Rapid plugging device and method for preventing leaked liquid from spreading

Abstract

The invention relates to a quick plugging device and method for preventing leaked liquid from spreading, and the quick plugging device comprises a chassis, and a wheel driving motor, a cloth twisting wheel control motor and a cloth twisting arrangement mechanism driven by the cloth twisting wheel control motor which are carried on the chassis, and the wheel driving motor drives wheels on the chassis to drive the chassis to walk; a navigation positioning device is arranged in front of the chassis, the twisted cloth arrangement mechanism comprises a discharging opening in the bottom of the chassis, and a cloth twisting wheel control motor drives twisted cloth to be discharged from the discharging opening. The plugging path is automatically planned through the navigation positioning device, rapid and accurate plugging operation is achieved, and the spreading time of leaked liquid on the ground is greatly shortened. The device is easy to operate, convenient to use and suitable for various liquid leakage accident scenes. The path adjustment can be performed in real time by simply identifying the distance information between the identification line on the twisted cloth and the liquid leakage edge, the final plugging effect picture can be generated according to the path navigation information after completion, the algorithm is simple, the efficiency is high, and the robustness is high.

Description

Technical Field

[0001] The invention relates to the technical field of environmental protection, and in particular to a rapid blocking device and method for preventing leaked liquid from spreading. Background Art

[0002] With the acceleration of industrialization, liquid leakage accidents occur frequently, posing a serious threat to the environment and personal safety. When liquid leaks to the ground and gradually spreads, toxic liquids will pollute the surrounding environment, flammable liquids may cause the fire to intensify, and liquids flowing into drains and rivers may also cause environmental pollution. Therefore, how to quickly and effectively prevent the leaked liquid from spreading on the ground and reduce the harm caused by the leaked liquid to the surrounding area is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present invention provides a rapid plugging device and method for preventing the spread of leaked liquid, which effectively prevents the spread of liquid by quickly arranging multiple dams made of cloth on the ground.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A rapid plugging device for preventing leaked liquid from spreading comprises a chassis and a wheel driving motor mounted on the chassis, a cloth twisting wheel control motor and a cloth twisting arrangement mechanism driven by the cloth twisting wheel control motor. The wheel driving motor drives the wheels on the chassis to drive the chassis to move. A navigation positioning device is provided in front of the chassis. The cloth twisting arrangement mechanism comprises a discharge port at the bottom of the chassis. The cloth twisting wheel control motor drives the twisted cloth to be discharged from the discharge port.

[0005] The above-mentioned cloth twisting arrangement mechanism includes a cloth twisting wheel and a transmission wheel installed at the bottom of the chassis, a cloth twisting cylinder is placed above the cloth twisting wheel and the transmission wheel, the cloth twisting wheel is driven by a cloth twisting wheel control motor, and the cloth twisting wheel and the transmission wheel are rotatably connected to the chassis.

[0006] The above-mentioned unloading port is provided with a cloth winding shaft, and the twisted cloth passes through the cloth winding shaft and then flows out of the bottom plate from the unloading port.

[0007] The above-mentioned feeding port is provided with a cutting device.

[0008] The above-mentioned navigation and positioning device is provided with a visual recognition system.

[0009] The twisted cloth is provided with a marking line, and the visual recognition system recognizes the marking line on the twisted cloth as the actual position information of the blocked edge.

[0010] One side of the cloth twisting wheel or the transmission wheel is provided with a storage area, and the other side is provided with a spare cloth storage area.

