CN107478778B - The method for being detected using unmanned exploration system and handling pernicious gas inside garbage mountain - Google Patents
The method for being detected using unmanned exploration system and handling pernicious gas inside garbage mountain Download PDFInfo
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- CN107478778B CN107478778B CN201710700904.9A CN201710700904A CN107478778B CN 107478778 B CN107478778 B CN 107478778B CN 201710700904 A CN201710700904 A CN 201710700904A CN 107478778 B CN107478778 B CN 107478778B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method, e.g. intermittent, or the display, e.g. digital
Abstract
The invention discloses a kind of methods detected using unmanned exploration system and handle pernicious gas inside garbage mountain, are related to exploration engineering field, the present invention is the following steps are included: (1) is drawn out the 3D model of garbage mountain by console using scanning means；(2) console chooses several exploratory spots on 3D model；(3) exploration machine excavates hole in exploratory spot using drill bit；(4) by exploration machine in hole gas componant and concentration detect；(5) when the concentration over-standard of pernicious gas, the gas in cavity is sucked in air purifier by the first stock and is handled.Beneficial effects of the present invention: the present invention obtains the 3D model of garbage mountain first with scanning means；Exploration machine is recycled to be detected and handled in exploratory spot borehole hole and to pernicious gas.The present invention can be explored in advance to garbage mountain and be acquired data, for using when the subsequent excacation for carrying out garbage mountain, can avoid that safety accident occurs because of its internal inflammable, explosion hazard gases concentration over-standard.
Description
Technical field
The present invention relates to exploration engineering fields, more specifically a kind of to be detected using unmanned exploration system and handled rubbish
The method of pernicious gas inside mountain.
Background technique
With the development of Urbanization in China and the raising of level of population, municipal refuse yield is more and more, occurs
Bulky refuse mountain, there is only pollute environment, occupy the problems such as large amount of land resources for this garbage mountain, it is also possible to have poison gas
Body endangers city dweller.How municipal refuse is dealt carefully with, realizes the innoxious of rubbish, minimizing and energy, it has also become generation
The significant problem that various countries, boundary face.It is exactly one of the means that garbage disposal recycles using domestic waste manufacture fuel.
After garbage mountain is stacked for a long time, it is inflammable to be easy to generate and assemble inside garbage mountain a large amount of methane, hydrogen sulfide etc., easily
Gas explosion body.These gases are easy to endanger the health of staff, more even it also occur that the safety accidents such as explosion.Cause
This before excavating garbage mountain, need to carry out gas exploration to ensure safety work to garbage mountain deep internal, and at present not
There is the equipment dedicated for exploring garbage mountain.The features such as garbage mountain has earth's surface uneven, and geology is loose, this is surveyed to garbage mountain
The design for visiting equipment increases great difficulty.
Summary of the invention
The present invention provides the method that pernicious gas inside garbage mountain is detected and handled using unmanned exploration system, it is therefore intended that
When solving to excavate garbage mountain, the pernicious gases such as internal methane, hydrogen sulfide are easy to cause safety accident, and at present not
A kind of equipment is used exclusively for the problem of exploration garbage mountain.
The present invention adopts the following technical scheme:
The method for being detected using unmanned exploration system and handling pernicious gas inside garbage mountain, unmanned exploration system include logical
Cross scanning means, exploration machine and console that wireless network communicates；Method includes the following steps: (1) is controlled by console
Scanning means is scanned garbage mountain earth's surface, and console draws out garbage mountain according to scan data in three-dimensional system of coordinate
3D model；(2) console chooses several exploratory spots on the 3D model of garbage mountain according to parameter preset；(3) the exploration machine
Rear end is equipped with drill bit, enters garbage mountain by console control exploration machine, exploration machine is utilized according to the coordinate information that console provides
Drill bit excavates hole in exploratory spot；(4) the exploration machine is liftably equipped with the first length for carrying first gas detection sensor
Bar；Exploration machine drops to the first stock in the hole of exploratory spot, using first gas detection sensor to the gas in hole
Ingredient and concentration are detected, and be will test data transmission to console and analyzed, and judge whether the concentration of pernicious gas is exceeded；
(5) first stock is tubular body, and the exploration machine is equipped with the air purifier communicated with the first stock, when harmful gas
When the concentration over-standard of body, the gas in hole is sucked in air purifier by the first stock and is handled.
Further, in the step (2), the parameter preset includes row parameter and column parameter, and console is according to row parameter
Several exploratory spots arranged in arrays are chosen on 3D model with column parameter.
