A quick plugging device and method for preventing the spread of leaking liquid

Abstract

The present application relates to a kind of quick plugging device and method for preventing the spread of leaking liquid, including chassis and the wheel drive motor carried on chassis, twist cloth wheel control motor and twist cloth arrangement mechanism driven by twist cloth wheel control motor, wheel drive motor drives the wheel on chassis to drive chassis to walk, navigation positioning device is provided in the front of chassis, twist cloth arrangement mechanism includes the discharge port of chassis bottom, and twist cloth is discharged from the discharge port by twist cloth wheel control motor.The automatic planning plugging path is realized by navigation positioning device, and quick, accurate plugging operation is realized, and the time of leaking liquid spreading on ground is greatly shortened.The device is simple to operate, easy to use, suitable for various liquid leakage accident scene.By simply identifying the distance information between the identification line on twist cloth and the edge of 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, and the algorithm is simple, efficient and robust.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of environmental protection, and particularly relates to a quick plugging device and method for preventing leakage liquid from spreading. BACKGROUND

[0002] With the acceleration of industrialization, liquid leakage accidents occur frequently, which causes serious threat to the environment and personal safety. When the liquid leaks to the ground and gradually spreads, the toxic liquid will pollute the surrounding environment, the flammable liquid may cause the fire to increase, and the liquid flowing into the drainage ditch and into the river may also cause environmental pollution. Therefore, how to quickly and effectively prevent the leakage liquid from spreading on the ground and reduce the harm caused by the leakage liquid to the surrounding is a technical problem to be solved at present. SUMMARY

[0003] The present application provides a quick plugging device and method for preventing leakage liquid from spreading, which forms a dam formed by multiple cloth arrangements on the ground quickly, so as to effectively prevent the liquid from spreading.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0005] A quick plugging device for preventing leakage liquid from spreading, comprising a chassis, a wheel driving motor mounted on the chassis, a twisting cloth wheel control motor, and a twisting cloth arrangement mechanism driven by the twisting cloth wheel control motor, the wheel driving motor drives the wheels on the chassis to drive the chassis to move, a navigation positioning device is arranged in front of the chassis, the twisting cloth arrangement mechanism comprises a discharge port at the bottom of the chassis, and the twisting cloth wheel control motor drives the twisting cloth to be discharged from the discharge port.

[0006] The twisting cloth arrangement mechanism comprises a twisting cloth wheel and a transmission wheel mounted at the bottom of the chassis, and a twisting cloth column is arranged above the twisting cloth wheel and the transmission wheel, the twisting cloth wheel is driven by the twisting cloth wheel control motor, and the twisting cloth wheel and the transmission wheel are rotationally connected with the chassis.

[0007] The discharge port is provided with a cloth winding shaft, and the twisting cloth is discharged from the discharge port of the chassis after passing through the cloth winding shaft.

[0008] The discharge port is provided with a cutting device.

[0009] The navigation positioning device is provided with a visual recognition system.

[0010] The twisting cloth is provided with a marking line, and the visual recognition system recognizes the marking line on the twisting cloth as the actual position information of the edge of the plugging.

[0011] The twisting cloth wheel or the transmission wheel is provided with a storage area on one side and a spare cloth storage area on the other side.

[0012] A plugging method using the quick plugging device for preventing leakage liquid from spreading is provided, and the plugging steps are as follows:

[0013] Step 1, initialization;

[0014] Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system in the navigation positioning device, the wheel driving motor and the yarn wheel control motor;

[0015] Step 1.2, load the experience range of liquid leakage spreading speed, sealing time and other preset parameters;

[0016] Step 2, visual recognition;

[0017] Step 2.1, use the visual recognition system to capture the range of the leakage area;

[0018] Step 2.2, mark the starting point of the leakage area and determine the center or main leakage point;

[0019] Step 3, spreading speed prediction;

[0020] Step 3.1, according to the type of the leakage liquid and the experience range of the spreading speed, predict the spreading speed of the liquid under the current conditions;

[0021] Step 3.2, adjust the speed in real time according to the actual flow of the liquid;

[0022] Step 4, sealing time estimation;

[0023] Step 4.1, estimate the time required for the device to move along the preset path to the leakage area and start sealing;

[0024] Step 5, additional spreading area calculation;

[0025] Step 5.1, multiply the spreading speed by the sealing time to get the area that the liquid may spread additionally during the sealing process;

