CN109656251A - A kind of crusing robot and working method for Mine Abandoned Land Soil K+adsorption - Google Patents
A kind of crusing robot and working method for Mine Abandoned Land Soil K+adsorption Download PDFInfo
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- CN109656251A CN109656251A CN201811631425.7A CN201811631425A CN109656251A CN 109656251 A CN109656251 A CN 109656251A CN 201811631425 A CN201811631425 A CN 201811631425A CN 109656251 A CN109656251 A CN 109656251A
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- 239000002689 soil Substances 0.000 title claims abstract description 68
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005183 dynamical system Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000007689 inspection Methods 0.000 claims abstract description 19
- 238000005070 sampling Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 claims description 15
- 238000005065 mining Methods 0.000 claims description 10
- 238000009412 basement excavation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 239000003245 coal Substances 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009439 industrial construction Methods 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000005527 soil sampling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of crusing robots and working method for Mine Abandoned Land Soil K+adsorption, display is mounted on dynamical system top, sample conservation zone is fixed on above display by support column, GPS signal receiver and industrial personal computer installation are on a mobile platform, rotating platform is mounted on industrial personal computer top, vision camera is equipped on two brackets, and vision camera is towards front, motor connection on one end and rotating platform of motor machine arm, the other end of motor machine arm is hingedly driven with scraper bowl, the hinged place of motor machine arm and scraper bowl is equipped with torque sensor, the digging end of scraper bowl is equipped with Temperature Humidity Sensor, the side of mobile platform is equipped with ultrasonic sensor, the front end of industrial personal computer is equipped with laser radar, and the scanning direction of laser radar is horizontal direction.The present invention can carry out inspection in Mine Abandoned Land independent navigation, while can carry out soil temperature and humidity detection and sampling to the multizone of Mine Abandoned Land, guarantee the accuracy and real-time of Soil K+adsorption.
Description
Technical field
It is specifically a kind of for Mine Abandoned Land soil the present invention relates to a kind of Soil K+adsorption crusing robot and working method
The crusing robot and working method of earth detection.
Background technique
Land resource is the carrier of human survival and development, is the basic substance item for carrying out agricultural production and industrial construction
Part.But Chinese Urbanization, commercial speeds are very fast, and construction land still remains higher demand in a long time, can be used in
The land resource relative scarcity in agricultural land, China's per capita area of cultivated farmland are only 0.101 hectare, and the one of insufficient world's per capita share
Half.Since industrialization, coal is always the main energy sources in China, and mining has become China's production activity and economic growth
Important means occupies important specific gravity in national economy.Since the extensive economy of China " high investment, high production " develops mould
Formula, coal mining cause different degrees of destruction to agricultural land, and coal mining, which is destroyed, collapses and covered, produces a large amount of discard
Soil, research in recent years and practice have shown that: Mine Abandoned Land land reclamation is to alleviate agricultural land, improve mining area ecological environment
It is important by way of whether, the soil of reclaimed land meets agricultural production be the key that can carry out land reclamation to Mine Abandoned Land,
Therefore Soil K+adsorption is the key link of land reclamation.Therefore the accuracy to improve Soil K+adsorption and real-time are studied as target
Mine Abandoned Land Soil K+adsorption robot is significant.
The exhaustive exploitation of poor surface infrastructure and soil nutrient and mine leads to mine surfaces collapse, produces a large amount of
Goaf and subsidence area cause environment of mining area complicated and severe, and this complexity geographical conditions are mobile to Soil K+adsorption robot flat
Platform, environment sensing ability, independent navigation ability and mechanical arm detection and sampling Capability Requirement are higher, currently used for Soil K+adsorption
Robot can only be used in structured environment.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of inspections for Mine Abandoned Land Soil K+adsorption
Robot and working method can carry out inspection in Mine Abandoned Land independent navigation, at the same can multizone to Mine Abandoned Land into
The detection of row soil temperature and humidity and sampling, can be effectively ensured the accuracy and real-time of Soil K+adsorption, multiple convenient for subsequent progress soil
Cultivate work.
