A bionic robot for monitoring the temperature of shallow soil in polluted sites

Abstract

The present invention discloses a bionic robot for monitoring the temperature of shallow soil at contaminated sites. The robot comprises a drilling mechanism, a steering mechanism, a control mechanism, and a peristaltic mechanism, which are sequentially arranged. The drilling mechanism comprises a spiral drill bit, a drilling mechanism housing, and a drill motor disposed within the drilling mechanism housing. The steering mechanism comprises a first steering connecting plate, a second steering connecting plate, a universal joint, and a steering mechanism housing. The control mechanism comprises a control mechanism housing, a control board disposed within the control mechanism housing, a DC drive board, and a wireless communication module. The peristaltic mechanism comprises a temperature and humidity sensor and a peristaltic mechanism housing. The bionic robot of the present invention has a simple structure and a small size, making it easy to deploy on site. By acquiring temperature data through wireless transmission, it enables real-time monitoring of soil temperature at different depths in the shallow layer of a contaminated site.

Description

Technical Field

[0001] The present invention relates to bionic robot technology, in particular to a bionic robot used for monitoring the temperature of shallow soil in contaminated sites. Background Art

[0002] With the advancement of urbanization, numerous contaminated sites have been left behind by relocated industrial enterprises. In these contaminated sites, volatile / semi-volatile organic compounds (VOCs) rapidly transform from liquid or solid to gaseous form when the soil temperature exceeds the boiling point of the VOCs. Even extremely low concentrations of VOCs can pose significant risks to the human body, necessitating real-time soil temperature monitoring for effective VOC risk management. Shallow soil temperatures at contaminated sites are susceptible to fluctuations due to the surrounding environment, causing VOC concentrations to fluctuate and even exceed risk thresholds. Further measures are urgently needed to bring VOC concentrations within acceptable limits. Therefore, real-time soil temperature monitoring at various depths within the shallow layer of contaminated sites, combined with data from on-site VOC concentration monitoring equipment, can be used to evaluate the effectiveness of risk management plans and facilitate timely adjustments.

[0003] Current soil temperature monitoring equipment for contaminated sites generally takes a long time to use, is bulky, and is inconvenient to transport, forcing workers to remain at the testing site for extended periods. However, contaminated sites contain a variety of volatile organic compounds (VOCs) that are extremely harmful to the human body, making it unsuitable for humans to remain on site. This puts current soil temperature monitoring workers in a dilemma. Therefore, it is necessary to develop shallow soil temperature monitoring equipment for contaminated sites to minimize the time people spend entering and exiting contaminated sites. This equipment can also monitor soil temperatures at different depths in the shallow layer of the contaminated site in real time. Combined with data from on-site real-time monitoring equipment for VOC gas concentrations, this data can be used to evaluate the effectiveness of risk management plans and adjust them promptly. Summary of the Invention

[0004] Purpose of the invention: In response to the above problems, the purpose of the present invention is to provide a bionic robot for monitoring the shallow soil temperature of contaminated sites. Based on the peristaltic mechanism of earthworms, the robot can achieve straight and curved peristalsis through a drilling mechanism, a steering mechanism, a control mechanism and a peristaltic mechanism to reach different soil depths in the shallow layer of the contaminated site, thereby monitoring the soil temperature in real time.

[0005] Technical solution: The present invention provides a bionic robot for monitoring the temperature of shallow soil in contaminated sites, comprising a drilling mechanism, a steering mechanism, a control mechanism, and a peristaltic mechanism arranged in sequence;

[0006] The drilling mechanism includes a spiral drill bit, a drilling mechanism housing, and a drill motor arranged inside the drilling mechanism housing. The drilling mechanism housing is fixed to the end of the spiral drill bit, and the spiral drill bit and the drill motor are connected;

[0007] The steering mechanism includes a first steering connecting plate, a second steering connecting plate, a universal joint and a steering mechanism housing. The first steering connecting plate is fixed to the end of the drilling mechanism housing, the second steering connecting plate is fixed to the end of the steering mechanism housing, and both ends of the universal joint are respectively fixed to the end surfaces of the first steering connecting plate and the second steering connecting plate.

