An emergency detection robot for gas and liquid leakage accidents

Abstract

The present invention provides an emergency detection robot for gas-liquid leakage accidents, comprising a mobile chassis, and a visual system, a first mechanical arm, a gas detector and a liquid collector arranged on the mobile chassis; the liquid collector comprises a collecting bottle, a sampling tube and a liquid pump arranged between the collecting bottle and the sampling tube; the inlet end of the sampling tube is fixed to the end of the first mechanical arm; the robot can detect the residual dangerous gas at the accident scene in real time and collect the leaked liquid for subsequent detection.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an emergency detection robot for gas and liquid leakage accidents. Background Art

[0002] In the chemical industry and coal mining industry, accidents caused by leakage of toxic and harmful gases and liquids occur from time to time. Among them, leakage of toxic and harmful gases and liquids can easily cause accidents such as poisoning, explosions, and mine collapses.

[0003] At present, after an accident caused by the leakage of toxic and harmful gases and liquids, it is often necessary to dispatch rescue personnel to the accident site for emergency rescue. However, since there may still be a large amount of toxic and harmful, flammable and explosive gases and liquids at the accident site, the rescue personnel may be at risk of exposure and their personal safety is greatly threatened.

[0004] Therefore, there is a need to find an emergency detection robot that can detect the residual dangerous gas at the accident scene in real time and collect leaked liquid for subsequent detection, so as to help rescue workers conduct environmental detection in advance before entering the accident scene so that rescue workers can take countermeasures. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an emergency detection robot for gas-liquid leakage accidents, which can detect the residual dangerous gas at the accident scene in real time and collect the leaked liquid for subsequent detection.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An emergency detection robot for gas-liquid leakage accidents, comprising a mobile chassis, and a visual system, a first mechanical arm, a gas detector and a liquid collector arranged on the mobile chassis;

[0008] The liquid collector comprises a collecting bottle, a sampling tube and a liquid pump arranged between the collecting bottle and the sampling tube; the inlet end of the sampling tube is fixed at the end of the first mechanical arm.

[0009] In the emergency detection robot for gas-liquid leakage accidents, the liquid collector also includes a flow sensor arranged between the sampling tube and the liquid pump.

[0010] In the emergency detection robot for gas-liquid leakage accidents, a funnel-shaped sampler is provided at the inlet end of the sampling tube.

[0011] The emergency detection robot for gas-liquid leakage accidents further comprises a second mechanical arm arranged on the mobile chassis;

[0012] A cleaning tool for cleaning floating objects on the water is disposed at the end of the second mechanical arm; or a filtering screen is disposed at the end of the second mechanical arm.

[0013] In the emergency detection robot for gas-liquid leakage accidents, the first robotic arm and the second robotic arm are both seven-axis robotic arms.

[0014] In the emergency detection robot for gas-liquid leakage accidents, the liquid pump is a peristaltic pump.

[0015] The emergency detection robot for gas-liquid leakage accidents further includes a radar arranged on the front side of the mobile chassis.

[0016] In the emergency detection robot for gas-liquid leakage accidents, the visual system includes a pan-tilt platform and a binocular camera arranged on the pan-tilt platform.

[0017] In the emergency detection robot for gas-liquid leakage accidents, the mobile chassis is a crawler chassis.

[0018] In the emergency detection robot for gas-liquid leakage accidents, a protective cover is arranged on the top of the mobile chassis, and the gas detector and the liquid collector are arranged in the protective cover.

[0019] Beneficial effects:

[0020] The present invention provides an emergency detection robot for gas-liquid leakage accidents. The robot can be moved to the accident site via a mobile chassis, can analyze the content of toxic and harmful, flammable and explosive gases in the air via a gas detector, can collect leaked liquid via a liquid collector for subsequent detection, and can ensure that the inlet end of the sampling tube is aligned with the liquid leakage position for collection through the coordinated work of a visual system and a first mechanical arm. The robot can detect the residual hazardous gas at the accident site in real time and collect leaked liquid for subsequent detection, and can help rescue personnel to conduct environmental detection in advance before entering the accident site so that the rescue personnel can take countermeasures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of the emergency detection robot for gas-liquid leakage accidents provided by the present invention.

