阅读说明：本技术 一种机器人清淤、固化及检测多功能系统 (Robot desilting, solidification and detect multi-functional system ) 是由 向舟海 钟林峰 王伟 向兴东 张国柱 马婷婷 于 2021-08-25 设计创作，主要内容包括：本发明提供了一种机器人清淤、固化及检测多功能系统,包括远程智能操控系统、清淤机器人装置、固化机器人装置和检测机器人装置；所述远程智能操控系统还包括交换机、远程控制器和监控上位机；本发明为该人工智能的一体化系统既可以提高施工效率,又可以实现固化淤泥的资源再利用、减少环境污染和避免淤泥堆积占用土地资源等问题；此外,该一体化的系统可以直接检测固化后淤泥的性能,判断其是否达到应用的标准,因此,该系统可避免淤泥土二次固化和减少影响固化淤泥应用工程的施工进度。(The invention provides a robot dredging, curing and detecting multifunctional system, which comprises a remote intelligent control system, a dredging robot device, a curing robot device and a detecting robot device, wherein the remote intelligent control system is used for controlling the remote intelligent control system; the remote intelligent control system also comprises a switch, a remote controller and a monitoring upper computer; the artificial intelligence integrated system can improve the construction efficiency, realize the resource recycling of solidified sludge, reduce the environmental pollution, avoid the problems of land resource occupation and the like caused by sludge accumulation; in addition, the integrated system can directly detect the performance of the solidified sludge and judge whether the performance meets the application standard, so that the system can avoid secondary solidification of the silt and reduce the construction progress influencing the solidified sludge application project.)

1. A robot desilting, solidifying and detecting multifunctional system is characterized by comprising a remote intelligent control system (1), a desilting robot device (2), a solidifying robot device (3) and a detecting robot device (4); the remote intelligent control system (1) further comprises a switch (5), a remote controller (7) and a monitoring upper computer (8); the number of the switches (5) is two, one of the switches is electrically connected with the remote controller (7) and the monitoring upper computer (8) through cables (6), and the other switch is electrically connected with the dredging robot device (2), the curing robot device (3) and the detection robot device (4) through cables (6); the switches (5) are electrically connected through cables (6); the dredging robot device (2) comprises a field controller (9), an image collector (10), a distance measuring sensor (11), an obstacle avoidance sensor (12), a feeding material collecting device (13), a crushing device (14) and a sludge pump conveying device (15); the curing robot device (3) comprises a field controller (9), an image collector (10), a distance measuring sensor (11), an obstacle avoidance sensor (12), a feeder (16) and a stirrer (17); the detection robot device (4) comprises a field controller (9), an image collector (10), a distance measurement sensor (11), an obstacle avoidance sensor (12) and solidification detection equipment (18).

2. The multifunctional system for robot dredging, curing and detecting as claimed in claim 1, characterized in that the remote controller (7) controls the onsite controllers (9) on the dredging robot device (2), the curing robot device (3) and the detecting robot device (4) through the switch (5).

3. The robot desilting, curing and detecting multifunctional system as claimed in claim 1, characterized in that the desilting robot device (2) controls the image collector (10), the distance measuring sensor (11), the obstacle avoidance sensor (12), the feeding material collecting device (13), the crushing device (14) and the sludge pump conveying device (15) through the field controller (9), collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer (8) through the exchanger (5) and the optical cable (6).

4. The multifunctional system for robot desilting, curing and detecting as claimed in claim 1, characterized in that the curing robot device (3) controls the image collector (10), the distance measuring sensor (11), the obstacle avoidance sensor (12), the feeder (16) and the stirrer (17) through the field controller (9), collects data information collected by the sensors, and transmits the collected data information to the monitoring upper computer (8) through the switch (5) and the optical cable (6).

5. The robot desilting, curing and detecting multifunctional system according to claim 1 is characterized in that the detecting robot device (4) controls the image collector (10), the distance measuring sensor (11), the obstacle avoidance sensor (12) and the curing detection equipment (18) through the field controller (9), collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer (8) through the switch (5) and the optical cable (6).

