CN205450773U - Secret detection robot that can adapt to various extreme environments - Google Patents
Secret detection robot that can adapt to various extreme environments Download PDFInfo
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- CN205450773U CN205450773U CN201620012244.6U CN201620012244U CN205450773U CN 205450773 U CN205450773 U CN 205450773U CN 201620012244 U CN201620012244 U CN 201620012244U CN 205450773 U CN205450773 U CN 205450773U
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Abstract
The utility model discloses a secret detection robot that can adapt to various extreme environments, including the consecutive mechanical part who connects, detecting system, control section and intelligent processing system, mechanical part and control section are connected, and intelligent processing system and detecting system are connected. This robot can accurate quick location in on a large scale underground pollution place scope, excavate, handle and in time deliver to the peripheral control center with the pollutant sample polluting the region afterwards, have and hinder the function more, according to the barrier size that detects, can freely switch over between walking mode and flight mode. The peripheral control center is in time delivered to with the pollutant sample to the various compositions and the content that contain in the hardness of intellectual detection system subterranean layer, the subterranean layer. Under the operating mode of difference, the automatic switch -over becomes the excavation mode of multiple difference and excavates, makes the energy obtain make full use of, have energy utilization rate high, high, the intelligent degree of work efficiency is high, can accomplish advantage such as accurate excavation.
Description
Technical field
The present invention relates to a kind of robotics, a kind of subsurface investigation robot adapting to various extreme environment.
Background technology
Existing excavating equipment cannot adapt to extreme environment at all, and when running into substantial risk situation, people often feel simply helpless.And existing excavating equipment energy consumption is big, energy utilization rate is low, major part is required for manual operation, intelligence degree is low, it is impossible to detect subterranean layer ingredient, especially harmful substance, it is impossible to accomplish accurately excavation.
The most still being in conceptual phase at present for subsurface investigation robot, the domestic research for its problem is also at the early-stage.Chinese patent CN1328017C discloses a kind of bionic mole cricket robot, and this invention uses crank and rocker mechanism to realize excavating, and automatically can walk by predetermined track in the soil layer of certain depth.But this invention does not possess intelligent detecting function, such as the detection inorganic matter in subterranean layer that digs, the composition of Organic substance, particularly heavy metal and content.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of subsurface investigation robot adapting to various extreme environment, this robot has energy utilization rate height, work efficiency is high, intelligence degree is high, can accomplish the advantages such as accurate excavation.
Realization the technical scheme is that
A kind of subsurface investigation robot adapting to various extreme environment, including being sequentially connected mechanical part, detecting system, control part and the intelligent processing system connect, mechanical part is also connected with control part, and intelligent processing system is connected with detecting system.
Described mechanical part includes body, the head being arranged on body front end, arranges the foreleg of both sides, body front end, be arranged in the middle part of body in both sides lower limb and be arranged on the back leg of bun both sides, wing, tail, and wing is arranged on whole body both sides.Wherein:
The effect of body is to support miscellaneous part；
Middle lower limb, back leg, wing and other modules, control part, intelligent processing system control under can realize walking and the function such as flight；
Foreleg and head match and can reach multiple mining effect；Foreleg can carry out bucker-type excavation, head can carry out brill formula excavation, can carry out different digging operations for different operating modes.
Tail its to balanced action, either in walking, balance is most critical the most in-flight, and in tail, its pivotal role is gyro ceremony bascule, can reach in walking and roll in-flight less than 1 degree.
Mechanical part uses cobalt base superalloy material to make.This kind of material has the advantages such as high intensity, high temperature resistant, good corrosion resistance and non-oxidizability, it is adaptable to the unapproachable extreme environment of the various mankind.Mechanical part is also responsible for and gathers pollutant sample and sample is passed to the effect of the conveying equipments such as unmanned plane simultaneously, and peripheral control center sent in time back to by sample the most at last.
Described control part is made up of main control module and secondary control module, main control module is connected with wireless receiving and dispatching end I, by wireless receiving and dispatching end I transmitting-receiving instruction etc., secondary control module is connected with wireless receiving and dispatching end II, by wireless receiving and dispatching end II receiving and transmitting voice, video instructions, secondary control module has camera function, robot local environment can be photographed constantly, and send peripheral control center to by wireless receiving and dispatching end II, the instruction that peripheral control center sends is transferred to the wireless receiving and dispatching end II of intelligent processing system by radio transmission apparatus, the processing module of intelligent processing system makes corresponding process, pass to mechanical part again, mechanical part has acted accordingly the execution of order.
