JPS5924113A - Vertical multistage incinerator - Google Patents

Vertical multistage incinerator

Info

Publication number
JPS5924113A
JPS5924113A JP13125582A JP13125582A JPS5924113A JP S5924113 A JPS5924113 A JP S5924113A JP 13125582 A JP13125582 A JP 13125582A JP 13125582 A JP13125582 A JP 13125582A JP S5924113 A JPS5924113 A JP S5924113A
Authority
JP
Japan
Prior art keywords
stage
furnace
gas
combustion
sludge
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP13125582A
Other languages
Japanese (ja)
Other versions
JPH0158409B2 (en
Inventor
Hideyuki Oomichi
大道 秀邁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsui Engineering and Shipbuilding Co Ltd
Mitsui Zosen KK
Original Assignee
Mitsui Engineering and Shipbuilding Co Ltd
Mitsui Zosen KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsui Engineering and Shipbuilding Co Ltd, Mitsui Zosen KK filed Critical Mitsui Engineering and Shipbuilding Co Ltd
Priority to JP13125582A priority Critical patent/JPS5924113A/en
Publication of JPS5924113A publication Critical patent/JPS5924113A/en
Publication of JPH0158409B2 publication Critical patent/JPH0158409B2/ja
Granted legal-status Critical Current

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23JREMOVAL OR TREATMENT OF COMBUSTION PRODUCTS OR COMBUSTION RESIDUES; FLUES 
    • F23J15/00Arrangements of devices for treating smoke or fumes
    • F23J15/02Arrangements of devices for treating smoke or fumes of purifiers, e.g. for removing noxious material
    • F23J15/04Arrangements of devices for treating smoke or fumes of purifiers, e.g. for removing noxious material using washing fluids

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Incineration Of Waste (AREA)

Abstract

PURPOSE:To reduce the generation of bad smell and unburnt gas in case dehydrated sludge, having a high calorific value, is incinerated by a method wherein gas, discharged from a drying stage above a furnace, is cooled and dehumidified, thereafter, is re-circulated to a cooling stage below the furnace, while exhaust gas of a combustion stage effects heat exchange between combustion air, thereafter, is passed through a scrubber. CONSTITUTION:The exhaust gas, containing smelly constituents discharged from the multistage furnace 1, is introduced into a cooling and cleaning tower 32 through a duct 8, is cooled, dehumidified and cleaned here by contacting with original or treated water or the like sprayed from a spraying nozzle 30, thereafter, is returned to the cooling stage 17 of the multistage furnace through a pipeline 34 and the unburnt gas, containing the smelly constituents, is burnt perfectly in the combustion stage 16 above the cooling stage. The heat of the exhaust gas, extracted from the combustion stage 16, effects the heat exchange between the combustion air in a heater 42, thereafter, alkali washing of the gas is effected in the scrubber (or a mist cottrel) 44 and, then, the washed gas 48 is dissipated into atmosphere.

Description

【発明の詳細な説明】 本発明は竪形多段焼却装置に関し、さらに詳しくは高分
子凝集剤等を用いた発熱量の高い有臭性汚泥の焼却装置
に関するものである。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vertical multistage incinerator, and more particularly to an incinerator for odorous sludge with a high calorific value using a polymer flocculant or the like.

排水処理設備および下水処理設備等から排出される有臭
汚泥の処理方法のひとつとして、竪形多段炉で汚泥を焼
却する方法が知られている。汚泥は通常、焼却の前に適
箔な凝集剤が加えられ、脱水機で脱水され、含水率約8
0%の脱水汚泥とした後、竪形多段炉に供給される。上
記凝集剤としては塩化第二鉄、石灰等の無機系の凝集剤
が用いられ、これによって例えば含水率約80%、固形
分発熱量約25ooh/(kg固形分)の脱水汚泥(以
後、石炭汚泥という)が得られる。竪形多段炉は、との
よ5な汚泥に対して最適な焼却炉といえる。
BACKGROUND ART As one method for treating odoriferous sludge discharged from wastewater treatment equipment, sewage treatment equipment, etc., a method of incinerating the sludge in a vertical multi-stage furnace is known. Before incineration, sludge is usually added with a suitable flocculant and dehydrated in a dehydrator, reducing the water content to approximately 8.
After turning into 0% dehydrated sludge, it is fed to a vertical multi-stage furnace. As the above-mentioned flocculant, an inorganic flocculant such as ferric chloride or lime is used. sludge) is obtained. Vertical multi-stage incinerators can be said to be the most suitable incinerators for sludge.