[0026] Step 5.2, the additional spreading area is the "advance" used to guide the advance of path planning;

[0027] Step 6, path planning;

[0028] Step 6.1, use the laser SLAM navigation system to construct a local or global map of the environment;

[0029] Step 6.2, according to the starting point, center point and advance of the additional spreading of the leakage area, plan at least one or more sealing paths;

[0030] Step 7, navigation and execution;

[0031] Step7.1, The navigation system guides the device to move towards the leakage area according to the planned path;

[0032] Step7.2, During the movement, the path is adjusted in real time to adapt to changes in the environment, including obstacles and uneven terrain;

[0033] Step7.3, When the robot reaches the preset position, start the twister control motor, discharge the twister through the discharge port and form a dam on the ground;

[0034] Step8, Monitoring and feedback;

[0035] Step8.1, During the plugging process, continuously monitor the status of the leakage area and the dam;

[0036] Step8.2, If it is found that the liquid bypasses the dam or the dam is damaged, adjust the path and add new dams in time;

[0037] Step8.3, The feedback system collects data on the plugging effect for subsequent algorithm improvement and optimization;

[0038] Step9, Termination and cleanup;

[0039] Step9.1, When the liquid is completely plugged, the device returns to the base or standby position;

[0040] Step9.2, Clean up the site, including recycling unused twister, cleaning the robot and the surrounding environment.

[0041] In Step7.2 above, the visual recognition system recognizes the twister's identification line and the image information of the leakage liquid edge, calculates the distance information between the two and judges the distance trend, such as the distance between the two gradually decreases and the change rate or distance exceeds the device's set value, adjust the device to turn to the direction where the distance between the two is larger.

[0042] In Step8.3 above, the visual system collects the image of the twister identification line and the liquid leakage edge, and generates an actual plugging path effect diagram according to the navigation information.

[0043] The application provides a quick plugging device and method for preventing the spread of leaked liquid, which can quickly respond to liquid leakage accidents, automatically plan a plugging path through a navigation positioning device, realize quick and accurate plugging operation, 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 twine has the ability to absorb and adsorb liquid, can quickly absorb the leaked liquid, and reduce the pollution to the ground. Meanwhile, 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 convenient to use, and is suitable for various liquid leakage accident scenes. The device adopts a modular design, is convenient for transportation and storage, can be quickly deployed to the leakage site in a short time, and improves the efficiency and effect of emergency response. The distance information between the identification line on the twine and the edge of the liquid leakage can be simply identified to realize real-time path adjustment, and the final plugging effect diagram can be generated according to the path navigation information after completion, the algorithm is simple, efficient and has high robustness. BRIEF DESCRIPTION OF DRAWINGS

[0044] The application will be further described below in combination with the drawings and embodiments:

[0045] Figure 1 Fig. 1 is a structural schematic view of the plugging device of the application;

[0046] Figure 2 Fig. 2 is a bottom view of the plugging device of the application.

[0047] Wherein: the wheel driving motor 1, the twine wheel control motor 2, the twine wheel 3, the transmission wheel 4, the storage area 5, the spare twine storage area 6, the navigation positioning device 7, the discharging port 8, the twine winding shaft 9, the cutting device 10, and the chassis 11. DETAILED DESCRIPTION

[0048] To make the purpose, technical scheme and advantages of the application clearer, the following content will combine the drawings provided by the application to make a systematic and complete description of the specific technical scheme of the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0049] A quick plugging device for preventing the spread of leaked liquid, comprising a chassis 11 and wheel driving motors 1, twine wheel control motors 2 and twine arrangement mechanisms driven by the twine wheel control motors 2 mounted on the chassis 11. The wheel driving motors 1 drive the wheels on the chassis 11 to move the chassis. The navigation positioning device 7 is arranged at the front of the chassis 11. The twine arrangement mechanism comprises a discharging port 8 at the bottom of the chassis 11, and the twine is discharged from the discharging port 8 driven by the twine wheel control motors 2.

[0050] The navigation positioning device 7 automatically plans a sealing path according to the ground liquid spreading situation, and sends a motion command to the wheel driving motor 1, and the wheel driving motor 1 drives the device to move along the planned path, and the twining wheel control motor 2 drives the twining cloth to be arranged from the discharge port 8 to the ground along the planned path to form an oil dam.

