A body of contaminated land precision monitoring and micro area repair robot system

Abstract

This invention belongs to the field of pollution monitoring technology, and specifically relates to an integrated robotic system for precise monitoring and micro-area remediation of contaminated sites. The invention includes an aerial monitoring unit, a ground robot operation unit, an IoT edge sensing unit, and a cloud platform unit. The aerial monitoring unit includes a drone platform and remote sensing components mounted on it. The ground robot operation unit includes a mobile chassis and a payload compartment mounted on the chassis. Detection components are connected to the side of the payload compartment. The mobile chassis also houses sampling and drilling components and remediation agent dosing components. This invention uses the aerial monitoring unit to remotely survey target sites and identify suspected contaminated areas. The ground robot operation unit then enters the key areas for in-situ detection and micro-area remediation, reducing blind sampling, improving monitoring coverage efficiency, and lowering personnel exposure risks.

Description

Technical Field

[0001] This invention relates to the field of ecological environment governance and intelligent robot technology, specifically to an integrated robot system for precise monitoring and micro-area remediation of contaminated sites. Background Technology

[0002] In the research and engineering implementation of contaminated site remediation, accurately obtaining the distribution characteristics of pollutants within the spatial range of the site and implementing in-situ remediation based on monitoring results is crucial for assessing pollution diffusion trends and developing remediation plans. Existing technologies typically employ manual reconnaissance, point sampling, and laboratory testing for verification, which has low coverage efficiency and lacks flexibility in the sampling and analysis process, easily leading to long remediation cycles and increasing the risk of human exposure.

[0003] Meanwhile, existing systems are mostly "monitoring-oriented" or "single-platform execution," and monitoring and remediation are often separated: even if the pollution area is identified, the application of remediation agents still relies heavily on experience and extensive methods, making it difficult to achieve targeted and quantitative treatment of pollution micro-areas; in addition, remote sensing, in-situ detection and continuous monitoring data come from diverse sources, data fusion is insufficient, and there is a lack of retesting feedback and iterative optimization mechanisms, which affects the accuracy and reliability of the remediation effect assessment.

[0004] Therefore, we propose an integrated robotic system for precise monitoring and micro-area remediation of contaminated sites to address the above problems. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides an integrated robotic system for precise monitoring and micro-area remediation of contaminated sites. This system solves the problems mentioned in the background, where existing systems are mostly "monitor-oriented" or "executed by a single platform," often resulting in a disconnect between monitoring and remediation. Even after identifying contaminated areas, the application of remediation agents still relies heavily on experience and extensive methods, making it difficult to achieve targeted and quantitative treatment of contaminated micro-areas. Furthermore, the diverse sources of remote sensing, in-situ detection, and continuous monitoring data lead to insufficient data fusion and a lack of retesting feedback and iterative optimization mechanisms, affecting the accuracy and reliability of remediation effect assessment.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention specifically adopts the following technical solution:

[0009] An integrated robotic system for precise monitoring and micro-area remediation of contaminated sites includes an aerial monitoring unit, a ground robot operation unit, an Internet of Things edge sensing unit, and a cloud platform unit; the aerial monitoring unit includes an unmanned aerial vehicle (UAV) platform and remote sensing components mounted on the UAV platform.

[0010] The ground robot work unit includes a mobile chassis and a work load chamber mounted on the mobile chassis. A detection component is connected to the side of the work load chamber. A sampling drilling component and a repair agent dosing component are also mounted on the mobile chassis.

[0011] Furthermore, the repair agent dosing assembly includes a micro-injection pump, an injection needle connected to the micro-injection pump, and a spraying end. The end of the injection needle is provided with a uniform distribution adjustment assembly, wherein the spraying end is installed on the side of the top side of the injection needle and is in the same direction as the opening of the injection needle.

[0012] The IoT edge sensing unit includes several sensing nodes and edge computing nodes; the cloud platform unit is communicatively connected to the aerial monitoring unit, the ground robot operation unit, and the IoT edge sensing unit, respectively, for unified management of multi-source data and for sending operation task parameters to the ground robot operation unit.

[0013] Furthermore, the remote sensing component includes at least one of a multispectral sensor, a thermal infrared sensor, and a hyperspectral sensor;

[0014] The detection components include at least one of the following: X-ray fluorescence detection module, electrochemical detection module, volatile organic compound (VOC) detection module, soil temperature and humidity detection module, and pH detection module.