[0008] The control mechanism includes a control mechanism housing and a control board, a DC drive board, and a wireless communication module disposed inside the control mechanism housing. The wireless communication module is in communication with the control board, the control board is electrically connected to the DC drive board, the DC drive board is electrically connected to the drill motor, and the control mechanism housing is threadedly connected to the steering mechanism housing.

[0009] The peristaltic mechanism includes a temperature and humidity sensor and a peristaltic mechanism housing. The temperature and humidity sensor is arranged inside the peristaltic mechanism housing. The temperature and humidity sensor is electrically connected to the wireless communication module. The peristaltic mechanism housing is connected to the control mechanism housing through threads.

[0010] Furthermore, the steering mechanism also includes a first steering worm gear motor, a second steering worm gear motor and a motor rudder arranged inside the steering mechanism housing, the DC drive plate is respectively connected to the first steering worm gear motor and the second steering worm gear motor, the first steering worm gear motor and the second steering worm gear motor are respectively connected to the motor rudder, the motor rudder is connected to multiple ropes, and the multiple ropes are evenly arranged on the first steering connecting plate and the second steering connecting plate, and each rope is covered with a spring.

[0011] Furthermore, the peristaltic mechanism also includes a bionic peristaltic part, a spiral rod and a peristaltic motor. The DC drive board is electrically connected to the peristaltic motor, the peristaltic motor is connected to the bionic peristaltic part, the bionic peristaltic part is sleeved on the spiral rod, and the front end of the bionic peristaltic part is fixed on the peristaltic mechanism housing.

[0012] Furthermore, a boost module and a first lithium battery are provided inside the control mechanism housing, and a second lithium battery is provided inside the peristaltic mechanism housing. The first lithium battery and the second lithium battery are respectively connected to the boost module, the boost module is respectively connected to the DC drive board and the control board, and the second lithium battery is connected to the temperature and humidity sensor.

[0013] Furthermore, the spiral drill bit, bionic peristaltic parts and spiral rod are made of stainless steel; the drilling mechanism housing, steering connecting plate, universal joint, motor rudder, steering mechanism housing, control mechanism housing and peristaltic mechanism housing are all made of resin material.

[0014] Beneficial effects: Compared with the existing technology, the present invention has the following significant advantages: the bionic robot of the present invention has a simple structure, a small size, and is easy to deploy on site; it provides a wireless intelligent device to minimize the time the human body is exposed to volatile organic compounds, thereby ensuring human health and safety; it realizes wireless control of straight and curved creep, making it easy to reach a specified shallow soil depth; it uses wireless transmission to obtain temperature data, realizing real-time monitoring of soil temperature at different depths in the shallow layer of a contaminated site. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional diagram of the left view of the bionic robot;

[0016] Figure 2 This is a three-dimensional top-down view of the bionic robot;

[0017] Figure 3 Schematic diagram of the spiral drill bit structure;

[0018] Figure 4 This is a schematic diagram of the drill motor structure;

[0019] Figure 5 Schematic diagram of the drilling mechanism housing structure;

[0020] Figure 6 Schematic diagram of the steering connecting plate structure;

[0021] Figure 7 Schematic diagram of the universal joint structure;

[0022] Figure 8 This is a schematic diagram of the motor rudder structure;

[0023] Figure 9 Schematic diagram of the structure of the first steering worm gear motor;

[0024] Figure 10 Schematic diagram of the structure of the second steering worm gear motor;

[0025] Figure 11 Schematic diagram of the steering mechanism housing structure;

[0026] Figure 12 Schematic diagram of the control mechanism housing structure;

[0027] Figure 13 Schematic diagram of the lower peristaltic mechanism housing structure;

[0028] Figure 14 Schematic diagram of the upper peristaltic mechanism housing structure;

[0029] Figure 15 This is a schematic diagram of the structure of bionic creeping parts;

[0030] Figure 16 Schematic diagram of the spiral rod structure;

[0031] Figure 17 This is a schematic diagram of the control panel ports;

[0032] Figure 18 This is a schematic diagram of the DC driver board interface. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings and embodiments.

[0034] like Figure 1-2 As shown, the bionic robot for monitoring the temperature of shallow soil in a contaminated site described in this embodiment includes a drilling mechanism, a steering mechanism, a control mechanism and a peristaltic mechanism arranged in sequence.

