A method and system for rapid plugging and harmless treatment of chemical waste liquid leakage

Abstract

The application provides a kind of chemical waste liquid leakage quick plugging and harmless treatment method and system, belongs to chemical leakage plugging processing technical field.In the present application, system completes leakage detection and parameter calculation by unmanned aerial vehicle and ground robot, outputs first alarm and three major operation parameters in second-level response;Immediately, precise dispensing, high-pressure jet plugging and vacuum pumping are carried out simultaneously, realizing integrated operation of plugging, enclosing and pumping;Then the collected waste liquid is automatically classified and matched with harmless process to realize continuous treatment;After plugging and water quality double verification, if unqualified, maintain operation and automatically dispose again;After all qualified, carry out on-site repair and generate standardized report, so as to realize whole-process unmanned, rapid, closed-loop disposal, improve efficiency and safety, solve the problems of slow response, low precision, no closed loop and easy secondary pollution in traditional disposal.

Description

Technical Field

[0001] This invention belongs to the field of chemical leakage sealing and treatment technology, specifically relating to a method and system for rapid sealing and harmless treatment of chemical waste liquid leakage. Background Technology

[0002] In the production, transfer and temporary storage processes of the chemical industry, leakage of liquid raw materials and waste liquids is a frequent and extremely dangerous safety hazard. Leaked liquids are usually corrosive, toxic and flammable. If they are not controlled quickly, they can easily cause equipment corrosion, environmental pollution and personal safety accidents. Therefore, rapid response and efficient handling of leaks have always been key aspects of safe production in the chemical industry.

[0003] In the prior art, the Chinese invention patent with application number "202411392090.3" addresses the issue of liquid leaks in chemical workshops by using portable emergency devices. These devices combine handheld processing components with a pipetting and suction system and a patch-type sealing structure. They absorb the leaking liquid through negative pressure and use pressure to puncture the capsule to achieve patch adhesion and sealing, allowing for simple liquid suction and temporary leak plugging operations to be completed on-site.

[0004] However, such handheld manual operation solutions rely on on-site personnel intervention and can only temporarily seal off single points. They lack waste liquid classification and treatment and closed-loop verification processes, making it difficult to cope with large-scale, toxic and hazardous waste liquid leaks. At the same time, they lack parameterized decision-making, simultaneous containment and drainage, and harmless treatment processes, making it difficult to meet the high-precision, full-process, and closed-loop controllable requirements of modern chemical emergency response. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to meet the high-precision, full-process and closed-loop control requirements of emergency response to waste liquid leakage in modern chemical industry. In view of the shortcomings of the prior art, this invention provides a method and system for rapid sealing and harmless treatment of chemical waste liquid leakage.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a method for rapid sealing and harmless treatment of leaked chemical waste liquid, comprising: S1, acquiring real-time situation detection data of a chemical waste liquid container; when a chemical waste liquid leak occurs in the container, outputting a first alarm signal, and calculating and acquiring dosing parameters, injection sealing parameters, and suction rate parameters based on the situation detection data after the leak; S2, sequentially preparing and dispensing a sealing and curing agent and injecting the sealing and curing agent according to the dosing and injection sealing parameters, while simultaneously suctioning and storing the leaked waste liquid according to the suction rate parameters; S3, determining the type of the leaked waste liquid based on the collected leaked waste liquid, and matching a corresponding harmless treatment process, and according to... The harmless treatment process is used to treat the leaked waste liquid in a harmless manner; S4, after the spray sealing is completed, the leak location is verified for sealing; after the first round of suction storage and harmless treatment is completed, the water quality of the harmlessly treated liquid is verified; if the sealing verification and / or the water quality verification fails, the suction storage and harmless treatment are maintained in continuous operation, a second alarm signal is output, and a second sealing and / or adjustment of the harmless treatment parameters are performed; S5, when the sealing verification and the water quality verification are both qualified, and the suction storage and the harmless treatment are both completed, on-site repair work is carried out, and the data parameters and processing results of the treatment process after the chemical waste liquid leak are collected and recorded simultaneously to form a standardized report.

[0007] Compared to existing technologies, the beneficial effects of the rapid sealing and harmless treatment method for chemical waste liquid leakage of the present invention include: First, the system continuously collects detection information from chemical waste liquid containers, identifies abnormalities in temperature, liquid diffusion, corrosivity, and volatility through drone inspection, and then a ground robot accurately confirms the leak point diameter, leakage pressure, and leakage flow rate. Upon leak detection, an initial alarm is immediately issued. Simultaneously, based on the detection data, the system calculates the dosing parameters, injection sealing parameters, and suction rate parameters, achieving a second-level response from anomaly detection to decision output, avoiding the expansion of the leak area and escalation of risks due to delayed manual judgment; subsequently... The system precisely prepares and dispenses the sealing and curing agent according to the calculated parameters, simultaneously activating a high-pressure jetting robot to quickly seal the leak. At the same time, a vacuum suction device continuously pumps out the waste liquid within the containment dike, achieving a three-in-one simultaneous operation of sealing, containment, and pumping. This blocks the diffusion path of the waste liquid at its source, ensuring the leak area remains under control and sealed, preventing leakage into the external environment. Then, based on the pH, medium characteristics, corrosion features, and physicochemical state of the pumped waste liquid, the system automatically determines whether the waste liquid is acidic, alkaline, contains heavy metals, is toxic organic, or a mixture, and matches corresponding acid-base neutralization, chelation precipitation, and oxidation degradation treatments. The system employs a combination of single-stage and multi-stage harmless treatment processes, precisely calculating and adding treatment agents based on real-time collection flow and pollutant concentration. This achieves a continuous operation mode of collection-and-treatment and flow-matched treatment, avoiding safety risks such as corrosion, poisoning, and explosion caused by wastewater accumulation. Following spray sealing and subsequent static curing, sealing verification is completed through ultrasonic density testing, visual leakage observation, pressure holding tests, and liquid level changes. After harmless treatment, water quality verification is performed on the effluent's pH, COD, heavy metals, and toxic organic matter indicators. If any verification fails, the system maintains continuous operation of suction storage and harmless treatment without interruption. The system simultaneously outputs a second alarm signal, automatically executing secondary sealing or adjusting harmless treatment process parameters to form a strict closed loop of disposal, verification, correction, and re-verification. This eliminates environmental and safety hazards caused by sealing failures and substandard treatment. Finally, once sealing verification and water quality verification are both qualified, and pumping, storage, and harmless treatment are completed, the system initiates on-site cleanup, residue removal, in-situ remediation of contaminated soil, equipment cleaning, and on-site restoration. Simultaneously, it automatically collects all process data parameters and results, revises, supplements, and verifies them to generate a standardized report, ensuring the disposal process is traceable, verifiable, acceptable, and archiveable. This setup enables unmanned, rapid, precise, and closed-loop disposal of chemical waste leaks, significantly improving leakage disposal efficiency and safety, reducing the risks of manual operation, meeting the emergency disposal needs of high-risk, highly toxic, and highly corrosive waste liquids in chemical scenarios, and solving the problems of slow response, low precision, lack of closed-loop management, and susceptibility to secondary pollution associated with traditional disposal methods.

[0008] Optionally, the situation detection data includes environmental data and leak point data. The real-time acquisition of situation detection data for the chemical waste liquid container in step S1, specifically including the output of a first alarm signal when the chemical waste liquid container leaks, includes: S11, using a drone to inspect the area where the chemical waste liquid container is located and acquiring the environmental data of the inspected area; determining whether there is an abnormal leakage risk based on the environmental data, wherein the abnormal leakage risk includes abnormal temperature, abnormal liquid diffusion, abnormal corrosiveness, and abnormal volatility; S12, if the abnormal leakage risk is determined, using a ground detection robot to detect the chemical waste liquid container in the area where the abnormal leakage risk exists; determining whether the chemical waste liquid container leaks based on the detection results; if so, outputting the first alarm signal and acquiring the leak point data, wherein the leak point parameters include the leak point diameter, leakage pressure, and leakage flow rate.

[0009] Optionally, the step of calculating and obtaining the dosing parameters, injection sealing parameters, and suction rate parameters based on the detection data after the chemical waste liquid leakage in S1 specifically includes: S13, obtaining the preset target curing time of the leak point based on the leak point aperture using the following formula: , where t 固 S14. Based on the preset target curing time, the leak point diameter, and the leakage pressure, the curing agent mass dosage is obtained using the following formula, and the curing agent mass dosage is constrained to 0.5%-2.0%, forming the dosing parameters and outputting them: Wherein, ω is the mass dosage of the curing agent, and k d The correction factor for the leakage point diameter is a fixed value of 0.9, determined by least squares fitting, R. 2 ≥0.985, the k P The correction factor for the leakage pressure is a fixed value of 1.2, determined by least squares fitting, R. 2 ≥0.990, where P is the leakage pressure, and k T The temperature correction factor, a fixed value of 0.0041, is determined by least squares fitting. R0 2 ≥0.975, where T is the ambient temperature, collected by the UAV, and (T+273.15) is the thermodynamic temperature, converted from Celsius to Kelvin; S15, based on the leakage pressure, the injection pressure is obtained according to the following formula, and the injection pressure is constrained to 0.8~1.2MPa: P 喷 =P+ΔP, where P 喷The injection pressure is given, and ΔP is a safety margin, ranging from 0.3 to 0.7 MPa; S16. Based on the leak location collected by the ground detection robot, obtain the three-dimensional coordinates to generate the injection target positioning point. Select segmented points within the preset target curing time range to form the delivery stage time and curing stage time. Integrate the injection pressure, the injection target positioning point, the delivery stage time, and the curing stage time to form the injection sealing parameters and output them. The delivery stage time is less than or equal to 3 seconds; S17. Based on the leakage flow rate, obtain the suction flow rate according to the following formula: Q 收 ≥1.2×Q0, where Q 收 The suction flow rate is Q0, and the leakage flow rate is Q0.