To achieve the goals above, the technical solution adopted by the present invention is that: it is a kind of for Mine Abandoned Land Soil K+adsorption
Crusing robot, including mobile platform and dynamical system, crawler belt is installed on mobile platform, and dynamical system is fixed on a mobile platform
Portion further includes sample conservation zone, display, GPS signal receiver, bracket, rotating platform, industrial personal computer, motor machine arm and shovel
Bucket, display are mounted on dynamical system top, and sample conservation zone is fixed on above display by support column, and the sample saves
Area is made of multiple sample storage boxes, and on a mobile platform, rotating platform is mounted on work for GPS signal receiver and industrial personal computer installation
Control machine top, the bracket are two, and two brackets are symmetricly set on the two sides of rotating platform, are equipped with vision on two brackets
Video camera, and vision camera is towards front, the motor connection on one end and rotating platform of motor machine arm, motor machine arm
The other end be hingedly driven with scraper bowl, the hinged place of motor machine arm and scraper bowl is equipped with torque sensor, and the digging end of scraper bowl is set
There is Temperature Humidity Sensor, the side of mobile platform is equipped with ultrasonic sensor, and the front end of industrial personal computer is equipped with laser radar, and laser
The scanning direction of radar is horizontal direction；
Industrial personal computer and dynamical system, display, GPS signal receiver, vision camera, ultrasonic sensor, laser thunder
Reach, torque sensor is connected with Temperature Humidity Sensor, dynamical system is electrically connected with mobile platform, rotating platform and motor machine arm
It connects.
Further, the motor machine arm includes the first joint arm, the second joint arm and third joint arm, and one end of the first joint arm is logical
It crosses the first joint to connect with rotating platform, the other end of the first joint arm connects one end of the second joint arm by second joint, described
The other end of second joint arm is connect by third joint with one end of third joint arm, and the other end of third joint arm is in the 4th joint
Torque sensor is connected, the other end of the torque sensor is connect with scraper bowl.
Further, the dynamical system is electric motor.
A kind of working method of the crusing robot for Mine Abandoned Land Soil K+adsorption, specific steps are as follows:
A, crusing robot is carried out before Mine Abandoned Land starts inspection by region of the satellite map to required inspection
GPS coordinate is demarcated and is stored in industrial personal computer, then presets polling path in the area, and set on polling path
Multiple Soil K+adsorption points；Detecting distance threshold value, the laser radar of ultrasonic sensor feedback is stored in advance in industrial personal computer simultaneously
The detecting distance threshold value of feedback, the torque threshold of torque sensor and it is multiple can safe passing landforms image；
B, crusing robot is placed on to the starting point for the polling path that step A is determined, is opened to first Soil K+adsorption point
When beginning inspection, industrial personal computer is patrolled by the GPS coordinate of GPS signal receiver real-time reception crusing robot, then with presetting
Inspection path is compared, and industrial personal computer controls mobile platform along predetermined polling path row by dynamical system according to real-time locating coordinate
It sails, while the geomorphological environment in front of two vision camera captured in real-time feeds back to industrial personal computer, ultrasonic sensor issues ultrasound
Environment around the wave detection crusing robot and ultrasonic wave for receiving feedback is sent to industrial personal computer, laser radar is sent out to horizontal direction
It radar signal and receiving feedback signal out and is sent to industrial personal computer, industrial personal computer is analyzed and processed feedback data, specifically:
If the distance between the surrounding objects of ultrasonic sensor feedback and crusing robot are more than or equal at a distance from setting
Threshold value, then crusing robot keeps its current driving path, if the surrounding objects and crusing robot of ultrasonic sensor feedback
The distance between be less than setting distance threshold, then industrial personal computer control mobile platform adjustment driving direction increase and the object between
