Desert surface mineralization robot based on MICP and construction method thereof

Abstract

The invention discloses a desert surface mineralization robot based on MICP, the desert surface mineralization robot comprises a walking device, and a liquid storage device, a spraying system, an environment sensing module, a control module and an energy supply module which are arranged on the walking device, and the walking device comprises a suspension wheel type chassis; the liquid storage device comprises a bacterial liquid storage tank and a cementing liquid storage tank which are arranged on the suspension wheel type chassis, the spraying system comprises a bacterial liquid atomizing nozzle and a cementing liquid fan-shaped nozzle which are arranged on the suspension wheel type chassis, and the bacterial liquid atomizing nozzle and the cementing liquid fan-shaped nozzle are communicated with the bacterial liquid storage tank and the cementing liquid storage tank respectively; the suspension wheel type chassis, the bacterial liquid atomizing nozzle, the cementing liquid fan-shaped nozzle, the environment sensing module and the energy supply module are electrically connected with the control module; it is ensured that the walking device continuously works in the desert area through the energy supply module, meanwhile, mineralization construction is conducted on the surface layer of the desert through the MICP technology, and the construction efficiency of desert mineralization operation is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of desertification control equipment technology, specifically to a desert surface mineralization robot based on MICP and its construction method. Background Technology

[0002] Desertification is a significant global environmental problem, particularly severe in arid and semi-arid regions. Traditional methods of desertification control, such as artificial vegetation and water resource management, suffer from long construction periods, high costs, and poor environmental adaptability. Therefore, there is an urgent need to develop a new desertification control technology that is adapted to desert environments and offers high construction efficiency.

[0003] Microbial-induced calcium carbonate (MICP) precipitation technology has been applied to desertification control in recent years due to its environmental friendliness and significant mineralization effects. MICP technology promotes the hydrolysis of urea through the metabolism of mineralizing bacteria, producing carbonate ions. These carbonate ions combine with calcium ions to form calcium carbonate crystals, cementing loose sand particles and effectively improving the physical properties and wind resistance of the desert surface soil. MICP technology has advantages such as being environmentally friendly, sustainable, and relatively low-cost, making it suitable for desertification control in arid and semi-arid regions.

[0004] However, despite the significant achievements of MIP technology in indoor trials, certain technical bottlenecks remain in practical applications. Traditional desert mineralization operations often rely on manual labor, resulting in low construction efficiency and poor environmental adaptability, failing to meet the needs of large-scale desert governance. Therefore, there is an urgent need for a new type of mineralization construction robot system capable of autonomously performing mineralization operations in desert environments.

[0005] To overcome the shortcomings of existing technologies, this invention proposes a desert surface mineralization robot system based on MICP technology. This system is characterized by automation and intelligence, enabling it to efficiently perform mineralization operations in harsh desert environments. It boasts advantages such as strong adaptability, high stability, and simple operation, providing a more innovative and sustainable solution for desertification control. By combining multiple technologies including a walking device, a spraying system, and an environmental sensing module, it achieves efficient mineralization of the desert surface and enables precise operation under different environmental conditions through intelligent control methods. Furthermore, with an energy supply module, this system ensures the robot can operate stably for extended periods in the desert environment, thus providing reliable technical support for desert mineralization operations. Summary of the Invention

[0006] To address the aforementioned problems in the prior art, this invention provides a MICP-based desert surface mineralization robot and its construction method, which solves the problem that traditional desert mineralization operations often rely on manual operation and have low construction efficiency.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: On one hand, a desert surface mineralization robot based on MICP is provided, which includes a walking device, a liquid storage device, a spraying system, an environmental perception module, a control module, and an energy supply module installed on the walking device. The walking device includes a suspended wheel chassis; the liquid storage device includes a bacterial liquid storage tank and a cementing liquid storage tank installed on the suspended wheel chassis; the spraying system includes a bacterial liquid atomizing nozzle and a cementing liquid fan-shaped nozzle installed on the suspended wheel chassis, the bacterial liquid atomizing nozzle and the cementing liquid fan-shaped nozzle are respectively connected to the bacterial liquid storage tank and the cementing liquid storage tank; the suspended wheel chassis, the bacterial liquid atomizing nozzle, the cementing liquid fan-shaped nozzle, the environmental perception module, and the energy supply module are electrically connected to the control module.