[0010] Optionally, the step S2, which involves sequentially preparing and dispensing the sealing and curing agent according to the dosing parameters and the injection sealing parameters, specifically includes: S21, determining whether ω is within the range of 0.5% ≤ ω ≤ 2.0% based on the curing agent mass dosage in the dosing parameters; if not, repeating the calculation process for the curing agent mass dosage; if yes, injecting the nano-modified water-soluble resin plugging agent mother liquor into the dosing tank and injecting the curing agent into the dosing tank under stirring conditions; S22, verifying whether the curing agent mass dosage in the dosing tank meets the standard based on the following formula according to the total mass of the liquid in the dosing tank; if not, adjusting the mass of the liquid in the dosing tank; if yes, continuously stirring the liquid in the dosing tank and allowing it to stand and mature to obtain the sealing and curing agent to be sprayed: m 固化剂 =ω×m 母 , where m 固化剂 The mass of the curing agent, m 母 S23. The mass of the mother liquor of the nano-modified water-soluble resin sealant; S24. The sealing and curing agent is conveyed to the high-pressure spraying robot, and the high-pressure spraying robot is moved to the preset spraying position based on the spraying target positioning point, and the posture is adjusted to face the center of the leak point; S25. Based on the spraying pressure, the conveying stage time and the curing stage time, the sealing and curing agent is output to the leak point through the high-pressure spraying robot, and the sealing area is left to stand and observe after spraying.

[0011] Optionally, before injecting the nano-modified water-soluble resin plugging agent stock solution into the mixing tank in step S21, the process further includes: heating the aqueous resin matrix to 40–60°C, adding 1.5%–2.5% nano-SiO2 or 2%–4% organomontmorillonite to form a mixed solution, shearing and dispersing the mixed solution at a rotation speed of 3000–5000 r / min for 30 min, adding 0.5%–1% silane coupling agent KH550 for interfacial grafting, and maintaining the reaction temperature for 60 min to obtain the nano-modified water-soluble resin-based plugging agent stock solution.

[0012] Optionally, the simultaneous suction and storage of leaked waste liquid according to the suction rate parameter in S2 specifically includes: S25, while moving the high-pressure jetting robot to the preset jetting position based on the jetting target positioning point, obtaining the leak area based on the leak point location, unfolding a folded inflatable cofferdam around the leak area, and moving the vacuum suction device to the lowest point inside the folded inflatable cofferdam to start the suction function; S26, while the high-pressure jetting robot outputs the sealing and curing agent, based on the suction flow rate, suctioning the liquid inside the folded inflatable cofferdam through the vacuum suction device and storing it in a sealed container, while the folded inflatable cofferdam acquires liquid level data and air pressure data; S27, comparing the leak flow rate and the actual suction flow rate of the vacuum suction device in real time, dynamically adjusting the actual suction flow rate based on the multiple relationship between the leak flow rate and the suction flow rate, and simultaneously verifying the liquid level data and the air pressure data in real time. When an abnormality occurs, adjusting the enclosure structure of the folded inflatable cofferdam and the actual suction flow rate in real time.

[0013] Optionally, S3 specifically includes: S31, based on the collected leaked waste liquid, determining the type of the leaked waste liquid by detecting the parameters of the leaked waste liquid, wherein the parameters of the leaked waste liquid include pH value, medium characteristic parameters, corrosion characteristic parameters, and physicochemical state parameters, and the type of the leaked waste liquid includes acidic chemical waste liquid, alkaline chemical waste liquid, heavy metal chemical waste liquid, toxic organic waste liquid, and mixed chemical waste liquid; S32, matching the corresponding harmless treatment process based on the type of the leaked waste liquid, wherein the harmless treatment process includes acid-base neutralization treatment process, integrated precipitation and neutralization synergistic treatment process, oxidative degradation and stabilization synergistic treatment process, and multi-stage combined synergistic harmless treatment process; S33, calculating the dosage of the reagent for the harmless treatment process based on the flow rate during the collection of the leaked waste liquid and the parameters of the leaked waste liquid, adding the reagent to the leaked waste liquid based on the dosage of the reagent and stirring and mixing the solution.

[0014] Optionally, S4 specifically includes: S41. After the spray sealing is completed, the spraying stops, and the solidification and static setting stage is completed, the density of the sealing layer at the leak location is detected by ultrasonic detection to obtain density data; whether there is waste liquid seepage around the leak location is detected by visual inspection to obtain the seepage status; pressure holding detection is performed on the leak location to obtain pressure change data; and liquid level change data around the leak location is obtained; S42. Based on the density data, the seepage status, and the pressure change data, it is determined whether the leak location is abnormal. If not, and the liquid level change data is decreasing, the sealing verification is determined to be qualified; if so, the sealing verification is determined to be unqualified. The pumping and storage and the harmless treatment continue to operate, the second alarm signal is output and the secondary sealing is performed; S43, when the liquid level around the leak location is maintained below the preset height and there is no new liquid accumulation, and the harmless treatment is completed once, the water quality parameters of the harmlessly treated liquid are collected, and the water quality parameters are used to determine whether there is an abnormality. If not, the water quality verification is deemed qualified; if yes, the water quality verification is deemed unqualified. The pumping and storage and the harmless treatment continue to operate, the second alarm signal is output and the parameters of the harmless treatment are adjusted, wherein the water quality parameters include pH value, COD value, heavy metal content value and toxic organic matter content value.

[0015] Optionally, S5 specifically includes: S51, when the sealing verification and the water quality verification are both qualified, and the suction storage and the harmless treatment are both completed, on-site cleanup and residue removal are carried out, in-situ remediation of contaminated soil is carried out, and equipment cleaning and on-site remediation are carried out; S52, based on the situation detection data, equipment operating parameters, verification detection data and treatment result data, the data parameters and treatment results of the treatment process after the chemical waste liquid leakage are automatically collected and recorded, and the records are revised, supplemented and verified to form the standardized report.

[0016] Secondly, the present invention also provides a rapid sealing and harmless treatment system for leaked chemical waste liquid, comprising: a detection module configured to acquire real-time situational detection data of the chemical waste liquid container, and including a drone unit equipped with an infrared thermal imager and a ground robot unit equipped with a pressure sensor; a transmission module electrically connected to the detection module; a calculation module electrically connected to the transmission module and configured to receive the situational detection data through the transmission module, and calculate the dosing parameters, injection sealing parameters, and suction rate parameters; and a collaborative operation module electrically connected to the transmission module, and including an intelligent dosing submodule, a high-pressure injection submodule, a vacuum extraction submodule, and a harmless treatment submodule, to receive the dosing parameters, injection sealing parameters, and suction rate parameters through the transmission module. The system includes a suction rate parameter, and performs the preparation and application of the sealing and solidifying agent, the spraying and sealing of the sealing and solidifying agent, the suction and storage of the leaked waste liquid, and the harmless treatment of the leaked waste liquid. A verification alarm module, electrically connected to the transmission module, is configured to collect sealing verification data and water quality verification data in real time, determine whether the sealing verification and water quality verification are qualified, output a second alarm signal when unqualified, and determine whether chemical waste liquid is leaking based on the detected data, outputting a first alarm signal when leaking. A control module, electrically connected to the transmission module, is configured to transmit instructions to the detection module, the calculation module, the collaborative operation module, and the verification alarm module through the transmission module, and simultaneously collect and record data parameters and processing results of the chemical waste liquid leakage process, forming a standardized report. Compared with the prior art, the beneficial effects of the rapid sealing and harmless treatment system for chemical waste liquid leakage of the present invention are the same as those of the rapid sealing and harmless treatment method for chemical waste liquid leakage described above, and will not be repeated here. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings.

[0018] Figure 1 : A schematic flowchart of the rapid sealing and harmless treatment method for chemical waste liquid leakage in this embodiment of the invention; Figure 2 : A schematic diagram of the connection between the rapid sealing and harmless treatment system for chemical waste liquid leakage in this embodiment of the invention.

[0019] Among them, 1-detection module, 2-transmission module, 3-computation module, 4-cooperative operation module, 5-verification alarm module, and 6-control module. Detailed Implementation

[0020] To better understand the present invention, the following embodiments further illustrate the content of the invention, but the scope of protection of the present invention is not limited to the following embodiments. Numerous specific details are set forth in the following description to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "one" and "more" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] In a first aspect, an embodiment of the present invention provides a method for rapid sealing and harmless treatment of leaked chemical waste liquid, comprising: S1, acquiring real-time situation detection data of the chemical waste liquid container; when a chemical waste liquid leak occurs in the container, outputting a first alarm signal; and calculating and acquiring dosing parameters, injection sealing parameters, and suction rate parameters based on the situation detection data after the leak; S2, sequentially preparing and dispensing the sealing and solidifying agent and injecting the sealing and solidifying agent according to the dosing and injection sealing parameters, while simultaneously suctioning and storing the leaked waste liquid according to the suction rate parameters; S3, determining the type of leaked waste liquid based on the collected leaked waste liquid, and matching the corresponding harmless treatment method. The treatment process involves treating the leaked waste liquid according to the harmless treatment process; S4, after the spray sealing is completed, the sealing location is verified. After the first round of suction, storage and harmless treatment are completed, the water quality of the harmlessly treated liquid is verified. If the sealing verification and / or water quality verification are unqualified, the suction, storage and harmless treatment are maintained in continuous operation, a second alarm signal is output, and a second sealing and / or adjustment of the harmless treatment parameters is performed; S5, when both the sealing verification and water quality verification are qualified, and the suction, storage and harmless treatment are completed, on-site repair work is carried out, and the data parameters and treatment results of the chemical waste liquid leakage process are collected and recorded simultaneously to form a standardized report.

