other, and the stable and reliable work of the mobile system is easy to ensure;
the problem that the hazardous chemical solution is temporarily stored and safely transported to a detection point after being extracted is solved by adopting a self-designed hazardous chemical solution storage system, and the hazardous chemical solution storage system is in operation fit with a multi-joint mechanical arm under the control of a PLC (programmable logic controller) of a mobile trolley, so that the task of placing the hazardous chemical solution at a fixed point is efficiently completed;
the multifunctional clamp system integrating the object grabbing function and the hazardous chemical solution quantitative extraction function carries out redundant hazardous chemical solution treatment, the system utilizes a pneumatic device to provide power, utilizes a pressure sensor and a liquid level position sensor to detect the working state of the clamp in real time, and is simple and easy in whole clamp system and low in cost, and can realize that the hazardous chemical solution is quickly placed on a detection table by combining the specific steps of hazardous chemical solution fixed-point placement;
the method utilizes a visual ultrasonic detection system consisting of machine vision and ultrasonic waves to determine the placement point of the hazardous chemical solution, namely, visual images determine coordinate values of X and Y planes, ultrasonic waves determine a value in the Z direction of the height, and the vectors of the two are superposed together to provide position data support for the placement of the fixed-point hazardous chemical solution of the mobile robot.
Drawings
Fig. 1 is a schematic diagram of the operation of the system of the present invention.
FIG. 2 is a block diagram of the system components of the present invention.
Fig. 3 is a structural view of the mobile robot of the present invention.
Fig. 4 is a control structure diagram of the mobile robot system of the present invention.
FIG. 5 is a mesh diagram of control command and delivery processes according to the present invention.
Fig. 6 is a network topology diagram of a wireless communication system according to the present invention.
FIG. 7 is a block diagram of the software and hardware of the console system of the present invention.
Fig. 8 is a software and hardware network architecture of the main console of the present invention.
Fig. 9 is an outline structural view of the console of the present invention.
Fig. 10 is a block diagram of a mobile cart system of the present invention.
FIG. 11 is an internal structure view of the carriage body according to the present invention.
FIG. 12 is a block diagram of a multi-jointed arm system of the present invention.
FIG. 13 is a system configuration view of the clamping device of the present invention.
FIG. 14 is a schematic diagram of the visual ultrasonic inspection apparatus according to the present invention.
Fig. 15 is a structural view of a hazardous chemical solution storage system of the present invention.
Fig. 16 is a block diagram of a power supply system according to the present invention.
Fig. 17 is an overall flow chart of the mobile robot hazardous chemical solution extraction of the invention.
Fig. 18 is a flow of detecting and initializing the state of the mobile robot system according to the present invention.
FIG. 19 is a diagram illustrating the process of command assignment and data communication according to the present invention.
Fig. 20 is a travel path process planning diagram of the present invention.
FIG. 21 is a diagram of the present invention for automatic localization and quantitative extraction of hazardous chemical solutions.
FIG. 22 shows the transportation and spot tapping flow of hazardous chemical solutions according to the present invention.
FIG. 23 is a flow chart of the present invention for automatically processing the redundant hazardous chemical solution.
Detailed Description
The invention is further described below with reference to the accompanying drawings and the detailed description.
According to the characteristics of hazardous chemical solutions and the automatic quantitative extraction process, the reliable realization of operation safety and functions is considered, and a mobile robot-based automatic quantitative extraction system for hazardous chemical solutions in a high-risk environment is designed, wherein the working principle is shown in figure 1. The idea of separating the control mechanism from the execution mechanism is integrally adopted, the mobile robot system is used as the execution mechanism to be placed in the high-risk environment, the master control platform is used as the control mechanism to be placed outside the high-risk environment, the random quantitative extraction system is suitable for the random quantitative extraction requirement of general solutions, is suitable for the scenes of high radioactivity, uncertain chemical components, multiple varieties and types and high safety requirement of dangerous solutions, and has good flexibility.
As shown in fig. 2: the system comprises a master control console system, a wireless communication data transmission system, a mobile trolley system, a multi-joint mechanical arm system, a multifunctional clamp system, a visual ultrasonic detection system, a hazardous chemical solution storage system, a power supply system and the like. The mobile robot system comprises a mobile trolley system, a multi-joint mechanical arm system, a multifunctional clamp system, a hazardous chemical solution storage system and a visual ultrasonic detection system.
As shown in fig. 3: the mobile robot comprises a mobile trolley system, a multi-joint mechanical arm system, a clamp system, a visual ultrasonic detection system and a hazardous chemical solution storage system, wherein the multi-joint mechanical arm system, the clamp system, the visual ultrasonic detection system and the hazardous chemical solution storage system are uniformly distributed on the mobile trolley system; the main control platform system is in communication connection with the mobile trolley system based on a communication network, acquires state parameters of each system on the mobile robot through the mobile trolley system, and simultaneously sends liquid taking information and a motion instruction to the mobile trolley system; the mobile trolley system receives and forwards liquid taking information and a motion instruction sent by the master control platform system, so that the mobile robot can move on a dangerous chemical solution collecting and placing line; the moving trolley system is respectively connected with the multi-joint mechanical arm system and the hazardous chemical solution storage system, the multi-joint mechanical arm system is connected with the clamp system, and the video ultrasonic detection system is in communication connection with the master control console system through a communication network.
Fig. 4 is a system structure control diagram of the mobile robot, wherein a main control console system is used as an instruction sending and real-time data processing center, and is connected with a main system such as a mobile trolley system, a multi-joint mechanical arm system and the like, and an auxiliary system such as a visual ultrasonic detection system, a multifunctional clamp system, a hazardous chemical solution storage system and the like in real time through a communication module to form a control system of the mobile robot in a high-risk environment.
Specifically, the master control console system is connected with the wireless communication module through a wired and wireless hybrid local area network, and the wireless communication module is connected with the PLC of the mobile trolley system through an Ethernet interface. The mobile trolley system and the multi-joint mechanical arm system adopt a master-slave control mode, namely, a PLC (programmable logic controller) of the mobile trolley system is used as a master station, a PLC of the multi-joint mechanical arm system is used as a slave station, the mobile trolley system and the multi-joint mechanical arm system are connected through a Prifibus DP (programmable logic controller) module interface and are used for executing movement and operation behaviors, and the multi-joint mechanical arm base is installed at the front end of the top of the mobile trolley. The hazardous chemical solution storage system is installed at the rear end of the top of the movable trolley, and a measuring cup weight sensor and a pneumatic sealing cover electromagnetic valve of the hazardous chemical solution storage system are integrated with a PLC (programmable logic controller) of the movable trolley through an O/I (input/output) module and used for safely storing and carrying the hazardous chemical solution. The multifunctional clamp system is arranged at the tail end of the mechanical arm, and a detection sensor, a pneumatic system electromagnetic valve and the like of the multifunctional clamp system are integrated with a mechanical arm controller through an O/I (input/output) module and used for quantitatively extracting and clamping hazardous chemical solution. The power supply system arranged in the mobile trolley provides energy required by movement, operation and detection for the main system and the auxiliary system, and consists of a wireless charging device, a lithium ion battery pack, a power supply management module and the like, wherein the power supply management module is a power supply control device consisting of an MCU micro control unit, a PMIC power supply management integrated circuit and various sensors.
Fig. 5 is a network diagram of the control command and transmission process of the present invention, and the system control command and transmission process is described as that the main control station sends critical solution extraction parameter signals and action command signals to the mobile trolley system, the visual ultrasonic detection system and the power supply system through the command input and sending module and the wireless transmission device during operation, and the three systems and the auxiliary systems thereof start to operate after self-checking. The moving trolley moves according to the instruction, and after a specified task is completed, an action instruction is sent to the multi-joint mechanical arm, so that the mechanical arm carries out corresponding extraction and grabbing operations of hazardous chemical solution, and the hazardous chemical solution storage system cooperates with the mechanical arm to work according to the control instruction of the moving trolley while the mechanical arm acts. In addition, the visual ultrasonic detection system returns the video information and the ultrasonic data acquisition information acquired on site to the main control console. The power supply system supplies power to each subsystem and feeds the battery state back to the master console.