[0015] Furthermore, the sampling drilling assembly is a spiral sampling device or a spiral drilling device.

[0016] Furthermore, the uniform distribution adjustment component includes a uniform distribution plate, on which a plurality of uniform distribution holes for distributing the repair agent are formed.

[0017] Furthermore, a receiving cavity is provided at the bottom of the uniform distribution plate, and a support frame is slidably arranged in the receiving cavity. Several adjusting parts corresponding to the uniform distribution holes are provided on the support frame; a transmission component for driving the support frame to move vertically up and down is provided in the receiving cavity.

[0018] Furthermore, the transmission component includes a screw threaded to the side wall of the uniformly distributed plate, with a first wedge rotatably connected to one end of the screw; a second wedge is connected to the bottom of the bearing frame and is slidably adapted to the inclined surface of the first wedge, with the top of the second wedge connected to the bottom of the bearing frame;

[0019] The first wedge has a slider on its side, and the second wedge has an inclined groove on its side. The slider is embedded and slides in the groove. The lateral movement of the first wedge can drive the longitudinal movement of the second wedge.

[0020] Furthermore, a support plate is fixed to the inner wall of the cavity, and a limiting groove is provided on the support plate for the first wedge block to slide horizontally.

[0021] Furthermore, a vertical groove is provided on the inner wall of the receiving cavity, and a sliding rod that is adapted to slide on the bearing frame is connected to the groove.

[0022] Furthermore, the sensing nodes are used to collect at least one environmental parameter among soil electrical conductivity, pH value, moisture content, and temperature;

[0023] Edge computing nodes are used to preprocess, extract features, and perform intelligent analysis on environmental time-series data collected by sensor nodes, and then upload the processed data to the cloud platform unit.

[0024] The cloud platform unit is used to perform spatiotemporal registration and fusion analysis of multi-source data, optimize the operation path and issue operation parameters, and realize closed-loop dynamic control based on operation feedback data.

[0025] (III) Beneficial Effects

[0026] Compared with existing technologies, this invention provides an integrated robotic system for precise monitoring and micro-area remediation of contaminated sites, which has the following beneficial effects:

[0027] This invention uses an aerial monitoring unit to remotely survey the target site and identify suspected contaminated areas. Then, a ground robot unit enters the key area to conduct in-situ detection and micro-area treatment, reducing blind sampling, improving monitoring coverage efficiency, and reducing the risk of personnel exposure.

[0028] The ground robot operation unit integrates detection components, sampling / drilling components, and repair agent dosing components. It can form sampling or injection channels on site and perform fixed-point and quantitative dosing, which facilitates verification and treatment at different points or depths and effectively improves the reliability of treatment results. Attached Figure Description

[0029] Figure 1 This is a block diagram of the overall system structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the ground robot working unit of the present invention;

[0031] Figure 3 This is a schematic diagram of the uniform distribution adjustment component structure of the present invention;

[0032] Figure 4 For the present invention Figure 3 Enlarged view of the structure of the transmission component.

[0033] In the diagram: 1. Aerial monitoring unit; 11. Unmanned aerial vehicle platform; 12. Remote sensing component; 2. Ground robot operation unit; 21. Mobile chassis; 22. Work payload compartment; 23. Detection component; 24. Sampling / drilling component; 25. Repair agent dosing component; 251. Micro-injection pump; 252. Injection needle; 253. Spraying end; 26. Uniform distribution adjustment component; 261. Uniform distribution plate; 262. Uniform distribution hole; 263. Receiving cavity; 264. Bearing frame; 265. Adjusting component; 266. Transmission component; 2661. Screw; 2662. First wedge; 2663. Second wedge; 267. Support plate; 268. Limiting groove; 269. Slide groove; 2610. Slide rod; 3. Internet of Things edge sensing unit; 31. Sensing node; 32. Edge computing node; 4. Cloud platform unit. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example

[0036] like Figure 1-4 As shown in the figure, an integrated contaminated site precision monitoring and micro-area remediation robot system proposed in one embodiment of the present invention is composed of an aerial monitoring unit 1, a ground robot operation unit 2, an Internet of Things edge sensing unit 3, and a cloud platform unit 4. Each unit realizes data interaction and command linkage through wireless communication, forming a closed-loop governance system of aerial remote sensing screening, ground precision operation, edge continuous monitoring, and cloud intelligent decision-making.