[0024] In this embodiment, firstly, as... Figure 1 As shown in S1, the system continuously collects detection information from chemical waste containers. It uses drones for inspection to identify anomalies in temperature, liquid diffusion, corrosivity, and volatility. A ground robot then precisely confirms the leak's diameter, pressure, and flow rate. Upon leak detection, an initial alarm is issued. Simultaneously, based on the detection data, it calculates parameters for chemical dosing, injection sealing, and suction rates, achieving a second-level response from anomaly detection to decision output. This avoids delays in manual judgment that could lead to an expansion of the leak area and escalation of risk. Subsequently, as... Figure 1 As shown in S2, the system sequentially and precisely prepares and dispenses the sealing and curing agent according to the calculated parameters, simultaneously activating the high-pressure jetting robot to quickly seal the leak point, while the vacuum suction device operates according to Q. 收 The rule of ≥1.2×Q0 is used to continuously pump out waste liquid within the dike, achieving simultaneous operation of sealing, enclosure, and pumping, blocking the diffusion path of waste liquid from the source, and ensuring that the leak area is always in a controllable and sealed state, preventing leakage into the external environment; then, as Figure 1 As shown in S3, the system automatically determines whether the waste liquid is acidic, alkaline, contains heavy metals, is toxic organic, or a mixture based on the pH, media characteristics, corrosion features, and physicochemical state detected by the sampling and collection system. It then matches the appropriate acid-base neutralization, chelation precipitation, oxidative degradation, or multi-stage combined harmless treatment process. Treatment agents are precisely calculated and added according to the real-time collection flow rate and pollutant concentration, achieving a continuous operation mode of collection-and-treatment and flow-matched treatment, avoiding safety risks such as corrosion, poisoning, and explosion caused by waste liquid accumulation. Next, as... Figure 1 As shown in S4, after the spray sealing is completed and allowed to solidify, the sealing is verified through ultrasonic density testing, visual leakage observation, pressure holding test, and liquid level change. After the harmless treatment is completed, the pH, COD, heavy metals, and toxic organic matter indicators of the effluent are verified. If any verification fails, the system maintains continuous operation of suction storage and harmless treatment without interruption or shutdown, and simultaneously outputs a second alarm signal, automatically performing secondary sealing or adjusting the harmless treatment process parameters, forming a strict closed loop of treatment, verification, correction, and re-verification, eliminating environmental and safety hazards caused by sealing failure and substandard treatment; finally, as Figure 1As shown in S5, once the sealing and water quality verifications are both successful, and the pumping, storage, and harmless treatment are completed, the system initiates on-site cleanup, residue removal, in-situ remediation of contaminated soil, equipment cleaning, and on-site restoration. Simultaneously, it automatically collects all process data parameters and results, revises, supplements, and verifies them to generate a standardized report, ensuring the disposal process is traceable, verifiable, acceptable, and archiveable. This setup enables unmanned, rapid, precise, and closed-loop disposal of chemical waste leaks, significantly improving leakage handling efficiency and safety, reducing the risks of manual operation, meeting the emergency disposal needs of high-risk, highly toxic, and highly corrosive waste liquids in chemical scenarios, and solving the problems of slow response, low precision, lack of closed-loop management, and susceptibility to secondary pollution associated with traditional disposal methods.

[0025] It should be noted that the spray sealing system has a built-in time separation control mechanism, which ensures that the material does not solidify for ≤3 seconds during the delivery stage and solidifies rapidly upon reaching the leak point, thus resolving the contradiction between pipe blockage and rapid sealing. The harmless treatment adopts real-time flow-following dosing, ensuring that the treatment rate is always no less than the collection rate, achieving zero retention and zero accumulation. If the dual verification fails, a continuous treatment mode without shutdown is adopted, with continuous operation throughout the entire process of containment, suction, and treatment. The standardized report automatically collects four types of data: detection, operation, verification, and results, achieving full-process digital traceability and compliant archiving. When implementing rapid sealing and harmless treatment methods for chemical waste liquid leaks, the intelligent command platform of the rapid sealing and harmless treatment system for chemical waste liquid leaks adopts an industrial Ethernet (Profinet / Modbus TCP), an explosion-proof wireless local area network (Wi-Fi 6 explosion-proof type), and a 5G industrial-grade low-latency module to form a dual-link hot standby communication system. This ensures that data is not lost in hazardous chemical environments, latency is ≤100ms (0.1 seconds), and the output response time for the first alarm and the three major operating parameters is ≤10 seconds, meeting the "second-level transmission" requirement.

[0026] Optionally, the situation detection data includes environmental data and leak point data. The real-time acquisition of situation detection data for the chemical waste liquid container in S1, and the output of a first alarm signal when a chemical waste liquid leak occurs, specifically includes: S11, using a drone to inspect the area where the chemical waste liquid container is located and acquiring environmental data of the inspected area; determining whether there is an abnormal leakage risk based on the environmental data, including abnormal temperature, abnormal liquid diffusion, abnormal corrosiveness, and abnormal volatility; S12, if an abnormal leakage risk is determined, using a ground-based detection robot to detect the chemical waste liquid container in the area with the abnormal leakage risk; determining whether the chemical waste liquid container is leaking based on the detection results; if so, outputting a first alarm signal and acquiring leak point data, including leak point parameters such as leak point diameter, leak pressure, and leak flow rate.

[0027] In this optional embodiment, during the real-time acquisition of detection data for chemical waste liquid containers, firstly, a drone conducts a fully automated patrol inspection of the area where the chemical waste liquid container is located, collecting environmental data such as temperature field, liquid diffusion traces, corrosive gas concentration, and volatile gas concentration in real time. By comparing with benchmark values, it is determined whether there is an abnormal risk of leakage, including abnormal temperature rise or fall, liquid diffusion traces on the ground, excessive corrosive media characteristics, or excessive volatile toxic gas, etc., to achieve rapid, non-contact, and blind-spot-free risk screening of large areas, solving the problems of low efficiency, insufficient coverage, and high risk of manual inspection. When an abnormal risk of leakage is determined, a ground detection robot automatically goes to the abnormal area to conduct close-range and high-precision detection of the target chemical waste liquid container. It comprehensively judges whether a leak has actually occurred through vision, ranging, pressure, and flow sensors. If a leak is confirmed, the first alarm signal is immediately output, and three key leak point data, namely leak hole diameter, leak pressure, and leak flow rate, are collected and uploaded simultaneously. This two-tiered detection architecture first uses drones for wide-area early warning, and then ground robots for precise confirmation, significantly reducing false alarm rates and improving response speed. Simultaneously, it provides a real, reliable, and high-precision raw data source for the calculation of the three main parameters of drug preparation, injection, and suction, ensuring that subsequent blocking and treatment actions are precisely matched to the working conditions. This avoids problems such as blocking failure, insufficient suction, or over- or under-treatment due to data deviations, improving the reliability and environmental adaptability of the entire system. It can replace manual operation in high-risk, toxic, confined, and complex terrain scenarios, ensuring personnel safety and achieving fully unmanned detection and alarm throughout the entire process.

[0028] It should be noted that the drone uses multi-sensor fusion inspection, including simultaneous operation of infrared thermal imaging, gas sensing and visual recognition; the ground robot is explosion-proof, corrosion-resistant, waterproof and obstacle-crossing, and can adapt to acid, alkali, oil and rugged terrain; the two-level detection has an automatic link switching function, and the robot automatically plans the optimal path after the drone detects an anomaly; the detection data has real-time calibration and error correction functions to ensure that the accuracy of the missing point parameters is ≤±1%.

[0029] Optionally, the calculation of the dosing parameters, injection sealing parameters, and suction rate parameters in S1 based on the detection data after the chemical waste liquid leak specifically includes: S13, obtaining the preset target curing time of the leak point based on the leak point aperture using the following formula: (1.1), Among them, t 固 S14. Based on the preset target curing time, leak hole diameter, and leakage pressure, the curing agent mass dosage is obtained using the following formula, and the curing agent mass dosage is constrained to 0.5%-2.0%, forming the dosing parameters and outputting them: (1.2), Where ω is the mass dosage of the curing agent, and k d The correction factor for the leakage point diameter is fixed at 0.9 and determined by least squares fitting. R0 2 ≥0.985, k P R is a correction factor for leakage pressure, fixed at 1.2, determined by least squares fitting. 2 ≥0.990, P is the leakage pressure, k T The temperature correction factor, a fixed value of 0.0041, is determined by least squares fitting. R0 2 ≥0.975, where T is the ambient temperature, collected by a drone, and (T+273.15) is the thermodynamic temperature, converted from Celsius to Kelvin; S15, based on the leakage pressure, the injection pressure is obtained according to the following formula, and the injection pressure is constrained to 0.8~1.2MPa: P 喷 =P+ΔP (1.3) Among them, P 喷 S16. The injection pressure is ΔP, which is a safety margin of 0.3~0.7 MPa. Based on the three-dimensional coordinates of the leak location collected by the ground detection robot, the injection target positioning point is generated. Segmented points are selected within the preset target curing time range to form the delivery stage time and curing stage time. The injection pressure, injection target positioning point, delivery stage time, and curing stage time are integrated to form the injection sealing parameters and output them. The delivery stage time is less than or equal to 3 seconds. S17. Based on the leakage flow rate, the suction flow rate is obtained according to the following formula: Q 收 ≥1.2×Q0 (1.4) Among them, Q 收 Q0 is the suction flow rate, and Q0 is the leakage flow rate.

[0030] In this optional embodiment, during the calculation of the drug dosing parameters, injection sealing parameters, and suction rate parameters, firstly, based on the leak hole diameter d collected by the ground robot, and according to equation (1.1), the target curing time t is determined according to the segmentation rule. 固 For d≤5mm, the curing time is 1~3min; for d>5mm, the time is 3~5min. This ensures the curing speed matches the pore size, allowing for rapid sealing of small pores and thorough curing of large pores, thus improving sealing strength and reliability. Subsequently, based on t 固 Substituting , d, P and T into the inverse vectorization formula (1.2) to calculate the curing agent mass dosage ω, formula (1.2) integrates the effects of pore size, pressure and temperature on the curing rate, where k d =0.9、k P =1.2 and k T =0.0041 were all obtained by least squares fitting, and the fit R was 0.0041.2 ≥0.975, after calculation, ω is constrained within the range of 0.5%~2.0% to form stable and safe dosing parameters, avoiding insufficient sealing due to slow curing of the sealing and curing agent during use, or pipe blockage due to excessive curing; then, based on equation (1.3), the injection pressure is calculated according to the leakage pressure P, ΔP is taken as 0.3~0.7MPa, ensuring that the injection pressure is slightly higher than the leakage pressure, ensuring that the sealing agent can overcome the pressure at the leak point and enter the gap, while constraining the pressure within the safe range of 0.8~1.2MPa to prevent excessive pressure from dispersing the slurry or damaging the equipment; then, the injection positioning point is generated according to the three-dimensional coordinates of the leak point, at t 固 The process is divided into a delivery stage and a curing stage. The delivery stage lasts ≤3 seconds to ensure that the sealing and curing agent does not cure in the pipeline but reacts quickly at the leak point. Then, the above data are integrated to form complete injection sealing parameters. Finally, the suction flow rate Q is calculated according to equation (1.4) and the leakage flow rate Q0. 收 This ensures that the suction capacity is always greater than the leakage amount, preventing the accumulated liquid from overflowing the containment dike. With this setting, the calculation logic of the above three parameters is completed automatically based on real-time operating conditions without manual intervention. The parameters are accurately matched to the leakage scenario, realizing collaborative decision-making throughout the entire process of sealing, suction, and chemical preparation, which greatly improves the success rate, safety, and intelligence level of the treatment.