[0051] The twining cloth arranging mechanism includes a twining wheel 3 and a transmission wheel 4 installed at the bottom of the chassis 11, and the twining cloth column is placed above the twining wheel 3 and the transmission wheel 4, and the twining wheel 3 is driven by the twining wheel control motor 2, and the twining wheel 3 and the transmission wheel 4 are rotationally connected with the chassis 11.

[0052] The discharge port 8 is provided with a cloth winding shaft 9, and the twining cloth is discharged from the discharge port 8 to the chassis 11 after passing through the cloth winding shaft 9.

[0053] The discharge port 8 is provided with a cutting device 10.

[0054] The twining cloth column is placed on the twining wheel 3 and the transmission wheel 4, and the twining cloth is discharged from the discharge port 8 under the driving of the twining wheel control motor 2, and is cut by the cutting device 10 when needed.

[0055] The navigation positioning device 7 is provided with a visual recognition system.

[0056] The twining cloth is provided with a mark line, and the visual recognition system recognizes the mark line on the twining cloth as the actual position information of the edge of the sealing.

[0057] One side of the twining wheel 3 or the transmission wheel 4 is provided with a storage area 5, and the other side is provided with a spare cloth storage area 6.

[0058] The sealing method of the above-mentioned quick sealing device for preventing the spreading of leaking liquid is as follows:

[0059] Step 1, initialization;

[0060] Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system in the navigation positioning device 7, the wheel driving motor 1 and the twining wheel control motor 2;

[0061] Step 1.2, load the experience range of the liquid leakage spreading speed, the sealing time and other preset parameters;

[0062] Step 2, visual recognition;

[0063] Step 2.1, use the visual recognition system to capture the range of the leakage area;

[0064] Step 2.2, mark the starting point of the leakage area, and determine the center or main leakage point;

[0065] Step 3, spreading speed prediction;

[0066] Step3.1, Predict the spreading speed of the liquid under current conditions based on the type of leaked liquid and the empirical range of spreading speed;

[0067] Step3.2, Adjust the speed in real-time based on the actual flow of the liquid;

[0068] Step4, Estimate the sealing time;

[0069] Step4.1, Estimate the time required for the device to move along the preset path to the leakage area and start sealing;

[0070] Step5, Calculate the additional spreading area;

[0071] Step5.1, Multiply the spreading speed by the sealing time to get the area that the liquid may spread additionally during the sealing process;

[0072] Step5.2, The additional spreading area is the "advance" used to guide the advance of path planning;

[0073] Step6, Path planning;

[0074] Step6.1, Use the laser SLAM navigation system to construct a local or global map of the environment;

[0075] Step6.2, Plan at least one or more sealing paths based on the starting point, center point of the leakage area, and the advance of the additional spreading;

[0076] Step7, Navigation and execution;

[0077] Step7.1, The navigation system guides the device to move towards the leakage area according to the planned path;

[0078] Step7.2, Adjust the path in real-time to adapt to changes in the environment, including obstacles and uneven terrain, during the movement;

[0079] Step7.3, When the robot reaches the preset position, start the twister control motor 2 to discharge the twister through the discharge port 8 and form a dam on the ground;

[0080] Step8, Monitoring and feedback;

[0081] Step8.1, During the sealing process, continuously monitor the status of the leakage area and the dam;

[0082] Step8.2, If the liquid is found to bypass the dam or the dam is damaged, adjust the path and add new dams in time;

[0083] Step 8.3, the feedback system collects data of the plugging effect for the improvement and optimization of the subsequent algorithm;

[0084] Step 9, termination and cleanup;

[0085] Step 9.1, when the liquid is completely plugged, the device returns to the base or standby position;

[0086] Step 9.2, clean up the site, including recycling unused rags, cleaning the robot and the surrounding environment.

[0087] In Step 7.2 above, the visual recognition system identifies the image information of the marker line of the rag and the edge of the leaking liquid, calculates the distance information between the two, and judges the distance trend of the two. If the distance between the two gradually decreases and the change rate or distance exceeds the set value of the device, adjust the device to turn to the direction where the distance between the two is larger.

[0088] The intelligent leakage detection device is provided on the device. The intelligent leakage detection and plugging system integrates advanced visual recognition, infrared thermal imaging technology and intelligent path planning algorithm, and adopts an innovative rag plugging method. The core of the system is composed of a high-definition camera, an infrared thermal imaging sensor, an image processing module, a path planning module and a rag plugging device. The image processing module is further divided into an edge detection and binary processing unit, an infrared analysis unit and a comprehensive evaluation unit.