6. The method of operating a robotic desilting, curing and inspecting multifunctional system as recited in claim 1, comprising the steps of:

1) an operator judges the working condition of the dredging site by monitoring the image and data which are collected by the upper computer (8) and transmitted by the dredging robot device (2), and then controls the dredging robot device (2) of the dredging site to be positioned at a proper position in the river channel through the remote controller (7);

2) after dredging parameters of the dredging robot device (2) are set, an operator enables the dredging robot device (2) to collect river silt into the feed collecting device (13) through the remote controller (7), the crushing device (14) is controlled to crush the river silt and convey the river silt to the silt pump conveying device (15), if the conveying requirement of the silt pump conveying device (15) is met, the operator enables the dredging robot device (2) to convey the silt to a solidification site through the remote controller (7), otherwise, the silt is conveyed back to the crushing device (14) to continue crushing until the conveying requirement of the silt pump conveying device (15) is met;

3) after the sludge is conveyed to a curing site, an operator checks images and data of an image collector (10) of the curing robot device (3) through a monitoring upper computer (8) to judge the working condition of the curing site, then the operator enables a feeder (16) in the curing robot device (3) to start to operate through a remote controller (7), the curing agent is fed to the sludge, and the feeder (16) is closed after the feeding is finished;

4) an operator starts the stirrer (17) to stir through the remote controller (7), and stops the stirrer (17) after the curing agent and the sludge are fully stirred and mixed;

5) an operator checks the images and data of the image collector (10) of the detection robot device (4) through the monitoring upper computer (8) to judge the on-site working condition, and after the curing time reaches the specified requirement, the curing detection device (18) is started to test the physical and mechanical properties of the cured sludge soil body such as strength, density, water content, compactness and the like.

Technical Field

The invention belongs to the field of sludge dredging, curing and detecting, and particularly relates to a multifunctional system for robot dredging, curing and detecting.

Background

A large amount of dredged sludge is generated in hydraulic engineering and shipping engineering of China every year, which not only influences the traffic efficiency of water traffic but also causes huge environmental pollution. In addition, along with the rapid development of economy, a large amount of sludge is generated in rivers and lakes of various cities, so that the rivers are blackened and odorized, and meanwhile, the accumulation of the sludge occupies a large amount of land resources and can cause serious secondary pollution. Aiming at the series of problems, the actions of dredging are rapidly carried out in various cities in China, compared with the traditional manual dredging, the robot dredging has higher dredging efficiency, the labor force is reduced, and the harm of pollutants in the sludge to human bodies is reduced. However, the current dredging robot has single function, and the dredged sludge is basically piled on the surface of the land and cannot well meet the requirements of subsequent sludge solidification and application.

At present, a soil body solidification technology is widely applied to sludge solidification treatment, the problems of large land occupation, environmental pollution and the like caused by sludge land filling and the like can be solved by adopting a solidifying agent to treat sludge, meanwhile, a solidified soil body can be used as a building material to be applied to roadbed engineering, filling engineering and the like, and whether the relevant performance of the solidified sludge soil can reach the standard of corresponding engineering or not needs to be detected in advance. If the solidified sludge cannot meet the standard of the building material after detection when the sludge is transported to an engineering application site, secondary solidification is needed, and the construction progress is delayed; in addition, different projects need different engineering performances of solidified silt soil, so that detection operation after silt solidification is needed on a solidification site. In summary, a multifunctional operation system combining the dredging, solidifying and detecting technologies is lacking at present.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a robot dredging, curing and detecting multifunctional system capable of quickly and effectively removing sludge and reusing cured sludge resources.

The invention is realized by the following technical scheme:

a robot desilting, solidifying and detecting multifunctional system comprises a remote intelligent control system, a desilting robot device, a solidifying robot device and a detecting robot device; the remote intelligent control system also comprises a switch, a remote controller and a monitoring upper computer; the number of the switches is two, one of the switches is respectively and electrically connected with the remote controller and the monitoring upper computer through cables, and the other switch is respectively and electrically connected with the dredging robot device, the curing robot device and the detection robot device through cables; the switches are electrically connected through cables; the dredging robot device comprises a field controller, an image collector, a distance measuring sensor, an obstacle avoiding sensor, a feeding material collecting device, a crushing device and a sludge pump conveying device; the curing robot device comprises a field controller, an image collector, a distance measuring sensor, an obstacle avoiding sensor, a feeder and a stirrer; the detection robot device comprises a field controller, an image collector, a distance measurement sensor, an obstacle avoidance sensor and solidification detection equipment.