[0022] Figure 2 This is a schematic structural diagram of a liquid collector in the emergency detection robot for gas-liquid leakage accidents provided by the present invention.

[0023] Figure 3 A diagram of the connection structure between the inlet end of the sampling tube and the end of the first mechanical arm in the emergency detection robot for gas-liquid leakage accidents provided by the present invention.

[0024] Figure 4 A schematic diagram of an exemplary liquid collector in the emergency detection robot for gas-liquid leakage accidents provided by the present invention. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] The embodiments or examples disclosed below are used to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0028] See also Figure 1-4 The present invention provides an emergency detection robot for gas-liquid leakage accidents, comprising a mobile chassis 1, and a visual system 2, a first mechanical arm 3, a gas detector 4 and a liquid collector 5 arranged on the mobile chassis 1;

[0029] See Figure 2The liquid collector 5 includes a collecting bottle 5.1, a sampling tube 5.2, and a liquid pump 5.3 disposed between the collecting bottle 5.1 and the sampling tube 5.2; the inlet end of the sampling tube 5.2 is fixed at the end of the first mechanical arm 3 (such as Figure 3 as shown).

[0030] When working, the robot moves to the accident site through the mobile chassis 1, and then analyzes the toxic, harmful, flammable and explosive gas content in the air through the gas detector 4, and collects the leaked liquid through the liquid collector 5 for subsequent detection; when collecting the leaked liquid, the visual system 2 and the first mechanical arm 3 work together to ensure that the inlet end of the sampling tube 5.2 is aligned with the liquid leakage position for collection. It can be seen that the robot can detect the residual dangerous gas at the accident site in real time and collect the leaked liquid for subsequent detection, and can help the rescue personnel to conduct environmental detection in advance before entering the accident site, so that the rescue personnel can take countermeasures.

[0031] In this embodiment, see Figure 3 A fixed clamp block 3.1 is provided at the end of the first mechanical arm 3, and the sampling tube 5.2 is connected to the fixed clamp block 3.1.

[0032] The gas detector 4 may be one or more of an infrared gas detector, a thermal magnetic gas detector, an electrochemical gas detector, a semiconductor gas detector, an ultraviolet gas detector, and the like.

[0033] In some preferred embodiments, see Figure 2 The liquid collector 5 also includes a flow sensor 5.4 disposed between the sampling tube 5.2 and the liquid pump 5.3. The total volume of the collected liquid can be measured in real time by the flow sensor 5.4, so that the liquid pump 5.3 can be controlled to stop working when the sampling volume reaches the requirement, thereby preventing insufficient or excessive liquid collection.

[0034] In some preferred embodiments, see Figure 3 The inlet end of the sampling tube 5.2 is provided with a funnel-shaped sampler 5.5. Sometimes, the liquid leaks at a high place and forms droplets. At this time, the sampler 5.5 can be controlled by the first mechanical arm 3 to aim upward at the liquid leaking position, so that this form of leaked liquid can be effectively collected.

[0035] In some preferred embodiments, the emergency detection robot for gas-liquid leakage accidents further comprises a second mechanical arm 6 (see Figure 1 );

[0036] The end of the second mechanical arm 6 is provided with a cleaning tool (not shown in the figure) for cleaning floating objects on the water; or the end of the second mechanical arm 6 is provided with a filter screen (not shown in the figure). Sometimes, a large amount of liquid leaks and forms an accumulation of liquid on the ground, or the leaked liquid flows into the water body, and it is necessary to directly extract samples from the accumulation of liquid or the water body. However, there may be some floating objects or other debris in the accumulation of liquid or the water body, which may easily block the sampling tube 5.2; at this time, the second mechanical arm 6 can clean or isolate and filter these floating objects or debris.