Described detecting system is by soil hardness instrument, inorganic mass spectrometer, organic mass spectrometer, heavy metal detector forms, detecting system passes through soil hardness instrument, inorganic mass spectrometer, the soil hardness of subterranean layer in organic mass spectrometer and heavy metal detector measuring robots present position respectively, inorganic matter, Organic substance, the composition of heavy metal and content, and detected composition and content are contrasted with the setting value in detecting system, when the soil hardness finding subterranean layer, inorganic content, situation of change is reached peripheral control center when having significant change by content of organics and content of beary metal at once, situation of change is passed to the processing module of intelligent processing system simultaneously, processing module makes the strategy of correspondence through processing, control mechanical part and perform command process harmful substance.
Described intelligent processing system is made up of processing module, 3D identification module, wireless receiving and dispatching end I, wireless receiving and dispatching end II.3D identification module can show that the 3-dimensional in dug region is dynamic constantly, and is contrasted with target shape by processing module, in order to corrects constantly, reaches the purpose accurately excavated.Processing module can process instruction, voice, video etc..Wireless receiving and dispatching end I can receive and dispatch instruction etc..Wireless receiving and dispatching end II can be with receiving and transmitting voice, video etc..
The invention have the advantage that this robot uses cobalt base superalloy material to make, be adapted to various extreme environment；And there is flight function, gyro ceremony bascule in tail is awing utilized to play the effect of balance, can quickly move, the most quickly location interior underground pollution in-scope on a large scale, excavates Polluted area subsequently, processes and in time pollutant sample delivered to peripheral control center；There is obstacle crossing function, according to the barrier size detected, freely can switch between walking mode and offline mode.Various inorganic matters, the composition of Organic substance, especially heavy metal and content contained in the hardness of Intelligent Measurement subterranean layer, subterranean layer, and in time pollutant sample is delivered to peripheral control center, polluting for majority can be with in-situ processing so that it is reach criterion of acceptability.Under different operating modes, automatically switch into multiple different mining mode and excavate, make the energy be fully used, there is energy utilization rate height, work efficiency height, intelligence degree height, the advantages such as accurate excavation can be accomplished.
Accompanying drawing explanation
Fig. 1 is the connection block diagram of a kind of subsurface investigation robot adapting to various extreme environment.
In figure: 1. in mechanical part 1-1. head 1-2. body 1-3., lower limb 1-4. back leg 1-5. foreleg 1-6. wing 1-7. tail 2. intelligent processing system 2-1. processing module 2-2.3D identification module 2-3. wireless receiving and dispatching end I2-4. wireless receiving and dispatching end II3. controls part 3-1. main control module 3-2. pair control module 4. detecting system 4-1. soil hardness instrument 4-2. inorganic mass spectrometer 4-3. organic mass spectrometer 4-4 heavy metal detector
Fig. 2 is the workflow diagram of subsurface investigation robot obstacle-overpass thing.
In figure: S100. original state S200. walking mode S300. has barrier S400. offline mode S500. clear.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical solution of the present invention is described in further detail.
With reference to Fig. 1, a kind of subsurface investigation robot adapting to various extreme environment, it is made up of interconnective mechanical part 1, intelligent processing system 2, control part 3 and detecting system 4.Wherein:
Mechanical part 1 includes head 1-1, body 1-2, middle lower limb 1-3, back leg 1-4, foreleg 1-5, wing 1-6, tail 1-7 composition.Head 1-1 is assemblied in body 1-2 front end.Foreleg 1-5 is assemblied in the both sides of body 1-2 front end.Middle lower limb 1-3 is assemblied in both sides in the middle part of body 1-2.Back leg 1-4 is assemblied in both sides, body 1-2 rear portion.Wing 1-6 is assemblied in whole body 1-2 both sides, extends tail 1-7.Tail 1-7 is assemblied in body 1-2 afterbody.It acts on respectively:
Body 1-2 is used for supporting miscellaneous part and uses；
Middle lower limb 1-3, back leg 1-4, wing 1-6 coordinate other modules, can realize the functions such as walking and flight under the control controlling part 3, intelligent processing system 2；
Tail 1-7 its to balanced action, either in walking, balance is most critical the most in-flight.In tail 1-7, its pivotal role is gyro ceremony bascule, can reach in walking and roll in-flight less than 1 degree；
Whole mechanical part 1 uses cobalt base superalloy material to make, and this kind of material has the advantages such as certain high intensity, high temperature resistant, good corrosion resistance and non-oxidizability.Being applicable to the unapproachable extreme environment of the various mankind, mechanical part 1 is also responsible for collection pollutant sample simultaneously, and sample is passed to the conveying equipments such as unmanned plane, in order to sample is passed to peripheral control center in time.
