Method for automatic positioning and quantitative extraction of dangerous chemical solution based on mobile robot

Abstract

The invention relates to a method for automatic positioning and quantitative extraction of a dangerous chemical solution based on a mobile robot. A mobile car system moves to a designated dangerous chemical solution point according to a planned route, and then sends a control signal to a multi-joint mechanical arm system; the multi-joint mechanical arm system controls a quantitative liquid extracting device of a clamp system to rotate to a work position and move to a proper position of the dangerous chemical solution point; the multi-joint mechanical arm system controls the quantitative liquid extracting device through the clamp system to perform quantitative liquid extraction under the guidance of a visual ultrasonic testing system; the dangerous chemical solution is transferred to a dangerous chemical solution storage system; the collection of the dangerous chemical solution at other dangerous chemical solution points is completed according to planned routes; the dangerous chemical solution storage system is closed; and points of the multi-joint mechanical arm system return to zero point positions. By introducing a dangerous chemical solution extraction system based on the mobile robot, fixed type dangerous chemical solution extraction devices used in different high-risk environments are replaced with radiation-resistant and corrosion-resistant mobile robot dangerous chemical solution extraction devices, so that efficient, quantitative and visualized extraction operations of the dangerous chemical solution are implemented.

Description

technical field [0001] The invention relates to the field of extraction and detection of hazardous chemical solutions, specifically a method for automatic positioning and quantitative extraction of hazardous chemical solutions based on mobile robots. Background technique [0002] Manufacturing, medical and health care, nuclear testing and nuclear power, metallurgy and chemical industries will produce a large number of hazardous chemical solutions with complex components, uneven concentrations, high corrosiveness, and high radioactivity, which can easily cause serious harm to humans, animals, and the environment. . This kind of hazardous chemical solution is generally stored in a closed space by means of isolation. After collection and storage, sampling and testing, purification treatment and discharge, etc., it is treated by dilution or solidification, and then converted into a small volume of concentrate and stored. After the corrosiveness and radioactivity are less than t...

AI Technical Summary

Problems solved by technology

Judging from the published records and data, most of the hazardous chemical solution extraction uses a fixed hazardous chemical solution extraction device based on vacuum suction. The device is mainly composed of a vacuum pump, suction tube, control switch, and camera. The hazardous chemical solution processing equipment is fixed together in a certain place, and the extraction of the hazardous chemical solution is completed with manual participation. For the sake of stability, this type of device hardly adopts precise extraction control measures, so it is difficult to realize the quantitative and quantitative analysis of the hazardous chemical solution. random sampling

The lack of flexible extraction methods and the inability to accurately quantify the extraction have become bottlenecks restricting the improvement of the efficiency of hazardous chemical solution treatment. Since the fixed solution extraction device is used, it cannot be freely moved and operated. When the device fails or the components of the hazardous chemical solution change In some cases, the fixed solution extraction device is not capable of sampling inspection, and in severe cases, it will cause the suspension of hazardous solution treatment and the shutdown of the production line, resulting in huge economic losses

[0004] In addition, there is no fixed hazardous solution extraction equipment in many occasions. When the extracted hazardous solutions are of many types, the distance is relatively long, and the working environment is relatively harsh, people need to enter different environments or even high-risk environments to manually operate, and (1 ) People work in a harsh environment for a long time and are vulnerable to injury; (2) The amount of hazardous chemical solution is not accurate, and the operating efficiency is low; (3) Excess hazardous chemical solution is not easy to handle and other problems

These problems have seriously affected the processing efficiency and human safety in the detection of hazardous chemical solutions.

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