[0031] It should be noted that the parameter calculation has an outlier protection mechanism, automatically recalculating if it exceeds the reasonable range; the spray pressure has a dynamic fine-tuning function, making small corrections based on real-time feedback; the amount of curing agent added is compensated in real time with temperature, automatically and slightly increasing at low temperatures; the suction flow rate adopts frequency conversion closed-loop regulation to achieve continuous and stable output; all parameter calculation processes are automatically saved for report generation and traceability.

[0032] Optionally, S2, which involves sequentially preparing and dispensing the sealing and curing agent according to the dosing parameters and the injection sealing parameters, specifically includes: S21, determining whether ω is within the range of 0.5%≤ω≤2.0% based on the curing agent mass dosage in the dosing parameters; if not, repeating the calculation process for the curing agent mass dosage; if yes, injecting the nano-modified water-soluble resin plugging agent mother liquor into the dosing tank and injecting the curing agent into the dosing tank under stirring conditions; S22, verifying whether the curing agent mass dosage in the dosing tank meets the standard based on the following formula according to the total mass of the liquid in the dosing tank; if not, adjusting the mass of the liquid in the dosing tank; if yes, continuously stirring the liquid in the dosing tank and allowing it to stand and mature to obtain the sealing and curing agent to be sprayed. m 固化剂 =ω×m 母 (2.1), Where, m 固化剂 For the quality of the curing agent, m 母S23. Deliver the sealing and curing agent to the high-pressure spraying robot, move the high-pressure spraying robot to the preset spraying position based on the spraying target positioning point, and adjust the posture to face the center of the leak point; S24. Based on the spraying pressure, the delivery stage time, and the curing stage time, output the sealing and curing agent to the leak point through the high-pressure spraying robot, and observe the sealing area after spraying.

[0033] In this optional embodiment, during the preparation and application of the sealing and curing agent and the spraying and sealing process, the system first verifies whether ω is within the legal range of 0.5%≤ω≤2.0%. If not, it recalculates to ensure the safe and effective proportion of the curing agent. After the verification is passed, the nano-modified water-soluble resin plugging agent mother liquor is injected into the mixing tank. The curing agent is added uniformly under continuous stirring to avoid excessive local concentration leading to premature curing, pipe blockage, or nozzle blockage. Subsequently, based on the total mass in the mixing tank, the actual dosage is verified according to formula (2.1) to ensure it meets the standard. If it does not meet the standard, the mass of the mother liquor or curing agent is automatically adjusted. After meeting the standard, the system is continuously stirred to ensure the system meets the standard. The mixture is homogenized and then allowed to stand for curing to ensure thorough dispersion of the curing agent, resulting in a curing agent with satisfactory flowability and curing speed for spraying. Next, the compounded curing agent is conveyed in a sealed container to a high-pressure spraying robot. The robot automatically moves to a preset position based on the three-dimensional coordinates of the leak point, adjusting its posture to precisely align the nozzle with the center of the leak, ensuring complete spray coverage and minimal positioning deviation. Finally, the robot performs the spraying operation according to the spraying pressure, delivery stage time, and curing stage time. During the delivery stage, the slurry is kept uncured, allowing for rapid reaction and molding upon reaching the leak point. After spraying, the sealed area is kept static for observation to ensure sufficient curing and a dense structure. This setup creates a spraying and sealing process with high preparation accuracy, uniform mixing, precise positioning, and stable spraying. It can adapt to different orifice diameters, pressures, and temperature conditions, achieving high-strength, rapid, and reliable sealing, solving the problems of uneven preparation, inaccurate positioning, easy pipe blockage, and weak sealing associated with traditional manual methods.

[0034] It should be noted that the dosing system has an online viscosity monitoring function, which automatically extends the stirring time when abnormalities occur; the spraying robot has an adaptive posture adjustment function, which can adapt to slopes, vertical surfaces, and top leak points; the spraying process has real-time flow monitoring to prevent material interruption and dry spraying; during the static observation stage, temperature and curing status are collected simultaneously to determine the best time for verification; the pipeline has an automatic cleaning function, which automatically flushes to prevent blockage after spraying.

[0035] Optionally, before injecting the nano-modified water-soluble resin plugging agent stock solution into the mixing tank in step S21, the process further includes: heating the aqueous resin matrix to 40–60°C, adding 1.5%–2.5% nano-SiO2 or 2%–4% organomontmorillonite to form a mixed solution, shearing and dispersing the mixed solution at a rotation speed of 3000–5000 r / min for 30 min, adding 0.5%–1% silane coupling agent KH550 for interfacial grafting, and maintaining the reaction temperature for 60 min to obtain the nano-modified water-soluble resin-based plugging agent stock solution.

[0036] In this optional embodiment, before injecting the nano-modified water-soluble resin plugging agent stock solution into the mixing tank, the nano-modified water-soluble resin plugging agent stock solution is prepared first. First, the aqueous resin matrix is ​​heated to 40-60°C to reduce the viscosity of the system and increase its fluidity, which facilitates the uniform dispersion of nanomaterials. Then, nanomaterials, namely 1%-3% nano-SiO2 or 2%-4% organomontmorillonite, are added. The average particle size of nano-SiO2 is 20-50nm, forming a composite mixture system. The high specific surface area and reinforcing effect of nanomaterials are used to improve the compressive strength, impact resistance and corrosion resistance of the sealing layer. Next, the mixture is subjected to high-speed shear dispersion at 3000-5000 rpm for 30 minutes to break up agglomerated particles, ensuring uniform distribution of nanomaterials and guaranteeing system stability and homogeneity. Then, 0.5%-1% of silane coupling agent KH550 is added for interfacial grafting, forming a chemical bond between the nanomaterials and the resin matrix. This enhances interfacial adhesion, water resistance, and resistance to media corrosion, preventing delamination, detachment, and failure in acidic, alkaline, oily, and organic solvent environments. Finally, the grafted mixture is kept at a constant temperature for 60 minutes to ensure complete reaction, ultimately yielding a nano-modified water-soluble resin-based sealant mother liquor. This setup, when combined with the curing agent, offers advantages such as rapid curing, high strength, high adhesion, resistance to acid and alkali corrosion, and adaptability to both low and high temperature environments. It can maintain stable sealing even under the flushing of chemical waste liquids, addressing the shortcomings of traditional sealants such as low strength, poor corrosion resistance, easy detachment, and poor adaptability.

[0037] It should be noted that the mother liquor preparation process has closed-loop temperature control with an accuracy of ±1℃; high-speed shearing has power monitoring to determine dispersion uniformity; viscosity changes are monitored online during the grafting reaction process; the finished mother liquor can be stored at low temperatures and has a long shelf life; after compounding, it can adapt to various complex waste liquid environments such as strong acids, strong alkalis, high salts, and organic solvents.

[0038] Optionally, the simultaneous suction and storage of leaked waste liquid based on the suction rate parameter in S2 specifically includes: S25, while moving the high-pressure jetting robot to the preset jetting position based on the jetting target positioning point, obtaining the leak area based on the leak point location, unfolding the folded inflatable cofferdam around the leak area, and moving the vacuum suction device to the lowest point inside the folded inflatable cofferdam to start the suction function; S26, while the high-pressure jetting robot outputs the sealing and curing agent, based on the suction flow rate, suctioning the liquid inside the folded inflatable cofferdam through the vacuum suction device and storing it in a sealed container, while simultaneously acquiring liquid level data and air pressure data for the folded inflatable cofferdam; S27, comparing the leakage flow rate and the actual suction flow rate of the vacuum suction device in real time, dynamically adjusting the actual suction flow rate based on the multiple relationship between the leakage flow rate and the suction flow rate, and simultaneously verifying the liquid level data and air pressure data in real time. When an abnormality occurs, adjusting the enclosure structure of the folded inflatable cofferdam and the actual suction flow rate in real time.

[0039] In this optional embodiment, during the suction and storage of leaked waste liquid, firstly, while the high-pressure jetting robot is positioned, the system automatically deploys a folding inflatable dike around the leak area to form a sealed enclosure. The vacuum suction equipment automatically moves to the lowest point inside the dike to ensure that the accumulated liquid is collected and thoroughly drained. Then, while the jetting robot begins to spray and seal the leak, the suction equipment follows Q... 收 Waste liquid is continuously pumped out at a flow rate of ≥1.2×Q0 and stored in a sealed container. The internal liquid level and air pressure of the containment dike are monitored in real time to ensure the stability of the containment structure, preventing collapse or displacement. Then, the system compares the leakage flow rate with the actual pumping flow rate in real time and dynamically adjusts the pumping flow rate according to the ratio to ensure that the pumping capacity is always greater than the leakage. At the same time, the liquid level and air pressure are checked in real time. If abnormalities such as excessively high liquid level, insufficient air pressure, or structural displacement occur, the containment dike shape and pumping flow rate are automatically adjusted to prevent liquid overflow, dike failure, and waste liquid diffusion. This setup enables the entire process to achieve a dynamic adjustment mechanism of containment, pumping, blocking, and adjustment, doubly blocking the leakage diffusion path in both space and time, ensuring that the entire disposal process is safe, sealed, and controllable, and does not cause pollution to the external environment.

[0040] It should be noted that the cofferdam has an automatic air replenishment and pressure stabilization function, with air pressure fluctuations ≤ ±0.01MPa; the suction equipment has anti-lock, anti-corrosion, and explosion-proof designs; the liquid level monitoring uses a non-contact sensor, which is unaffected by corrosion; the flow regulation adopts a millisecond-level closed-loop response; and the bottom of the cofferdam has an adaptive seal, which can adapt to uneven ground. Outside the leak area, an explosion-proof, rapidly inflatable, leak-proof cofferdam is used for quick containment and sealing. The cofferdam is made of TPU corrosion-resistant airtight fabric and features a ring-shaped airbag structure and a widened flexible sealing skirt. In use, the cofferdam is deployed unmanned. A ground-based detection robot / robotic arm quickly unfolds the folded cofferdam around the leak area to form a closed loop. The explosion-proof air pump is activated, and inflation and shaping are completed within 30-60 seconds, forming a liquid-blocking dike with a height of 150-300mm. Under the action of internal air pressure, the bottom sealing skirt of the cofferdam adheres tightly to the ground, automatically filling and fitting uneven areas. The ground hooks are lightly pressed and fixed to prevent it from being lifted by the buoyancy of the waste liquid, ensuring complete containment. The air pressure inside the cofferdam's airbags causes the bottom skirt to press evenly against the ground, forming a liquid-tight barrier. The flexible skirt is adaptable to rough surfaces such as cement, soil, and steel plates, preventing leakage and liquid spread. The cofferdam's ends are sealed with overlapping airtight buckles and adhesive, with no interface leakage. The vacuum suction device starts synchronously with the inflatable cofferdam, forming a closed loop within the cofferdam. The main suction head is positioned at the lowest point inside the cofferdam (the collection pit), while 2-4 auxiliary suction heads are evenly distributed along the inner side of the cofferdam, covering the entire area. The main suction pipe leads to a leak-proof storage tank for sealed transport. The suction head is a large-diameter, anti-clogging suction disc with an anti-sucking bottom protrusion to prevent adhesion to the ground and damage to the coating. It is protected by a 20-40 mesh removable corrosion-resistant filter and uses an ExdIICT6 explosion-proof structure, suitable for flammable and explosive organic waste liquid scenarios. It also features pulse backflushing and negative pressure monitoring, allowing for automatic timed unclogging. In case of blockage, it automatically alarms and initiates unblocking. The easy-to-clean structure allows for quick on-site cleaning of the filter. Furthermore, after the vacuum suction device starts, as the leakage increases, the suction power automatically increases; as the leakage decreases, the suction power automatically decreases. Once the sealing is complete and the leakage is zero, suction stops after a delay, ensuring no residual waste liquid remains inside the cofferdam.