[0037] For example, a cleaning tool is provided at the end of the second mechanical arm 6, and the cleaning tool may be a clamping claw, a net bag, etc., and floating objects may be directly removed by the clamping claw, the net bag, etc.;

[0038] For another example, a filter screen is provided at the end of the second mechanical arm 6. When sampling, the filter screen is extended to the inlet end of the sampling tube 5.2 to block the inlet, thereby isolating the debris from the outside.

[0039] In addition, other tools may be provided at the end of the second robot arm 6 as needed, such as a finger claw for clearing obstacles on the moving path.

[0040] In this embodiment, see Figure 1 The first robot arm 3 and the second robot arm 6 are both seven-axis robot arms, but are not limited thereto. The seven-axis robot arm has good flexibility and can complete more actions.

[0041] In some embodiments, the liquid pump 5.3 is a peristaltic pump. In a peristaltic pump, the fluid is isolated in the pump tube and does not contact the pump body, so it does not pollute the pump body, and has the advantages of replaceable pump tube, reversible fluid, dry running, etc.

[0042] In some preferred embodiments, see Figure 4 The liquid collector 5 includes a plurality of collecting bottles 5.1 and at least one flushing liquid bottle 5.6 for storing backwashing liquid. Each collecting bottle 5.1 and each flushing liquid bottle 5.6 are connected to the liquid pump 5.3 through a connecting pipe 5.7, and each connecting pipe 5.7 is provided with a solenoid valve 5.8.

[0043] When collecting leaked liquid, there may be multiple leaking locations, and the leaked liquids at each leaking location may be different. At this time, by controlling the operation of each solenoid valve 5.8, the liquid pump 5.3 can be connected to different collecting bottles 5.1, so that different samples can be stored in different collecting bottles 5.1. Before switching the collecting bottles 5.1 each time, the solenoid valves 5.8 of all collecting bottles 5.1 can be closed first to disconnect the connection with the liquid pump 5.3, and then the liquid pump 5.3 can be connected to the flushing liquid bottle 5.6, and the liquid pump 5.3 can be reversed to draw backwashing liquid from the flushing liquid bottle 5.6 to backwash the pipeline. After the backwashing is completed, another collecting bottle 5.1 can be switched to avoid cross contamination of each sample.

[0044] For further information, see Figure 4 A discharge pipe 5.9 connected to the liquid pump 5.3 can be provided, and a solenoid valve 5.8 can be provided on the discharge pipe 5.9. After the backwashing is completed, the liquid pump 5.3 can be switched to a state where it is only connected to the discharge pipe 5.9, and then sampling can be performed. The extracted sample liquid will flush the pipeline and take away the residual backwashing liquid, and finally be discharged from the discharge pipe 5.9. After that, another collection bottle 5.1 can be switched for formal sampling to avoid the backwashing liquid from contaminating the sample.

[0045] The drainage pipe 5.9 can be directly extended out of the robot to discharge liquid, or a collection tank 5.10 can be provided at the outlet of the drainage pipe 5.9 to collect waste liquid and place it on the polluted ground.

[0046] In some embodiments, see Figure 1 The emergency detection robot for gas and liquid leakage accidents also includes a radar 7 arranged on the front side of the mobile chassis 1. The radar is used to provide front obstacle information for the movement of the robot, realize the navigation function, and can cooperate with the visual system to more accurately determine the position of the object.

[0047] In some embodiments, see Figure 1 The visual system 2 includes a platform 2.1 and a binocular camera 2.2 disposed on the platform. The platform 2.1 can drive the binocular camera 2.2 to rotate in all directions, thereby increasing the detection range of the binocular camera 2.2. The platform 2.1 can be a single-degree-of-freedom platform, a dual-degree-of-freedom platform, or a platform with more degrees of freedom. Figure 1 In the figure, the gimbal 2.1 is a dual-degree-of-freedom gimbal, which can drive the binocular camera 2.2 to rotate in azimuth and in pitch.