[0037] The aerial monitoring unit 1 includes an unmanned aerial vehicle (UAV) platform 11 and a remote sensing component 12 mounted on the UAV platform 11. The remote sensing component 12 can be one or more combinations of multispectral sensors, thermal infrared sensors, and hyperspectral sensors. During operation, the UAV platform 11 conducts a full-area aerial survey of the target contaminated site according to a preset route. The remote sensing component 12 simultaneously collects surface reflectance data, surface temperature data, vegetation cover index, surface humidity anomaly information, spectral characteristics of bare soil areas, and spatial distribution data of suspected contaminated patches. After collection, the data is uploaded to the cloud platform unit 4 in real time. The cloud platform unit 4 performs radiometric calibration, atmospheric correction, geometric correction, orthorectification, image stitching, and coordinate registration preprocessing on the remote sensing data to eliminate external environmental interference and generate high-precision standardized remote sensing data, providing data support for the identification of contaminated areas.

[0038] The ground robot operation unit 2, as the core execution terminal of the system, uses a mobile chassis 21 as its support. The mobile chassis 21 can adopt a wheeled or tracked structure, possessing the ability to traverse complex terrains and achieve precise positioning, and can stably reach the target operation point according to the cloud-planned path. A work load compartment 22 is fixedly installed on the upper part of the mobile chassis 21. The work load compartment 22 is a sealed and waterproof structure, integrating a control module, a power supply module, and a remediation agent storage structure. A detection component 23 is connected to the side of the work load compartment 22. The detection component 23 integrates an X-ray fluorescence detection module, an electrochemical detection module, a volatile organic compound (VOC) detection module, a soil temperature and humidity detection module, and a pH detection module. It can collect multi-dimensional data in situ, including heavy metal element content, VOC gas concentration, pH value, redox potential, conductivity, moisture content, and temperature in the soil, providing real-time feedback on the environmental status of the polluted micro-area. The mobile chassis 21 is also equipped with a sampling drilling component 24 and a remediation agent dosing component 25. The sampling drilling component 24 adopts a spiral sampling device or a spiral drilling device, which can quickly drill into the pollution point to form a sampling channel or a remediation agent injection channel, and at the same time complete in-situ soil sampling to meet the operational needs of pollution areas at different depths.

[0039] The remediation agent dosing assembly 25 consists of a micro-injection pump 251, an injection needle 252, a spray end 253, and a uniform distribution adjustment assembly 26. The micro-injection pump 251 is located inside the working load chamber 22 and is connected to the remediation agent storage structure to achieve precise quantitative delivery of the remediation agent. The injection needle 252 is directly connected to the micro-injection pump 251 and can penetrate deep into the soil with the sampling drilling assembly 24 to complete deep remediation agent injection. The spray end 253 is installed on the side of the top of the injection needle 252, with its opening direction aligned with the injection needle 252, allowing simultaneous spraying of the soil surface remediation agent, forming a dual-mode dosing structure of deep injection and surface spraying. The uniform distribution adjustment assembly 26 is sealed and installed at the end outlet of the injection needle 252. Its main body is a uniform distribution plate 261, on which several evenly distributed uniform distribution holes 262 are opened. The remediation agent can be diverted through the uniform distribution holes 262 to achieve multi-channel distribution, avoiding soil erosion or local oversaturation caused by single-point concentrated dosing. The bottom of the uniform distribution plate 261 is provided with a receiving cavity 263. A support frame 264 is slidably arranged in the receiving cavity 263. An adjustment component 265 corresponding to the uniform distribution hole 262 is fixed on the support frame 264. The adjustment component 265 extends into the uniform distribution hole 262 from bottom to top. The flow cross-sectional area of ​​the uniform distribution hole 262 can be changed by raising and lowering, thereby controlling the outflow speed and penetration rate of the repair agent.