[0041] Optionally, S3 specifically includes: S31. Based on the collected leaked waste liquid, determine the type of leaked waste liquid by detecting its parameters, including pH value, medium characteristic parameters, corrosion characteristic parameters, and physicochemical state parameters. The types of leaked waste liquid include acidic chemical waste liquid, alkaline chemical waste liquid, heavy metal chemical waste liquid, toxic organic waste liquid, and mixed chemical waste liquid; S32. Based on the type of leaked waste liquid, match the corresponding harmless treatment process, including acid-base neutralization treatment process, integrated precipitation and neutralization synergistic treatment process, oxidative degradation and stabilization synergistic treatment process, and multi-stage combined synergistic harmless treatment process; S33. Based on the flow rate and parameters of the leaked waste liquid during collection, calculate the dosage of reagents for the harmless treatment process, and add reagents to the leaked waste liquid and stir to mix it.

[0042] In this optional embodiment, during the specific process of harmless treatment in S3, firstly, the system monitors the pH, media characteristics, corrosion features, and physicochemical state of the collected waste liquid in real time, automatically determining it to be acidic, alkaline, heavy metal, toxic organic, or mixed chemical waste liquid, providing a basis for subsequent treatment. Next, the system automatically matches the optimal process based on the waste liquid type: acidic / alkaline waste liquids use a neutralization process, heavy metal waste liquids use a chelation precipitation plus neutralization synergistic process, and toxic organic waste liquids use an oxidation degradation plus stabilization process; mixed waste liquids use a multi-stage combined process to ensure efficient, economical, and safe treatment. Finally, the system calculates the reagent dosage based on the real-time collection flow rate and pollutant concentration, accurately adds the reagent, and thoroughly mixes it to ensure a rapid and complete reaction, with the treatment rate always not lower than the collection rate, achieving zero retention, zero accumulation, and continuous treatment. This setup avoids problems such as human judgment errors, coarse reagent addition, or incomplete treatment, ensuring stable effluent compliance.

[0043] It should be noted that the treatment process has an adaptive switching function; the addition of reagents adopts closed-loop control of metering pumps; the pH, ORP and turbidity are monitored online during the reaction process; the treatment unit has anti-sedimentation and anti-clogging design; the sludge is automatically concentrated and temporarily stored for easy hazardous waste disposal; when it is determined to be mixed chemical waste liquid, a three-stage treatment process of oxidation pretreatment, neutralization adjustment and deep adsorption is adopted in sequence.

[0044] It should be noted that the formula for calculating the dosage during the harmless treatment process includes: Neutralizing agent dosage (acid and alkali waste liquid): m 中和 =k 中和 ×Q 收 ×|pH 目标 -pH0|, where m 中和 The mass of neutralizing agent (g / h), k 中和 The neutralization reaction coefficient (fixed experimental value) is taken as 0.05 g / (L・pH), Q 收is the collection rate (L / h), and the pH 目标 is 7.0 - 8.5. The dosage of the advanced treatment agent (chelating / oxidizing): m 深度 = k 深度 × Q 收 × C 初始 , where C 初始 is the initial concentration of pollutants (mg / L), and k 深度 is the coefficient of the advanced treatment agent, taking 0.08 g / (L·mg / L).

[0045] Optionally, S4 specifically includes: S41. After the injection plugging is completed, the injection is stopped and after the curing and standing stage is completed, the density of the plugging layer at the leakage position is detected by ultrasonic detection to obtain density data, whether there is waste liquid leakage around the leakage position is detected visually to obtain the leakage state, the leakage position is subjected to pressure holding detection to obtain pressure change data, and the liquid level change data around the leakage position is obtained; S42. Based on the density data, the leakage state and the pressure change data, it is determined whether the leakage position is abnormal. If not and the liquid level change data shows a decrease, it is determined that the plugging verification is qualified. If so, it is determined that the plugging verification is unqualified, the suction storage and harmless treatment are maintained to continue running, a second alarm signal is output and secondary plugging is performed; S43. When the liquid level around the leakage position remains below the preset height and there is no new accumulated liquid, and after the harmless treatment is completed once, the water quality parameters of the liquid after the harmless treatment are collected, and based on the water quality parameters, it is determined whether it is abnormal. If not, it is determined that the water quality verification is qualified. If so, it is determined that the water quality verification is unqualified, the suction storage and harmless treatment are maintained to continue running, a second alarm signal is output and the parameters of the harmless treatment are adjusted, where the water quality parameters include pH value, COD value, heavy metal content value and toxic organic matter content value.

[0046] In this optional embodiment, after the injection plugging is completed and the curing and standing are carried out, first, the density of the plugging layer is detected by ultrasonic detection, whether there is leakage is visually monitored, the pressure stability is detected by pressure holding, and the liquid level change of the cofferdam is monitored, and the plugging state is comprehensively judged. Among them, if the density is qualified, there is no leakage, the pressure holding is stable, and the liquid level drops, it is determined that the plugging is qualified, otherwise it is determined to be unqualified. The system maintains the suction and harmless treatment to continue running, outputs a second alarm and performs secondary plugging; when the liquid level is stable and qualified and the primary harmless treatment is completed, the pH, COD, heavy metals and toxic organic matter of the effluent are collected for detection. If all are up to standard, the water quality is qualified, otherwise the system operation, alarm and adjustment of treatment parameters are maintained for secondary harmless treatment. Such a setting ensures reliable plugging and qualified treatment through double verification. If any item is unqualified, the machine will not stop, the process will not be interrupted, and it will not be relaxed, completely eliminating the risk hazards.

[0047] It should be noted that the plugging verification has the function of automatically recording images and data; the water quality detection has the function of simultaneous acquisition of multiple parameters; the non-compliance correction adopts intelligent algorithm for automatic adjustment; the secondary plugging parameters are optimized based on the previous results; the verification data is uploaded to the platform in real time and supports remote confirmation.

[0048] Optionally, S5 specifically includes: S51, when both the sealing verification and water quality verification are qualified, and the pumping, storage and harmless treatment are completed, on-site cleanup and residue removal are carried out, in-situ remediation of contaminated soil is carried out, and equipment cleaning and on-site remediation are carried out; S52, based on situation detection data, equipment operating parameters, verification and testing data and treatment result data, the data parameters and treatment results of the treatment process after the chemical waste liquid leakage are automatically collected and recorded, and the records are revised, supplemented and verified to form a standardized report.

[0049] In this optional embodiment, after the sealing and harmless treatment are deemed satisfactory, the system automatically performs on-site cleanup, removing leak residue and contaminants, remediating the contaminated soil in situ, and adding neutralizing, chelating, and degrading agents according to the type of contamination to ensure the soil meets standards. Simultaneously, all equipment is cleaned, reset, and maintained to restore the site to its original state. Next, the system automatically collects data from the entire process of detection, operation, verification, and results, revising, supplementing, and verifying the data to ensure its accuracy and completeness, ultimately generating a standardized report. This setup enables complete elimination of contamination, safe on-site restoration, and traceability of the treatment process.

[0050] It should be noted that the on-site remediation has an effect retesting function. On-site remediation and hazardous waste disposal include in-situ remediation of contaminated soil, biological deodorization / activated carbon adsorption of waste gas, and classified collection and standardized transfer of hazardous waste; equipment cleaning is automatically completed and self-inspected; reports can be exported to PDF, Excel and other formats; data is encrypted and stored to prevent tampering; and it supports integration with enterprise environmental protection platforms and regulatory systems.

[0051] Example 1: A sulfuric acid waste liquid transportation pipeline suddenly leaks. The leak point diameter is d=3mm, the leakage pressure is P=0.8MPa, the on-site temperature is T=25℃, the initial pH value of the waste liquid is pH0=2.5, and the instantaneous leakage rate is Q0=5L / min. According to equations (1.1) and (1.2), the curing agent mass dosage is calculated to be ω=1.2%, and the curing time of the sealant is t. 固 =2.1min; After the intelligent drug preparation system mixes the plugging agent, the unmanned spraying equipment seals the leak point, and simultaneously builds a dike to collect the waste liquid, with a collection rate Q 收=6L / min; determined to be acidic waste liquid, a neutralization and solidification process was adopted. The intelligent dosing system dynamically added sodium hydroxide neutralizer according to the real-time collection volume of waste liquid to adjust the pH of the waste liquid to 7.2. Solidifying agent was added to solidify the waste liquid; there was no leakage after the leak was sealed. The treated waste liquid had pH=7.2 and COD=58mg / L, which met the emission standards. The overall treatment time was 45 minutes.