[0035] The drilling mechanism includes an auger bit 1, a drilling mechanism housing 3, and a drill motor 2 arranged inside the drilling mechanism housing 3. The drilling mechanism housing 3 is fixed to the end of the auger bit 1. The auger bit 1 and the drill motor 2 are connected. Figure 3-4 As shown, a hole is provided on the spiral drill bit 1, and the shaft protruding from the end face of the drill motor 2 is connected through an interference fit of the shaft hole, making the connection tighter. Figure 5 As shown, the drilling mechanism housing 3 includes two parts, an upper part and an lower part, which are connected by a mortise and tenon structure.

[0036] The steering mechanism includes a first steering connecting plate, a second steering connecting plate, a universal joint 5 and a steering mechanism housing 12. The first steering connecting plate is fixed to the end of the drilling mechanism housing 3, and the second steering connecting plate is fixed to the end of the steering mechanism housing 12. Figure 6 The steering connecting plate 4 shown in the figure is provided with a protrusion in the middle, and the steering connecting plate includes a first steering connecting plate and a second steering connecting plate. Figure 7 The middle of the end of the universal joint 5 is provided with a hole, and the holes at both ends of the universal joint 5 are respectively fixed to the protrusions on the end surfaces of the first steering connecting plate and the second steering connecting plate, and are tightened and fixed by the top screw 8. Figure 11 As shown, the steering mechanism housing 12 includes two parts, an upper part and an lower part, which are connected by a mortise and tenon structure.

[0037] like Figure 8-10 As shown, the steering mechanism also includes a first steering worm gear motor 10, a second steering worm gear motor 11 and a motor rudder 9 arranged inside the steering mechanism housing 12, the DC drive board 16 is respectively connected to the first steering worm gear motor 10 and the second steering worm gear motor 11, the first steering worm gear motor 10 and the second steering worm gear motor 11 are respectively connected to the motor rudder 9, the motor rudder 9 is connected to multiple ropes 6, and the multiple ropes 6 are evenly arranged on the first steering connecting plate and the second steering connecting plate, and each rope 6 is covered with a spring 7.

[0038] In this embodiment, four ropes are taken as an example. The four ropes have the same length. One end of the four ropes is evenly arranged on the first steering connecting plate, and the other end of the four ropes is evenly arranged on the second steering connecting plate and connected to the motor rudder through the second connecting plate. A spring is provided on the outside of each rope, and the ropes are controlled by the motor rudder.

[0039] The control mechanism includes a control mechanism housing 13 and a control board 15, a DC drive board 16 and a wireless communication module 27 arranged inside the control mechanism housing 13. The wireless communication module 27 is connected to the control board 15 for communication. The control board 15 is electrically connected to the DC drive board 16. The DC drive board 16 is electrically connected to the drill motor 2. The control mechanism housing 13 is connected to the steering mechanism housing 12 by screw threads. Figure 11-12 shown.

[0040] In this embodiment, the DC drive board adopts the DC drive board of model L9110s. Figure 18 The diagram shows six interfaces, among which interfaces f and i connect the drill motor 2 and the peristaltic motor to the DC drive board in parallel; interfaces k and j connect the first steering worm gear motor 10 to the DC drive board in parallel; interfaces g and h connect the second steering worm gear motor 11 to the DC drive board in parallel.

[0041] The control board 15 in this embodiment adopts the Seeedino XIAO control board, which can wirelessly receive control instructions and instruct the bionic robot to complete the corresponding instructions. Figure 17 As shown, it includes 5 ports, among which port a is the VCC port and port b is the GND port. Ports a and b are used to connect the NRF24L01 wireless communication module, the DHT11 temperature and humidity sensor and the control board to provide power; port c is the TX port and port d is the RX port. Ports c and d are used to connect the NRF24L01 wireless communication module and the control board to send and receive wireless signals; port e is the integrated input / output port board, which is used to connect the control board with the drill motor 2 and the peristaltic motor, the first steering worm gear motor 10 and the second steering worm gear motor 11.