Distance, and by real-time reception GPS coordinate continue to the first Soil K+adsorption point advance；
If the distance between the front obstacle of laser radar feedback and crusing robot are more than or equal to threshold at a distance from setting
Value, then crusing robot keeps its current driving path, if between the objects in front and crusing robot of laser radar feedback
Distance be less than setting distance threshold, then industrial personal computer control mobile platform adjustment driving direction increase and the object between away from
From, and continue to advance to the first Soil K+adsorption point by real-time reception GPS coordinate；
If the landforms image of one of energy safe passing of the landforms image and storage of vision camera shooting is compared into
Function, then crusing robot keeps its current driving path, if the landforms image of the landforms image of vision camera shooting and storage
Success is not compared, then industrial personal computer control mobile platform stops traveling, and industrial personal computer controls mechanical arm by dynamical system and scraper bowl is stretched
Exhibition applies pressure to front ground, and the torque value of the hinged place between scraper bowl and mechanical arm is fed back to work in real time by torque sensor
Control machine, the torque value that industrial personal computer will test are compared with the torque threshold of storage, if detection torque value is greater than or equal to torque
Threshold value illustrates the crusing robot energy safety region, then industrial personal computer packs up mechanical arm and controls mobile platform along current
Path continues to travel, if detection torque value be less than torque threshold, illustrate crusing robot can not the safety region, then industry control
Machine controls mobile platform adjustment driving direction and bypasses the region, and is continued by real-time reception GPS coordinate to the first Soil K+adsorption
Point is advanced；
C, when crusing robot reaches the first Soil K+adsorption point, industrial personal computer controls mechanical arm and scraper bowl by dynamical system
Stretching, extension carries out excavation sampling to soil at this, and in the sample storage box that sampling soil is placed into sample conservation zone,
Temperature Humidity Sensor detects the temperature and humidity of soil at this and feeds back to industrial personal computer and stored in soil mining process；
D, after the detection work of the first Soil K+adsorption point of crusing robot completion, industrial personal computer controls mobile platform along default road
Radial next Soil K+adsorption point traveling, and step B and C are repeated, until crusing robot completes all Soil K+adsorption points
After detection, the entire inspection work of crusing robot is completed.
Compared with prior art, the present invention uses sample conservation zone, display, GPS signal receiver, bracket, rotary flat
The mode that platform, industrial personal computer, motor machine arm and scraper bowl combine, has the advantages that
(1) present invention uses multi-sensor information fusion technology, can more comprehensively reflect external environment feature, increases
Add the complementarity between sensor, improves the correctness of robot decision.
(2) mechanical arm system of the present invention is provided simultaneously with detection circumstances not known and soil sampling function.
(3) present invention uses mechanical arm detection system, and combining environmental sensory perceptual system can be detected accurately in mining area
Mire region and impassabitity region.
(4) structure of the invention is adaptable, robot can in Mine Abandoned Land scene independent navigation and avoidance.
(5) present invention can in robot traveling process real-time detection mining soil temperature and humidity information.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of motor machine arm in the present invention；
Fig. 3 is the schematic view of the mounting position of torque sensor in the present invention.
In figure: 1, mobile platform, 2, crawler belt, 3, ultrasonic sensor, 4, dynamical system, 5, display, 6, sample preservation
Area, 7, GPS signal receiver, 8, bracket, 9, vision camera, 10, rotating platform, 11, industrial personal computer, 12, laser radar, 13,
Motor machine arm, 14, torque sensor, 15, scraper bowl, 16, Temperature Humidity Sensor, the 17, first joint arm, the 18, second joint arm, 19,
Third joint arm, the 20, first joint, 21, second joint, 22, third joint, the 23, the 4th joint.
Specific embodiment
The present invention will be further described below.