[0048] In some embodiments, see Figure 1 The mobile chassis 1 is a crawler chassis. It has good climbing ability, can rotate on the spot, and can better adapt to complex road surfaces.

[0049] In some embodiments, see Figure 1A protective cover 8 is provided on the top of the mobile chassis 1 , and a gas detector 4 and a liquid collector 5 are provided in the protective cover 8 (only a part of the protective cover 8 is shown in the figure). The probe of the gas detector 4 extends out of the protective cover 8 .

[0050] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and the solutions are substantially the same as the present invention.

Claims

1. An emergency detection robot for gas and liquid leakage accidents, It is characterized in that It includes a mobile chassis, and a visual system, a first mechanical arm, a gas detector and a liquid collector arranged on the mobile chassis; The liquid collector comprises a collecting bottle, a sampling tube and a liquid pump arranged between the collecting bottle and the sampling tube; the inlet end of the sampling tube is fixed to the end of the first mechanical arm; The liquid pump is a peristaltic pump; The liquid collector includes a plurality of collecting bottles and at least one flushing liquid bottle for storing backwashing liquid. Each collecting bottle and each flushing liquid bottle are connected to a liquid pump through a connecting pipe, and each connecting pipe is provided with a solenoid valve. The liquid collector also includes a liquid discharge pipe and a collecting tank. Both ends of the liquid discharge pipe are connected to the liquid pump and the collecting tank, respectively, and a solenoid valve is provided on the liquid discharge pipe. The liquid collector can collect leaked liquid from multiple leaking locations by controlling the operation of each solenoid valve to connect the liquid pump with different collection bottles, so as to store different samples in different collection bottles. Before switching the collection bottles each time, the solenoid valves of all the collection bottles are closed to disconnect the connection with the liquid pump, and then the liquid pump is connected with the flushing liquid bottle, and the liquid pump is reversed to draw backwashing liquid from the flushing liquid bottle to backwash the pipeline. After the backwashing is completed, the liquid pump is first switched to a state where it is connected only to the drain pipe, and then sampling is performed, and the extracted sample liquid is used to brush the pipeline to take away the residual backwashing liquid and discharge it from the drain pipe to the collection tank, and then another collection bottle is switched; A funnel-shaped sampler is arranged at the inlet end of the sampling tube.

2. The emergency detection robot for gas and liquid leakage accidents according to claim 1, It is characterized in that The liquid collector also includes a flow sensor arranged between the sampling tube and the liquid pump.

3. The emergency detection robot for gas-liquid leakage accidents according to claim 1, It is characterized in that Also includes a second mechanical arm disposed on the mobile chassis; A cleaning tool for cleaning floating objects on the water is disposed at the end of the second mechanical arm; or a filtering screen is disposed at the end of the second mechanical arm.

4. The emergency detection robot for gas and liquid leakage accidents according to claim 3, It is characterized in that The first robotic arm and the second robotic arm are both seven-axis robotic arms.

5. The emergency detection robot for gas and liquid leakage accidents according to claim 1, It is characterized in that Also included is a radar arranged on the front side of the mobile chassis.

6. The emergency detection robot for gas and liquid leakage accidents according to claim 1, It is characterized in that The visual system includes a pan-tilt platform and a binocular camera arranged on the pan-tilt platform.

7. The emergency detection robot for gas and liquid leakage accidents according to claim 1, It is characterized in that The mobile chassis is a crawler chassis.

8. The emergency detection robot for gas and liquid leakage accidents according to claim 1, It is characterized in that A protective cover is arranged on the top of the mobile chassis, and the gas detector and the liquid collector are arranged in the protective cover.

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