[0052] Example 2: A storage tank containing lead and cadmium heavy metal waste liquid suddenly leaked. The tank was made of stainless steel, and the surrounding area was a closed operating area. Detection revealed that the leak point had an orifice diameter of d=8mm, a leakage pressure of P=1.5MPa, an on-site temperature of T=40℃, an initial pH value of pH0=3.0, a lead ion concentration of 120mg / L, a cadmium ion concentration of 85mg / L, an instantaneous leakage rate of Q0=12L / min, and the leak point was a weld crack. Based on equations (1.1) and (1.2), the curing agent dosage ω=1.8% and the sealing agent curing time t were calculated. 固 =4.2min; The intelligent dosing system mixes the sealant according to this ratio, and the unmanned high-pressure jet sealant equipment sprays the sealant at a pressure of 1.2MPa in layers to the weld of the leak point. At the same time, a double-layer inflatable dike is built to prevent the dike from breaking. The vacuum suction device collects the waste liquid, and the collection rate Q 收 =15L / min; A chelation and neutralization process was adopted. First, 5% dithiocarbamate chelating agent was added to remove heavy metal ions. The chelation reaction time was 20min, and the stirring rate was 400r / min. Then, 20% calcium hydroxide neutralizing agent was added to adjust the pH to 8.5. After the leak was sealed, a 2MPa pressure test was conducted, and there was no leakage, with a sealing success rate of 100%. The treated waste liquid was monitored online, and the lead ion concentration was 0.03mg / L, the cadmium ion concentration was 0.02mg / L, and the pH was 8.5. The contaminated tank foundation was treated in situ with chelation remediation agent. The disposal consumables were handed over to a qualified unit for disposal in accordance with hazardous waste regulations. The overall leakage accident response time was 52 minutes.

[0053] Example 3: Handling of high-pressure leak at the flange of a toxic organic waste liquid equipment at low temperature. A sudden leak occurred at the flange of a reactor containing methanol and toluene, a toxic organic waste liquid. The reactor is made of enamel, the ambient temperature is 5℃ (low temperature), and there are flammable and explosive gases in the surrounding area, making it an explosion-proof work area. The leak was detected by a non-contact explosion-proof intelligent detection system, which determined that the leak was due to a failure of the flange seal. The equivalent orifice diameter was d=5mm (medium orifice diameter), the leakage pressure was P=3.0MPa (high pressure), the initial pH of the waste liquid was pH0=6.0, COD=15000mg / L, and the instantaneous leakage rate was Q0=8L / min. According to equations (1.1) and (1.2), the required curing time t is calculated. 固=2.8min, the calculated curing agent mass dosage ω=2.0% (upper limit of the range); the intelligent dosing system mixes the sealant according to this ratio, and uses an explosion-proof unmanned high-pressure jet sealant equipment to spray the sealant onto the flange leak point at a pressure of 0.8MPa. Simultaneously, an explosion-proof inflatable dike is built, and an explosion-proof vacuum suction device is used to collect the waste liquid, with a collection rate Q. 收 =10L / min, nitrogen protection was maintained throughout the operation site; the intelligent command platform determined that it was toxic organic waste liquid, and Fenton oxidation and neutralization process was adopted; Fenton reagent (ferrous sulfate: hydrogen peroxide = 1:3, mass ratio) was added by the intelligent dosing system, the oxidation reaction time was 30min, the stirring rate was 500r / min, and the COD removal rate was ≥90%; after the reaction was completed, 5% sodium carbonate neutralizing agent was dynamically added to adjust the pH value of the waste liquid to 7.5; after the leak point was sealed, a pressure test of 3.5MPa was conducted, and there was no leakage; after treatment, the waste liquid was monitored online, and the COD was 1200mg / L, pH was 7.5, and the concentrations of methanol and toluene met the "Integrated Emission Standard of Air Pollutants" (GB16297-1996) and relevant wastewater discharge standards. The waste liquid was subsequently sent to the park's sewage treatment plant for further treatment; activated carbon was used to adsorb organic waste gas at the leak site, and the activated carbon was disposed of in accordance with hazardous waste regulations. The overall leak accident response time was 58 minutes.

[0054] Example 4: Handling of an irregular leak in a buried alkaline waste liquid pipeline under high temperature and medium pressure. A sudden leak occurred in a buried sodium hydroxide waste liquid transportation pipeline. The pipeline is made of PE material, and the leak point is an irregular gap formed by external force damage. The ambient temperature is 60℃ (high temperature), and the leak point is located 0.8m underground. Detection was performed using underground pipeline detection radar and a ground detection robot. The equivalent aperture of the leak point is d=6mm (large aperture), the leakage pressure is P=1.2MPa (medium pressure), the initial pH value of the waste liquid is pH0=13.5, and the instantaneous leakage rate is Q0=10L / min. According to equations (1.1) and (1.2), the required curing time t is obtained. 固 =3.5min, the calculated curing agent mass dosage ω=1.5%; the intelligent dosing system mixes the leak-sealing agent according to this ratio, and the underground sealing robot precisely injects the leak-sealing agent into the leak location. Simultaneously, a dike is built in the leak area on the ground, and a suction pump is used to collect the seepage waste liquid, with a collection rate Q 收=12L / min; the intelligent command platform determined it to be alkaline waste liquid and adopted a neutralization and solidification process; the intelligent dosing system dynamically added 20% hydrochloric acid neutralizing agent according to the real-time collection volume of waste liquid to adjust the pH value of the waste liquid to 7.0, and then added 3% fly ash solidifying agent to solidify the waste liquid; after the leak point was sealed, underground seepage detection showed no seepage, and the sealing success rate was 100%; after treatment, the waste liquid was monitored online and the pH value was 7.0, and the sodium hydroxide concentration was ≤0.5%, which met the emission standards; the contaminated soil was treated with a combination of acid washing and bioremediation, and the pH value of the soil after remediation was restored to 6.5-7.5. The overall leakage accident response time was 50 minutes.

[0055] Example 5: Handling of a high-pressure leak in a small-aperture tank of mixed waste liquid at low temperature. A sudden leak occurred in a storage tank containing ammonia nitrogen and phenols. The ambient temperature was -5℃ (extreme low temperature, close to the lower limit of 0℃), and the tank was made of low-temperature stainless steel. The low-temperature intelligent detection system detected a leak with an orifice diameter of d=2mm (small orifice), a leakage pressure of P=4.0MPa (high pressure, close to the upper limit of 5MPa), an initial pH of pH0=9.5, an ammonia nitrogen concentration of 800mg / L, a phenol concentration of 500mg / L, and an instantaneous leakage rate of Q0=4L / min. According to equations (1.1) and (1.2), the required curing time t is calculated. 固 =1.8min (1-3min for small aperture adaptation), the calculated curing agent mass dosage ω=1.9%; when the intelligent dosing system compounded the plugging agent, 5% antifreeze was added; the unmanned high-pressure jet plugging equipment sealed the leak point at a pressure of 1.0MPa, and simultaneously built an insulated cofferdam to collect the waste liquid, with a collection rate Q 收 =5L / min; the intelligent command platform determined it to be an alkaline mixed organic waste liquid, and adopted an ozone oxidation and neutralization process; firstly, phenolic substances were degraded by ozone oxidation, with an ozone dosage of 50mg / L and an oxidation time of 25min, achieving a phenol removal rate of ≥95%; then, 10% sulfuric acid was dynamically added as a neutralizing agent to adjust the pH of the waste liquid to 7.8, and ammonia nitrogen was removed by stripping, with a stripping efficiency of ≥90%; after the leak point was sealed, a pressure test at 4.5MPa showed no leakage, and the sealing success rate was 100%; after treatment, the waste liquid was monitored online, and the pH was 7.8, the ammonia nitrogen concentration was ≤80mg / L, and the phenol concentration was ≤25mg / L, which met the "Wastewater Discharge Standard for Coal Chemical Industry" (GB26131-2010); the treatment equipment was reused after low-temperature cleaning, and the overall leak accident handling time was 48 minutes.

[0056] Examples 1 to 5 above illustrate the temperature adaptability range covering normal, medium, low, high, and extreme low temperatures; the pressure adaptability range covering low, medium, and high pressure; the leak point types covering small, medium, large, and irregular pore sizes; and the full range of media types including acidic, alkaline, heavy metal, toxic organic, and mixed waste liquids. They also cover different leakage carriers such as pipelines, tanks, reactors, and buried equipment. This comprehensively verifies the accuracy of the quantitative control formula for the curing time of the sealing material, the precision of the sealing process, and the effectiveness of the collaborative operation system for sealing, collection, and harmless treatment. Specifically, the curing time of the sealing agent deviates from the calculated value by ≤ ±0.2 min; the sealing success rate is 100%; all leaked waste liquids are collected with zero diffusion; all treated indicators meet national and industry emission standards; and the overall disposal time is ≤ 1 hour.

[0057] Example 6: A chemical plant discharged semi-solid slag-containing wastewater (72% water content, solid slag particle size 0.5-3mm, main components include heavy metal ions and organic pollutants). A drone equipped with an infrared thermal imager scanned the leak area at an altitude of 50 meters, identifying 3 leak points with a coordinate accuracy of ±0.2 meters and a response time of 8 seconds. A ground robot approached the leak points and inserted a pressure sensor, measuring a leak pressure of 1.2 MPa and a temperature of 38℃. k is taken as 0.8, according to the formula Q... 固 =k×ρ 渣 ×d 2 The calculated curing agent dosage per unit time was 120 g / s. The high-pressure spraying system was activated, spraying the nano-modified silicate curing agent at 15 MPa pressure, while simultaneously activating the vacuum extraction system with a flow rate of 15 L / s. After 30 seconds of spraying, spraying was paused for 10 seconds, and the pH meter and heavy metal detector were used for the first verification. The test data showed a pH of 10.2 and a heavy metal ion concentration exceeding the standard by 0.5 times, initiating a secondary treatment procedure. The curing agent dosage per unit time was adjusted to 150 g / s, and spraying continued for 20 seconds, again verifying that all indicators met the standards. The equipment was shut down, the pumped wastewater was collected and sent to the wastewater treatment system, and the equipment parameters were tested and a report generated. The leak sealing time was 50 seconds, the total pumped wastewater volume was 750 L, the total curing agent mass was 6.9 kg, and the first verification showed a pH of 10.2 and a Cr content of 750 L / s. 6 =0.6 mg / L (standard 0.5 mg / L), second verification pH=8.5, COD=85 mg / L, Cr 6+ =0.3 mg / L. The pressure and temperature data are taken as the average of 10 consecutive measurements, with the error controlled within ±5%.

[0058] Building upon Examples 1 to 5, Example 6 demonstrates that for the treatment of leaked semi-solid slag-containing wastewater, if the measured solid slag density deviates from the theoretical value by more than 10% in the formula for calculating the mass of solidifying agent added per unit time, the mass of solidifying agent added per unit time must be recalculated. Using dual parallel sample testing and taking the average value as the final result can effectively treat semi-solid slag-containing wastewater. By adjusting the mass of solidifying agent added per unit time, compliant treatment can be achieved, and the treatment time is shortened compared to traditional methods.