[0040] The cavity 263 is equipped with a transmission component 266 that drives the vertical lifting and lowering of the support frame 264. The transmission component 266 includes a screw 2661 threadedly connected to the side wall of the uniformly distributed plate 261. One end of the screw 2661 is rotatably connected to a first wedge 2662. The bottom of the support frame 264 is connected to a second wedge 2663. The second wedge 2663 and the first wedge 2662 are slidably fitted together by an inclined surface. A slider is provided on the side of the first wedge 2662. An inclined groove is provided on the side of the second wedge 2663. The slider is embedded in the groove to form a sliding fit. The rotation of the screw 2661 can drive the first wedge 2662 to move laterally, thereby driving the second wedge 2663 to lift and lower vertically, ultimately realizing the lifting and lowering adjustment of the support frame 264 and the adjusting component 265. A support plate 267 is fixed to the inner wall of the receiving cavity 263. A limiting groove 268 is provided on the support plate 267. The first wedge block 2662 slides horizontally along the limiting groove 268 to ensure the stability of the transmission process. A vertical sliding groove 269 is also provided on the inner wall of the receiving cavity 263. A sliding rod 2610 that is adapted to slide with the sliding groove 269 is connected to the bearing frame 264. The sliding rod 2610 and the sliding groove 269 cooperate to constrain the movement trajectory of the bearing frame 264, ensuring that the adjusting component 265 and the uniformly distributed hole 262 are accurately aligned, thereby improving the accuracy and reliability of the flow rate adjustment.

[0041] The IoT edge sensing unit 3 consists of several sensing nodes 31 and edge computing nodes 32. Sensing nodes 31 are embedded in key remediation areas to collect environmental parameters such as soil conductivity, pH value, moisture content, and temperature. A unified timestamp mechanism is introduced during the data collection process to construct continuous and complete environmental time-series data. Edge computing nodes 32 perform on-site preprocessing of the raw data collected by sensing nodes 31. First, an outlier is identified and removed using the interquartile range method. Then, data smoothing is achieved through moving average filtering or Kalman filtering algorithms. Subsequently, normalization is used to eliminate dimensional differences between different data. Based on this, feature extraction and principal component analysis are performed to reduce dimensionality, resulting in compact and representative environmental feature data. Simultaneously, edge computing nodes 32 incorporate models such as support vector machines, random forests, long short-term memory networks, and isolated forests to complete environmental state classification, time-series trend prediction, and outlier identification. The processed data adopts an adaptive upload strategy, only uploading to the cloud platform unit 4 when data changes exceed a preset threshold, ensuring data validity while reducing communication load.

[0042] The cloud platform unit 4 maintains communication connections with the aerial monitoring unit 1, the ground robot operation unit 2, and the IoT edge sensing unit 3, enabling unified management and intelligent decision-making of multi-source data. The cloud platform unit 4 performs time synchronization and spatial registration of remote sensing data, in-situ detection data, and environmental time-series data, completing multi-source data fusion processing. It calculates the normalized vegetation index (NWRI) based on remote sensing imagery to comprehensively characterize the environmental status of the target area. Through a combined model of convolutional neural networks and long short-term memory networks, it achieves joint analysis of multi-source data. Combining regression models and time-series prediction models, it predicts environmental change trends. Then, it optimizes the ground robot's operation path using genetic algorithms or particle swarm optimization algorithms, generating operation paths, operation intensity parameters, and operation time windows, which are then distributed to the ground robot operation unit 2. Simultaneously, the cloud platform unit 4 constructs a closed-loop control mechanism, comparing the ground robot's operation results with edge monitoring data in real time, calculating control errors, and dynamically adjusting subsequent operation parameters through PID control algorithms or adaptive control methods. This forms a complete closed loop of monitoring, decision-making, execution, feedback, and optimization, continuously improving the accuracy and reliability of contaminated site remediation.

[0043] During system operation, the aerial monitoring unit 1 first completes a full-area remote sensing survey and locates suspected contaminated areas. The cloud platform unit 4 then integrates the data to generate operation instructions and sends them to the ground robot operation unit 2. After the ground robot moves to the target location, the detection component 23 conducts in-situ detection, the sampling drilling component 24 drills to form an operation channel, the remediation agent dosing component 25 completes dual-mode dosing through the injection needle 252 and the spray end 253, and the uniform distribution adjustment component 26 simultaneously realizes the uniform distribution and flow rate control of the remediation agent. The IoT edge sensing unit 3 continuously collects environmental data and uploads it to the cloud. The cloud platform unit 4 dynamically optimizes the operation parameters based on real-time feedback data, and the ground robot completes the retesting and correction operations, ultimately achieving accurate monitoring and efficient micro-area remediation of contaminated sites.