As shown, carrying out patent description, a kind of patrolling for Mine Abandoned Land Soil K+adsorption by front of the right of Fig. 1
Robot, including mobile platform 1 and dynamical system 4 are examined, crawler belt 2 is installed on mobile platform 1, dynamical system 4 is fixed on mobile flat
1 top of platform further includes sample conservation zone 6, display 5, GPS signal receiver 7, bracket 8, rotating platform 10, industrial personal computer 11, electricity
Dynamic mechanical arm 13 and scraper bowl 15, display 5 are mounted on 4 top of dynamical system, and sample conservation zone 6 is fixed on display by support column
5 top of device, the sample conservation zone 6 are made of multiple sample storage boxes, and GPS signal receiver 7 and industrial personal computer 11 are mounted on shifting
On moving platform 1, rotating platform 10 is mounted on 11 top of industrial personal computer, and the bracket 8 is two, and two brackets 8 are symmetricly set on rotation
Turn the two sides of platform 10, be equipped with vision camera 9 on two brackets 8, and vision camera 9 is towards front, motor machine arm
13 one end is connect with the motor on rotating platform 10, and the other end and scraper bowl 15 of motor machine arm 13 are hingedly driven, motor
The hinged place of tool arm 13 and scraper bowl 15 is equipped with torque sensor 14, and the digging end of scraper bowl 15 is equipped with Temperature Humidity Sensor 16, mobile
The side of platform 1 is equipped with ultrasonic sensor 3, and the front end of industrial personal computer 11 is equipped with laser radar 12, and the scanning of laser radar 12
Direction is horizontal direction；
Industrial personal computer 11 and dynamical system 4, display 5, GPS signal receiver 7, vision camera 9, ultrasonic sensor 3,
Laser radar 12, torque sensor 14 and Temperature Humidity Sensor 16 connect, dynamical system 4 and mobile platform 1, rotating platform 10 and
Motor machine arm 13 is electrically connected.Vision camera 9 is used to obtain the image information of large area in front of robot, and laser radar 12 is used
To obtain the information in front of robot car body, the barrier that ultrasonic sensor 3 is used to that other sensors is assisted to obtain around robot
Hinder object information, perceives robot surrounding environment, GPS signal receiver 7 is for providing the real-time location coordinates of robot.
Further, the motor machine arm 13 includes the first joint arm 17, the second joint arm 18 and third joint arm 19, the first joint arm
17 one end connect by the first joint 17 with rotating platform 10, and the other end of the first joint arm 17 passes through second joint 21 and connects the
The other end of one end of two joint arms 18, second joint arm 18 is connect by third joint 22 with one end of third joint arm 19, the
The other end of three joint arms 19 connects torque sensor 14, the other end and scraper bowl of the torque sensor 14 at the 4th joint 23
15 connections.The motor machine arm 13 is unfolded state in Soil K+adsorption, sampling, detection zone of ignorance, during traveling
For rounding state.
Further, the dynamical system 4 is electric motor.
A kind of working method of the crusing robot for Mine Abandoned Land Soil K+adsorption, specific steps are as follows:
A, crusing robot is carried out before Mine Abandoned Land starts inspection by region of the satellite map to required inspection
GPS coordinate is demarcated and is stored in industrial personal computer 11, then presets polling path in the area, and set on polling path
Fixed multiple Soil K+adsorption points；Detecting distance threshold value, the laser of the feedback of ultrasonic sensor 3 is stored in advance in industrial personal computer 11 simultaneously
The landforms image of detecting distance threshold value, the torque threshold of torque sensor 14 and multiple energy safe passings that radar 12 is fed back；
B, crusing robot is placed on to the starting point for the polling path that step A is determined, is opened to first Soil K+adsorption point
When beginning inspection, industrial personal computer 11 by the GPS coordinate of 7 real-time reception crusing robot of GPS signal receiver, then with preset
Polling path is compared, and industrial personal computer 11 controls mobile platform 1 along predetermined inspection by dynamical system 4 according to real-time locating coordinate
Route, while the geomorphological environment in front of two 9 captured in real-time of vision camera feeds back to industrial personal computer 11, ultrasonic sensor
Environment around 3 sending ultrasound examination crusing robots simultaneously receives the ultrasonic wave of feedback and is sent to industrial personal computer 11, laser radar
12 issue radar signal to horizontal direction and receive feedback signal and be sent to industrial personal computer 11, and industrial personal computer 11 divides feedback data
Analysis processing, while above-mentioned acquisition data are shown by display 5, specifically:
If the distance between the surrounding objects that ultrasonic sensor 3 is fed back and crusing robot are more than or equal at a distance from setting
Threshold value, then crusing robot keeps its current driving path, if the surrounding objects and crusing robot of ultrasonic sensor feedback
The distance between be less than setting distance threshold, then industrial personal computer 11 control mobile platform 1 adjust driving direction increase with the object