Further, in the step (3), the front end of the exploration machine is additionally provided with scraper bowl, and exploration machine enters head after garbage mountain
Choosing carries out planarizing process to garbage mountain surface using scraper bowl, utilizes bit bore after reaching exploratory spot.
Further, in the step (3), the exploration machine, which is liftably equipped with, carries the of second gas detection sensor
Two stocks；Drill bit or first gas detection sensor to wherein an exploratory spot is explored when, exploration machine will be under the second stock
Be down in the hole of previous exploratory spot, using second gas detection sensor in hole gas componant and concentration carry out it is secondary
Detection；When the concentration over-standard of pernicious gas, the gas in hole is sucked in air purifier by the second stock
Reason.
Further, the exploration machine is equipped with armed lever horizontally moveablely, and the second stock liftably hang on armed lever, works
When the position of the second stock is adjusted by moving horizontally armed lever, to adapt to different row parameter and/or column parameter, allow exploration machine
Two exploratory spots can be handled simultaneously.
Further, the scanning means is unmanned aerial vehicle.
Further, the exploration machine is equipped with full-view camera, and image information is sent to console, is convenient for by full-view camera
Staff manipulates exploration machine；First stock also carries the first camera, observes exploratory spot convenient for the staff of console
Situation in hole analyzes the geologic structure of garbage mountain.
Further, in the step (5), pernicious gas includes methane and hydrogen sulfide.
By the above-mentioned description to structure of the invention it is found that compared to the prior art, the medicine have the advantages that
The present invention the following steps are included: (1) by console control scanning means garbage mountain is scanned, draw out rubbish
The 3D model on mountain；(2) console chooses several exploratory spots according to parameter preset on 3D model；(3) exploration machine is believed according to coordinate
Breath excavates hole in exploratory spot using drill bit；(4) exploration machine using the first stock first gas detection sensor to hole into
Row detection, judges whether the concentration of pernicious gas is exceeded；(5) when the concentration over-standard of pernicious gas, the gas in hole is led to
It crosses in the first stock sucking air purifier and is handled.The present invention obtains the 3D model of garbage mountain first with scanning means；Again
In exploratory spot borehole hole and pernicious gas is detected and handled using exploration machine.The present invention can survey in advance garbage mountain
Data are visited and acquire, for using when the subsequent excacation for carrying out garbage mountain；It can be rapidly net by pernicious gas sucking air
Change and handled in device, avoid its diffusion, can avoid that safety accident occurs because of its internal inflammable, explosion hazard gases concentration over-standard.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that machine is explored in the present invention.
Fig. 2 is the enlarged diagram of part A in Fig. 1.
Fig. 3 is the assembling schematic diagram of installation part dress, the first camera and first gas detection sensor.
Fig. 4 is the inversion schematic diagram of Fig. 3.
Specific embodiment
Illustrate a specific embodiment of the invention with reference to the accompanying drawings.
In order to preferably illustrate the method for detecting using unmanned exploration system and handling pernicious gas inside garbage mountain, first
Let us unmanned exploration system under introducing in detail.The unmanned exploration system includes the scanning dress to be communicated by wireless network
It sets, exploration machine and console.
The following are the specific structures of exploration machine.
Referring to Fig.1, which includes the vehicle body main body 1 that bottom is equipped with walking mechanism 10, and the front end of the vehicle body main body 1 is set
The actuating arm 21 for having scraper bowl 2 and acting scraper bowl 2, the specific structure of scraper bowl 2 and actuating arm 21 can refer to forklift to implement, due to
The specific structure of scraper bowl 2 and actuating arm 21 is not the focused protection technical characteristic of the exploration machine, is not added repeats herein.As preferred
Scheme, walking mechanism 10 are crawler body, and vehicle body main body 1 is rotationally arranged at the top of crawler body, but walking mechanism 10
It is not limited thereto, as long as cross-country ability is preferable, adapts to the existing row for the features such as garbage mountain earth's surface recess portion is uneven, and geology is loose
Mechanism is walked to be contemplated that.
Referring to Fig.1, the rear end of vehicle body main body 1 is equipped with a bracket 11, which is rotationally vertically arranged with an installation
Substrate 3 is simultaneously equipped with the first motor 31 for acting it.Specifically, the inside of bracket 11 passes through plane bearing (not embodying in figure)
It is rotationally embedded with a transmission shaft 301, the upper end of transmission shaft 301 is connected by ring flange with the output shaft of first motor 31
It connects, the lower end of transmission shaft 301 is connected with each other by ring flange and installation base plate 3.