これに対して最近、汚泥の減容化、処理コストの低減等
の理由により、凝集剤として石灰等の代シに高分子化合
物が用いられるようになった。これによって得られた脱
水汚泥(以下、高分子汚泥という)は、固形分発熱量が
4000〜5000−/眩固形分)とかなシ高く、また
含水率も約75%と低い。このような汚泥を多段炉で焼
却すると、自然可能で、従来必要上されていた助燃油が
不要か、あるいは僅少で済むように々す、省エネルギー
上非常に有効なものとなる。しかし高分子汚泥に対して
、石灰汚泥を焼却していた従来の多段炉(以下、従来型
炉という)をその−!ま適用すると種々の不都合が生じ
てくることが分った。
In contrast, recently, for reasons such as reducing the volume of sludge and reducing processing costs, polymer compounds have come to be used as flocculants in place of lime and the like. The dehydrated sludge thus obtained (hereinafter referred to as polymer sludge) has a high solid content calorific value of 4,000 to 5,000 -/solid content) and a low water content of about 75%. When such sludge is incinerated in a multi-stage furnace, it is natural, and the auxiliary fuel that has been required in the past becomes unnecessary or requires only a small amount, which is very effective in terms of energy saving. However, compared to polymer sludge, conventional multistage furnaces (hereinafter referred to as conventional furnaces) incinerate lime sludge. However, it has been found that various inconveniences arise when applied.

第1図および第2図は、従来型炉でそれぞれ石灰汚泥お
よび高分子汚泥を焼却する場合の炉内の燃焼状況を示す
図である。図において、炉lの頂部から供給孔4を介し
て投入された脱水汚泥5は、炉壁に設けられた炉床2お
よび2人を経て順次落下し、乾燥、燃焼および冷却の過
程を経て、炉底のシュート6から焼却灰となって排出さ
れる。炉中央の回転軸10はモータ11によって回転駆
動される。一方、空気12は、回転軸10内を通って予
熱されたのち、汚泥燃焼用空気13として炉下段から送
入され、落下する汚泥と向流接触し、冷却、燃焼に用い
られたのち、燃焼排ガスと橙って炉頂排ガスダクト8か
ら排出される。なお、図中、3は回転軸10に設けられ
た攪拌羽根、14は熱風発生炉である。
FIG. 1 and FIG. 2 are diagrams showing combustion conditions in a conventional furnace when lime sludge and polymer sludge are incinerated, respectively. In the figure, dehydrated sludge 5 is introduced from the top of a furnace 1 through a supply hole 4, passes through a hearth 2 and two people installed on the furnace wall, and sequentially falls through the processes of drying, combustion, and cooling. The incinerated ash is discharged from the chute 6 at the bottom of the furnace. A rotating shaft 10 at the center of the furnace is rotationally driven by a motor 11. On the other hand, air 12 passes through the rotating shaft 10 and is preheated, then is introduced from the lower stage of the furnace as air 13 for sludge combustion, comes into countercurrent contact with the falling sludge, is used for cooling and combustion, and then is combusted. It is discharged from the furnace top exhaust gas duct 8 in the form of exhaust gas. In addition, in the figure, 3 is a stirring blade provided on the rotating shaft 10, and 14 is a hot air generating furnace.