Furthermore, the remote controller controls the field controllers on the dredging robot device, the curing robot device and the detection robot device through the switch, so that remote control is realized.

Furthermore, the dredging robot device controls the image collector, the distance measuring sensor, the obstacle avoiding sensor, the feeding collecting device, the crushing device and the sludge pump conveying device through the field controller, collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer through the switch and the optical cable.

Furthermore, the curing robot device controls the image collector, the distance measuring sensor, the obstacle avoidance sensor, the feeding device and the stirrer through the field controller, collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer through the switch and the optical cable.

Furthermore, the detection robot device controls the image collector, the distance measuring sensor, the obstacle avoidance sensor and the solidification detection equipment through the field controller, collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer through the switch and the optical cable.

The remote controller and the monitoring upper computer are connected to a field controller in the dredging robot device, the curing robot device and the detection robot device through a switch and an optical cable, the field controller controls the image collector, the distance measuring sensor and the obstacle avoidance sensor, collects data information collected by the sensors, and transmits the collected data information to the monitoring upper computer through the switch and the optical cable; the on-site controller controls the feeding collection device, the crushing device, the sludge pump conveying device, the feeder, the stirrer and the solidification detection equipment, and the remote controller is connected with the on-site controller through the switch and the optical cable and controls the on-site controller, so that the dredging robot device, the solidification robot device and the detection robot device are remotely controlled.

An operation method of a robot dredging, curing and detecting multifunctional system comprises the following steps:

1. an operator judges the working condition of the dredging site by monitoring the image and data which are collected by the upper computer and transmitted by the dredging robot device, and then controls the dredging robot device of the dredging site to be positioned at a proper position in the river channel through the remote controller;

2. after dredging parameters of the dredging robot device are set, an operator enables the dredging robot device to collect river sludge into the feed collecting device through the remote controller, the crushing device is controlled to crush the river sludge and conveys the crushed sludge to the sludge pump conveying device, if the conveying requirement of the sludge pump conveying device is met, the operator enables the dredging robot device to convey the sludge to a solidification site through the remote controller, otherwise, the sludge is conveyed back to the crushing device to continue crushing until the conveying requirement of the sludge pump conveying device is met;

3. after the sludge is conveyed to a curing site, an operator checks images and data of an image collector of the curing robot device through a monitoring upper computer to judge the working condition of the curing site, then the operator enables a feeder in the curing robot device to start to operate through a remote controller, the curing agent is fed to the sludge, and the feeder is closed after the feeding is finished;

4. an operator starts the stirrer through the remote controller to stir, and stops the stirrer after the curing agent and the sludge are fully stirred and mixed;

5. and an operator checks the image and the data of the image collector of the detection robot device through the monitoring upper computer to judge the on-site working condition, and after the curing time reaches the specified requirement, the curing detection equipment is started to test the physical and mechanical properties such as the strength, the density, the water content, the compaction degree and the like of the cured sludge soil body.

The invention has the beneficial effects that:

the artificial intelligence integrated system can improve the construction efficiency, realize the resource recycling of solidified sludge, reduce the environmental pollution, avoid the problems of land resource occupation and the like caused by sludge accumulation; in addition, the integrated system can directly detect the performance of the solidified sludge and judge whether the performance meets the application standard, so that the system can avoid secondary solidification of the silt and reduce the construction progress influencing the solidified sludge application project.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a robotic desilting, curing and inspecting multifunctional system of the present invention.