[0042] A boost module 17 and a first lithium battery 14 are also provided within the control mechanism housing 13, and a second lithium battery 20 is also provided within the peristaltic mechanism housing. The first and second lithium batteries 14, 20 are respectively connected to the boost module 17, which is then connected to the DC drive board 16 and the control board 15. The second lithium battery 20 is connected to the temperature and humidity sensor 21. In this embodiment, the first lithium battery 14 is an 18650 lithium battery, which is boosted to 5V by the boost module 17 to power the control board 15. The second lithium battery 20 is a square lithium battery, which is boosted to 12V by the boost module 17 to power the DC drive board 16 and shares a common ground with the control board 15. The second lithium battery 20 directly powers the temperature and humidity sensor 21.

[0043] The peristaltic mechanism includes a temperature and humidity sensor 21 and a peristaltic mechanism housing. The temperature and humidity sensor 21 is arranged inside the peristaltic mechanism housing. The temperature and humidity sensor 21 is electrically connected to the wireless communication module 27. The peristaltic mechanism housing is connected to the control mechanism housing 13 through threads.

[0044] In this embodiment, the temperature and humidity sensor uses a DHT11 temperature and humidity sensor with a temperature measurement range of -40-85°C, high measurement accuracy, and a compact size of only 3×3×1mm. It operates with a supply voltage of 2.2-5.5V and can wirelessly transmit soil temperature data in real time. A second lithium battery directly powers the DHT11 temperature and humidity sensor, which then transmits the soil temperature to the host computer via a wireless communication module. The wireless communication module uses an NRF24L01. The VCC and GND pins of the NRF24L01 and the DHT11 temperature and humidity sensor are connected in parallel to ports a and b on the control board, respectively. The TX and RX ports of the NRF24L01 wireless communication module are connected to ports c and d on the control board, respectively.

[0045] The peristaltic mechanism also includes a bionic peristaltic part 24, a screw rod 25 and a peristaltic motor. The DC drive board 15 is electrically connected to the peristaltic motor, and the peristaltic motor is connected to the bionic peristaltic part 24. Figure 13-14 As shown, the peristaltic mechanism housing includes an upper peristaltic mechanism housing 18 and a lower peristaltic mechanism housing 19, and the front end of the bionic peristaltic part 24 is fixed to the lower peristaltic mechanism housing 19 through a large pin 22. Figure 15-16 As shown, the bionic peristaltic element 24 includes multiple small peristaltic elements, each of which is connected by a small pin 23. The bionic peristaltic element 24 is sleeved on the spiral rod 25. The peristaltic mechanism also includes a switch 26, which is an optional option for manually controlling the power supply of the entire bionic robot. The switch 26 is electrically connected to the control board 15.

[0046] The spiral drill head 1, bionic peristaltic parts 24 and spiral rod are made of stainless steel; the drilling mechanism housing 3, steering connecting plate 4, universal joint 5, motor rudder 9, steering mechanism housing 12, control mechanism housing 13 and peristaltic mechanism housing are all made of resin. The total length of the entire bionic robot is 30 cm and the diameter is within 4 cm.

[0047] The soil of the contaminated site used by the bionic robot in this embodiment is generally soft soil such as sand, silt and soft soil. The depth of the shallow soil is generally 50 cm, which is convenient for the bionic robot to move forward. When the bionic robot needs to move forward, the host computer sends a forward instruction to the wireless communication module 27, and the wireless communication module 27 sends the forward instruction to the control board 15. The control board 15 drives the drill motor 2 and the peristaltic motor to rotate forward through the DC drive board 16. The spiral drill bit 1 and the bionic peristaltic part 24 interact with the soil to generate forward thrust. When it reaches the specified position, the temperature and humidity sensor 21 is used to measure the temperature and humidity of the soil, and the measurement results are transmitted to the host computer through the wireless communication module 27. When the bionic robot needs to retreat, the host computer sends a retreat instruction to the wireless communication module 27. The wireless communication module 27 sends a retreat instruction to the control board 15. The drill motor 2 and the peristaltic motor rotate in the opposite direction. The spiral drill bit 1 and the bionic peristaltic part 24 interact with the soil to generate reverse thrust, and the bionic robot exits. Soil; when the bionic robot needs to turn, the upper computer sends a steering instruction to the control board 15 through the wireless communication module 27. The control board 15 drives the first steering worm gear motor 10 to control the up and down steering through the DC drive board 16, and the second steering worm gear motor 11 controls the left and right steering. According to the required steering angle, the two steering worm gear motors receive different steering instructions, and correspondingly cooperate to perform forward and reverse rotation, while driving the motor rudder 9 to rotate forward and reverse. While the motor rudder 9 is rotating forward and reverse, different ropes 6 are pulled in the corresponding directions, so that the universal joint 5 and the spring 7 are bent and turned, so that steering at various angles can be achieved. After the steering instruction is completed, the two steering worm gear motors rotate in opposite directions, pulling the rope 6. At the same time, under the action of the restoring force of the spring 7, the posture of the bionic robot is corrected, realizing the steering creep of the bionic robot.