The distance between, and continue to advance to the first Soil K+adsorption point by real-time reception GPS coordinate；
If the distance between the front obstacle that laser radar 12 is fed back and crusing robot are more than or equal at a distance from setting
Threshold value, then crusing robot keeps its current driving path, if laser radar 12 feed back objects in front and crusing robot it
Between distance be less than setting distance threshold, then industrial personal computer 11 control mobile platform 1 adjust driving direction increase with the object it
Between distance, and by real-time reception GPS coordinate continue to the first Soil K+adsorption point advance；
If the landforms image of one of energy safe passing of landforms image and storage that vision camera 9 is shot is compared into
Function, then crusing robot keeps its current driving path, if the landforms image of landforms image and storage that vision camera 9 is shot
Success is not compared, then industrial personal computer 11 controls mobile platform 1 and stops travelling, and industrial personal computer 11 controls motor machine by dynamical system 4
Arm 13 and the stretching, extension of scraper bowl 15 apply pressure to front ground, and torque sensor 14 in real time will be between scraper bowl 15 and motor machine arm 13
The torque value of hinged place feed back to industrial personal computer 11, the torque threshold of torque value and storage that industrial personal computer 11 will test is compared
It is right, if detection torque value is greater than or equal to torque threshold, illustrate the crusing robot energy safety region, then industrial personal computer 11 makes
Motor machine arm 13 is packed up and controls mobile platform 1 to be continued to travel along current path, if detection torque value is less than torque threshold, is said
Bright crusing robot can not the safety region, then industrial personal computer 11 control mobile platform 1 adjust driving direction bypass the region,
And continue to advance to the first Soil K+adsorption point by real-time reception GPS coordinate；
C, when crusing robot reaches the first Soil K+adsorption point, industrial personal computer 11 controls motor machine by dynamical system 4
Arm 13 and the stretching, extension of scraper bowl 15 carry out excavation sampling to soil at this, and sampling soil is placed into one in sample conservation zone 6
In sample storage box, Temperature Humidity Sensor 16 is detected and is fed back to the temperature and humidity of soil at this in soil mining process
Industrial personal computer 11 is stored；
D, after the detection work of the first Soil K+adsorption point of crusing robot completion, industrial personal computer 11 controls mobile platform 1 along pre-
If path is travelled to next Soil K+adsorption point, and repeats step B and C, until crusing robot is equal to all Soil K+adsorption points
After completing detection, the entire inspection work of crusing robot is completed.
Claims (4)
1. a kind of crusing robot for Mine Abandoned Land Soil K+adsorption, including mobile platform and dynamical system, mobile platform
Upper installation crawler belt, dynamical system are fixed on mobile platform top, which is characterized in that further include sample conservation zone, display, GPS
Signal receiver, bracket, rotating platform, industrial personal computer, motor machine arm and scraper bowl, display are mounted on dynamical system top, sample
Product conservation zone is fixed on above display by support column, and the sample conservation zone is made of multiple sample storage boxes, GPS signal
On a mobile platform, rotating platform is mounted on industrial personal computer top for receiver and industrial personal computer installation, and the bracket is two, two branch
Frame is symmetricly set on the two sides of rotating platform, vision camera is equipped on two brackets, and vision camera is towards front, electric
Motor connection on one end and rotating platform of dynamic mechanical arm, the other end of motor machine arm are hingedly driven with scraper bowl, motor
The hinged place of tool arm and scraper bowl is equipped with torque sensor, and the digging end of scraper bowl is equipped with Temperature Humidity Sensor, the side of mobile platform
Equipped with ultrasonic sensor, the front end of industrial personal computer is equipped with laser radar, and the scanning direction of laser radar is horizontal direction；
Industrial personal computer and dynamical system, display, GPS signal receiver, vision camera, ultrasonic sensor, laser radar, torsion
Square sensor is connected with Temperature Humidity Sensor, and dynamical system is electrically connected with mobile platform, rotating platform and motor machine arm.
2. a kind of crusing robot for Mine Abandoned Land Soil K+adsorption according to claim 1, which is characterized in that institute
Stating motor machine arm includes the first joint arm, the second joint arm and third joint arm, and one end of the first joint arm passes through the first joint and rotation
Platform connection, the other end of the first joint arm connect one end of the second joint arm, the other end of second joint arm by second joint
It being connect by third joint with one end of third joint arm, the other end of third joint arm connects torque sensor in the 4th joint,
The other end of the torque sensor is connect with scraper bowl.