Fig. 6 is a network topology diagram of a wireless communication system, a WIFI wireless network based on IEEE 802.11b/g/a/h communication protocol is constructed inside and outside a high-risk environment, and the WIFI wireless network is used as a data carrier and connected with a master control station, a mobile trolley system, a multi-joint mechanical arm system, a visual ultrasonic detection system and the like to form an effective channel for transmitting control data, video data, state data and the like in the high-risk environment.
The communication system mainly comprises a wireless AP, a wireless data transceiver, a local area network and the like, wherein the local area network is an Ethernet constructed based on an IEEE802.3 communication protocol, and a master control station is directly connected with the local area network in a wired mode; the wireless AP and the wireless data transceiver are addressable devices, the wireless AP is directly connected with the local area network in a wired mode, one end of the wireless communication device is connected with the mobile trolley system, the visual ultrasonic detection system, the power supply system and the like through Ethernet interfaces, and the other end of the wireless communication device is wirelessly connected with the AP through a WIFI network, so that high-speed transmission of control data, video data and state data is realized.
Fig. 7 is a system hardware and software frame diagram of a master console of the present invention, where the master console is composed of hardware such as a display, a master computer, a real-time communication server, a data server, a video server, and a network communication module, and software such as a monitoring application system, a background database, and service software. The state parameters of the robot are acquired through real-time communication with a mobile trolley system, a multi-joint mechanical arm system, a hazardous chemical solution storage system, a visual ultrasonic detection system and the like in a wired and wireless mixed local area network mode, and meanwhile liquid taking information and motion instructions are sent to each module, so that remote control of the mobile robot is achieved.
The monitoring application system is developed based on a Windows platform, is installed on a main control computer, and is provided with six modules, namely a basic data maintenance module, a liquid taking information input and instruction sending module, a mobile robot working state monitoring module, a visual ultrasonic monitoring module, a safety protection alarm module, a real-time data communication module and the like.
Fig. 8 is a software and hardware network architecture of a master console system, in which a main control computer, a data server, a video server, etc. are connected to an ethernet in the form of a bus, and the main control computer communicates with each server in real time through a network communication module, so as to facilitate data query and processing of monitoring software. The real-time communication server is provided with communication service software, timely captures an instruction sent by the main control computer to each subsystem, simultaneously captures state data and sensing data fed back by each subsystem, and stores the state data and the sensing data in the data server and the video server. And a relational database is installed on the data server, so that data storage support is provided for the monitoring software, and various operation data, feedback data, basic maintenance data, safe operation state data, sending instruction historical data and the like are stored in real time. The video server stores video information and ultrasonic height detection information acquired by the visual ultrasonic system in real time.
Fig. 9 is a structural diagram of an appearance of the console of the present invention, which adopts a human-machine engineering concept to design the appearance, and is composed of two displays, an operation console and a console housing, wherein one of the two displays is used for visual monitoring and the other is used for controlling the sending and receiving of commands; the main console shell is made of stainless steel materials, and a lead sheet with the thickness of 1 mm is laid on the surface of the main console shell, so that the main console shell has the radiation protection and corrosion resistance effects.
Fig. 10 is a block diagram of a mobile cart system of the present invention, which includes five main components, namely a machine body, a control module, a driving module, a navigation module, and a communication module, as a mobile device of the whole system. The mobile trolley system comprises a mechanical body, a control module, a driving module, a navigation module and a communication module; the mechanical body is used for providing a physical structure for the movement of the mobile robot; the control module is connected with the master console system through a communication module and is connected with the mechanical body through a driving module; the navigation module is connected with the control module.
FIG. 11 is an internal structure diagram of a moving trolley system body, and a moving trolley mechanical body is composed of a trolley body, a steering mechanism and a sensing component, wherein the trolley body is in a cuboid shape, a trolley body frame is made of aluminum alloy sections and is subjected to totally-enclosed radiation emission treatment, and lead skins with the thickness of 1-2 mm are laid outside the trolley body and are used as shielding materials; the top of the trolley is a main bearing part, a multi-joint mechanical arm mounting hole with four threaded holes uniformly distributed along the circumference is arranged near the front position, and the movable trolley is connected with a base fixing plate of the multi-joint mechanical arm through bolt connection; a dangerous chemical solution storage device mounting seat is arranged at the position close to the rear part of the top of the vehicle body and is rigidly connected with the mounting seat on the dangerous chemical solution storage device through a bolt; two pairs of four symmetrical milam wheels are distributed at the bottom of the left side and the right side of the trolley body to form a moving part of the trolley; the right side of the trolley body is provided with a signal receiving and transmitting antenna, and the signal receiving and transmitting antenna is connected with a wireless communication device inside the trolley to form a wireless communication module of the trolley.
The interior of the trolley is of a three-layer installation structure according to the principle of reasonably utilizing space, the logical connection relation refers to a 'control structure diagram of a mobile robot system', the first layer is an upper layer and mainly comprises a control part of a multi-joint mechanical arm, a wireless communication device and a visual ultrasonic processing device, the control part of the multi-joint mechanical arm specifically comprises 1 multi-joint mechanical arm controller, 1 motion control module and 4 servo drivers of mechanical arm joints, the wireless communication device is 1 set of wireless communication device based on wireless WIFI, and the visual ultrasonic processing device is 1 set of position detection device based on a CCD camera and ultrasonic waves; the second layer is a middle layer and mainly comprises a control part and a pneumatic system of the moving trolley, wherein the control part of the moving trolley comprises 1 moving trolley controller, 1 motion control module and 4 servo drivers of wheels of the moving trolley, the pneumatic system comprises 1 set of pneumatic devices of a hazardous chemical solution storage device, 1 set of pneumatic devices of a multifunctional clamp device three-jaw pneumatic clamp and 1 set of pneumatic devices of a quantitative liquid taking device of the multifunctional clamp device; the third layer is a bottom layer, and is a power supply device for providing power for each device, and specifically comprises a group of lithium battery strings and 1 power supply management device. 4 Maclam wheel servo motors and motor reducers are arranged in the directions of four corners of the bottom of the trolley, and a set of navigation sensor, landmark sensor and wireless charging receiver for magnetic induction navigation are arranged in the middle of the trolley.
The steering mechanism of the movable trolley adopts a mode of four-wheel independent drive based on the mikim wheels to control the movement of the trolley. The McLam wheel consists of two hubs and a certain number of small rollers, a supporting structure at two ends is adopted, the included angle between the axis of each small roller and the axis of each hub is +/-45 degrees, and the two materials are both made of corrosion-resistant radiation-proof materials. Two left-handed structures and two right-handed structures in the four Maclam wheels are arranged on the left side and the right side of the body of the mobile trolley in a mode of symmetrically arranging two left wheels and two right wheels; each miklamer wheel is directly connected with a direct current servo motor and a motor reducer, and the movement of the trolley in different directions is realized by controlling the different speeds of the four wheels.
A control module: the mobile trolley is controlled in a mode of adding the PLC controller and the motion control module, wherein the PLC is mainly responsible for communicating with the master control console, and timely receiving a control instruction sent by the master control console and feeding back trolley running state data in a WIFI communication mode; the motion control module is responsible for executing signal instructions received by the PLC, processing and calculating navigation signals and position signals fed back by the movable trolley in real time, and outputting control signals to the direct current servo driver. In addition, the whole movable trolley adopts an open control mode of combining an upper computer and a lower computer, wherein the upper computer is a master control platform system, and the lower computer is a PLC (programmable logic controller) of the movable trolley system.
A driving module: the moving trolley is driven by a direct current servo motor driver and a direct current servo motor, one end of the direct current servo motor driver is connected with a motion control module in the moving trolley PLC, and the other end of the direct current servo motor driver is connected with the direct current servo motor. The motion control module of the PLC controller sends a digital high-speed pulse signal to the servo driver, the servo driver generates a pulse-form PWM signal according to a control signal and a signal fed back by the servo motor in a position control mode, the PWM signal drives the servo motor after power amplification, and the servo motor performs actions such as starting, stopping, reversing, speed changing and the like according to the pulse and direction signals sent by the servo driver.