[0008] This invention provides energy to the walking device through an energy supply module, ensuring that the walking device can work continuously in desert areas far from power sources. At the same time, it uses MICP technology to carry out mineralization construction on the desert surface through a liquid storage device and a spraying system. By combining efficient bacterial liquid spraying and cementing liquid spraying with compaction operations, the construction efficiency of desert mineralization operations is significantly improved.

[0009] Furthermore, the bacterial culture storage tank is equipped with a heating element.

[0010] Furthermore, a vacuum insulation layer with a thickness of 50 mm is provided between the bacterial liquid storage tank and the cementing liquid storage tank.

[0011] Furthermore, the environmental sensing module includes a soil moisture sensor, an infrared thermometer, and a laser scanner mounted on a suspended wheel chassis; the soil moisture sensor, infrared thermometer, and laser scanner are all electrically connected to the control module.

[0012] Furthermore, the energy supply module includes solar panels and lithium battery packs mounted on a suspended wheel chassis. The solar panels are electrically connected to the lithium battery packs, and the lithium battery packs are electrically connected to the control module.

[0013] Furthermore, the bottom of the suspended wheel chassis is equipped with a sand guard plate.

[0014] On the other hand, a construction method for a desert surface mineralization robot based on MICP is provided, which includes the following steps: Step S1: The environmental sensing module scans the work area and divides it into construction grid units to plan the travel route. Step S2: Start the walking device. After moving to the work area, spray the bacterial solution onto the construction grid unit through the bacterial solution atomizing nozzle. The spraying amount is 0.6~1.1L / m². After all construction grid units are completed, let it stand for 12~24 hours after spraying. Step S3: After settling, spray the adhesive liquid onto the construction grid unit through the adhesive liquid fan-shaped nozzle. The volume ratio of the adhesive liquid sprayed to the bacterial liquid sprayed is 1:1 to 1:1.2. Step S4: After the cementitious liquid is sprayed, all construction grid units are compacted at a speed of 0.3~0.8m / s. Step S5: After the compaction operation is completed, the surface penetration test is carried out. When the surface penetration strength is greater than or equal to 1 MPa, the construction is completed. When the surface penetration strength is less than 1 MPa, the adhesive is sprayed again until the surface penetration strength is greater than or equal to 1 MPa.

[0015] Furthermore, the spraying of bacterial solution and cementing solution in steps S2 and S3 both adopt an intermittent pulse mode, stopping for 15 to 30 seconds after spraying for 10 to 20 seconds.

[0016] Furthermore, in step S3, the cementing solution is a mixture of calcium chloride and urea dissolved in water, and the concentration of the cementing solution is 0.5~1.0 mol / L; in step S5, the concentration of the cementing solution for replenishment spraying is 1.1~1.3 mol / L.

[0017] This invention discloses a MICP-based desert surface mineralization robot and its construction method, the beneficial effects of which are: 1. This invention provides energy to the walking device through an energy supply module, ensuring that the walking device can work continuously in desert areas far from power sources. At the same time, it uses MICP technology to carry out mineralization construction on the desert surface through a liquid storage device and a spraying system. By combining efficient bacterial liquid spraying and cementing liquid spraying with compaction operations, the construction efficiency of desert mineralization operations is significantly improved.

[0018] 2. This invention utilizes microbial-induced calcium carbonate (MICP) precipitation technology to mineralize the surface layer of desert soils, significantly improving their stability and erosion resistance. MICP technology forms calcium carbonate precipitates between sand particles, effectively strengthening their bond and helping to reduce the frequency of sandstorms in arid and semi-arid regions. Compared to traditional soil improvement methods, this invention employs microbial mineralization technology, avoiding the environmental pollution caused by chemical treatments. It boasts advantages such as being green, environmentally friendly, and energy-efficient, and can sustainably improve the ecological environment of arid and semi-arid regions.

[0019] 3. The desert surface mineralization robot proposed in this invention utilizes MICP technology for mineralization construction on the desert surface. Through efficient spraying of bacterial solution and cementing liquid combined with compaction, the stability of desert sand and soil can be improved. The design of the suspended wheel chassis and sand-proof guard plate effectively prevents damage to key robot components from sand and dust, ensuring long-term stable operation. Furthermore, the use of solar panels and lithium battery packs as energy supplies ensures the robot can operate continuously in desert areas far from power sources. The configuration of vacuum insulation layers and heating pipes allows for precise temperature control of the bacterial solution storage tank, helping to maintain microbial activity and thus improving the mineralization effect. The intermittent pulse spraying method of bacterial solution and cementing liquid enhances the permeability and uniformity of liquid coverage, improving the cementation effect of desert sand and soil. The combination of robot hardware and suitable construction methods enables the robot to perform more efficiently and accurately in desert mineralization construction, showing broad application prospects. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a desert surface mineralization robot based on MICP according to the present invention.