3. a kind of crusing robot for Mine Abandoned Land Soil K+adsorption according to claim 1, which is characterized in that institute
Stating dynamical system is electric motor.
4. a kind of working method of the crusing robot according to claim 1 for Mine Abandoned Land Soil K+adsorption,
It is characterized in that, specific steps are as follows:
A, crusing robot carries out GPS by region of the satellite map to required inspection before Mine Abandoned Land starts inspection
Coordinate is demarcated and is stored in industrial personal computer, then presets polling path in the area, and setting is more on polling path
A Soil K+adsorption point；Detecting distance threshold value, the laser radar that ultrasonic sensor feedback is stored in advance in industrial personal computer simultaneously are anti-
The detecting distance threshold value of feedback, the torque threshold of torque sensor and it is multiple can safe passing landforms image；
B, crusing robot is placed on to the starting point for the polling path that step A is determined, starts to patrol to first Soil K+adsorption point
When inspection, industrial personal computer by the GPS coordinate of GPS signal receiver real-time reception crusing robot, then with preset inspection road
Diameter is compared, and industrial personal computer controls mobile platform by dynamical system according to real-time locating coordinate and travels along predetermined polling path,
The geomorphological environment in front of two vision camera captured in real-time feeds back to industrial personal computer simultaneously, and ultrasonic sensor issues ultrasonic wave inspection
The environment surveyed around the crusing robot and ultrasonic wave for receiving feedback is sent to industrial personal computer, laser radar issues thunder to horizontal direction
Up to signal and receiving feedback signal and be sent to industrial personal computer, industrial personal computer is analyzed and processed feedback data, specifically:
If the distance between surrounding objects and crusing robot of ultrasonic sensor feedback are more than or equal to the distance threshold of setting,
Then crusing robot keeps its current driving path, if between the surrounding objects and crusing robot of ultrasonic sensor feedback
Distance be less than setting distance threshold, then industrial personal computer control mobile platform adjustment driving direction increase and the object between away from
From, and continue to advance to the first Soil K+adsorption point by real-time reception GPS coordinate；
If the distance between the front obstacle of laser radar feedback and crusing robot are more than or equal to the distance threshold of setting,
Crusing robot keeps its current driving path, if the objects in front and the distance between crusing robot of laser radar feedback are small
In the distance threshold of setting, then industrial personal computer control mobile platform adjustment driving direction increases the distance between the object, and leads to
Real-time reception GPS coordinate is crossed to continue to advance to the first Soil K+adsorption point；
If the landforms image of one of energy safe passing of the landforms image and storage of vision camera shooting compares success,
Crusing robot keeps its current driving path, if the landforms image of vision camera shooting and the landforms image of storage do not compare
Success, then industrial personal computer control mobile platform stops traveling, and industrial personal computer controls mechanical arm and scraper bowl stretching, extension to preceding by dynamical system
Square ground applies pressure, and the torque value of the hinged place between scraper bowl and mechanical arm is fed back to industrial personal computer in real time by torque sensor,
The torque value that industrial personal computer will test is compared with the torque threshold of storage, if detection torque value is greater than or equal to torque threshold,
Illustrate the crusing robot energy safety region, then industrial personal computer pack up mechanical arm and control mobile platform along current path after
Continue and sail, if detection torque value be less than torque threshold, illustrate crusing robot can not the safety region, then industrial personal computer control
Mobile platform adjusts driving direction and bypasses the region, and continues to advance to the first Soil K+adsorption point by real-time reception GPS coordinate；
C, when crusing robot reaches the first Soil K+adsorption point, industrial personal computer controls mechanical arm by dynamical system and scraper bowl stretches
Excavation sampling is carried out to soil at this, and in the sample storage box that sampling soil is placed into sample conservation zone, in soil
Temperature Humidity Sensor detects the temperature and humidity of soil at this and feeds back to industrial personal computer and stored in earth mining process；
D, crusing robot complete the first Soil K+adsorption point detection work after, industrial personal computer control mobile platform along preset path to
Next Soil K+adsorption point traveling, and step B and C are repeated, until crusing robot is completed to detect to all Soil K+adsorption points
Afterwards, the entire inspection work of crusing robot is completed.
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