A navigation module: the module consists of a magnetic sensor and a magnetic strip paved on the ground, wherein the magnetic sensor is divided into a magnetic conduction sensor and a magnetic landmark sensor, and the magnetic strip is divided into a guide magnetic strip and a landmark magnetic strip. The magnetic induction is not high in sensitivity to high-risk environments, so that a navigation module of the mobile trolley is designed in a magnetic stripe navigation mode, and a magnetic navigation sensor and a landmark sensor are installed at the position, close to the front, of the bottom of the trolley and used for detecting a guide magnetic stripe and a landmark magnetic stripe which are laid on the ground in advance. When the travelling car moves, the magnetic navigation sensor is perpendicular to a certain distance above the magnetic stripe, the magnetic field intensity of the magnetic stripe is collected, the magnetic stripe is judged to deviate from the position relative to the magnetic navigation sensor, and the travelling car is automatically adjusted to ensure the travelling along the magnetic stripe. The landmark sensor continuously reads the landmark magnetic strip, and accordingly judges the running position and changes the running state. The landmark magnetic stripe is perpendicular to the navigation magnetic stripe direction and is stuck on the ground beside the navigation magnetic stripe.
A communication module: the wireless data transceiver antenna is arranged on the first layer inside the movable trolley. One end of the wireless communication module adopts a wireless local area network standard protocol IEEE 802.11b/g/a/h, is in real-time wireless connection with the master control station, timely acquires a liquid taking instruction and a motion instruction sent by the master control station, and timely reports the states of the mobile trolley and the associated system to the master control station. The other end of the wireless communication module is connected with the mobile trolley PLC controller through an Ethernet port, so that a liquid taking instruction and a motion instruction sent by the master control station are transmitted to the mobile trolley PLC in time, and meanwhile, a feedback signal received by the mobile trolley PLC is transmitted to the master control station.
Fig. 12 is a block diagram of a multi-joint mechanical arm system, which is a hybrid joint robot integrating mechanical, control and electrical functions, and having an open-chain link type and a rectangular coordinate type, designed according to the quantitative extraction characteristics of hazardous chemical solutions in high-risk environments, and has a working range of up to 2m, and is mounted on the top of a mobile trolley through bolts to cooperate with the mobile trolley to complete the lifting, transferring and placing of hazardous chemical solutions. Mainly comprises a mechanical body, a servo drive and a motion control part.
The mechanical body consists of an execution unit, a mechanical arm body and a sensing component. The execution unit comprises components such as a servo motor, a speed reducer, a bearing seat and the like. The sensing component is a sensor for detecting parameters such as angle, rotating speed, current, voltage and the like of each shaft servo motor. The mechanical arm body is composed of a base, a large arm, a small arm and a tail end telescopic shaft, and has four degrees of freedom, wherein revolute pairs are arranged between the base and the base, between the base and the large arm, between the large arm and the small arm, a revolute pair is arranged between the small arm and the tail end telescopic shaft, and an included angle between the small arm and the tail end telescopic shaft is kept to be 90 degrees.
The mechanical arm base is a hollow aluminum casting with a rectangular cross section, the direct-current servo drive motor, the speed reducer, the bearing seat and other parts of the base are arranged inside the mechanical arm base, the bottom of the base is a fixing plate with four threaded holes uniformly distributed along the circumference, and the fixing plate is rigidly connected with a multi-joint arm mounting hole in the movable trolley through a bolt. The base adopts the hollow aluminium system foundry goods of circular cross section, and spare parts such as the direct current servo drive motor of the big arm, reduction gear, bearing and bearing frame are installed to inside. The large arm is a hollow thin-wall aluminum casting with a circular section, and the inside of the large arm is provided with parts such as a direct-current servo drive motor, a speed reducer, a bearing seat and the like of the small arm. The small arm is made of solid aluminum casting with a circular section, and the tail end of the small arm is provided with an executing component of a tail end telescopic shaft, namely parts such as a servo motor, a synchronous belt, a nut ball screw and the like. The tail end telescopic shaft consists of a servo motor, a synchronous belt, a nut ball screw and a tail end actuator, and a nut driving mode is adopted in a ball screw kinematic pair, so that the screw nut generates rotary motion under the driving of the direct current servo motor through the synchronous belt, and the screw is driven to perform linear motion in the vertical direction.
Lead sheets are laid on the surfaces of all shafts of the mechanical body and the servo motor and are placed outside the movable trolley; the control part and the servo driving part are arranged in the moving trolley, so that the influence of radiation is reduced.
Fig. 13 is a structural view of a multifunctional clamp according to the present invention, wherein the multifunctional clamp is an electric and pneumatic control device integrating functions of quantitative liquid taking and clamping and carrying, and is rigidly mounted at the end of a multi-joint mechanical arm through bolts, and the appearance and the internal structure of the multifunctional clamp are shown in the following figures.
The multifunctional clamp device comprises a clamp body, a rotating device, a pneumatic three-jaw chuck device and a quantitative liquid taking device.
The multifunctional clamp device is controlled by the mechanical arm PLC, the action process is described in the way that the multi-joint mechanical arm PLC receives a liquid taking instruction or a grabbing instruction sent by the moving trolley PLC, if the multi-joint mechanical arm PLC is the liquid taking instruction, the multi-joint mechanical arm controller controls the rotating device to rotate the quantitative liquid taking device to a vertical downward position, then the pneumatic electromagnetic valve of the quantitative liquid taking device is controlled to be opened, and then hazardous chemical solution gradually enters the quantitative liquid taking device. Meanwhile, gas flow information, pressure information and hazardous chemical solution height information in the quantitative liquid taking device are quickly fed back to the multi-joint mechanical arm controller through corresponding sensors, and the action is stopped after the set amount is reached. If the command is a grabbing command, the multi-joint mechanical arm controller controls the rotating device to rotate the three-jaw chuck device to a vertical downward position, and then controls the pneumatic electromagnetic valve of the three-jaw chuck to be opened, so that the three-jaw chuck is opened and tightened, and the grabbing purpose is achieved.
The front surface of the clamp body is in a regular octagon shape and is divided into two symmetrical halves, and the symmetrical planes and the horizontal plane form an included angle of 45 degrees. The upper part of the clamp body is connected to the tail end of a fourth shaft of the multi-joint mechanical arm through a flange, the lower part of the clamp body is provided with a self-centering three-jaw chuck device in the horizontal direction, and a quantitative liquid taking device is arranged in the vertical direction.
The rotating device comprises a rotating cylinder, a cylinder piston, a cylinder fixing piece, a silencer, a position sensor and the like, the rotating cylinder is installed in the upper half part of the fixture body through the cylinder fixing piece, the cylinder piston is fixedly connected with the lower half part of the fixture body, power is provided by the rotating cylinder during working, and the two halves of the fixture body are rotated for 180 degrees through the cylinder to realize the tool conversion of the three-jaw chuck device and the quantitative liquid taking device. The position sensor is used for detecting whether the cylinder piston rotates 180 degrees, and transmitting the in-place information to the PLC controller of the multi-joint mechanical arm.
The pneumatic three-jaw chuck device is a cylindrical pneumatic self-centering three-jaw device and comprises a body, 3 clamping jaws, 3 pressure sensors and a set of pneumatic device.
The three-jaw chuck device body is cylindrical, and an air path, a pneumatic connector and a jaw guide groove are arranged in the three-jaw chuck device body; 3 jack catchs equipartition adopts stainless steel material on cylindrical body jack catchs guide way, has inlayed anti-skidding acid and alkali-resistance flexible material on, and the operation is got to the clamp of being convenient for getting the liquid cup. Pressure sensor installs at the jack catch inboard, is protected by anti-skidding acid and alkali-resistance flexible material for the force of grabbing when monitoring and snatching the graduated flask that holds danger and change solution, and give the PLC controller of articulated arm with pressure information transfer.