[0011] The plugging method using the above-mentioned rapid plugging device to prevent the spread of leaked liquid includes the following steps: Step 1, initialization; Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system wheel drive motor and the cloth twisting wheel control motor in the navigation and positioning device; Step 1.2, load the preset parameters such as the experience range of liquid leakage spread speed, plugging time, etc. Step 2: Visual recognition; Step 2.1. Use the visual recognition system to capture the scope of the leakage area; Step 2.2, mark the starting point of the leak area and determine its center or main leak point; Step 3: Prediction of spreading speed; Step 3.1. Predict the spreading speed of the liquid under current conditions based on the type of leaked liquid and the empirical spreading speed range; Step 3.2, adjust the speed in real time according to the actual flow of the liquid; Step 4: Estimation of blocking time; Step 4.1, estimate the time required for the device to move along the preset path to the leakage area and start plugging; Step 5, calculation of additional spreading area; Step 5.1. Multiply the spreading speed by the plugging time to obtain the area where the liquid may spread additionally during the plugging process; Step 5.2: The additional spreading area is the “advance amount”, which is used to guide the advance of path planning; Step 6: Path planning; Step 6.1. Use the laser SLAM navigation system to build a local or global map of the environment. Step 6.2, plan at least one or more blocking paths based on the starting point, center point and advance amount of additional spread of the leakage area; Step 7, Navigation and execution; Step 7.1, the navigation system guides the device to move to the leakage area according to the planned path; Step 7.2, during the movement, adjust the path in real time to adapt to changes in the environment, including obstacles and uneven terrain; Step 7.3, when the robot reaches the preset position, it starts the cloth twisting wheel control motor, discharges the twisted cloth through the discharge port and forms a dam on the ground; Step 8. Monitoring and feedback; Step 8.1. During the plugging process, continuously monitor the status of the leaking area and the dam; Step 8.2. If it is found that the liquid bypasses the dam or the dam is damaged, adjust the path and add new dams in time; Step 8.3, the feedback system collects data on the plugging effect for subsequent algorithm improvement and optimization; Step 9, termination and cleanup; Step 9.1, when the liquid is completely blocked, the device returns to the base or standby position; Step 9.2, clean up the site, including recycling unused twisted cloth, cleaning the robot and the surrounding environment.

[0012] In the above-mentioned Step 7.2, the visual recognition system identifies the image information of the identification line of the twisted cloth and the edge of the leaked liquid, calculates the distance information between the two, and determines the trend of the distance between the two. If the distance between the two gradually decreases and the rate of change or the distance exceeds the set value of the device, the adjustment device will turn to the direction where the distance between the two is larger.

[0013] In the above-mentioned Step 8.3, the visual system collects images of the twisted cloth identification line and the edge of the liquid leakage, and generates an actual blocking path effect diagram based on the navigation information.

[0014] The present invention provides a rapid plugging device and method for preventing the spread of leaked liquid, which can quickly respond to liquid leakage accidents, automatically plan the plugging path through a navigation and positioning device, realize rapid and accurate plugging operations, greatly shorten the time for the leaked liquid to spread on the ground, and effectively reduce the harm of the leaked liquid to the environment and personal safety. The twisted cloth has the ability to absorb and adsorb liquid, and can quickly absorb the leaked liquid to reduce its pollution to the ground. At the same time, the setting of multiple dams further enhances the effect of preventing the spread of liquid and ensures the reliability of the plugging operation. The device is simple to operate and easy to use, and is suitable for various liquid leakage accident scenes. The device adopts a modular design, which is easy to transport and store, and can be quickly deployed to the leakage site in a short time, improving the efficiency and effect of emergency response. By simply identifying the distance information between the marking line on the twisted cloth and the edge of the liquid leakage, the path can be adjusted in real time, and the final plugging effect diagram can be generated according to the path navigation information after completion. The algorithm is simple, efficient and robust. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a schematic diagram of the structure of the blocking device of the present invention; Figure 2 It is a bottom view of the blocking device of the present invention.