[0044] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated robotic system for precise monitoring and micro-area remediation of contaminated sites, characterized in that: It includes an aerial monitoring unit (1), a ground robot operation unit (2), an Internet of Things edge sensing unit (3), and a cloud platform unit (4); the aerial monitoring unit (1) includes an unmanned aerial vehicle platform (11) and a remote sensing component (12) mounted on the unmanned aerial vehicle platform (11). The ground robot operation unit (2) includes a mobile chassis (21) and an operation load chamber (22) set on the mobile chassis (21). The operation load chamber (22) is connected to the side of the detection component (23). The mobile chassis (21) is also equipped with a sampling drilling component (24) and a repair agent dosing component (25).

2. The system of claim 1, wherein, The repair agent dosing component (25) includes a micro-injection pump (251), an injection needle (252) connected to the micro-injection pump (251), and a spray end (253). A uniform distribution adjustment component (26) is provided at the end of the injection needle (252). The spray end (253) is installed on the side of the top side of the injection needle (252) and is in the same direction as the opening of the injection needle (252). The IoT edge sensing unit (3) includes several sensing nodes (31) and edge computing nodes (32); the cloud platform unit (4) is connected to the aerial monitoring unit (1), the ground robot operation unit (2) and the IoT edge sensing unit (3) respectively, and is used for unified management of multi-source data and to send operation task parameters to the ground robot operation unit (2).

3. The system of claim 1, wherein, The remote sensing component (12) includes at least one of a multispectral sensor, a thermal infrared sensor, and a hyperspectral sensor; The detection component (23) includes at least one of the following: X-ray fluorescence detection module, electrochemical detection module, volatile organic compound (VOC) detection module, soil temperature and humidity detection module, and pH detection module.

4. The system according to claim 1, characterized in that, The sampling drilling assembly (24) is a spiral sampling device or a spiral drilling device.

5. The system according to claim 2, characterized in that, The uniform distribution adjustment component (26) includes a uniform distribution plate (261), on which a plurality of uniform distribution holes (262) for the diversion of the repair agent are opened.

6. The system of claim 5, wherein, The bottom of the uniformly distributed plate (261) is provided with a receiving cavity (263), and a bearing frame (264) is slidably arranged in the receiving cavity (263). Several adjusting parts (265) corresponding one-to-one with the uniformly distributed holes (262) are provided on the bearing frame (264); a transmission component (266) for driving the bearing frame (264) to rise and fall vertically is provided in the receiving cavity (263).

7. The system of claim 6, wherein, The transmission component (266) includes a screw (2661) threaded to the side wall of the uniform distribution plate (261), and a first wedge (2662) rotatably connected to one end of the screw (2661); a second wedge (2663) is connected to the bottom of the bearing frame (264) and is slidably adapted to the inclined surface of the first wedge (2662), and the top of the second wedge (2663) is connected to the bottom of the bearing frame (264); The first wedge (2662) has a slider on its side, and the second wedge (2663) has an inclined groove on its side. The slider is embedded and slides in the groove. The lateral movement of the first wedge (2662) can drive the longitudinal movement of the second wedge (2663).

8. The system of claim 7, wherein, The inner wall of the receiving cavity (263) is fixed with a support plate (267), and the support plate (267) is provided with a limiting groove (268) for the first wedge block (2662) to slide horizontally.

9. The system of claim 6, wherein, The inner wall of the receiving cavity (263) is provided with a vertical sliding groove (269), and a sliding rod (2610) that is slidably adapted to the sliding groove (269) is connected to the bearing frame (264).

10. The system of claim 1, wherein, The sensing node (31) is used to collect at least one environmental parameter among soil electrical conductivity, pH value, moisture content, and temperature; The edge computing node (32) is used to preprocess, extract features and perform intelligent analysis on the environmental time series data collected by the sensing node (31), and upload the processed data to the cloud platform unit (4). The cloud platform unit (4) is used to perform spatiotemporal registration and fusion analysis on multi-source data, optimize the operation path and issue operation parameters, and realize closed-loop dynamic control based on operation feedback data.

Images