[0048] The host computer can be a laptop or tablet computer equipped with relevant control software. It issues instructions to the bionic robot through the host computer. After reaching the specified depth of the soil, the real-time soil temperature information is wirelessly transmitted.

Claims

1. A bionic robot for monitoring shallow soil temperature in contaminated sites, characterized in that: It includes a drilling mechanism, a steering mechanism, a control mechanism and a peristaltic mechanism which are arranged in sequence; The drilling mechanism comprises a spiral drill bit (1), a drilling mechanism housing (3), and a drill motor (2) arranged inside the drilling mechanism housing (3); the drilling mechanism housing (3) is fixed to the end of the spiral drill bit (1), and the spiral drill bit (1) and the drill motor (2) are connected; The steering mechanism comprises a first steering connecting plate, a second steering connecting plate, a universal joint (5) and a steering mechanism housing (12), wherein the first steering connecting plate is fixed to the end of the drilling mechanism housing (3), the second steering connecting plate is fixed to the end of the steering mechanism housing (12), and both ends of the universal joint (5) are respectively fixed to the end faces of the first steering connecting plate and the second steering connecting plate; The control mechanism comprises a control mechanism housing (13), a control board (15), a DC drive board (16), and a wireless communication module (27) arranged inside the control mechanism housing (13); the wireless communication module (27) is communicatively connected to the control board (15); the control board (15) and the DC drive board (16) are electrically connected; the DC drive board (16) and the drill motor (2) are electrically connected; and the control mechanism housing (13) and the steering mechanism housing (12) are connected via threads. The peristaltic mechanism comprises a temperature and humidity sensor (21) and a peristaltic mechanism housing, wherein the temperature and humidity sensor (21) is arranged inside the peristaltic mechanism housing, the temperature and humidity sensor (21) is electrically connected to the wireless communication module (27), and the peristaltic mechanism housing is connected to the control mechanism housing (13) via threads; The steering mechanism further includes a first steering worm gear motor (10), a second steering worm gear motor (11) and a motor rudder (9) arranged inside the steering mechanism housing (12); a DC drive plate (16) is respectively connected to the first steering worm gear motor (10) and the second steering worm gear motor (11); the first steering worm gear motor (10) and the second steering worm gear motor (11) are respectively connected to the motor rudder (9); the motor rudder (9) is connected to a plurality of ropes (6); the plurality of ropes (6) are evenly arranged on the first steering connecting plate and the second steering connecting plate; and each rope (6) is covered with a spring (7) on the outside.

2. The bionic robot according to claim 1, characterized in that: The peristaltic mechanism further comprises a bionic peristaltic part (24), a spiral rod (25) and a peristaltic motor, the DC drive plate (16) is electrically connected to the peristaltic motor, the peristaltic motor is connected to the bionic peristaltic part (24), the bionic peristaltic part (24) is sleeved on the spiral rod (25), and the front end of the bionic peristaltic part (24) is fixed to the peristaltic mechanism housing.

3. The bionic robot according to claim 1, characterized in that: A boost module (17) and a first lithium battery (14) are further provided inside the control mechanism housing (13), and a second lithium battery (20) is further provided inside the peristaltic mechanism housing. The first lithium battery (14) and the second lithium battery (20) are respectively connected to the boost module (17), the boost module (17) is respectively connected to the DC drive board (16) and the control board (15), and the second lithium battery (20) is connected to the temperature and humidity sensor (21).

4. The bionic robot according to claim 1, characterized in that: The spiral drill bit (1), the bionic peristaltic part (24) and the spiral rod (25) are made of stainless steel; the drilling mechanism housing (3), the steering connecting plate, the universal joint (5), the motor rudder (9), the steering mechanism housing (12), the control mechanism housing (13) and the peristaltic mechanism housing are all made of resin.

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