Referring to Fig.1, the side of installation base plate 3 is liftably installed with drill bit 4 and is equipped with the second electricity for acting drill bit 4
Specifically, drill bit 4 is liftably set to installation base plate 3, electric numerically-controlled screw rod by an electric numerically-controlled screw rod slide unit 51 to machine 41.
The sliding block of slide unit 51 is rotationally equipped with a transmission shaft 401, and one end of transmission shaft 401 is connected with the second motor 41, the other end
It is connected with drill bit 4.In addition, the other side of installation base plate 3 is also liftably installed with one first stock 6, first stock 6
Lower end is equipped with first gas detection sensor 61.Specifically, the first stock 6 passes through an electric numerically-controlled screw rod slide unit 52 liftably
It is set to installation base plate 3.
Referring to Fig.1, as a preferred solution: being equipped with interconnected air purifier 7 and the first exhausting inside vehicle body main body 1
Machine 71.Wherein, the first stock 6 is tubular body, and side wall of first stock 6 close to lower end is equipped with a plurality of first suction holes 60, the
The upper end of one stock 6 is connected by sebific duct with the first exhaust fan 71.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, as a preferred solution: the exploration machine further includes installation part 600 and the first camera
62.Installation part 600 includes erecting straight arranged upper disk 601 and lower annulus 603, is equipped between upper disk 601 and lower annulus 603 multiple
Several thin bars 602.Upper disk 601 is equipped with a plurality of screw holes 6010 and at least one for laying the through-hole 6011 of conducting wire, upper disk
601 are removable installed in the lower end of the first stock 6 by screw, and first gas detection sensor 61 is installed in disk 601
Bottom, the first camera 62 is embedded at lower annulus 603.Specifically, first gas detection sensor 61 and the first camera 62
Installation part 600 can be removably assembled in by screw, and installation part 600 is around the first camera 62 and the first camera 62
A guardrail is formed, the first camera 62 and the first camera 62 can be prevented impaired.
Referring to FIG. 1, FIG. 2 and FIG. 3, which further includes the second stock 84, hose 82, hoist engine 81 and the second exhaust fan
72, bracket 11 is equipped with an armed lever 83 with fixed pulley 831 by an electric numerically-controlled screw rod slide unit 53 horizontally moveablely, and second is long
The lower end of bar 84 is equipped with second gas detection sensor, and the second stock 84 is tubular body, and side wall is equipped with a plurality of second and inhales
Stomata 841.Furthermore the lower end of the second stock 84 is also installed with second camera, and the second camera, above-mentioned second gas
Detection sensor is identical as the first stock 6 as the assembling mode of the second stock 84.Hoist engine 81 is set to fuselage main body 1, hose 82
The second exhaust fan of one end 72 be connected with air purifier 7, with second after other end pile warp hoist engine 81, fixed pulley 831
The upper end of stock 84 is connected.
Referring to Fig.1, which further includes explosion-proof steel plate 9, and the back side of the explosion-proof steel plate 9 is equipped with an at least connecting rod 91,
The other end of the connecting rod 91 is liftably set to the rear end of vehicle body main body 1 by an electric numerically-controlled screw rod slide unit 54.
Referring to Fig.1, as a preferred solution: being equipped with communication module and full-view camera (not embodying in figure) in vehicle body main body 1,
Above-mentioned communication module, full-view camera and small drone pass through wireless network and are connected with above-mentioned remote console, allow people
Can the remote control exploration machine carry out garbage mountain investigation and prospecting.
Referring to FIG. 1, FIG. 2 and FIG. 3, the preparation before exploration: (1) using small drone garbage mountain is comprehensively swept
It retouches and scan data is sent to remote console, the 3D model of garbage mountain is generated by remote console；(2) by remotely controlling
Platform marks exploration area on 3D model, and several exploratory spots are selected in exploration area.Preferably, being between several exploratory spots
Matrix arrangement, the horizontal linear distance d between adjacent two exploratory spot is equal in magnitude, and the numerical value of horizontal linear distance d generally exists
3m is between 5m.(3) exploration machine is controlled by remote console and enters exploration area, and according to preset order to each exploratory spot one by one
Exploration.