The three-jaw chuck pneumatic device comprises a 3-position 5-way digital solenoid valve, two bidirectional speed control valves, a pressure control valve and pipelines. The gas circuit connection relationship is that firstly one gas circuit is connected with the pressure control valve through a pipeline, then is connected with the electromagnetic valve and is divided into two gas circuits, then the two gas circuit pipelines are connected with the two-way speed control valves, and finally the two pipelines are connected with the pneumatic connecting port on the body. Wherein digital solenoid valve links to each other with the PLC controller of many joints arm, and PLC controller through many joints arm controls digital solenoid valve, and then the break-make of control whole strip gas circuit realizes that the jack catch tightens up simultaneously and open function. The pneumatic device is arranged on the second layer in the movable trolley.
The three-jaw chuck is connected to one side of the octagonal fixture body through an I-shaped flange in a threaded mode, the axis of the three-jaw chuck is parallel to the ground in the non-working state, and the axis of the three-jaw chuck is perpendicular to the ground in the working state.
The quantitative liquid taking device comprises a liquid taking container body, a set of detection sensing device and a set of pneumatic device.
The liquid taking container body is a cylindrical corrosion-resistant glass fiber reinforced plastic container, a pneumatic system connecting port is arranged at the upper part of the left side of the body, a liquid level position detection sensing device is arranged at the right side of the body, and the interior of the body is divided into an upper container chamber and a lower container chamber by a movable piston. The upper container chamber is a gas chamber, two spring fixing terminals and a compression spring are arranged in the upper container chamber, and stable and effective work of the gas chamber can be guaranteed. The lower container chamber is a liquid chamber and is used for containing the extracted hazardous chemical solution. The middle of the body is provided with a movable piston, and sealing rings are arranged at two ends of the piston and can effectively ensure the separation of the gas chamber and the liquid chamber.
The detection sensing device is a set of liquid level position detection sensor, is in a strip shape, is stuck to the right side of the liquid taking container body, is used for detecting the height information of the liquid level in the liquid extraction process, and transmits the height information to the PLC of the multi-joint mechanical arm after data processing and conversion. The liquid level position detection sensor is a liquid level detection device which is composed of an adhesive, a solid capacitor component, a data conversion circuit and the like, wherein the solid capacitor component is formed by combining N groups of solid aluminum electrolytic capacitors to a certain degree, the change of the capacitance can be generated according to the height change of the liquid level, and the change of the capacitance is converted into digital quantity through the data conversion circuit, so that the real-time monitoring of the liquid level is realized. The solid capacitor assembly is adhered to the right side of the liquid taking container body through an adhesive, and a layer of corrosion-resistant radiation-proof lead sheath material is laid outside the solid capacitor assembly.
The pneumatic device comprises a 3-bit 3-way digital electromagnetic valve, a vacuum generator assembly, a two-way speed control valve, a flow sensor, an air pressure sensor and a pipeline, wherein the 3-bit 3-way digital electromagnetic valve is provided with two air outlets, and the vacuum generator assembly is provided with an air inlet and an air outlet. The connection mode of the pneumatic device is that one of the air outlets of the electromagnetic valve is connected with the air inlet of the vacuum generator assembly, the other air outlet is connected with the air outlet of the vacuum generator assembly, the air outlet of the vacuum generator assembly is connected with the speed control valve, the flow sensor for monitoring the flow rate of the gas in the gas path is connected in the middle, the speed control valve is connected with the liquid taking container body, and the air pressure sensor for monitoring the pressure of the gas path is connected in the middle. The pneumatic device is provided with an air source air inlet and an air outlet, the air source air inlet is connected with an external air source, the air outlet is connected with the liquid taking container body in the quantitative liquid taking device, and the control end of a digital electromagnetic valve in the pneumatic device is connected with the PLC controller of the multi-joint mechanical arm, so that the PLC of the multi-joint mechanical arm controls the on-off of the air circuit of the pneumatic device. The working mode of the pneumatic device is that positive pressure or negative pressure is generated when an air source flows through the vacuum generator component through the electromagnetic valve, so that the pressure in the air chamber of the liquid taking container body is larger than or smaller than the pressure in the liquid chamber, and the piston moves downwards or upwards under the action of pressure difference, thereby realizing the accurate extraction and discharge of liquid. The pneumatic device is arranged on the second layer in the movable trolley.
The quantitative liquid taking device is connected to one side of the octagonal fixture body through an I-shaped flange thread, and the central axis of the quantitative liquid taking device is vertical to the ground in a working state.
Fig. 14 is a schematic diagram of the visual ultrasonic inspection system of the present invention, which is a wireless remote monitoring system and is an "eye" of a mobile robot system for monitoring obstacles on a moving path and calculating a spatial position of the mobile robot. The system mainly comprises a master control console, a wireless communication module and a data acquisition and processing module, wherein the data acquisition and processing module comprises a processing unit, a vision module and an ultrasonic module.
The visual ultrasonic detection system integrates visual and ultrasonic technologies, so that the visual module and the ultrasonic module work in a matched mode, and spatial position coordinates are calculated. The principle of the method is that an industrial CCD camera is used for acquiring two-dimensional image information under a high-risk environment, the two-dimensional image information is converted into planar XY coordinate information through image processing, an ultrasonic sensor acquires information in the height direction, namely Z coordinate information, the two information are processed by a logic unit to obtain space position coordinates, and a mobile trolley system is accurately positioned according to the space coordinate information.
The master control console monitoring application system is provided with a visual ultrasonic monitoring module, the master control console monitoring application system is connected with a data acquisition module through a wireless WIFI and a wireless communication module, a processing unit in the data acquisition module adopts an embedded ARM processor, video information acquired by an industrial CCD camera and height information acquired by an ultrasonic displacement sensor are acquired in real time, the data are fed back to the master control console through an Ethernet interface and the wireless communication module, the master control console puts the data in a video server, and the monitoring module is convenient to perform environment visual monitoring and image space coordinate calculation.
The data acquisition processing device comprises two right-angle mounting plates, an image acquisition card, 2 industrial CCD sensors, an ultrasonic displacement sensor, an ultrasonic analog-to-digital conversion device, an embedded ARM processor and a wireless communication device, wherein the CCD sensor is connected with the embedded ARM processor through the image acquisition card, the ultrasonic sensor is connected with the embedded ARM processor through the analog-to-digital conversion device, and then the embedded ARM processor is connected with the wireless communication device. One of the right-angle mounting plates is arranged between the tail end of the mechanical arm and the clamp device, an industrial CCD sensor and an ultrasonic displacement sensor are arranged in front of the right-angle mounting plate, and the industrial CCD sensor and the ultrasonic displacement sensor are matched to acquire data of a plane position and a height position of the liquid level of the hazardous chemical solution. The other right-angle mounting plate is arranged on the right side of the fixture device, and an industrial CCD sensor is arranged on the right-angle mounting plate and used for monitoring the quantitative extraction process of the hazardous chemical solution and the liquid level height in the device in real time.
The image acquisition card, the ultrasonic analog-to-digital conversion device, the embedded ARM processor and the wireless communication device are arranged in the mobile trolley, wherein the wireless communication device is wirelessly connected with the video ultrasonic detection module of the master control console in real time by adopting an 802.11b/g/a/h standard protocol through wireless WIFI to transmit image information and ultrasonic digital information in time.
Fig. 15 is a structural view of a hazardous chemical solution storage system of the present invention. The storage device for the hazardous chemical solution is mainly used for safely storing and reliably transferring the hazardous chemical solution quantitatively extracted by the mobile robot, and specifically comprises a square storage body, 3 liquid taking measuring cups, 3 weight sensors and a set of pneumatic device.