Shown in the figure: 1-remote intelligent control system; 2-a dredging robot device; 3-curing the robotic device; 4-detecting the robotic device; 5-a switch; 6-an optical cable; 7-a remote controller; 8, monitoring the upper computer; 9-a field controller; 10-an image collector; 11-a distance measuring sensor; 12-obstacle avoidance sensors; 13-a feed collection device; 14-a crushing device; 15-sludge pump conveying device; 16-a batch feeder; 17-a stirrer; 18-curing detection equipment.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, proportions, and dimensions shown in the drawings and described herein are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims, but rather by the claims. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be regarded as the scope of the present invention without substantial changes in the technical contents.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1, the multifunctional system for robot dredging, curing and detecting comprises a remote intelligent control system 1, a dredging robot device 2, a curing robot device 3 and a detecting robot device 4; the remote intelligent control system 1 further comprises a switch 5, a remote controller 7 and a monitoring upper computer 8; the number of the exchangers 5 is two, one of the exchangers is respectively and electrically connected with a remote controller 7 and a monitoring upper computer 8 through cables 6, and the other exchanger is respectively and electrically connected with the dredging robot device 2, the curing robot device 3 and the detection robot device 4 through cables 6; the switches 5 are electrically connected through cables 6; the dredging robot device 2 comprises a field controller 9, an image collector 10, a distance measuring sensor 11, an obstacle avoiding sensor 12, a feeding collecting device 13, a crushing device 14 and a sludge pump conveying device 15; the curing robot device 3 comprises a field controller 9, an image collector 10, a distance measuring sensor 11, an obstacle avoiding sensor 12, a feeder 16 and a stirrer 17; the detection robot device 4 comprises a field controller 9, an image collector 10, a distance measurement sensor 11, an obstacle avoidance sensor 12 and a solidification detection device 18.

Further, the remote controller 7 operates the dredging robot 2, the curing robot 3, and the site controller 9 on the inspection robot 4 through the switch 5.

Further, the dredging robot device 2 controls the image collector 10, the distance measuring sensor 11, the obstacle avoidance sensor 12, the feeding collecting device 13, the crushing device 14 and the sludge pump conveying device 15 through the field controller 9, collects data information collected by the sensors, and then transmits the collected data information to the monitoring upper computer 8 through the switch 5 and the optical cable 6.

Further, the curing robot device 3 controls the image collector 10, the distance measuring sensor 11, the obstacle avoidance sensor 12, the feeder 16 and the stirrer 17 through the field controller 9, collects data information collected by the sensors, and transmits the collected data information to the monitoring upper computer 8 through the switch 5 and the optical cable 6.

Further, the detection robot device 4 controls the image collector 10, the distance measuring sensor 11, the obstacle avoidance sensor 12 and the solidification detection device 18 through the field controller 9, collects data information collected by the sensors, and transmits the collected data information to the monitoring upper computer 8 through the switch 5 and the optical cable 6.

An operation method of a robot dredging, curing and detecting multifunctional system comprises the following steps:

1. an operator judges the working condition of the dredging site by monitoring the image and data which are collected by the upper computer 8 and transmitted by the dredging robot device 2, and then controls the dredging robot device 2 of the dredging site to be positioned at a proper position in a river channel by the remote controller 7;

2. after dredging parameters of the dredging robot device 2 are set, an operator enables the dredging robot device 2 to collect river silt into the feed collecting device 13 through the remote controller 7, controls the crushing device 14 to crush the river silt and conveys the river silt to the silt pump conveying device 15, if the conveying requirement of the silt pump conveying device 15 is met, the operator enables the dredging robot device 2 to convey the silt to a solidification site through the remote controller 7, otherwise, the silt is conveyed back to the crushing device 14 to continue crushing until the conveying requirement of the silt pump conveying device 15 is met;

3. after the sludge is conveyed to a curing site, an operator checks images and data of an image collector 10 of the curing robot device 3 through a monitoring upper computer 8 to judge the working condition of the curing site, then the operator enables a feeder 16 in the curing robot device 3 to start to operate through a remote controller 7, the curing agent is fed to the sludge, and the feeder 16 is closed after the feeding is finished;

4. an operator starts the stirrer 17 through the remote controller 7 to stir, and stops the stirrer 17 after the curing agent and the sludge are fully stirred and mixed;

5. an operator checks the images and data of the image collector 10 of the detection robot device 4 through the monitoring upper computer 8 to judge the on-site working conditions, and after the curing time reaches the specified requirement, the curing detection equipment 18 is started to test the physical and mechanical properties of the cured sludge soil body such as strength, density, water content, compactness and the like.

The scope of the present invention is not limited to the technical solutions disclosed in the embodiments, and any modifications, equivalent substitutions, improvements, etc. made to the above embodiments according to the technical spirit of the present invention fall within the scope of the present invention.