Referring to FIG. 1, FIG. 2 and FIG. 3, it explores the specific working mode of machine: a) being evened out near exploratory spot using scraper bowl 2 first
Ground provides more smooth working region, exploration machine is facilitated steadily to advance and park, be convenient for subsequent work for exploration machine open circuit
The progress of work；B) adjustment exploration seat in the plane is set, and drill bit 4 is placed in the surface of exploratory spot, and bore to exploratory spot using drill bit 4
Hole processing；C) after hole formation, drill bit 4 is resetted and installation base plate is rotated 180 °；At this point, the first stock 6 is in hole (i.e.
Exploratory spot) surface, the first stock 6 is put into hole, air in hole is carried out by first gas detection sensor 61
It detects and situation is fed back into remote console, while the image in hole is sent to by long-range control by the first camera 62
Platform uses when analyzing garbage mountain geologic structure for staff.If it was found that pernicious gas (such as methane and hydrogen sulfide) concentration is super
Mark, starts the first exhaust fan 71 at once, is imported air in hole in air purifier 7 by the first suction hole 60, to reduce hole
The concentration of pernicious gas or pernicious gas is eliminated in interior air, the duration of air-treatment depends on the circumstances in hole.D) by long-range
Exploration machine is moved to next exploratory spot and carries out investigation and prospecting by console.At the same time, the extension elongation of armed lever 83 is adjusted,
Second stock 84 is placed in the surface of a upper exploratory spot, restarts hoist engine 81, the second stock 84 is put into upper one and is surveyed
It visits in point and carries out secondary detection, whether the concentration for detecting pernicious gas is exceeded；If it was found that the concentration over-standard of pernicious gas, at once
Start the second exhaust fan 72, is imported air in hole in air purifier 7 by the second suction hole 841, to reduce air in hole
The concentration of middle pernicious gas eliminates pernicious gas, and the duration of air-treatment depends on the circumstances in hole；Due to garbage mountain soil property compared with
To be loose, the gas inside garbage mountain has certain circulation, and the harmful gas concentration in hole can may also be sent out at any time
Changing, the secondary detection of the second stock 84 and secondary treatment can further clear up pernicious gas, control the dense of pernicious gas
Degree, it is ensured that safety in production.It should be understood that the second stock 84 is same when the first stock 6 and drill bit 4 replace exploratory spot
Exploratory spot continuous operation need to only adjust the extension elongation of armed lever 83 in time.
The following are the methods for using above-mentioned unmanned exploration system to detect and handling pernicious gas inside garbage mountain.
Referring to figs. 1 to Fig. 4, the method for being detected using above-mentioned unmanned exploration system and handling pernicious gas inside garbage mountain,
Include the following steps:
(1) scanning means is controlled by console, garbage mountain earth's surface is scanned, console is according to scan data in three-dimensional
The 3D model of garbage mountain is drawn out in coordinate system；As a preferred solution: scanning means is unmanned aerial vehicle.
(2) console chooses several exploratory spots on the 3D model of garbage mountain according to parameter preset.Preferably, on
Stating parameter preset includes row parameter and column parameter, and console is chosen on 3D model arranged in arrays according to row parameter and column parameter
Several exploratory spots.
(3) rear end of above-mentioned exploration machine is equipped with drill bit 4, enters garbage mountain by console control exploration machine, exploration machine according to
The coordinate information that console provides excavates hole in exploratory spot using drill bit 4.Specifically, the front end of above-mentioned exploration machine is additionally provided with shovel
Bucket 2, exploration machine enter it is preferred after garbage mountain planarizing process is carried out to garbage mountain surface using scraper bowl 2, reach sharp after exploratory spot
It is drilled with drill bit 4.In addition, above-mentioned exploration machine is liftably equipped with the second stock 84 for carrying second gas detection sensor；?
To when wherein an exploratory spot is explored, exploration machine drops to the second stock 84 for drill bit 4 or first gas detection sensor 61
In the hole of previous exploratory spot, using above-mentioned second gas detection sensor in hole gas componant and concentration carry out it is secondary
Detection；When the concentration over-standard of pernicious gas, the gas in hole is sucked in air purifier by the second stock
Reason.
(4) above-mentioned exploration machine is liftably equipped with the first stock 6 for carrying first gas detection sensor 61；Exploration machine will
First stock 6 drops in the hole of exploratory spot, using first gas detection sensor 61 to gas componant in hole and dense
Degree is detected, and be will test data transmission to console and analyzed, and judges whether the concentration of pernicious gas is exceeded.
(5) first stocks 6 are tubular body, and above-mentioned exploration machine is equipped with the air purifier 7 communicated with the first stock 6,
When the concentration over-standard of pernicious gas, the gas in hole is sucked in air purifier 7 by the first stock 6 and is handled.