The storage body is made of corrosion-resistant and radiation-resistant stainless steel materials and mainly comprises a cavity body, a movable air cylinder, a connecting rod mechanism, a sealing top cover and a sealing soft cushion. The chamber body is a cuboid, and the middle of the chamber body is provided with three cavities which can accommodate 3 liquid-taking measuring cups made of toughened glass materials. Two cuboid bulges which are one big and one small are arranged at a certain distance at the position close to the back of the symmetrical center of the upper end surface of the cavity body, the small cuboid bulges are used for connection, and the big cuboid bulges are used for limiting the space range of the sealing top cover so as to keep the sealing top cover parallel to the upper end surface of the cavity body. The square pneumatic sealing cover is arranged above the cavity body, 3 sealing soft cushions which are slightly larger than the caliber of the liquid taking measuring cup are arranged at the bottom of the pneumatic sealing cover, and the dangerous chemical solution can be prevented from splashing out in the transportation process after normal sealing. The tail part of the pneumatic sealing cover is fixed with a connecting rod mechanism, the middle position of the connecting rod and the small cuboid bulge form a revolute pair through a hinge 1, and the tail part of the connecting rod is connected with a piston of a movable cylinder through a revolute pair formed through a hinge 2. Four mounting seats are arranged at the bottoms of the two sides of the cavity body and are rigidly connected with the mounting seats of the storage device on the movable trolley through bolts.
The movable cylinder consists of a pneumatic piston and a cylinder body, the pneumatic piston is cylindrical and forms a revolute pair with the tail end of the connecting rod mechanism through a hinge 2; the cylinder body of the cylinder is cylindrical, and the right side of the cylinder body is provided with two pneumatic connectors for connecting a pneumatic device; the bottom of the cylinder body of the cylinder and the rear end face of the cavity body form a revolute pair through a hinge 3, so that the movable cylinder can freely rotate around the hinge 3.
The liquid taking measuring cup is made of transparent toughened glass and is matched with the containing cavity on the storage body to store different types of liquid. The weight sensor is a circular plate type resistance strain type weight sensor, is fixed at the bottom of the containing cavity of the liquid taking measuring cup through threaded connection, and forms surface contact with the liquid taking measuring cup entering the containing cavity. The measured value is connected to a PLC controller of the mobile trolley through a data line after being subjected to A/D conversion so as to monitor the dynamic weight of the hazardous chemical solution in the liquid taking cup at any time.
The pneumatic devices in the storage device include a 3-position 5-way digital solenoid valve, two-way speed control valves, a pressure control valve, and lines. The air path connection relationship is that firstly one air path is connected with the pressure control valve through a pipeline, then is connected with the electromagnetic valve and is divided into two air paths, then the two air path pipelines are connected with the two-way speed control valves, and finally the two pipelines are connected with the pneumatic connecting port of the air cylinder. The digital electromagnetic valve is controlled by a mobile trolley PLC controller, when a multi-joint mechanical arm system performs related actions such as liquid taking and discharging, the mobile trolley PLC controller sends corresponding control signals to the electromagnetic valve control end of the pneumatic device, and the sealing top cover is driven to cooperate with the mechanical arm to perform opening and closing operations. The pneumatic device is arranged on the second layer in the movable trolley.
The connection schematic diagram of the storage device and the mobile car controller is shown in the following figure, the mobile car controller is connected with an electromagnetic valve in the storage device to control the on-off of an air passage, and the opening and closing of the sealing top cover are realized; the weight sensor is connected with the PLC through the AD converter, so that the weight information of the hazardous chemical solution in the liquid taking process is acquired in real time, and the accurate quantitative control of the hazardous chemical solution is realized through feedback.
Fig. 16 is a block diagram of a power supply system according to the present invention. The power supply system is used for providing power energy for moving and operating the mobile robot system, and consists of a storage battery, a wireless charging device and a power supply management system, wherein the storage battery is a high-density lithium battery string and directly provides a direct-current power supply for the mobile trolley, the multi-joint mechanical arm and the like; the wireless charging device carries out non-contact wireless charging on a power supply battery of the mobile robot by adopting an energy transmission mode of magnetic coupling resonance, and comprises a transmitting module, a receiving module and the like; the power management system is a battery string management system, consists of a data acquisition module, a control protection module, a storage module, a balancing module and the like, and is used for monitoring the state of a single battery, balancing the single battery, managing the charging of the battery, protecting the safety of the battery and the like.
The mobile trolley wireless charging system consists of a power supply transmitting module and a power supply receiving module, wherein the power supply transmitting module consists of a wireless transmitting device and a transmitting power supply management module, the wireless transmitting device consists of a high-frequency excitation source, a resonance transmitting circuit and a relay circuit, and the whole device is arranged on the ground of a safe area to form a power supply transmitting end; the power supply receiving module consists of a wireless receiving device and a receiving power supply management module, wherein the wireless receiving device consists of a rectifying and voltage-stabilizing circuit, a resonance receiving circuit and a power supply management module and is arranged at the bottom of the mobile trolley to form a power supply receiving end.
The mobile robot power management system monitors the residual electric quantity of the carried battery in real time, and reports the residual electric quantity to the master control station in real time through wireless WIFI (wireless fidelity), and if the residual electric quantity is lower than a certain threshold value in a non-working state, the master control station prompts that the electric quantity of the mobile robot system is insufficient and charging is needed when distributing tasks; if the electric quantity is lower than a certain threshold value in the execution work, the mobile robot sends a low-electric-quantity alarm to the master control station, interrupts the current liquid taking or moving operation, saves the current task state, and waits for the master control station to give a charging instruction. When the mobile robot is charged, the mobile robot automatically moves to the installation position of the charging and transmitting device along the navigation tape, and at the moment, the power input end converts alternating current commercial power into 24V direct current through the wireless charging device and stores the direct current in the lithium battery pack. And after the charging is finished, the mobile robot restores the previous task state and continues to perform corresponding operation.
Based on the composition of the system, a dangerous chemical solution quantitative extraction method is provided, the method is suitable for a high-risk dangerous chemical solution sampling detection stage, and a fixed dangerous chemical solution extraction device used in a high-risk environment is replaced by a radiation-proof corrosion-resistant mobile robot dangerous chemical solution extraction device by introducing a dangerous chemical solution extraction system based on a mobile robot, so that the high-efficiency, quantitative and visual extraction operation of the dangerous chemical solution is realized.
The dangerous chemical solution extraction system related to the method comprises a master control table, a set of wireless network communication system, an integrated moving trolley, a multi-joint mechanical arm, a multifunctional clamp, a storage device and a mobile robot system of a visual ultrasonic detection system. By adopting the idea of separating the control mechanism from the execution mechanism, the mobile robot system is placed inside the high-risk environment as the execution mechanism, the master control station is placed outside the high-risk environment as the control mechanism, and the master control station controls the mobile robot system in the high-risk environment in real time through the wireless network communication system.
The bodies such as a moving trolley and a multi-joint mechanical arm in a hazardous chemical solution extraction system related by the method are made of light corrosion-resistant materials, and radiation-resistant lead skins are laid on the surfaces of the bodies; the control system adopts the PLC with good shielding property and strong anti-interference capability, is sealed inside the movable trolley, is completely isolated from the high-risk environment, and only allows electrical execution components such as the servo motor, the stepping motor and the like to be in the high-risk environment.
Fig. 17 is an overall flow chart of the mobile robot hazardous chemical solution extraction of the invention. A dangerous chemical solution processing method based on a mobile robot comprises a method for detecting the system state of the mobile robot and initializing the system; a method for issuing hazardous chemical solution extraction instructions of a master control console system; a method for automatically planning a moving path; a method for automatically positioning and quantitatively extracting hazardous chemical solution; a method for safely storing, transporting and placing hazardous chemical solution at fixed points; a method for automatically treating redundant hazardous chemical solution; the mobile robot moves to different hazardous chemical solution areas according to a given instruction of a main control console outside the high-risk environment to automatically perform quantitative extraction on hazardous chemical solutions, and the hazardous chemical solutions are stored by a hazardous chemical solution storage device on the mobile trolley; then the hazardous chemical solution is transported to a detection designated position to complete a fixed-point hazardous chemical solution placing task, and the hazardous chemical solution is waited to be manually taken away for subsequent detection work; and finally, the mobile robot transports the treated or redundant hazardous chemical solution to a hazardous chemical solution treatment tank and treats the solution according to the program.