第1図の石灰汚泥の場合には、炉内上部の乾燥段(乾燥
部15のある段をいう)では脱水汚泥と汚泥燃焼排ガス
が接触し、効率的な乾燥が行表われ、適度に乾燥した汚
泥は燃焼段(燃焼部16にある段をいう)に落下し、汚
泥中の可燃性揮発分が火炎19を伴ない燃焼する。との
場合、可燃性揮発分は燃焼部16においてほぼ完全燃焼
し、煤などの残存しない汚泥燃焼排ガスと橙って乾燥部
を上昇し、脱水汚泥を乾燥した後、炉頂排ガス9となっ
て最上段の炉頂排ガスダクト8から排出される。このよ
うにして石灰汚泥焼却時には、汚泥中の水分蒸発を行な
う乾燥部15と可燃性揮発分の燃焼が行表われる燃焼部
16の境界が明瞭で、排ガスも清浄となる。また炉の操
作性という観点からみると、操作性のポイントになる燃
焼段の位置は、熱風発生炉14で使用する助燃油量の加
減により容易に固定する仁とができ、すなわち、多段炉
による石灰汚泥の焼却という技術に関しては、排ガス性
状および炉の操作性からみて完成された技術といえる。
In the case of lime sludge shown in Figure 1, the dehydrated sludge and sludge combustion exhaust gas come into contact with each other in the drying stage at the upper part of the furnace (this is the stage where the drying section 15 is located), and efficient drying is carried out, resulting in moderate drying. The sludge falls into a combustion stage (a stage in the combustion section 16), and combustible volatiles in the sludge are combusted with flame 19. In this case, the combustible volatiles are almost completely combusted in the combustion section 16, mix with the sludge combustion exhaust gas without remaining soot, and rise through the drying section, and after drying the dehydrated sludge, become the furnace top exhaust gas 9. It is discharged from the furnace top exhaust gas duct 8 at the top. In this manner, when incinerating lime sludge, the boundary between the drying section 15 where water in the sludge is evaporated and the combustion section 16 where combustible volatile matter is burned is clear, and the exhaust gas is also clean. In addition, from the viewpoint of operability of the furnace, the position of the combustion stage, which is a key point of operability, can be easily fixed by adjusting the amount of auxiliary fuel used in the hot air generating furnace 14. The technology of incinerating lime sludge can be said to be a perfected technology in terms of exhaust gas properties and furnace operability.

これに対して、第2図の高分子汚泥の場合、高分子汚泥
は含水率が低く、かつ発熱量が大きいため、助燃油等を
要せずに自燃させること力;できる。
On the other hand, in the case of the polymer sludge shown in FIG. 2, since the polymer sludge has a low water content and a large calorific value, it can be self-combusted without requiring auxiliary combustion oil or the like.

また石灰汚泥焼却時の状況と比較して乾燥段数力!少な
くなり、汚泥中の可燃性揮発分の叶が多いため、燃焼部
16から発生する火炎が長くなり、乾燥部15にまで達
する。このような状況になると、火炎19が乾燥途中の
汚泥により冷却され、多量の可燃性揮発分が未燃分と々
って排ガス中に残存する。さらに乾燥段にある汚泥につ
いても汚泥燃焼火炎により加熱され、局部的に乾燥が進
み過き゛、水分蒸発のみならず、可燃性揮発分を発生す
るようにな凱はなはだしい場合には瞬間的に着火するこ
とさえある。このように乾燥段で発生した可燃性揮発分
は充分燃えカい−1,−1、未燃分として乾燥段を通過
し炉頂排ガス8に含まれる。またこのような可燃性揮発
分は同時に右奥成分を含み、このだめ炉頂排ガス8から
悪臭を生じるという問題がある。従って高分子凝集剤で
処理した有機質汚泥を処理する場合には、焼却炉の他に
脱臭装置等の設置が避けられないという不利がある。
Also, compared to the situation when incinerating lime sludge, the number of drying stages is higher! Since the amount of combustible volatile matter in the sludge is large, the flame generated from the combustion section 16 becomes longer and reaches the drying section 15. In such a situation, the flame 19 is cooled by the sludge in the middle of drying, and a large amount of combustible volatile matter remains in the exhaust gas along with unburned matter. Furthermore, the sludge in the drying stage is also heated by the sludge combustion flame, and if localized excessive drying occurs, not only moisture evaporates, but flammable volatile matter is generated, which can ignite instantaneously. Even. The combustible volatile matter generated in the drying stage is sufficiently burnt -1, -1, passes through the drying stage as unburned matter, and is included in the furnace top exhaust gas 8. Further, such combustible volatile matter also contains the right-most component, and there is a problem in that this waste furnace top exhaust gas 8 generates a bad odor. Therefore, when treating organic sludge treated with a polymer flocculant, there is a disadvantage that a deodorizing device or the like must be installed in addition to an incinerator.