[0059] Example 7: An HDPE plastic container (1.2 meters in diameter, 10 mm in wall thickness) was simulated to leak through a 5 mm orifice, with the internal waste liquid being a 20% sulfuric acid solution. A drone used infrared scanning to locate the leak point, and a ground robot detected a leak pressure of 0.8 MPa and a temperature of 25°C. The calculated curing agent dosage was 80 g / s, and the high-pressure spraying system was activated with the spray angle at 45° to the container wall. After 20 seconds of spraying, spraying was paused, and an ultrasonic detector showed a slight leak. The spray angle was adjusted to 60°, and the curing agent dosage was increased to 100 g / s, continuing spraying for another 15 seconds. No further leakage was detected, and the vacuum extraction system was activated with a flow rate of 10 L / s for 30 seconds. The extracted waste liquid was collected, and the pH value was measured at 2.3, before being sent to a neutralization treatment system. Experimental conditions: total sealing time 35 seconds, total mass of curing agent 3.1 kg, total amount of waste liquid pumped out 300 L, first ultrasonic test leakage rate 0.2 L / min, second ultrasonic test leakage rate 0 L / min.

[0060] Example 8: A ceramic container (0.8 m in diameter, 15 mm in wall thickness) leaked with a 3 mm pore size. The internal waste liquid was an alkaline solution containing cadmium ions (pH=12). An UAV infrared scanner located the leak point, and a ground robot detected a leak pressure of 1.0 MPa and a temperature of 30°C. The calculated curing agent dosage per unit time was 60 g / s. The high-pressure injection system was activated, with the injection angle at 30° to the container wall. After 15 seconds of injection, the injection was paused, and the sealing effect was checked using phenolphthalein indicator. The test showed no leakage at the leak point. The vacuum extraction system was then activated, with a extraction flow rate of 8 L / s for 25 seconds. The extracted waste liquid was collected, and the pH value was 9.2, with a cadmium ion concentration of 0.02 mg / L. Experimental results: Total sealing time 15 seconds, total curing agent mass 0.9 kg, total extracted waste liquid volume 200 L, no color change reaction observed at the phenolphthalein indicator.

[0061] Based on Examples 7 and 8, it is clear that the spray angle for containers of different materials needs to be adjusted according to the hardness of the container wall: 45-60° for plastic containers and 30-45° for ceramic containers. Leakage is detected using a gravimetric method, collecting and weighing the leaked liquid within one minute, with an accuracy of ±0.1g. Alkaline waste liquid is detected using phenolphthalein indicator, and acidic waste liquid is detected using a pH meter. Therefore, when dealing with leaks in containers of different materials, the spray angle and the amount of curing agent added per unit time need to be adjusted for plastic containers, while ceramic containers can be successfully sealed on the first attempt.

[0062] Example 9: High-altitude environment (4500 meters above sea level, 58 kPa atmospheric pressure, -10°C), simulating a leak in a carbon steel container with a 4mm orifice, the internal waste liquid being an emulsion of diesel and water. The drone was started after a 10-minute preheating period, using infrared scanning to locate the leak. A ground robot, after a 5-minute preheating period, approached the leak, detecting a leak pressure of 0.9 MPa and a temperature of -5°C. The calculated curing agent dosage per unit time was 70 g / s. The high-pressure injection system was activated, along with the air heating system, to heat the curing agent to 20°C. After 25 seconds of injection, injection was paused, and a combustible gas detector was used to check the sealing effect. The detector showed no combustible gas leak. The vacuum extraction system was then activated, with a flow rate set to 12 L / s for 35 seconds. The extracted waste liquid was collected, and the oil content was measured at 12 mg / L. Experimental results: Equipment preheating time: 10 minutes for drone, 5 minutes for ground robot; total sealing time: 25 seconds; total mass of curing agent: 1.75 kg; total volume of waste liquid pumped out: 420 L; combustible gas detection: 0% LEL.

[0063] Example 10: In a high-humidity environment (95% relative humidity, 35℃), a stainless steel container with a 6mm orifice leaked, containing an acidic solution (pH=2) containing mercury ions. An infrared scanner from a drone located the leak point, and a ground robot detected a leak pressure of 1.5MPa and a temperature of 32℃. The calculated curing agent dosage per unit time was 110g / second. The high-pressure spraying system was activated, along with a dehumidification system, to control the curing agent humidity below 30%. After 30 seconds of spraying, spraying was paused, and an atomic absorption spectrometer was used to assess the sealing effect. The test showed no mercury ion leakage. The vacuum extraction system was then activated, with a flow rate of 18L / second for 40 seconds. The extracted waste liquid was collected, and the mercury ion concentration was measured at 0.005mg / L. Experimental conditions: Humidity after curing agent treatment was 28%, total sealing time was 30 seconds, total curing agent mass was 3.3kg, total extracted waste liquid volume was 720L, and mercury ion concentration was 0.005mg / L (standard 0.01mg / L).

[0064] Based on Examples 9 and 10, it can be seen that in high-altitude environments, the equipment preheating time needs to be extended to 2-3 times that of normal temperature environments; the curing agent heating temperature needs to be adjusted according to the ambient temperature to ensure that the temperature during spraying is not lower than 10℃. In other words, to effectively handle waste liquid leaks in extreme environments, high-altitude environments require extended equipment preheating time and heating of the curing agent, while high-humidity environments require dehumidification treatment of the curing agent.

[0065] Secondly, one embodiment of the present invention provides a rapid sealing and harmless treatment system for leaked chemical waste liquid, comprising: a detection module 1, configured to acquire real-time situational detection data of the chemical waste liquid container, and including a drone unit equipped with an infrared thermal imager and a ground robot unit equipped with a pressure sensor; a transmission module 2, electrically connected to the detection module 1; a calculation module 3, electrically connected to the transmission module 2, and configured to receive situational detection data through the transmission module 2, and calculate chemical dosing parameters, injection sealing parameters, and suction rate parameters; and a collaborative operation module 4, electrically connected to the transmission module 2, and including an intelligent chemical dosing submodule, a high-pressure injection submodule, a vacuum extraction submodule, and a harmless treatment submodule, to receive chemical dosing parameters and injection sealing parameters through the transmission module 2. The system includes a sealing parameter and aspiration rate parameter, and performs the preparation and application of the sealing and curing agent, the spraying and sealing of the leaked waste liquid, the aspiration and storage of the leaked waste liquid, and the harmless treatment of the leaked waste liquid; a verification alarm module 5, which is electrically connected to the transmission module 2, is configured to collect sealing verification data and water quality verification data in real time, determine whether the sealing verification and water quality verification are qualified, output a second alarm signal when they are unqualified, and determine whether the chemical waste liquid is leaking based on the situation detection data, outputting a first alarm signal when a leak occurs; a control module 6, which is electrically connected to the transmission module 2, is configured to transmit instructions to the detection module 1, the calculation module 3, the collaborative operation module 4, and the verification alarm module 5 through the transmission module 2, and simultaneously collect and record the data parameters and processing results of the chemical waste liquid after the leak, forming a standardized report.

[0066] In this embodiment, as Figure 2 As shown, the detection module 1 is responsible for data acquisition from the UAV and ground robot; the transmission module 2 is responsible for reliable data transmission; the calculation module 3 is responsible for calculating the three main parameters; the collaborative operation module 4 is responsible for dispensing, spraying, suction, and harmless treatment; the verification and alarm module 5 is responsible for dual verification and alarm; and the control module 6 is responsible for global scheduling, command issuance, data archiving, and report generation. This setup allows the six modules to work collaboratively, achieving full automation from detection, alarm, decision-making, execution, verification, repair to archiving, improving the speed, accuracy, safety, and reliability of the process, making it suitable for complex chemical scenarios.

[0067] For example, a rapid sealing and harmless treatment system for chemical waste liquid leaks includes: a sensing and access layer responsible for sensing and monitoring, where a drone detection module is responsible for temperature and leak range; a ground detection robot for d, P, Q0, pH, and viscosity; an online monitoring instrument for pH, COD, heavy metals, and organic matter; and equipment status sensors for pressure, flow rate, and liquid level. A network transmission layer responsible for transmission, featuring explosion-proof 5G / industrial Ethernet, data latency ≤100ms, breakpoint resumption, and anti-interference capabilities. A core computing layer responsible for calculation, where an industrial control server handles formula calculations and process matching; a database stores operating conditions, formulations, and treatment records; and a large visualization screen displays 3D site conditions and parameter curves. A collaborative control layer responsible for collaborative control, including a sealing robot control unit, an intelligent dosing system control unit, a dike / vacuum suction control unit, and a harmless treatment dosing control unit. A safety alarm layer responsible for leak diffusion alarms, sealing failure alarms, and substandard treatment alarms.

[0068] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for rapid sealing and harmless treatment of leaked chemical waste liquid, characterized in that, include: S1. Real-time acquisition of the status detection data of the chemical waste liquid container; when the chemical waste liquid container leaks, outputting a first alarm signal; and calculating and obtaining the dosing parameters, injection sealing parameters and suction rate parameters based on the status detection data after the chemical waste liquid leak. S2. According to the dosing parameters and the injection sealing parameters, the sealing and curing agent is prepared and added in sequence, and the sealing and curing agent is injected and sealed. At the same time, the leaked waste liquid is pumped and stored according to the suction rate parameters. S3. Based on the extracted waste liquid, determine the type of the leaked waste liquid, match the corresponding harmless treatment process, and perform harmless treatment on the leaked waste liquid according to the harmless treatment process. S4. After the spraying and sealing is completed, the leak location is verified. After the suction and storage and the harmless treatment are completed once, the water quality of the harmless liquid is verified. If the sealing verification and / or the water quality verification are unqualified, the suction and storage and the harmless treatment are maintained in continuous operation, a second alarm signal is output, and a second sealing and / or the parameters of the harmless treatment are adjusted. S5. When the sealing verification and the water quality verification are both qualified, and the suction storage and the harmless treatment are both completed, on-site repair work is carried out, and the data parameters and treatment results of the treatment process after the chemical waste liquid leakage are collected and recorded simultaneously to form a standardized report.

2. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in claim 1, characterized in that, The situation detection data includes environmental data and leak point data. The real-time acquisition of situation detection data for the chemical waste liquid container in step S1, and the output of a first alarm signal when a chemical waste liquid leak occurs in the container, specifically includes: S11. Conduct an inspection of the area where the chemical waste container is located using a drone, and obtain the environmental data of the inspected area. Determine whether there is any abnormal leakage risk based on the environmental data. The abnormal leakage risk includes abnormal temperature, abnormal liquid diffusion, abnormal corrosiveness, and abnormal volatility. S12. If the abnormal leakage risk is determined, the ground detection robot performs detection operations on the chemical waste liquid container in the area where the abnormal leakage risk exists. Based on the detection results, it is determined whether the chemical waste liquid container is leaking. If so, the first alarm signal is output and the leak point data is obtained. The leak point parameters include the leak point diameter, leakage pressure and leakage flow rate.

3. The method for rapid sealing and harmless treatment of leaked chemical waste liquid as described in claim 2, characterized in that, The step S1, which involves calculating and obtaining the dosing parameters, injection and plugging parameters, and suction rate parameters based on the detection data after the chemical waste liquid leakage, specifically includes: S13. Based on the leak hole diameter, obtain the preset target curing time of the leak hole using the following formula: ， Wherein, the t 固 The preset target curing time is given, and d is the diameter of the leak point. S14. Based on the preset target curing time, the leak point diameter, and the leakage pressure, the curing agent mass dosage is obtained using the following formula, and the curing agent mass dosage is constrained to 0.5%-2.0%, forming the dosing parameters and outputting them: ， Wherein, ω is the mass dosage of the curing agent, and k d The correction factor for the leakage point diameter is a fixed value of 0.9, determined by least squares fitting, R. 2 ≥0.985, the k P The correction factor for the leakage pressure is a fixed value of 1.2, determined by least squares fitting, R. 2 ≥0.990, where P is the leakage pressure, and k T The temperature correction factor, a fixed value of 0.0041, is determined by least squares fitting. R0 2 ≥0.975, where T is the ambient temperature, collected by the UAV, and (T+273.15) is the thermodynamic temperature, converted from Celsius to Kelvin. S15. Based on the leakage pressure, obtain the injection pressure according to the following formula, and constrain the injection pressure to 0.8~1.2MPa: P 喷 =P+ΔP, Wherein, P 喷 The injection pressure is denoted as ΔP, which is a safety margin of 0.3~0.7 MPa. S16. Based on the leak location collected by the ground detection robot, obtain three-dimensional coordinates, generate the injection target positioning point, select segmented points within the preset target curing time range, form the delivery stage time and curing stage time, integrate the injection pressure, the injection target positioning point, the delivery stage time and the curing stage time to form the injection sealing parameters and output them, wherein the delivery stage time is less than or equal to 3s; S17. Based on the leakage flow rate, obtain the suction flow rate according to the following formula: Q 收 ≥1.2×Q0, Wherein, Q 收 The suction flow rate is Q0, and the leakage flow rate is Q0.

4. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in claim 3, characterized in that, The step S2, which involves sequentially preparing and dispensing the sealing and curing agent according to the drug dosing parameters and the injection sealing parameters, and then injecting and sealing the sealing and curing agent, specifically includes: S21. Based on the mass dosage of the curing agent in the drug dosing parameters, determine whether ω is within the range of 0.5%≤ω≤2.0%. If not, repeat the calculation process of the mass dosage of the curing agent. If yes, inject the nano-modified water-soluble resin plugging agent mother liquor into the drug dosing tank and inject the curing agent into the drug dosing tank under stirring conditions. S22. Based on the total mass of the liquid in the mixing tank, verify whether the mass dosage of the curing agent in the mixing tank meets the standard according to the following formula. If not, adjust the mass of the liquid in the mixing tank. If yes, continuously stir the liquid in the mixing tank and let it stand to mature, to obtain the sealing curing agent to be sprayed: m 固化剂 =ω×m 母 , Wherein, m 固化剂 The mass of the curing agent, m 母 The mass of the mother liquor of the nano-modified water-soluble resin sealant; S23. The sealing and curing agent is delivered to the high-pressure spraying robot, and the high-pressure spraying robot is moved to the preset spraying position based on the spraying target positioning point, and its attitude is adjusted to face the center of the leak point; S24. Based on the injection pressure, the delivery stage time, and the curing stage time, the high-pressure injection robot outputs the sealing and curing agent toward the leak point, and the sealing area is left to stand for observation after the injection is completed.

5. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in claim 4, characterized in that, Before injecting the nano-modified water-soluble resin plugging agent stock solution into the mixing tank in step S21, the process specifically includes: heating the aqueous resin matrix to 40-60°C, adding 1.5%-2.5% nano-SiO2 or 2%-4% organomontmorillonite to form a mixed solution, shearing and dispersing the mixed solution at a rotation speed of 3000-5000 r / min for 30 min, adding 0.5%-1% silane coupling agent KH550 for interfacial grafting, and maintaining the reaction temperature for 60 min to obtain the nano-modified water-soluble resin-based plugging agent stock solution.

6. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in claim 4, characterized in that, The simultaneous suction and storage of leaked waste liquid according to the suction rate parameter in S2 specifically includes: S25. While moving the high-pressure jetting robot to the preset jetting position based on the jetting target positioning point, the leakage area is obtained based on the leak point position, a folded inflatable cofferdam is unfolded around the leakage area, and the vacuum suction device is moved to the lowest point inside the folded inflatable cofferdam to start the suction function. S26, while the high-pressure jetting robot outputs the sealing and curing agent, based on the suction flow rate, the liquid inside the folded inflatable cofferdam is suctioned by the vacuum suction device and stored in a sealed container. At the same time, the folded inflatable cofferdam acquires liquid level data and air pressure data. S27. Compare the leakage flow rate with the actual suction flow rate of the vacuum suction device in real time. Based on the multiple relationship between the leakage flow rate and the suction flow rate, dynamically adjust the actual suction flow rate. At the same time, verify the liquid level data and the air pressure data in real time. When an abnormality occurs, adjust the enclosure structure of the folded inflatable cofferdam and the actual suction flow rate in real time.

7. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in any one of claims 1 to 6, characterized in that, S3 specifically includes: S31. Based on the extracted waste liquid, the type of the leaked waste liquid is determined by detecting the parameters of the leaked waste liquid, wherein the parameters of the leaked waste liquid include pH value, medium characteristic parameters, corrosion characteristic parameters and physicochemical state parameters, and the type of the leaked waste liquid includes acidic chemical waste liquid, alkaline chemical waste liquid, heavy metal chemical waste liquid, toxic organic waste liquid and mixed chemical waste liquid. S32. Based on the type of the leaked waste liquid, a corresponding harmless treatment process is matched, wherein the harmless treatment process includes an acid-base neutralization treatment process, an integrated precipitation and neutralization synergistic treatment process, an oxidative degradation and stabilization synergistic treatment process, and a multi-stage combined synergistic harmless treatment process. S33. Based on the flow rate during the extraction and collection of the leaked waste liquid and the parameters of the leaked waste liquid, calculate the dosage of the reagent for the harmless treatment process, and add the reagent to the leaked waste liquid and stir to mix it.

8. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in any one of claims 1 to 6, characterized in that, S4 specifically includes: S41. After the spraying and sealing are completed, and the spraying stops and the solidification and static setting stage is completed, the density of the sealing layer at the leak location is detected by ultrasonic detection to obtain density data. The presence of waste liquid seeping around the leak location is detected by visual inspection to obtain the seepage status. Pressure holding detection is performed at the leak location to obtain pressure change data, and liquid level change data around the leak location is obtained. S42. Based on the density data, the seepage status and the pressure change data, determine whether the leakage location is abnormal. If not and the liquid level change data is decreasing, determine that the sealing verification is qualified. If yes, determine that the sealing verification is unqualified. Maintain the continuous operation of the suction storage and the harmless treatment, output the second alarm signal and perform the secondary sealing. S43. When the liquid level around the leak location remains below a preset height and there is no new liquid accumulation, and the harmless treatment is completed once, the water quality parameters of the harmless treated liquid are collected, and it is determined whether there is an abnormality based on the water quality parameters. If not, the water quality verification is deemed qualified; if yes, the water quality verification is deemed unqualified. The suction storage and the harmless treatment are maintained in continuous operation. The second alarm signal is output and the parameters of the harmless treatment are adjusted. The water quality parameters include pH value, COD value, heavy metal content value and toxic organic matter content value.

9. The method for rapid sealing and harmless treatment of chemical waste liquid leakage as described in any one of claims 1 to 6, characterized in that, S5 specifically includes: S51. When the sealing verification and the water quality verification are both qualified, and the suction storage and the harmless treatment are both completed, on-site cleanup and residue removal are carried out, in-situ remediation of the contaminated soil is carried out, and equipment cleaning and on-site remediation are carried out. S52. Based on the situation detection data, equipment operating parameters, verification detection data, and processing result data, automatically collect and record the data parameters and processing results of the chemical waste liquid leakage treatment process, and revise, supplement, and verify the records to form the standardized report.

10. A rapid sealing and harmless treatment system for leaked chemical waste liquid, characterized in that, include: The detection module (1) is configured to acquire real-time detection data of the chemical waste liquid container and includes a drone unit equipped with an infrared thermal imager and a ground robot unit equipped with a pressure sensor. Transmission module (2), which is electrically connected to the detection module (1); The calculation module (3) is electrically connected to the transmission module (2) and is configured to receive the situation detection data through the transmission module (2) and calculate the drug delivery parameters, injection blocking parameters and suction rate parameters. The collaborative operation module (4) is electrically connected to the transmission module (2) and includes an intelligent drug dispensing submodule, a high-pressure injection submodule, a vacuum extraction submodule and a harmless treatment submodule. It receives the drug dispensing parameters, the injection sealing parameters and the suction rate parameters through the transmission module (2), and performs the preparation and dispensing of the sealing and solidifying agent, the injection sealing of the sealing and solidifying agent, the suction and storage of the leaked waste liquid and the harmless treatment of the leaked waste liquid. Verification alarm module (5), the verification alarm module (5) is electrically connected to the transmission module (2) and is configured to collect sealing verification data and water quality verification data in real time, determine whether the sealing verification and water quality verification are qualified, output a second alarm signal when they are not qualified, and detect whether the chemical waste liquid is leaking based on the situation detection data, and output a first alarm signal when it is leaking. The control module (6) is electrically connected to the transmission module (2) and is configured to transmit instructions to the detection module (1), the calculation module (3), the collaborative operation module (4) and the verification alarm module (5) through the transmission module (2), and simultaneously collect and record the data parameters and processing results of the treatment process after the chemical waste liquid leakage to form a standardized report.

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