Fig. 18 is a flow of detecting and initializing the state of the mobile robot system according to the present invention. In the method, the influence of high-risk environment on the magnetic tape paved on the ground is considered to be small, so that the mobile trolley performs navigation movement in a magnetic tape induction mode. Laying out a trolley traveling route on the ground by using a navigation tape according to a system principle diagram, planning key position points such as a starting point, a detection point, a middle point, a hazardous chemical solution pool point, a redundant hazardous chemical solution processing point and the like, and calibrating the key position points by using a landmark tape.
The method relates to the moving operation of the moving trolley from a starting point to a detection point through an intermediate point and a hazardous chemical solution point, so a path moving program block needs to be programmed and stored in advance in a moving trolley control system. Meanwhile, the method also relates to typical operations such as quantitative extraction of hazardous chemical solution, putting back of hazardous chemical solution to a storage device, fixed-point liquid discharge of a detection table, automatic clamping of redundant hazardous chemical solution, processing of redundant hazardous chemical solution and the like by utilizing the mechanical arm, so that corresponding operation program blocks need to be programmed and stored in a mechanical arm control system in advance.
Before extraction of the hazardous chemical solution, a navigation tape is laid, namely, a trolley moving route is laid on the ground by the navigation tape according to a system principle diagram, and key position points such as a starting point A, a middle point B, a hazardous chemical solution pool point C, a detection point D, a hazardous chemical solution processing tank point E and the like are planned, wherein only one starting point is marked as A; two intermediate points, labeled B1, B2; three dangerous chemical solution pool points are marked as C1, C2 and C3; three detection points are marked as D1, D2 and D3; one hazardous chemical solution treatment tank is marked as E. And then, marking key position points on the ground by using the landmark tapes corresponding to the key points.
After the magnetic tape is laid, calibrating a multi-joint mechanical arm coordinate system, and specifically comprising the establishment of the multi-joint mechanical arm coordinate system and the setting of a zero position, wherein the multi-joint mechanical arm coordinate system comprises a basic coordinate system Base, a reference coordinate system Ref and a Tool coordinate system Tool, the basic coordinate system Base is arranged at the center of the bottom of a Base of the multi-joint mechanical arm, the reference coordinate system Ref is arranged at the center of the bottom of a telescopic shaft at the tail end of the multi-joint mechanical arm, the Tool coordinate system Tool1 is arranged at the center of the bottom of a quantitative liquid taking device, and the Tool coordinate system Tool2 is arranged at the center of the upper surface of a chuck of a. And after the coordinate system is established, setting the zero point position of the multi-joint mechanical arm, wherein the small arm side surface and the top surface of the multi-joint mechanical arm are respectively parallel to the side surface and the top surface of the movable trolley, and the multifunctional clamp keeps a certain safety distance from the movable trolley and the ground.
After the magnetic tape is laid, calibrating a multi-joint mechanical arm coordinate system, and specifically comprising the establishment of the multi-joint mechanical arm coordinate system and the setting of a zero position, wherein the multi-joint mechanical arm coordinate system comprises a basic coordinate system Base, a reference coordinate system Ref and a Tool coordinate system Tool, the basic coordinate system Base is arranged at the center of the bottom of a Base of the multi-joint mechanical arm, the reference coordinate system Ref is arranged at the center of the bottom of a telescopic shaft at the tail end of the multi-joint mechanical arm, the Tool coordinate system Tool1 is arranged at the center of the bottom of a quantitative liquid taking device, and the Tool coordinate system Tool2 is arranged at the center of the upper surface of a chuck of a. And after the coordinate system is established, setting the zero point position of the multi-joint mechanical arm, wherein the small arm side surface and the top surface of the multi-joint mechanical arm are respectively parallel to the side surface and the top surface of the movable trolley, and the multifunctional clamp keeps a certain safety distance from the movable trolley and the ground.
After the coordinates of the multi-joint mechanical arm are calibrated, contents such as high-risk environment state detection, mobile robot system state detection, manual liquid taking tool preparation and the like are carried out, and the condition that environmental parameters extracted by hazardous chemical solution are in a reasonable range and the hazardous chemical solution extraction device is normally usable is ensured. The detection of the environmental state of the hazardous chemical solution comprises the steps of timely acquiring environmental state parameters through an environmental monitoring sensor installed in a high-risk environment, storing the environmental state parameters in a historical database and facilitating the query of historical environmental data. The mobile robot system state detection comprises the steps that the master control console sends a self-checking instruction to the mobile robot system, the mobile robot system performs self-checking on functional modules such as battery power inquiry, mobile trolley state inquiry, robot arm joint state inquiry, multifunctional clamp state inquiry, video ultrasonic detection system inquiry and the like, and after all the modules are checked, state parameters are fed back to the master control console. Meanwhile, manual liquid taking preparation of a detection table is required in advance, and the radiation-proof and corrosion-resistant rubber gloves are prepared and used for taking out hazardous chemical solution which is taken out by the mobile robot according to the requirement of an instruction; whether the designated liquid discharging point is occupied or not is checked, and if not, the liquid taking measuring cup is placed at the designated position of the detection table.
In addition, the mobile robot system starts initialization work after all normal self-checking is carried out, namely the mobile trolley returns to a path moving starting point, each joint of the mechanical arm returns to a zero position, the multifunctional clamp hazardous chemical solution extraction device is perpendicular to the ground, the sealing cover of the hazardous chemical solution storage device is closed, the sealing cover of the hazardous chemical solution storage system is closed, the video ultrasonic detection system starts preparation work and the like.
After the initialization work, the mobile trolley enters an idle state and waits for the main control platform to issue a further instruction.
FIG. 19 is a diagram illustrating the process of command assignment and data communication according to the present invention. After each item of preparation work of the mobile robot system is finished, a detection dosage scheme is set according to detection requirements, the detection dosage scheme comprises three parameters of detection liquid number, detection liquid amount, detection liquid appointed tapping point and the like, then three detection dosage parameters are input into a liquid taking information input and instruction sending module in a master control platform application monitoring system, and the master control platform checks the rationality of the dosage scheme according to information such as the number and the volume of liquid taking measuring cups allowed by a hazardous chemical solution storage device in the mobile robot system, the occupied condition of the detection platform, and the storage type and the storage amount of hazardous chemical solution in a hazardous chemical solution area.
Scheme rationality examination conditions and detailed procedures:
(1) the number of the liquid taking measuring cups in the current storage device is N, each volume is M liters, the number of detection liquid numbers is < = N, and each detection liquid volume is < = M liters;
(2) p detection points are arranged in the detection platform for placing the detection liquid, and Q detection points are occupied, so that the number of the detection liquid numbers < = P-Q;
(3) the hazardous chemical solution areas store R types of hazardous chemical solutions, each type has T liters of storage, and each type of storage cannot be less than S liters, then the number of detection liquid numbers allowed to be extracted is < = R, and the amount of each detection liquid is < = T-S liters.
After the rationality of the scheme is checked, the main control console determines key position points from the starting point A to the dangerous chemical solution processing tank point E and the like according to the detection dosage parameters. The method comprises the following steps of determining a critical solution pool point according to a detected liquid number, determining a detection point according to a detected liquid designated tapping point, determining a critical solution pool point C and a detection point D according to the conditions in a master control console monitoring application system liquid taking information input and instruction sending module, and connecting a fixed starting point A, an intermediate point B and a critical solution processing tank point E in series to determine key position points from A to E and then returning to A.
After the key location point is determined, the key location point and the usage parameter are sent. The master control station sends the key position points and the detection dosage parameters to a mobile trolley in the mobile robot system through a wireless communication system, and the mobile trolley feeds back the information receiving condition of the master control station after receiving the relevant information and waits for the master control station to send a next action instruction such as starting or stopping.