本発明の目的は、高分子凝集剤等を含む発熱量の高い脱
水汚泥を焼却する際に、悪臭および未燃分の発生が少な
い竪形多段炉を提供することにある。
An object of the present invention is to provide a vertical multistage furnace that generates less bad odor and unburned matter when incinerating dehydrated sludge containing a polymer flocculant and the like and having a high calorific value.

本発明の竪形多段炉は、上方から乾燥段部、燃焼段部お
よび冷却段部に区画され、燃焼用空気が下方から上方へ
流通される一方、被燃焼物が上方の乾燥段から順次下段
へ供給される、高分子物質を含む汚泥の焼却炉を備えた
装置において、炉内燃焼段部の炉床上に、汚泥から発生
する可燃性揮発分等の未燃分が充分に燃焼する空間部と
、炉上部の乾燥段部から排出されるガスを外部に設けた
冷却洗浄塔で冷却除湿した後、炉下部の冷却段部へ再循
環させるガス処理系統と、前記燃焼段部の排ガス−を燃
焼用空気と熱、交換した後、スクラバーを通して大気へ
排出するガス排出系統とを備えたことを特徴上する。
The vertical multistage furnace of the present invention is divided into a drying stage section, a combustion stage section, and a cooling stage section from the top, and combustion air is distributed from the bottom to the top, while the materials to be combusted are passed from the top drying stage to the bottom stage. In a device equipped with an incinerator for sludge containing polymeric substances, which is supplied to , a gas processing system that cools and dehumidifies the gas discharged from the drying stage in the upper part of the furnace in an external cooling cleaning tower, and then recirculates it to the cooling stage in the lower part of the furnace; It is characterized by being equipped with a gas exhaust system that exchanges heat with combustion air and then discharges it to the atmosphere through a scrubber.

本発明において、前記燃焼空間部はその負荷率が25万
一/ hr・燃焼部単位−以下になるような容積を有す
ることが好ましく、また該空間部には燃焼排ガスの一部
を抜き出すだめのダクトを設けることが好ましい。
In the present invention, it is preferable that the combustion space has a volume such that the load rate is 250,000/hr/combustion unit or less, and the space has a volume for extracting part of the combustion exhaust gas. Preferably, a duct is provided.

また、前記空間部には燃焼を促進するだめの邪魔板を設
け、さらに該邪魔板の中央部に汚泥が円滑に落下するよ
うにテーバ状部に案内される連通孔を設けることができ
る。
Further, a baffle plate for promoting combustion may be provided in the space, and a communication hole may be provided in the center of the baffle plate to guide the sludge to the tapered portion so that the sludge falls smoothly.

さらに本発明においては、前肥燃焼空間部に酸素含有ガ
スの吹込手段を設けることができる5゜このよう外ガス
吹込手段としては、炉壁の円周に沿って接線方向に貫挿
された複数個のノズル群を有するもの、炉壁の円周に沿
って半径方向に貫挿された複数のガス吹込管と炉内の回
転軸の円周に沿って半径方向に突出するガス吹込管とを
上下方向に複数段配置し、上記ガス吹込管の小孔から燃
焼室間部にガスを噴出させるもの等をあげることができ
る。
Furthermore, in the present invention, a means for blowing oxygen-containing gas can be provided in the fore-fertilization combustion space. a plurality of gas blowing tubes inserted radially along the circumference of the furnace wall, and a gas blowing tube protruding radially along the circumference of the rotating shaft inside the furnace. An example is one in which a plurality of stages are arranged in the vertical direction and gas is ejected from a small hole in the gas blowing pipe into the space between the combustion chambers.