Controlling part 3 to be made up of main control module 3-1 and secondary control module 3-2, main control module 3-1 and wireless receiving and dispatching end I2-3 connects；Can be by wireless receiving and dispatching end I2-3 wireless receiving and dispatching instruction etc.；Secondary control module 3-2 and wireless receiving and dispatching end II2-4 connect, wireless receiving and dispatching end II2-4 wireless receiving and dispatching voice can be passed through, video instructions, secondary control module 3-2 has camera function, robot local environment can be photographed constantly, and send peripheral control center to by wireless receiving and dispatching end II2-4, the instruction that peripheral control center sends is transferred to the wireless receiving and dispatching end II2-4 of intelligent processing system 2 by radio transmission apparatus, processing module 2-1 of intelligent processing system 2 makes corresponding process, pass to mechanical part 1 again, mechanical part 1 responds action, complete the execution of order.
Detecting system 4 is made up of, wherein soil hardness instrument 4-1, inorganic mass spectrometer 4-2, organic mass spectrometer 4-3, heavy metal detector 4-4:
The soil hardness i.e. stratameter of instrument 4-1, it is mainly used in measuring the degree of packing of soil, utilize theoretical value Kg/Cm2 of piezometer, directly measure the hardness number of soil, its assay method is usually and is entirely insertable in soil by measuring instrument tip portion, the most forward extracts measuring instrument, reads hardness indicated value from dial gauge, rotary drive pin knob after reading, makes dial gauge make zero.
Inorganic mass spectrometer 4-2 is to make measured matter ionizing, for aspects such as inorganic elements microanalysis and isotope analyses in the way of inductive high-frequency discharge (ICP) or other.
Organic mass spectrometer 4-3 is to make tested soil ion in the way of electron bombardment or other, form the ion of various mass-to-charge ratio (m/e), then electromagnetic principles is utilized to make ion separate and measure the intensity of various ion by different mass-to-charge ratioes, so that it is determined that the molecular weight of tested soil and structure, it is mainly used in the Structural Identification of organic compound, it is provided that the structural information such as the molecular weight of compound, elementary composition and functional group.
Heavy metal detector 4-4 is heavy metal (total chromium (Cr), Cr VI (Cr6+), lead (Pb), hydrargyrum (Hg), cadmium (Cd), trivalent arsenic (As3+), copper (Cu), zinc (Zn), nickel (Ni)) equal size in testing soil.
Detecting system 4 is by soil hardness instrument 4-1, inorganic mass spectrometer 4-2, organic mass spectrometer 4-3, the soil hardness of subterranean layer in heavy metal detector 4-4 measuring robots present position respectively, inorganic content, content of organics and content of beary metal, and detected composition and content are contrasted with the setting value in detecting system 4, when the soil hardness finding subterranean layer, inorganic content, situation of change is reached peripheral control center when having significant change by content of organics and content of beary metal at once, situation of change is passed to processing module 2-1 of intelligent processing system 2 simultaneously, processing module 2-1 makes the strategy of correspondence through processing, control mechanical part 1 and perform command process harmful substance.
If the soil hardness instrument 4-1 of detecting system 4 detects when the hardness of dug subterranean layer is less than rated range less than set point or excavation power demand, then bucker-type can be used to excavate, sharp work, improves working performance.
If the soil hardness instrument 4-1 of detecting system 4 detects when the hardness of dug subterranean layer overruns more than set point or excavation power demand, then brill formula can be used to excavate, be hardly damaged scraper bowl, can quickly obtain again the sample of high rigidity material.
If the soil hardness instrument 4-1 of detecting system 4 detects that the hardness of dug subterranean layer belongs to set point and excavates power demand when belonging to rated range, then brill formula can be used to excavate and bucker-type excavates and carries out simultaneously, work efficiency can be greatly improved.
If the inorganic mass spectrometer 4-2 of detecting system 4 detects the inorganic content of residing subterranean layer less than setting value, then continue detection.
If the inorganic mass spectrometer 4-2 of detecting system 4 detects the inorganic content of residing subterranean layer more than setting value, use natural microbial edman degradation Edman, i.e. by the corresponding microorganism of domestication, inorganic pollution is degraded to nitrogen or other innocuous substances and removes, make the inorganic matter pollutant load in soil return to standard level.
If the organic mass spectrometer 4-3 of detecting system 4 detects the content of organics of residing subterranean layer less than setting value, then continue detection.
If the organic mass spectrometer 4-3 of detecting system 4 detects the content of organics of residing subterranean layer more than setting value, then excavated the method combined with microorganism remediation of ventilating by physics and remove pollutant, i.e. by the corresponding microorganism of artificial culture using organic contaminants in soil as carbon source and the energy, be broken down into CO2And H2O or other innocuous substances.
If the heavy metal detector 4-4 of detecting system 4 detects the content of beary metal of residing subterranean layer less than setting value, then continue detection.