[0021] Figure 2 This is a schematic diagram of the liquid storage device of the present invention.

[0022] Figure 3 This is a schematic diagram of the spraying system of the present invention.

[0023] Among them, 101 is the walking device; 102 is the suspended wheel chassis; 103 is the sandproof guard plate; 201 is the liquid storage device; 202 is the bacterial liquid storage tank; 203 is the cementing liquid storage tank; 204 is the heating tube; 205 is the vacuum insulation layer; 301 is the spraying system; 302 is the bacterial liquid atomizing nozzle; 303 is the cementing liquid fan-shaped nozzle; 401 is the environmental sensing module; 402 is the soil moisture sensor; 403 is the infrared thermometer; 404 is the laser scanner; 501 is the control module; 601 is the energy supply module; 602 is the solar panel; and 603 is the lithium battery pack. Detailed Implementation The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0024] Example 1 refer to Figures 1-3This embodiment provides a desert surface mineralization robot based on MICP, which aims to solve the problem that existing traditional desert mineralization operations often rely on manual operation and have low construction efficiency. The specific structure of this embodiment will be described in detail below.

[0025] A desert surface mineralization robot based on MICP includes a walking device 101, a liquid storage device 201 disposed on the walking device 101, a spraying system 301, an environmental perception module 401, a control module 501 and an energy supply module 601. Specifically, the walking device 101 includes a suspended wheel chassis 102; the liquid storage device 201 includes a bacterial liquid storage tank 202 and a cementing liquid storage tank 203 mounted on the suspended wheel chassis 102; the spraying system 301 includes a bacterial liquid atomizing nozzle 302 and a cementing liquid fan-shaped nozzle 303 mounted on the suspended wheel chassis 102, the bacterial liquid atomizing nozzle 302 and the cementing liquid fan-shaped nozzle 303 being connected to the bacterial liquid storage tank 202 and the cementing liquid storage tank 203 respectively; the suspended wheel chassis 102, the bacterial liquid atomizing nozzle 302, the cementing liquid fan-shaped nozzle 303, the environmental sensing module 401 and the energy supply module 601 are electrically connected to the control module 501.

[0026] In this embodiment, the energy supply module 601 provides energy to the walking device 101, ensuring that the walking device 101 can work continuously in desert areas far from power sources.

[0027] Simultaneously, the bacterial solution and cementing solution are stored in the bacterial solution storage tank 202 and cementing solution storage tank 203 in the liquid storage device 201. These tanks are connected to the bacterial solution atomizing nozzle 302 and cementing solution fan-shaped nozzle 303 of the spraying system 301, respectively. This utilizes microbial-induced calcium carbonate precipitation technology to mineralize the surface layer of desert soil, significantly improving its stability and erosion resistance. The use of MIP technology for surface mineralization in desert areas, combining efficient bacterial solution spraying and cementing solution spraying with compaction, significantly improves the efficiency of desert mineralization operations.

[0028] Alternatively, the suspended wheel chassis 102 can adopt the existing submersible lifting work platform, specifically the AGVTRL-200A series.

[0029] Optionally, the bacterial liquid atomizing nozzle 302 and the cementing liquid fan-shaped nozzle 303 can be mounted on the suspended wheel chassis 102 via a rotatable bracket. The rotatable bracket includes a servo motor and a linear slide rail mounted on the output shaft of the servo motor. The bacterial liquid atomizing nozzle 302 and the cementing liquid fan-shaped nozzle 303 are respectively mounted at both ends of the linear slide rail.

[0030] Alternatively, the control module 501 can use an existing PLC controller. The PLC controller is electrically connected to the suspended wheel chassis 102, the bacterial liquid atomizing nozzle 302, the cementing liquid fan-shaped nozzle 303, the environmental sensing module 401, and the energy supply module 601 through a signal conversion circuit.