[0089] After starting the system, the high-definition camera and the infrared thermal imaging sensor work cooperatively to capture visible light and infrared images of the leakage area in real time. The edge detection and binary processing unit first performs binary processing on the visible light image, simplifying the image to black and white, and significantly enhancing the edge contrast, which 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 combines the edge detection result to further confirm the leakage point and its edge contour.

[0090] The comprehensive evaluation unit is responsible for integrating edge information, infrared data and terrain information obtained through the camera, and comprehensively analyzing the terrain around the leakage point and the liquid flow trend. This unit uses advanced algorithms to evaluate and score multiple fan-shaped areas where the liquid may spread, identify the main diffusion direction, and develop a priority plugging strategy accordingly.

[0091] Subsequently, the path planning module intervenes to conduct preliminary path planning of the sealing trolley according to the terrain conditions, the spreading trend of the leaked liquid, and the priority sealing strategy provided by the comprehensive evaluation unit. The module also takes into account key factors such as the speed of the trolley and the time for laying the cloth, calculates the time required to complete the preliminary path, and adds this time to the cloth-laying time to obtain the total time. Further, the total time is multiplied by the current liquid flow rate to predict the areas that the liquid may spread to during this period, and these areas are included in the path planning to ensure that the finally planned path is both safe and efficient, and can successfully seal the leakage area and protect the trolley from damage.

[0092] The cloth roll sealing device is stored inside the trolley. Once the leakage point is confirmed, the trolley drives to the leakage 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 expands it to form the first sealing barrier. During this process, the system also considers the obstacle avoidance for on-site repair personnel to ensure that the safe path of the repair personnel is guaranteed when the sealing operation is performed.

[0093] After completing the first sealing, the system continues to monitor the liquid spreading trend and adjusts the subsequent sealing strategy according to the new situation. If a second, third, or even more sealing is required, the system will automatically re-plan the path and instruct the trolley to implement it in sequence until the liquid spreading is finally effectively controlled.

[0094] If after three sealing attempts, the system determines that it cannot completely control the leakage, it will immediately issue an alarm to remind the on-site personnel to intervene. At this time, the system can provide information such as the current leakage condition, the implemented sealing condition, and the remaining cloth roll resources to assist the on-site personnel in determining whether to continue sealing or change the sealing strategy, such as using more effective sealing materials or increasing manpower support, etc.

[0095] In Step 8.3 above, the vision system collects images of the cloth-laying marker line and the liquid leakage edge, and generates an actual sealing path effect diagram according to the navigation information.

[0096] As Figure 1As shown, when liquid leakage is found, the device of the present application is quickly moved to the vicinity of the leakage point, the navigation positioning device 7 automatically plans the blocking path according to the ground liquid spreading situation, and sends the movement command to the wheel driving motor 1, and the wheel driving motor 1 drives the device of the present application to move along the planned path. The cloth is placed in the warehouse area 5 in the form of a roll, the transmission wheel 4 is responsible for guiding the cloth roll, and the cloth wheel control motor 2 drives the cloth wheel 3 to pull the cloth and arrange it along the planned path through the cloth roll shaft 9 and the discharge port 8 to form an oil dam on the ground. The warehouse area 6 is used to place the standby cloth. After the first dam is arranged, the cutting device 10 cuts the cloth. The navigation positioning device 7 continues to plan the second blocking path according to the spreading situation of the leaked liquid after the first blocking, releases the cloth, increases the number and length of the dam, and stops the spreading of the liquid.

[0097] The navigation positioning device of the present application and the automatic planning path technology can automatically plan the best blocking path according to the ground liquid spreading situation, and accurately send the movement command to the wheel driving motor to realize the rapid movement and positioning of the device. This is the key to ensure that the device can quickly respond and effectively block the leaked liquid.

[0098] The twisted cloth used in the present application and its use: the twisted cloth, as the core component of the present application, 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 cloth wheel control motor and arranged along the path on the ground through the discharge port to form a dam, realizing rapid and continuous blocking operation.

[0099] Modular design and rapid deployment capability, the device of the present application adopts modular design, so that each component can be flexibly combined and replaced, facilitating transportation and storage. At the same time, the rapid deployment capability of the device is also one of the key technical points, which can quickly deploy to the leakage site in a short time, improving the efficiency of emergency response.