以下5本発明を図面によりさらに詳細に説明する。第4
図は、本発明の焼却装置の一実施例を示す系統図である
。この装置は、乾燥段部15、燃焼段部16および冷却
段部1′1を有する竪形多段焼却炉1と、該焼却炉1の
乾燥段部15に設けられた排ガスダクト8と、該排ガス
が導入され、散水ノズル3oから散布される洗浄水と気
液接触する冷却洗浄塔32と、該冷却洗浄塔32で洗浄
されたガスを前記多段炉1の冷却段部17に再循環させ
るだめのプロア36′を備えた配管34と、多段炉1の
燃焼段部16の排ガスを抜出すための配管38と、該配
管38の排ガスど燃焼用空気40とを熱交換させる空気
加熱器42と、該加熱器4゜2を出た排ガスを洗浄する
スクラバー44−と、該排ガス用のブロア46とから構
成される。
Hereinafter, the present invention will be explained in more detail with reference to the drawings. Fourth
The figure is a system diagram showing an embodiment of the incinerator of the present invention. This device includes a vertical multistage incinerator 1 having a drying stage section 15, a combustion stage section 16, and a cooling stage section 1'1, an exhaust gas duct 8 provided in the drying stage section 15 of the incinerator 1, and an exhaust gas duct 8 provided in the drying stage section 15 of the incinerator 1. A cooling cleaning tower 32 in which gas is introduced and comes into gas-liquid contact with the cleaning water sprayed from the water spray nozzle 3o, and a tank for recirculating the gas cleaned in the cooling cleaning tower 32 to the cooling stage section 17 of the multistage furnace 1. A pipe 34 equipped with a proar 36', a pipe 38 for extracting exhaust gas from the combustion stage section 16 of the multistage furnace 1, and an air heater 42 for exchanging heat between the exhaust gas in the pipe 38 and the combustion air 40; It is comprised of a scrubber 44- for cleaning the exhaust gas exiting the heater 4.2, and a blower 46 for the exhaust gas.

上記構成の装置において、多段炉lを出た有臭成分を含
む排ガスは、ダクト8から冷却洗浄塔32に導入され、
ここで散水ノズル30から散布される原水まだは処理水
等と接触されて冷却除湿洗浄された後、配管34を通っ
て多段炉の冷却段部1′7に戻され、有臭成分を含む未
燃分がその土部の燃焼段部16で完全燃焼される。燃焼
段部ユ6から抜出された排ガスは加熱器42で燃焼用空
気と熱交換された後、スクラバー(またはミストコット
レル)44でアルカリ洗浄された後、洗浄ガス4日とな
って大気中に放散される。
In the apparatus configured as described above, the exhaust gas containing odorous components leaving the multi-stage furnace 1 is introduced into the cooling cleaning tower 32 from the duct 8,
Here, the raw water sprayed from the water nozzle 30 comes into contact with treated water, etc., is cooled and dehumidified, and is then returned to the cooling stage section 1'7 of the multi-stage furnace through the pipe 34, where it is returned to the cooling stage section 1'7 of the multi-stage furnace. The fuel is completely combusted in the combustion stage section 16 of the soil section. The exhaust gas extracted from the combustion stage unit 6 undergoes heat exchange with the combustion air in the heater 42, and is then cleaned with alkali in the scrubber (or mist cotterel) 44. After 4 days, the cleaning gas is released into the atmosphere. Dissipated.

上記実施例に示したように、本発明によれば、乾燥段部
の炉頂排ガスを除湿して再度炉内に戻すことにより、有
臭成分を含む未燃分は燃焼段部で完全燃焼され、ここか
ら排出される燃焼ガス中の悪臭をなくすことができる。
As shown in the above embodiment, according to the present invention, by dehumidifying the furnace top exhaust gas in the drying stage and returning it to the furnace, unburned gas containing odor components is completely combusted in the combustion stage. , it is possible to eliminate the bad odor in the combustion gas discharged from here.