[0031] Optionally, the bacterial liquid atomizing nozzle 302 and the cementing liquid fan-shaped nozzle 303 are connected to the bacterial liquid storage tank 202 and the cementing liquid storage tank 203 respectively via PVC hoses, and both PVC hoses are equipped with centrifugal pumps, both of which are electrically connected to the control module 501.

[0032] Specifically, the bacterial solution storage tank 202 is equipped with a heating tube 204. A vacuum insulation layer 205 with a thickness of 50mm is provided between the bacterial solution storage tank 202 and the cementing solution storage tank 203.

[0033] In this embodiment, a heating tube 204 is installed in the bacterial solution storage tank 202 to control the temperature inside the tank 202 between 28 and 35°C. Precise temperature control helps maintain the activity of microorganisms, thereby improving the mineralization effect. The vacuum insulation layer 205 effectively prevents heat exchange between the bacterial solution storage tank 202 and the cementing solution storage tank 203, ensuring the system's energy efficiency and stability.

[0034] Optionally, vacuum insulation layer 205 uses a 50mm thick vacuum insulation board.

[0035] Specifically, the environmental sensing module 401 includes a soil moisture sensor 402, an infrared thermometer 403, and a laser scanner 404 mounted on the suspended wheel chassis 102; the soil moisture sensor 402, the infrared thermometer 403, and the laser scanner 404 are all electrically connected to the control module 501.

[0036] Specifically, the energy supply module 601 includes a solar panel 602 and a lithium battery pack 603 mounted on the suspended wheel chassis 102. The solar panel 602 is electrically connected to the lithium battery pack 603, and the lithium battery pack 603 is electrically connected to the control module 501.

[0037] Specifically, the bottom of the suspended wheel chassis 102 is equipped with a sand guard plate 103.

[0038] In this embodiment, the sand guard plate 103 is used to prevent sand and dust from entering the chassis system and to ensure that the walking device 101 can operate smoothly.

[0039] Optionally, the height of the sand guard plate 103 can be adjusted via a screw drive assembly, allowing for adjustments based on different desert terrains to achieve optimal protection.

[0040] Example 2 refer to Figure 1 This embodiment provides a construction method for desert surface mineralization robot based on MICP, which aims to solve the problem that existing traditional desert mineralization operations often rely on manual operation and have low construction efficiency. The specific structure of this embodiment will be described in detail below.

[0041] A construction method for desert surface mineralization robot based on MICP, comprising the following steps: Step S1: The environmental sensing module 401 performs an environmental scan of the work area and divides it into construction grid units to plan the travel route. In this embodiment, the laser scanner 404 in the environmental perception module 401 performs an environmental scan of the work area, dividing the work area into several construction grid units with a size of 5m×5m, thereby generating a terrain model in ArcGIS and planning and determining the travel route in the work area.

[0042] Step S2: Start the walking device 101. After moving to the work area, spray the bacterial solution onto the construction grid unit through the bacterial solution atomizing nozzle 302. The spraying amount is 0.6~1.1L / m². After all construction grid units are completed, let it stand for 12~24 hours after spraying. In this embodiment, the walking device 101 is started and travels to the first construction grid unit according to the travel route determined in step S1. The bacterial liquid is sprayed onto the first construction grid unit through the bacterial liquid atomizing nozzle 302 at a spraying rate of 0.6~1.1L / m². After spraying, the device travels to the second construction grid unit to carry out bacterial liquid spraying until all construction grid units are completed. After all construction grid units are sprayed, the device is left to stand for 12~24 hours.

[0043] Step S3: After the settling period is completed, the adhesive is sprayed onto the construction grid unit through the adhesive fan-shaped nozzle 303. The volume ratio of the adhesive spray volume to the bacterial liquid spray volume is 1:1 to 1:1.2. In this embodiment, after the settling period, the process proceeds to the first construction grid unit to spray the binder. The volume ratio of the binder spray volume to the bacterial solution spray volume is 1:1 to 1:1.2. After spraying, the process proceeds to the second construction grid unit to spray the binder, until all construction grid units are completed.

[0044] Specifically, the spraying of bacterial solution and cementing solution in steps S2 and S3 adopts an intermittent pulse mode, stopping for 15 to 30 seconds after spraying for 10 to 20 seconds.

[0045] Step S4: After the cementitious liquid is sprayed, all construction grid units are compacted at a speed of 0.3~0.8m / s. In this embodiment, after the cementitious liquid is sprayed, the machine moves back to the first construction grid unit for compaction. The compaction speed is 0.3~0.8m / s. After compaction, it moves to the second construction grid unit for compaction, and so on, until all construction grid units are completed.