[0016] Among them: wheel driving motor 1, cloth twisting wheel control motor 2, cloth twisting wheel 3, transmission wheel 4, storage area 5, spare cloth storage area 6, navigation positioning device 7, feeding port 8, cloth winding shaft 9, cutting device 10, chassis 11. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention clearer, the following content will systematically and completely describe the specific technical solutions of the present invention in combination with the drawings provided according to the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] A rapid plugging device for preventing leaked liquid from spreading comprises a chassis 11 and a wheel driving motor 1 mounted on the chassis 11, a cloth twisting wheel control motor 2 and a cloth twisting arrangement mechanism driven by the cloth twisting wheel control motor 2. The wheel driving motor 1 drives the wheels on the chassis 11 to drive the chassis to move. A navigation positioning device 7 is provided in front of the chassis 11. The cloth twisting arrangement mechanism comprises a discharge port 8 at the bottom of the chassis 11. The cloth twisting wheel control motor 2 drives the twisted cloth to be discharged from the discharge port 8.

[0019] The navigation and positioning device 7 automatically plans a blocking path according to the spreading of liquid on the ground, and sends a motion command to the wheel drive motor 1. The wheel drive motor 1 drives the device of the present invention to move along the planned path, and the cloth twisting wheel control motor 2 drives the cloth twisting from the discharge port 8 along the planned path to form an oil-proof dam on the ground.

[0020] The above-mentioned cloth twisting arrangement mechanism includes a cloth twisting wheel 3 and a transmission wheel 4 installed at the bottom of the chassis 11, a cloth twisting cylinder is placed above the cloth twisting wheel 3 and the transmission wheel 4, the cloth twisting wheel 3 is driven by the cloth twisting wheel control motor 2, and the cloth twisting wheel 3 and the transmission wheel 4 are rotatably connected to the chassis 11.

[0021] The above-mentioned unloading port 8 is provided with a cloth winding shaft 9, and the twisted cloth passes through the cloth winding shaft 9 and then flows out of the bottom plate 11 from the unloading port 8.

[0022] A cutting device 10 is provided at the above-mentioned feeding port 8 .

[0023] The cloth twisting cylinder is placed on the cloth twisting wheel 3 and the driving wheel 4. The cloth twisting wheel controls the motor 2 to drive the twisted cloth to be discharged from the feeding port 8. When it needs to be cut, the cutting device 10 cuts it.

[0024] The above-mentioned navigation and positioning device 7 is provided with a visual recognition system.

[0025] The twisted cloth is provided with a marking line, and the visual recognition system recognizes the marking line on the twisted cloth as the actual position information of the blocked edge.

[0026] The above-mentioned cloth twisting wheel 3 or driving wheel 4 is provided with a storage area 5 on one side and a spare cloth storage area 6 on the other side.

[0027] The plugging method using the above-mentioned rapid plugging device to prevent the spread of leaked liquid includes the following steps: Step 1, initialization; Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system wheel drive motor 1 and the cloth twisting wheel control motor 2 in the navigation and positioning device 7; Step 1.2, load the preset parameters such as the experience range of liquid leakage spread speed, plugging time, etc. Step 2: Visual recognition; Step 2.1. Use the visual recognition system to capture the scope of the leakage area; Step 2.2, mark the starting point of the leak area and determine its center or main leak point; Step 3: Prediction of spreading speed; Step 3.1. Predict the spreading speed of the liquid under current conditions based on the type of leaked liquid and the empirical spreading speed range; Step 3.2, adjust the speed in real time according to the actual flow of the liquid; Step 4: Estimation of blocking time; Step 4.1, estimate the time required for the device to move along the preset path to the leakage area and start plugging; Step 5, calculation of additional spreading area; Step 5.1. Multiply the spreading speed by the plugging time to obtain the area where the liquid may spread additionally during the plugging process; Step 5.2: The additional spreading area is the “advance amount”, which is used to guide the advance of path planning; Step 6: Path planning; Step 6.1. Use the laser SLAM navigation system to build a local or global map of the environment. Step 6.2, plan at least one or more blocking paths based on the starting point, center point and advance amount of additional spread of the leakage area; Step 7, Navigation and execution; Step 7.1, the navigation system guides the device to move to the leakage area according to the planned path; Step 7.2, during the movement, adjust the path in real time to adapt to changes in the environment, including obstacles and uneven terrain; Step 7.3, when the robot reaches the preset position, the cloth twisting wheel control motor 2 is started, the twisted cloth is discharged through the discharge port 8 and a dam is formed on the ground; Step 8. Monitoring and feedback; Step 8.1. During the plugging process, continuously monitor the status of the leaking area and the dam; Step 8.2. If it is found that the liquid bypasses the dam or the dam is damaged, adjust the path and add new dams in time; Step 8.3, the feedback system collects data on the plugging effect for subsequent algorithm improvement and optimization; Step 9, termination and cleanup; Step 9.1, when the liquid is completely blocked, the device returns to the base or standby position; Step 9.2, clean up the site, including recycling unused twisted cloth, cleaning the robot and the surrounding environment.