[0100] The real-time path adjustment of the present application calculates the distance between the recognition mark line and the liquid leakage edge image information. The image is simple and easy to process, the information amount is small, and it can be more efficiently executed, and at the same time, the blocking path and the liquid edge map can be generated in real time to supply the decision of the emergency personnel.

Claims

1. A method for sealing a quick sealing device to prevent the spread of leaking liquid, comprising a chassis (11) and a wheel drive motor (1), a twister wheel control motor (2), and a twister arrangement mechanism driven by the twister wheel control motor (2) mounted on the chassis (11), the wheel drive motor (1) drives the wheels on the chassis (11) to move the chassis, a navigation positioning device (7) is provided in front of the chassis (11), the twister arrangement mechanism includes a discharge port (8) at the bottom of the chassis (11), and the twister wheel control motor (2) drives the twister to discharge from the discharge port (8); The navigation positioning device (7) is provided with a visual recognition system; characterized in that The sealing steps are: Step 1, initialization; Step 1.1, start the device, initialize the visual recognition system, the laser SLAM navigation system in the navigation positioning device (7), the wheel drive motor (1) and the twister wheel control motor (2); Step 1.2, load the experience range of the liquid leakage spread speed and the sealing time preset parameter; Step 2, visual recognition; Step 2.1, use the visual recognition system to capture the range of the leakage area; Step 2.2, mark the starting point of the leakage area and determine the center or main leakage point; Step 3, spread speed prediction; Step 3.1, according to the type of leaking liquid and the experience range of spread speed, predict the spread speed of liquid under current conditions; Step 3.2, adjust the speed in real time according to the actual flow of the liquid; Step 4, sealing time estimation; Step 4.1, estimate the time required for the device to move to the leakage area along the preset path and start sealing; Step 5, additional spread area calculation; Step 5.1, multiply the spread speed by the sealing time to get the area that the liquid may spread additionally during the sealing process; Step 5.2, the additional spread area is the "advance" which is used to guide the advance of path planning; Step 6, path planning; Step 6.1, use the laser SLAM navigation system to construct a local or global map of the environment; Step 6.2, according to the starting point, center point and advance of the additional spread of the leakage area, plan at least one or more sealing paths; 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 the changes of the environment, including obstacles and uneven terrain; Step 7.3, when the robot reaches the preset position, start the twister wheel control motor (2), discharge the twister through the discharge port (8) and form a dam on the ground; Step 8, monitoring and feedback; Step 8.1, during the sealing process, continuously monitor the state of the leakage area and the dam; Step 8.2, if the liquid bypasses the dam or the dam is damaged, adjust the path in time and add a new dam; Step 8.3, the feedback system collects data on the sealing effect for the improvement and optimization of subsequent algorithms; Step 9, termination and cleaning; 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 cloth, clean the robot and the surrounding environment.

2. The method of plugging according to claim 1, wherein, The cloth arrangement mechanism includes a cloth wheel (3) and a transmission wheel (4) installed at the bottom of the chassis (11), and a cloth column is placed above the cloth wheel (3) and the transmission wheel (4), the cloth wheel (3) is driven by a cloth wheel control motor (2), and the cloth wheel (3) and the transmission wheel (4) are rotatably connected with the chassis (11).

3. The method of plugging a leak according to claim 2, wherein, The discharge port (8) is provided with a cloth winding shaft (9), and the cloth is discharged from the discharge port (8) after winding on the cloth winding shaft (9).

4. The method of plugging according to claim 3, wherein, The discharge port (8) is provided with a cutting device (10).

5. The method of plugging according to claim 4, wherein, The cloth is provided with a mark line, and the visual identification system identifies the mark line on the cloth as the actual position information of the edge of the block.

6. The method of plugging a leak according to claim 5, wherein, The cloth 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.

7. The method of plugging according to claim 6, wherein, In Step 7.2, the visual identification system identifies the image information of the mark line of the cloth and the edge of the leaking liquid, calculates the distance information between the two, and judges the distance trend of the two, such as the distance between the two gradually becomes smaller and the change rate or the distance exceeds the set value of the device, adjusts the device to turn to the direction where the distance between the two is larger.

8. The method of plugging according to claim 7, wherein, In Step 8.3, the visual system collects the images of the mark line of the cloth and the edge of the leaking liquid, and generates an actual blocking path effect diagram according to the navigation information.

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