[0046] Step S5: After the compaction operation is completed, the surface penetration test is carried out. When the surface penetration strength is greater than or equal to 1 MPa, the construction is completed. When the surface penetration strength is less than 1 MPa, the adhesive is sprayed again until the surface penetration strength is greater than or equal to 1 MPa.

[0047] In this embodiment, after the compaction operation is completed, the strength of the mineralized layer is tested using a PT-type digital display penetrator. When the surface penetration strength is greater than or equal to 1 MPa, the construction is completed. When the surface penetration strength is less than 1 MPa, the cementing liquid is sprayed again and a second compaction operation is performed until the surface penetration strength is greater than or equal to 1 MPa.

[0048] Specifically, in step S3, the cementing solution is a mixture of calcium chloride and urea dissolved in water, and the concentration of the cementing solution is 0.5~1.0 mol / L; in step S5, the concentration of the cementing solution for replenishment spraying is 1.1~1.3 mol / L.

[0049] Example 3 This embodiment is based on the mineralization robot device described in Embodiment 1, wherein the walking device 101 consists of a four-wheel independent suspension system, an SWC heavy-duty universal drive shaft, an SJ type screw drive assembly, and a 3mm thick polyurethane sandproof guard plate 103.

[0050] The bacterial liquid storage tank 202 and the cementing liquid storage tank 203 are made of 5mm thick 303 stainless steel cylinders with a volume of 500L. The space between the two tanks is filled with a 50mm thick vacuum insulation layer 205.

[0051] The bacterial liquid atomizing nozzle 302 in the spraying system 301 is an air atomizing nozzle, and the cementing liquid fan-shaped nozzle 303 is a wide-angle fan-shaped nozzle. All pipelines use silicone hoses. The rotatable bracket consists of a linear slide rail and an SM-type servo motor.

[0052] The environmental sensing module 401 consists of a TRSD soil moisture sensor, an IR infrared thermometer, and a Leica laser scanner.

[0053] The control module 501 consists of a PLC-type programmable logic controller and an integrated AD / DA signal conversion circuit.

[0054] The energy supply module 601 consists of a monocrystalline silicon solar panel and a lithium iron phosphate energy storage battery pack.

[0055] The construction process based on desert surface mineralization robots includes: S1. Start the Leica laser scanner, divide the construction area into 5m×5m grid units, generate a terrain model in ArcGIS software, and plan the walking path through the PLC controller.

[0056] S2. Set the spray rate of the bacterial liquid atomizing nozzle 302 to 0.8 L / m², and adopt a pulse spray mode with a 15-second spray interval and a 20-second interval. After spraying, let it stand for 18 hours. During the standing period, monitor the physical properties of the sand layer using a soil moisture sensor and an infrared thermometer.

[0057] S3. Spray 0.8 mol / L of cementing solution through a wide-angle fan-shaped nozzle 303, with the volume ratio of cementing solution sprayed to bacterial solution sprayed being 1:1.

[0058] S4. Control the walking device 101 to compact the material at a uniform speed of 0.5m / s.

[0059] S5. Use a PT-type digital penetrator to test the strength of the mineralized layer. When the surface penetration strength is less than 1.0 MPa, spray with a 1.3 mol / L cementing solution.

[0060] Example 4 This embodiment, based on the mineralization robot device described in Embodiment 1, demonstrates a desert surface mineralization robot construction method based on MICP technology in a certain mobile sand dune area. The implementation steps are as follows: S1. Start the laser scanner 404 to scan the construction area at a resolution of 0.1m, identify the sand dune areas, and generate a 3D terrain model. Divide the construction area into 5m×5m grid units and plan the walking path using the PLC controller.

[0061] S2. The spray rate of the bacterial solution atomizing nozzle 302 is 0.8 L / m², and the spraying cycle is 15 seconds of spraying followed by a 20-second pause. The sand surface temperature is monitored in real time during spraying, and operations are suspended when the temperature exceeds 35℃. The solution is left to stand for 18 hours after spraying.

[0062] S3. Spray a 1.0 mol / L cementing solution, with a volume ratio of cementing solution sprayed to bacterial solution sprayed of 1:1.2.