[0028] In the above-mentioned Step 7.2, the visual recognition system identifies the image information of the identification line of the twisted cloth and the edge of the leaked liquid, calculates the distance information between the two, and determines the trend of the distance between the two. If the distance between the two gradually decreases and the rate of change or the distance exceeds the set value of the device, the adjustment device will turn to the direction where the distance between the two is larger.

[0029] The device is equipped with an intelligent leak detection device. The intelligent leak detection and plugging system integrates advanced visual recognition, infrared thermal imaging technology and intelligent path planning algorithms, and adopts an innovative cloth roll plugging method. The core of the system consists of a high-definition camera, infrared thermal imaging sensor, image processing module, path planning module and cloth roll plugging device. The image processing module is further subdivided into edge detection and binarization processing unit, infrared analysis unit and comprehensive evaluation unit.

[0030] After starting the system, the high-definition camera and infrared thermal imaging sensor work together to capture visible light and infrared images of the leaking area in real time. The edge detection and binarization processing unit first performs binarization on the visible light image, simplifies the image into black and white, significantly enhances the edge contrast, and facilitates accurate identification of the edge of the leaking liquid. At the same time, the infrared analysis unit analyzes the temperature distribution in the infrared image and, combined with the edge detection results, further confirms the leak point and its edge contour.

[0031] The comprehensive assessment unit is responsible for integrating edge information, infrared data, and terrain information obtained through cameras to conduct a comprehensive analysis of the terrain and liquid flow trends around the leak point. The unit uses advanced algorithms to conduct risk assessment and scoring of multiple fan-shaped areas where liquids may spread, identify the main diffusion direction, and formulate priority blocking strategies accordingly.

[0032] Subsequently, the path planning module intervenes and conducts preliminary path planning for the blocking trolley based on the terrain conditions, the spread trend of the leaked liquid, and the priority blocking strategy provided by the comprehensive assessment unit. The module also takes into account key factors such as the trolley's own speed and the time for twisting the cloth, calculates the time required to complete the preliminary path, and adds this time to the twisting time to get the total duration. Furthermore, the total duration is multiplied by the current liquid flow rate to predict the areas where the liquid may spread additionally during this period, and these areas are included in the path planning to ensure that the final planned path is both safe and efficient, and can successfully block the leaking area and protect the trolley from damage.

[0033] The cloth roll plugging device is stored inside the trolley. Once the leak point is confirmed, the trolley will drive to the leak area according to the optimal path provided by the path planning module. After arriving at the designated location, the trolley releases the cloth roll and quickly unfolds to form the first plugging barrier. During this process, the system also takes into account the obstacle avoidance of on-site repair personnel to ensure that the repair personnel's safe path is guaranteed during the plugging operation.

[0034] After completing the first plugging, the system continuously monitors the liquid spreading trend and adjusts the subsequent plugging strategy according to the new situation. If a second, third or even more plugging is required, the system will automatically re-plan the path and command the trolley to implement them in sequence until the liquid spread is effectively curbed.

[0035] If after three plugging attempts, the system determines that the leak is still not completely under control, it will immediately sound an alarm to alert on-site personnel to intervene. At this time, the system can provide information such as the current leak status, the plugging status that has been implemented, and the remaining cloth roll resources to assist on-site personnel in determining whether to continue plugging or change the plugging strategy, such as using more effective plugging materials or increasing manpower support.