Referring to figs. 1 to Fig. 4, specifically, above-mentioned exploration machine is equipped with armed lever 83,84 liftable of the second stock horizontally moveablely
Ground hang on armed lever 83.The position of the second stock 84 is adjusted when work, by moving horizontally armed lever 83 to adapt to different rows
Exploration machine can be handled simultaneously two exploratory spots for parameter and/or column parameter.
Referring to figs. 1 to Fig. 4, specifically, above-mentioned exploration machine is equipped with full-view camera (not embodying in figure), and full-view camera will
Image information is sent to console, manipulates exploration machine convenient for staff；First stock 6 also carries the first camera 62, just
The situation in exploratory spot hole is observed in the staff of console, analyzes the geologic structure of garbage mountain.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, all to utilize this
Design makes a non-material change to the present invention, and should all belong to behavior that violates the scope of protection of the present invention.
Claims (8)
1. the method for being detected using unmanned exploration system and handling pernicious gas inside garbage mountain, it is characterised in that: unmanned exploration
System includes the scanning means to be communicated by wireless network, exploration machine and console, method includes the following steps: (1) by
Console controls scanning means, is scanned to garbage mountain earth's surface, console is drawn in three-dimensional system of coordinate according to scan data
The 3D model of garbage mountain out；(2) console chooses several exploratory spots on the 3D model of garbage mountain according to parameter preset；(3) institute
The rear end for stating exploration machine is equipped with drill bit, enters garbage mountain, the seat that exploration machine is provided according to console by console control exploration machine
It marks use of information drill bit and excavates hole in exploratory spot；(4) the exploration machine, which is liftably equipped with, carries first gas detection sensing
First stock of device；Exploration machine drops to the first stock in the hole of exploratory spot, utilizes first gas detection sensor device to hole
Gas componant and concentration in hole are detected, and be will test data transmission to console and analyzed, and judge the concentration of pernicious gas
It is whether exceeded；(5) first stock is tubular body, and the exploration machine is equipped with the air cleaning communicated with the first stock
Gas in hole is sucked in air purifier by the first stock and is handled when the concentration over-standard of pernicious gas by device.
2. the method according to claim 1 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: the parameter preset includes row parameter and column parameter, and console is according to row parameter and column in the step (2)
Parameter chooses several exploratory spots arranged in arrays on 3D model.
3. the method according to claim 1 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: the front end of the exploration machine is additionally provided with scraper bowl in the step (3), exploration machine enters preferred benefit after garbage mountain
Planarizing process is carried out to garbage mountain surface with scraper bowl, utilizes bit bore after reaching exploratory spot.
4. according to any side detected using unmanned exploration system and handle pernicious gas inside garbage mountain 1-3 is required
Method, it is characterised in that: in the step (3), the exploration machine, which is liftably equipped with, carries the of second gas detection sensor
Two stocks；Drill bit or first gas detection sensor to wherein an exploratory spot is explored when, exploration machine will be under the second stock
Be down in the hole of previous exploratory spot, using second gas detection sensor in hole gas componant and concentration carry out it is secondary
Detection；When the concentration over-standard of pernicious gas, the gas in hole is sucked in air purifier by the second stock
Reason.
5. the method according to claim 4 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: the exploration machine is equipped with armed lever horizontally moveablely, the second stock liftably hang on armed lever, and when work is logical
It crosses and moves horizontally armed lever to adjust the position of the second stock, to adapt to different row parameter and/or column parameter, allow exploration machine can be with
Two exploratory spots are handled simultaneously.
6. the method according to claim 1 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: the scanning means is unmanned aerial vehicle.
7. the method according to claim 1 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: the exploration machine is equipped with full-view camera, image information is sent to console by full-view camera, is convenient for work
Personnel manipulate exploration machine；First stock also carries the first camera, observes exploratory spot hole convenient for the staff of console
Interior situation analyzes the geologic structure of garbage mountain.
8. the method according to claim 1 detected using unmanned exploration system and handle pernicious gas inside garbage mountain,
It is characterized by: pernicious gas includes methane and hydrogen sulfide in the step (5).
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| CN201710700904.9A CN107478778B (en) | 2017-08-16 | 2017-08-16 | The method for being detected using unmanned exploration system and handling pernicious gas inside garbage mountain |
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| CN107478778B true CN107478778B (en) | 2019-09-24 |
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| CN107478778A (en) | 2017-12-15 |
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