Fig. 20 is a travel path process planning diagram of the present invention. The main control platform sends a starting instruction to the mobile trolley through the wireless communication system, namely sends a program instruction for triggering the mobile trolley to start working; after receiving the starting instruction, the mobile trolley plans a mobile path according to key position point information previously sent by the master control platform, and stores the planning information in a PLC (programmable logic controller) of the mobile trolley after the planning is finished; then the mobile trolley PLC controller sends the planned work command, liquid extraction parameters and other information to the multi-joint mechanical arm system PLC controller; and after receiving the information, the PLC controller of the mechanical arm plans the operation path of the multi-joint mechanical arm, and stores the planning information in the PLC controller of the multi-joint mechanical arm after the planning is finished. After the mobile robot system is planned, the planning condition is fed back to the master control station, and the master control station waits for sending a next action instruction.
The planning of the moving path of the moving trolley refers to the following steps:
1) a path planning program block is programmed in a PLC controller of the mobile trolley, and the program block firstly receives a starting instruction sent by a master control console and then calculates motion parameters such as a mobile loop, a motion direction, a mobile speed and the like according to key position points sent by the master control console;
2) calculating the design position information of the key position point of the mobile trolley according to the space coordinate set in the high-risk environment by using a path planning program block, and using the design position information as a comparison reference point of the actual position information detected by the navigation sensor and the landmark sensor;
3) planning 1 auxiliary position point on two sides of a navigation path between the key position points by using a path planning program block, calculating motion parameters such as a local auxiliary moving loop, a motion direction, a moving speed and the like, and when the navigation path is blocked, selecting the auxiliary loop to bypass the barrier to continue moving by the moving trolley;
4) adding a moving trolley navigation data processing sub-program block inside the path planning program block, wherein the sub-program block is used for processing data detected by a magnetic navigation sensor and a magnetic landmark sensor and ensuring that the moving trolley moves along a navigation magnetic strip or an auxiliary moving loop;
5) and planning position and signal mapping by using a path planning program block, namely moving the mobile trolley to different key position points to send work orders and hazardous chemical solution extraction parameters to a multi-joint mechanical arm PLC controller, and feeding back actual position information and equipment running conditions to a master control table, wherein the work orders comprise 5 typical multi-joint mechanical arm operation work orders of hazardous chemical solution quantitative extraction, hazardous chemical solution returning storage devices, detection table fixed-point liquid discharge, automatic redundant hazardous chemical solution clamping, redundant hazardous chemical solution dumping and the like, and can be respectively identified by M01-M05, and the hazardous chemical solution extraction parameters mainly comprise the extraction amount of each hazardous chemical solution and can be respectively identified by P01-P03.
The operation planning of the multi-joint mechanical arm refers to the following steps:
1) an operation planning program block is programmed in the multi-joint mechanical arm PLC, and the program block firstly receives information such as a working command and hazardous chemical solution extraction parameters sent by a moving trolley;
2) planning a typical operation process of the mechanical arm by using an operation planning program block, extracting 5 typical operation processes such as quantitative extraction of hazardous chemical solution, putting the hazardous chemical solution back to a storage device, fixed-point liquid discharge of a detection table, automatic clamping of redundant hazardous chemical solution, processing of redundant hazardous chemical solution and the like according to the extraction and processing operation characteristics of actual hazardous chemical solution, and then programming a typical operation sub-program block of the mechanical arm inside the operation planning program block;
3) setting a moving rule of each process by using an operation planning program block, calculating a moving path, a moving direction and a moving speed, and then modifying the mechanical arm operation program block together with hazardous chemical solution extraction parameters sent by a master control console so as to enable the mechanical arm operation program block to be suitable for different hazardous chemical solution extraction requirements;
4) and analyzing the work command, binding different work commands with the corresponding modified operation program blocks by using the operation planning program blocks according to a certain rule, and forming one-to-one mapping of the work command and the operation program blocks.
In addition, the moving loop of the moving trolley is described in the following steps that the moving trolley starts from a starting point A, the magnetic tape is navigated to a specified waste point C through an intermediate point B, after the quantitative extraction and storage of the hazardous chemical solution are completed, the moving trolley is navigated to a detection table D, after the hazardous chemical solution is detected manually, redundant hazardous chemical solution is transported to a hazardous chemical solution processing tank point E, and finally the moving trolley returns to the starting point A.
FIG. 21 is a diagram of the present invention for automatic localization and quantitative extraction of hazardous chemical solutions. The moving trolley moves from the starting point A to the designated hazardous chemical solution point C according to the path planned by the steps in the figure 20, and then a control signal is sent to the multi-joint mechanical arm system to command the multi-joint mechanical arm system to start preparation work. Firstly, a quantitative liquid taking device in a multifunctional clamp device at the tail end of a multi-joint mechanical arm system rotates to a working position; then the multi-joint mechanical arm is lifted to a safe height, and moves into a designated hazardous chemical solution pool under the guidance of a vision module in the vision ultrasonic detection system to determine a plane position, meanwhile, an ultrasonic module in the vision ultrasonic detection system starts to work, the distance between the liquid level of the hazardous chemical solution and a measuring device is detected, and a height position is determined; then the PLC controller of the multi-joint mechanical arm determines the space position coordinates of the quantitative liquid taking device according to the detected plane position and height position, controls the quantitative liquid taking device to penetrate into the surface of the hazardous chemical solution for a certain distance at a certain speed, carries out first-time quantitative absorption on the hazardous chemical solution, and transfers the hazardous chemical solution to a liquid taking measuring cup of a storage device after the absorption amount reaches a set value; and then, according to the previously received liquid taking instruction and path planning, the moving trolley is transferred to the next dangerous chemical solution point to carry out secondary quantitative absorption of the dangerous chemical solution, and the like until the quantitative liquid taking operation of all the designated dangerous chemical solution points is completed.
Specifically, the IO mouth of many joint arm PLC controller can directly send control signal, and the vacuum generator subassembly among the drive pneumatic system controls pneumatic system's accuracy and breathes in and the gassing, utilizes this kind of principle to realize liquid accurate absorption and discharge when the liquid device is got to ration so every time to get liquid.
The liquid taking container body in the quantitative liquid taking device is divided into an upper container chamber and a lower container chamber, wherein the upper container chamber is a gas chamber, and the lower container chamber is a liquid chamber. Firstly, the pneumatic system starts to suck air, so that the air chamber is filled with working air, and meanwhile, the movable piston in the quantitative liquid taking device is slowly pushed to the bottommost part, so that the liquid chamber is emptied. The PLC controller of the multi-joint mechanical arm controls the mechanical arm to move downwards slowly, so that the quantitative liquid taking device can penetrate into a certain distance below the surface of hazardous chemical solution, the pneumatic system starts to exhaust, a piston in the quantitative liquid taking device moves upwards slowly, meanwhile, a sensor on the quantitative liquid taking device continuously detects the amount of the extracted hazardous chemical solution, when the amount of the hazardous chemical solution to be detected is equal to a set value, the pneumatic system stops exhausting, and the operation of extracting the hazardous chemical solution is completed. Then the multi-joint mechanical arm PLC sends a liquid taking completion signal to the hazardous chemical solution storage device, the hazardous chemical solution storage device timely detects the storage condition of the hazardous chemical solution, and the pneumatic system is controlled to open the sealing top cover to prepare for storing the hazardous chemical solution. And the PLC controller of the multi-joint mechanical arm selects a new liquid taking measuring cup according to the storage information of the hazardous chemical solution, and then injects the hazardous chemical solution into the selected liquid taking measuring cup under the action of the pneumatic system. And finally, closing a sealing top cover of the hazardous chemical solution storage device to prevent the hazardous chemical solution from scattering in the transferring process, so as to finish the storage operation of the hazardous chemical solution. At the same time, each joint of the multi-joint mechanical arm returns to the zero point position and is ready to receive a command to perform the next operation.