[0036] In the above-mentioned Step 8.3, the visual system collects images of the twisted cloth identification line and the edge of the liquid leakage, and generates an actual blocking path effect diagram based on the navigation information.

[0037] like Figure 1As shown, when liquid leakage is found, the device of the present invention is quickly moved to the vicinity of the leakage point, and the navigation and positioning device 7 automatically plans the blocking path according to the spread of liquid on the ground, and sends the motion command to the wheel drive motor 1, and the wheel drive motor 1 drives the device of the present invention to move along the planned path. The twisted cloth is placed in the storage area 5 in a roll form, and the transmission wheel 4 is responsible for guiding the rolled cloth. The cloth twisting wheel control motor 2 drives the cloth twisting wheel 3 to pull the cloth and arrange it on the ground along the planned path through the cloth rolling shaft 9 and the discharge port 8 to form an oil-proof dam. The storage area 6 is used to place spare cloth. After the first dam is arranged, the cutting device 10 cuts the cloth. According to the spread of the leaked liquid after the first plugging, the navigation and positioning device 7 continues to plan the second blocking path, releases the twisted cloth, and increases the number and length of the dam until the spread of the liquid is completely stopped.

[0038] The navigation positioning device and automatic path planning technology of the present invention can automatically plan the best blocking path according to the spreading of liquid on the ground, and accurately send motion commands to the wheel drive motor to achieve rapid movement and positioning of the device. This is the key to ensure that the device can respond quickly and effectively block the leaking liquid.

[0039] The twisted cloth used in the present invention and its use method: The twisted cloth, as the core component of the present invention, has excellent absorption and adsorption performance and can quickly and effectively absorb the leaked liquid. At the same time, the cloth is pulled by the twisting wheel to control the motor to drive the twisting wheel and is arranged on the ground along the path through the feeding port to form a dam, thereby realizing a fast and continuous blocking operation.

[0040] Modular design and rapid deployment capability. The device of the present invention adopts modular design, which enables flexible combination and replacement of various components, and is convenient for transportation and storage. At the same time, the rapid deployment capability of the device is also one of its technical key points. It can be quickly deployed to the leakage site in a short time, improving the efficiency of emergency response.

[0041] The real-time path adjustment of the present invention uses image information of the identification mark line and the edge of the liquid leakage to calculate the distance between the two. The image is simple and easy to process, has a small amount of information, and can be executed more efficiently. At the same time, it can generate the road closure path and liquid edge map in real time for emergency personnel to use in decision-making.

Claims

1. A rapid plugging device for preventing the spread of leaked liquid, characterized in that: The invention comprises a chassis (11), a wheel drive motor (1) mounted on the chassis (11), a cloth twisting wheel control motor (2), and a cloth twisting arrangement mechanism driven by the cloth twisting wheel control motor (2), wherein the wheel drive motor (1) drives the wheels on the chassis (11) to drive the chassis to move, a navigation positioning device (7) is provided in front of the chassis (11), the cloth twisting arrangement mechanism comprises a discharge port (8) at the bottom of the chassis (11), and the cloth twisting wheel control motor (2) drives the twisted cloth to be discharged from the discharge port (8).

2. A rapid plugging device for preventing the spread of leaked liquid according to claim 1, characterized in that: The cloth twisting arrangement mechanism comprises a cloth twisting wheel (3) and a transmission wheel (4) mounted at the bottom of a chassis (11); a cloth twisting column is placed above and in front of the cloth twisting wheel (3) and the transmission wheel (4); the cloth twisting wheel (3) is driven by a cloth twisting wheel control motor (2); and the cloth twisting wheel (3) and the transmission wheel (4) are rotatably connected to the chassis (11).

3. A rapid plugging device for preventing the spread of leaked liquid according to claim 2, characterized in that: The material discharge port (8) is provided with a cloth winding shaft (9), and the twisted cloth passes through the cloth winding shaft (9) and then flows out of the bottom plate (11) from the material discharge port (8).