If the heavy metal detector 4-4 of detecting system 4 detects the content of beary metal of residing subterranean layer more than setting value, utilize microbial degradation method that it is processed.Microbial degradation method is that the heavy metal utilizing microorganism to use the biotechnology such as genetic engineering to cultivate has degradation capability heavy metal to have absorptions, precipitate, aoxidize and reduction etc. acts on, reduce the concentration of heavy metal in soil or make its form change, so that the content of heavy metal in soil reaches standard level.
Utilizing the heavy metal contaminants in microbial treatment subterranean layer soil, inorganic pollution, organic pollution is a pure ecological process, have effective, small investment, speed are fast, energy consumption is low, efficiency is high and the advantage such as non-secondary pollution.
Intelligent processing system 2 is made up of processing module 2-1,3D identification module 2-2, wireless receiving and dispatching end I2-3, wireless receiving and dispatching end II2-4.3D identification module 2-2 can show that the 3-dimensional in dug region is dynamic constantly, and is contrasted with target shape by processing module 2-1, in order to corrects constantly.Processing module 2-1 can process instruction, voice, video etc..Wireless receiving and dispatching end I2-3 can receive and dispatch instruction etc., wireless receiving and dispatching end II2-4 can be with receiving and transmitting voice, video etc..
As a example by obstacle-overpass thing, the work process of robot of the present invention is:
Subsurface investigation robot is started working by original state S100, advance initially with walking mode S200, detecting system 4 technology through infrared remote sensing detects advancing barrier in real time, when the biggest barrier (barrier volume is more than setting value) being detected, detection state is passed to the main control module 3-1 controlling part 3 by detecting system, main control module 3 judges through process, judge that it has barrier S300, when enabling offline mode, S400 advances, instruction is sent by controlling part 3, mechanical part 1 performs flight orders, otherwise continue to use walking mode S200 to advance.When system again detects and is judged as clear S500, switch to walking mode S200.
Claims (6)
1. the subsurface investigation robot adapting to various extreme environment, it is characterized in that: include being sequentially connected mechanical part, detecting system, control part and the intelligent processing system connect, mechanical part is also connected with control part, and intelligent processing system is connected with detecting system；Wherein:
Described mechanical part includes body, the head being arranged on body front end, arranges the foreleg of both sides, body front end, be arranged in the middle part of body in both sides lower limb and be arranged on the back leg of bun both sides, wing, tail, wing is arranged on whole body both sides, extending tail, tail is arranged on body afterbody.
Subsurface investigation robot the most according to claim 1, is characterized in that: described control part is made up of, wherein main control module and secondary control module:
Main control module is connected with wireless receiving and dispatching end I, and by wireless receiving and dispatching end I transmitting-receiving instruction；
Secondary control module is connected with wireless receiving and dispatching end II, and by wireless receiving and dispatching end II receiving and transmitting voice, video instructions.
Subsurface investigation robot the most according to claim 1, is characterized in that: described detecting system is made up of soil hardness instrument, inorganic mass spectrometer, organic mass spectrometer, heavy metal detector.
Subsurface investigation robot the most according to claim 1, is characterized in that: described intelligent processing system is made up of processing module, 3D identification module, wireless receiving and dispatching end I, wireless receiving and dispatching end II.
Subsurface investigation robot the most according to claim 1, is characterized in that: described tail built-in gyro ceremony bascule.
Subsurface investigation robot the most according to claim 1, is characterized in that: described mechanical part uses cobalt base superalloy material to make.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520728228 | 2015-09-21 | ||
| CN2015207282282 | 2015-09-21 |
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| CN205450773U true CN205450773U (en) | 2016-08-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511472A (en) * | 2015-09-21 | 2016-04-20 | 桂林电子科技大学 | Underground detection robot capable of adapting to various extreme environments |
| CN107562070A (en) * | 2017-08-28 | 2018-01-09 | 电子科技大学 | A kind of rotor of autonomous flight four based on laser radar walks tunnel approach |
| CN109470508A (en) * | 2018-10-19 | 2019-03-15 | 宁波大学 | A kind of soil detection bio-robot |
-
2016
- 2016-01-08 CN CN201620012244.6U patent/CN205450773U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511472A (en) * | 2015-09-21 | 2016-04-20 | 桂林电子科技大学 | Underground detection robot capable of adapting to various extreme environments |
| CN107562070A (en) * | 2017-08-28 | 2018-01-09 | 电子科技大学 | A kind of rotor of autonomous flight four based on laser radar walks tunnel approach |
| CN107562070B (en) * | 2017-08-28 | 2020-07-17 | 电子科技大学 | Autonomous flight four-rotor tunnel passing method based on laser radar |
| CN109470508A (en) * | 2018-10-19 | 2019-03-15 | 宁波大学 | A kind of soil detection bio-robot |
| CN109470508B (en) * | 2018-10-19 | 2021-04-09 | 宁波大学 | Soil detection bionic robot |
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Granted publication date: 20160810 Termination date: 20170108 |