このため、従来、焼却炉外に別置していた脱臭設備が不
要になり、また炉頂排ガスを除湿する尼め、多段炉の熱
負荷が軽減される等の効果も併せて得られる。
This eliminates the need for deodorizing equipment, which was conventionally installed separately outside the incinerator, and also provides benefits such as dehumidifying the exhaust gas at the top of the incinerator and reducing the heat load on the multi-stage incinerator.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図および第2図は、従来の竪形多段炉を用いてそれ
ぞれ石灰汚泥昇よび高分子汚泥を燃焼させた状態を示す
断面図、第3図は、本発明に用いる竪形多段炉の断面図
、第4図は、本発明の一実施例を示す竪形多段焼却装置
の系統図である。符号の説明は次のとおりである。 1・・・・・・炉、8・・・・・・炉頂排ガスダクト、
15・・・・・・乾燥段部、16・・・・・・燃焼段部
、17・・・・・・冷却段部、32・・・・・・冷却洗
浄塔、42・・・・・・ガス加熱器、4.4・・・・・
・スクラバー、48・・・・・・清浄ガス。 代理人 弁理士 川 北 武 長
Figures 1 and 2 are cross-sectional views showing lime sludge rising and polymer sludge being combusted using a conventional vertical multi-stage furnace, respectively, and Figure 3 is a cross-sectional view of the vertical multi-stage furnace used in the present invention. The sectional view, FIG. 4, is a system diagram of a vertical multistage incinerator showing one embodiment of the present invention. The explanation of the symbols is as follows. 1...Furnace, 8...Furnace top exhaust gas duct,
15... Drying stage section, 16... Combustion stage section, 17... Cooling stage section, 32... Cooling washing tower, 42...・Gas heater, 4.4...
・Scrubber, 48...Clean gas. Agent Patent Attorney Takenaga Kawakita

Claims (1)

【特許請求の範囲】[Claims] (1)上方から乾燥段部、燃焼段部および冷却段部に区
画され、燃焼用空気が下方から上方へ流通されえた装置
において、炉内燃焼段部の炉床上に、汚泥から発生する
可燃性揮発分等の未燃分が充分に燃焼する空間部と、炉
上部の乾燥段部から排出されるガスを外部に設けた冷却
洗浄塔で冷却除湿した後、炉下部の冷却段部へ再循環さ
せるガス処理系統と、前記燃焼段部の排ガスを燃焼用空
気と熱交換した後、スクラバーを通して大気へ排出する
ガス排出系統とを備えたことを特徴とする竪形多段焼却
装置。
(1) In a device that is divided from above into a drying stage section, a combustion stage section, and a cooling stage section, and in which combustion air can be circulated from below to above, flammable substances generated from sludge are found on the hearth of the combustion stage section in the furnace. The gas discharged from the drying stage in the upper part of the furnace is cooled and dehumidified in a cooling washing tower installed outside, and then recirculated to the cooling stage in the lower part of the furnace. A vertical multi-stage incinerator characterized by comprising: a gas processing system for exchanging heat with combustion air for the exhaust gas of the combustion stage section, and a gas exhaust system for discharging the exhaust gas to the atmosphere through a scrubber.
JP13125582A 1982-07-29 1982-07-29 Vertical multistage incinerator Granted JPS5924113A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP13125582A JPS5924113A (en) 1982-07-29 1982-07-29 Vertical multistage incinerator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP13125582A JPS5924113A (en) 1982-07-29 1982-07-29 Vertical multistage incinerator

Publications (2)

Publication Number Publication Date
JPS5924113A true JPS5924113A (en) 1984-02-07
JPH0158409B2 JPH0158409B2 (en) 1989-12-12

Family

ID=15053632

Family Applications (1)

Application Number Title Priority Date Filing Date
JP13125582A Granted JPS5924113A (en) 1982-07-29 1982-07-29 Vertical multistage incinerator

Country Status (1)

Country Link
JP (1) JPS5924113A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3509708A1 (en) * 1984-03-19 1985-09-19 Mitsubishi Denki K.K., Tokio/Tokyo NAVIGATION SYSTEM FOR SELF-DRIVEN VEHICLES

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3509708A1 (en) * 1984-03-19 1985-09-19 Mitsubishi Denki K.K., Tokio/Tokyo NAVIGATION SYSTEM FOR SELF-DRIVEN VEHICLES

Also Published As

Publication number Publication date
JPH0158409B2 (en) 1989-12-12

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