4. A rapid plugging device for preventing the spread of leaked liquid according to claim 3, characterized in that: A cutting device (10) is provided at the feed opening (8).

5. A rapid plugging device for preventing the spread of leaked liquid according to claim 4, characterized in that: The navigation and positioning device (7) is provided with a visual recognition system.

6. A rapid plugging device for preventing the spread of leaked liquid according to claim 5, characterized in that: The twisted cloth is provided with a marking line, and the visual recognition system recognizes the marking line on the twisted cloth as the actual position information of the blocked edge.

7. A rapid plugging device for preventing the spread of leaked liquid according to claim 6, characterized in that: The cloth twisting wheel (3) or the transmission wheel (4) is provided with a storage area (5) on one side and a spare cloth storage area (6) on the other side.

8. A plugging method using the rapid plugging device for preventing the spread of leaked liquid according to claim 6, characterized in that: The steps for blocking are: Step 1, initialization; Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system wheel drive motor (1) and the cloth twisting wheel control motor (2) in the navigation and positioning device (7); Step 1.2, load the preset parameters such as the experience range of liquid leakage spread speed, plugging time, etc. Step 2: Visual recognition; Step 2.

1. Use the visual recognition system to capture the scope of the leakage area; Step 2.2, mark the starting point of the leak area and determine its center or main leak point; Step 3: Prediction of spreading speed; Step 3.

1. Predict the spreading speed of the liquid under current conditions based on the type of leaked liquid and the empirical spreading speed range; Step 3.2, adjust the speed in real time according to the actual flow of the liquid; Step 4: Estimation of blocking time; Step 4.1, estimate the time required for the device to move along the preset path to the leakage area and start plugging; Step 5, calculation of additional spreading area; Step 5.

1. Multiply the spreading speed by the plugging time to obtain the area where the liquid may spread additionally during the plugging process; Step 5.2: The additional spreading area is the "advance amount", which is used to guide the advance of path planning; Step 6: Path planning; Step 6.

1. Use the laser SLAM navigation system to build a local or global map of the environment. Step 6.2, plan at least one or more blocking paths based on the starting point, center point and advance amount of additional spread of the leakage area; Step 7, Navigation and execution; Step 7.1, the navigation system guides the device to move to the leakage area according to the planned path; Step 7.2, during the movement, adjust the path in real time to adapt to changes in the environment, including obstacles and uneven terrain; Step 7.3, when the robot reaches the preset position, the cloth twisting wheel control motor (2) is started to discharge the twisted cloth through the discharge port (8) and form a dam on the ground; Step 8. Monitoring and feedback; Step 8.

1. During the plugging process, continuously monitor the status of the leaking area and the dam; Step 8.

2. If it is found that the liquid bypasses the dam or the dam is damaged, adjust the path and add new dams in time; Step 8.3, the feedback system collects data on the plugging effect for subsequent algorithm improvement and optimization; Step 9, termination and cleanup; Step 9.1, when the liquid is completely blocked, the device returns to the base or standby position; Step 9.2, clean up the site, including recycling unused twisted cloth, cleaning the robot and the surrounding environment.

9. A plugging method for a rapid plugging device for preventing the spread of leaked liquid according to claim 8, characterized in that: In the Step 7.2, the visual recognition system identifies the image information of the identification line of the twisted cloth and the edge of the leaked liquid, calculates the distance information between the two and determines the trend of the distance between the two. If the distance between the two gradually decreases and the rate of change or the distance exceeds the set value of the device, the adjustment device turns to the direction where the distance between the two is larger.

10. A plugging method for a rapid plugging device for preventing the spread of leaked liquid according to claim 9, characterized in that: In the aforementioned Step 8.3, the visual system collects images of the twisted cloth identification line and the edge of the liquid leakage, and generates an actual blocking path effect diagram based on the navigation information.

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