FIG. 22 shows the transportation and spot tapping flow of hazardous chemical solutions according to the present invention. The moving trolley moves from the hazardous chemical solution point to the designated detection point according to the path planned by the steps shown in the figure 20. And in the transportation process, the storage device of the hazardous chemical solution is kept closed until the storage device reaches a specified position. Then fixed-point liquid discharging operation is carried out, firstly, a PLC controller of the mobile trolley controls a pneumatic sealing top cover of the hazardous chemical solution storage device to be opened, then a liquid discharging instruction is sent to a multi-joint mechanical arm system, the multi-joint mechanical arm system receives the liquid discharging instruction and then moves to the position above the hazardous chemical solution storage device, the PLC controller controls a clamp body of the multifunctional clamp device to rotate 180 degrees, the clamp body is changed into a pneumatic three-jaw chuck device, then a liquid taking measuring cup for storing hazardous chemical solution is clamped and taken out to a certain height from the hazardous chemical solution storage device, a specified liquid discharging point and a liquid discharging height are found under the guidance of a visual ultrasonic system, and finally, a pre-programmed fixed-point liquid discharging program block of the detection table is called to place the liquid taking measuring cup on the specified detection table. Repeating the steps until all the extracted hazardous chemical solutions are placed at the designated positions of the detection table. And after the fixed-point liquid discharging operation is finished, stopping the motion of the mobile robot system, and waiting for a next motion instruction.
FIG. 23 is a flow chart of the present invention for automatically processing the redundant hazardous chemical solution. After the hazardous chemical solution is detected manually, the redundant hazardous chemical solution and the liquid taking measuring cup are placed back to the original liquid discharging point of the detection table, the detection completion button connected with the master control table beside the liquid discharging point is pressed, and then the master control table sends a redundant hazardous chemical solution processing instruction to the mobile robot system to order the mobile robot system to transfer the redundant hazardous chemical solution to the hazardous chemical solution processing groove point for processing. And a detection completion button on the main control platform is connected with the main control computer through an OI expansion card, signal information of the detection completion button is input into a monitoring application system on the main control computer, and after processing, a redundant hazardous chemical solution processing instruction is sent to the mobile trolley system through a liquid taking information input and instruction sending module of the monitoring application system.
The mobile robot system receives the excess hazardous chemical solution processing instruction, the liquid taking measuring cup is clamped back to the hazardous chemical solution storage device by the pneumatic three-jaw chuck device in the multi-joint mechanical arm system and sealed, then the liquid taking measuring cup is moved to a hazardous chemical solution processing groove point according to a path planned by a graph 20, a liquid discharging position of the hazardous chemical solution processing groove is found under the guidance of the visual ultrasonic system, and a pre-programmed excess hazardous chemical solution processing program block is called to execute excess hazardous chemical solution processing work. After the redundant hazardous chemical solution processing work is finished, the system moves to the starting point according to the path planned in the graph 20, and waits for the main control to send a next action instruction. So as to complete the first cycle of hazardous chemical solution extraction and treatment tasks.
After the first round of hazardous chemical solution extraction and processing tasks are completed, the mobile robot system inquires whether a new task exists, if not, the mobile robot system stops acting to finish the work and feeds back a signal for completing the task to the master control console; if so, starting to prepare a second round of liquid taking task, and repeating the steps until all liquid taking tasks are completed.
The description of the specific embodiments is merely to facilitate an understanding of the invention and is not intended to limit the invention. Those skilled in the art can make modifications and changes using the spirit of the present invention, and still be within the scope of the present invention as long as the technical means does not depart from the spirit and gist of the present invention.

Claims (5)

1. A method for safe storage, transportation and fixed-point placement of hazardous chemical solution based on a mobile robot is characterized in that the mobile robot comprises a mobile trolley system, a multi-joint mechanical arm system, a clamp system, a visual ultrasonic detection system and a hazardous chemical solution storage system; the mobile robot is in communication connection with the master control console system; the method is characterized in that:
a) the moving trolley system moves from a designated hazardous chemical solution point to a designated detection point according to a planned path;
b) opening a hazardous chemical solution storage system;
c) the moving trolley system sends an instruction to the joint mechanical arm system, and the multi-joint mechanical arm system drives the clamp system to move above the hazardous chemical solution storage system;
d) the multi-joint mechanical arm system operates the clamp system under the guidance of the visual ultrasonic detection system, and hazardous chemical solution is taken out from the hazardous chemical solution storage system and is placed to a designated detection point;
e) checking whether a storage hazardous chemical solution exists in the hazardous chemical solution storage system, and repeating the steps c) and d);
PLC controllers are arranged in the mobile trolley system and the multi-joint mechanical arm system; the PLC of the mobile trolley system and the PLC of the multi-joint mechanical arm system are in a master-slave control mode;
the mobile path planning of the mobile trolley system comprises the following steps:
compiling a path planning program block in the mobile trolley PLC, wherein the path planning program block calculates motion parameters including a moving loop, a moving direction and a moving speed according to key position point information sent by a master control platform system;
calculating the design position information of the key position points of the mobile trolley system according to the space coordinates set in the high-risk environment by using a path planning program block, and using the design position information as a comparison reference point of the actual position information detected by the navigation sensor and the landmark sensor;
planning 1 auxiliary position points on two sides of a navigation path between the key position points by using a path planning program block, calculating motion parameters including a local auxiliary moving loop, a motion direction and a motion speed, and when the navigation path is blocked, selecting the auxiliary loop to bypass the barrier to continue moving by the mobile trolley;
adding a traveling car system navigation data processing sub program block inside the path planning program block, wherein the sub program block is used for processing data detected by a magnetic navigation sensor and a magnetic landmark sensor and ensuring that the traveling car system moves along a navigation magnetic strip or an auxiliary moving loop;
and planning position and signal mapping by using a path planning program block, namely moving the moving trolley to different key position points to send working instructions and hazardous chemical solution extraction parameters to the PLC controller of the multi-joint mechanical arm, and feeding back actual position information and equipment running conditions to the master control table system, wherein the working instructions comprise quantitative extraction of hazardous chemical solution, putting back of the hazardous chemical solution to a storage device, fixed-point liquid discharge of a detection table, automatic clamping of redundant hazardous chemical solution and operation working instructions for dumping the redundant hazardous chemical solution to the multi-joint mechanical arm.
2. The method for safely storing, transporting and placing hazardous chemical solution at fixed point based on the mobile robot as claimed in claim 1, wherein the method comprises the following steps: and the movement planning path is stored in a PLC (programmable logic controller) of the mobile trolley system.
3. The method for safely storing, transporting and placing hazardous chemical solution at fixed point based on the mobile robot as claimed in claim 1, wherein the method comprises the following steps: the hazardous chemical solution storage system comprises a storage body, a liquid taking and measuring cup, a weight sensor and a pneumatic device; the liquid taking measuring cup is arranged in the storage body; the weight sensor is arranged at the bottom of the liquid taking measuring cup; one end of the pneumatic device is connected with the PLC of the mobile trolley system, and the other end of the pneumatic device is connected with the storage body; the weight sensor is connected with a PLC (programmable logic controller) of the mobile trolley system; the PLC controller of the mobile trolley system opens the sealed pneumatic top cover of the storage body through a pneumatic device.
4. The method for safely storing, transporting and placing hazardous chemical solution at fixed point based on the mobile robot as claimed in claim 1, wherein the method comprises the following steps: the PLC of the moving trolley system sends an instruction to the PLC of the multi-joint mechanical arm system, and the multi-joint mechanical arm system drives the clamp device to move above the hazardous chemical solution storage system.
5. The method for safely storing, transporting and placing hazardous chemical solution at fixed point based on the mobile robot as claimed in claim 1, wherein the method comprises the following steps: the PLC controller of the multi-joint mechanical arm system controls a clamp body of the clamp system to rotate, and the pneumatic three-jaw chuck device rotates to a working position; the multi-joint mechanical arm PLC controller controls the pneumatic three-jaw chuck device to clamp a liquid taking measuring cup for storing hazardous chemical solution from a hazardous chemical solution storage system to a certain height, a specified liquid discharging point and a specified liquid discharging height are found under the guidance of the visual ultrasonic detection system, and finally a detection table fixed-point liquid discharging program block in the multi-joint mechanical arm PLC controller is called to place the liquid taking measuring cup at the specified detection point.
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