[0063] S4. Control the walking device 101 to compact at a uniform speed of 0.5m / s, with a compaction trajectory repetition rate of more than 50%.

[0064] S5. The strength of the mineralized layer is tested using a penetrating instrument. When the surface penetration strength is less than 1.0 MPa, a 1.5 mol / L cementing solution is sprayed in addition. The spraying rate is 0.5 L / m². After spraying, the sprayed area is compacted a second time. Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A desert surface mineralization robot based on MICP, characterized in that: It includes a walking device (101), a liquid storage device (201) disposed on the walking device (101), a spraying system (301), an environmental sensing module (401), a control module (501) and an energy supply module (601). The walking device (101) includes a suspended wheel chassis (102); the liquid storage device (201) includes a bacterial liquid storage tank (202) and a cementing liquid storage tank (203) disposed on the suspended wheel chassis (102). The spraying system (301) includes a bacterial liquid atomizing nozzle (302) and a cementing liquid fan-shaped nozzle (303) mounted on a suspended wheel chassis (102). The bacterial liquid atomizing nozzle (302) and the cementing liquid fan-shaped nozzle (303) are respectively connected to the bacterial liquid storage tank (202) and the cementing liquid storage tank (203). The suspended wheel chassis (102), bacterial liquid atomizing nozzle (302), cementing liquid fan-shaped nozzle (303), environmental sensing module (401), and energy supply module (601) are electrically connected to the control module (501).

2. The desert surface mineralization robot based on MICP according to claim 1, characterized in that: The bacterial culture storage tank (202) is equipped with a heating tube (204).

3. The desert surface mineralization robot based on MICP according to claim 1, characterized in that: A vacuum insulation layer (205) is provided between the bacterial liquid storage tank (202) and the cementing liquid storage tank (203), and the thickness of the vacuum insulation layer (205) is 50mm.

4. The desert surface mineralization robot based on MICP according to claim 1, characterized in that: The environmental sensing module (401) includes a soil moisture sensor (402), an infrared thermometer (403), and a laser scanner (404) mounted on a suspended wheel chassis (102); the soil moisture sensor (402), the infrared thermometer (403), and the laser scanner (404) are all electrically connected to the control module (501).

5. The desert surface mineralization robot based on MICP according to claim 1, characterized in that: The energy supply module (601) includes a solar panel (602) and a lithium battery pack (603) mounted on a suspended wheel chassis (102). The solar panel (602) is electrically connected to the lithium battery pack (603), and the lithium battery pack (603) is electrically connected to the control module (501).

6. The desert surface mineralization robot based on MICP according to claim 1, characterized in that: The bottom of the suspended wheel chassis (102) is provided with a sand guard plate (103).

7. A construction method for a desert surface mineralization robot based on MICP according to claim 1, characterized in that, Includes the following steps: Step S1: The environmental sensing module (401) performs an environmental scan of the work area and divides it into construction grid units to plan the travel route; Step S2: Start the walking device (101). After moving to the work area, spray the bacterial solution onto the construction grid unit through the bacterial solution atomizing nozzle (302). The spraying amount is 0.6~1.1L / m². After all construction grid units are completed, let it stand for 12~24 hours after spraying. Step S3: After settling, the adhesive is sprayed onto the construction grid unit through the adhesive fan-shaped nozzle (303). The volume ratio of the adhesive spray volume to the bacterial liquid spray volume is 1:1 to 1:1.

2. Step S4: After the cementitious liquid is sprayed, all construction grid units are compacted at a speed of 0.3~0.8m / s. Step S5: After the compaction operation is completed, the surface penetration test is carried out. When the surface penetration strength is greater than or equal to 1 MPa, the construction is completed. When the surface penetration strength is less than 1 MPa, the cementitious liquid is sprayed again until the surface penetration strength is greater than or equal to 1 MPa.

8. The construction method of the MICP-based desert surface mineralization robot according to claim 7, characterized in that: The spraying of bacterial solution and cementing solution in steps S2 and S3 is carried out in an intermittent pulse mode, with a 15-30 second pause after spraying for 10-20 seconds.

9. The construction method of the MICP-based desert surface mineralization robot according to claim 7, characterized in that: In step S3, the cementing solution is a mixture of calcium chloride and urea dissolved in water, and the concentration of the cementing solution is 0.5~1.0 mol / L; in step S5, the concentration of the cementing solution used for replenishment spraying is 1.1~1.3 mol / L.

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