CN109250807A - A kind of sewage aeration machine people - Google Patents
A kind of sewage aeration machine people Download PDFInfo
- Publication number
- CN109250807A CN109250807A CN201811247448.8A CN201811247448A CN109250807A CN 109250807 A CN109250807 A CN 109250807A CN 201811247448 A CN201811247448 A CN 201811247448A CN 109250807 A CN109250807 A CN 109250807A
- Authority
- CN
- China
- Prior art keywords
- robot
- sewage
- water quality
- water
- aeration
- 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.)
- Pending
Links
Classifications
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F3/00—Biological treatment of water, waste water, or sewage
- C02F3/02—Aerobic processes
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F7/00—Aeration of stretches of water
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2201/00—Apparatus for treatment of water, waste water or sewage
- C02F2201/002—Construction details of the apparatus
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2201/00—Apparatus for treatment of water, waste water or sewage
- C02F2201/008—Mobile apparatus and plants, e.g. mounted on a vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/10—Biological treatment of water, waste water, or sewage
Abstract
The invention belongs to environment protection fields, robot field, more particularly to a kind of sewage aeration machine people, the robot includes operation portion, data portion and control unit, robot is bubbled through the water column by rubber buoyancy tank, it controls the first controlled valve and is all transported to corresponding puff prot with the required jet amount that the second controlled valve supplies air pump, after jet pushes robot to drive to specified waters, it controls the first controlled valve and the gas that air pump generates all is passed through into aerator, it is aerated by the micro porous aeration head of gas pipeline end, robot carries out the planning for being aerated path after being able to detect the pollution level of sewage, the path for reaching sewage aeration processing is reasonable, the effect of Air Exposure qualification.
Description
Technical field
The invention belongs to environment protection field, robot field, in particular to a kind of sewage aeration machine people.
Background technique
Aeration refers in sewage disposal process, using certain method and apparatus, forces to be passed through air into sewage, make
Sewage contacts oxygenation with air in pond, and stirs liquid, accelerates transfer of the oxygen in air into liquid, prevents from suspending in pond
Object sinks, and reinforces the contact of organic matter and microorganism and dissolved oxygen in pond, carries out oxygenolysis to dirty Organic substance in water, this
The process of compulsory oxygen aeration into sewage.A kind of plastic sheet of existing aerator such as Jiangsu Fei Li Ingegneria Ambientale SRL
It is superimposed fixation hole aerator (referenced patent document CN102372370B), Beijing Ecojoy Water Technology Co., Ltd.
A kind of sewage-treatment plant (referenced patent document CN102775024B).
Summary of the invention
The present invention provides a kind of sewage aeration handling machine people comprising the combination of mechanical structure and control unit, energy
Then the pollution level for enough detecting sewage carries out the planning for being aerated path of robot, the path for reaching sewage aeration processing is closed
Reason, the effect of Air Exposure qualification.
Sewage aeration machine people, works in cesspool, is disposed with multiple water quality sensings in the cesspool in array
Device, the robot include operation portion, data portion and control unit；
The operation portion includes:
Air pump is connect by the first controlled valve (triple valve) with aerator and traveling mechanism, for controllably to exposure
Device of air and traveling mechanism gas supply；
Aerator is used to carry out Air Exposure to the sewage in cesspool, including extends to the intracorporal appendix of water
Road, and it is fixed on the micro porous aeration head in the end of gas pipeline；
The bottom of robot is arranged in rubber buoyancy tank, bubbles through the water column for carrying robot；
The lower end of rubber buoyancy tank is arranged in traveling mechanism comprising is uniformly arranged on four circumferential surfaces of traveling mechanism
Multiple puff prots, and the second controlled valve (five-way valve) being connected to each face puff prot, traveling mechanism using air pump gas supply with
Water body forms the thrust of different size and direction, so that robot be pushed to sail on the water；
Robot is bubbled through the water column by rubber buoyancy tank, and air pump is supplied by the first controlled valve to aerator and traveling mechanism
Gas, a part of gas carry out Air Exposure, another part to sewage by the gas pipeline and micro porous aeration head of aerator
Gas drives robot to travel in the water surface by traveling mechanism；
The data portion includes:
Data receipt unit is communicated to connect with the water quality sensor, for receiving the water quality detection of water quality sensor
Data；
Distance measuring sensor is arranged in robot, for robot measurement at a distance from cesspool pool side；
The control unit is configured as:
(1) coordinate system for establishing cesspool determines the coordinate position of each water quality sensor in the coordinate system；
(2) range data measured according to distance measuring sensor determines the coordinate position of robot in the coordinate system；
(3) according to the coordinate position of robot and water quality sensor, the distance between robot and water quality sensor are determined,
And direction of the robot relative to water quality sensor；
(4) it is that underproof waters carries out Air Exposure that control robot, which drives to water quality sensor transmission data judging,
Specifically, determining robot relative to unqualified water according to the coordinate position of water quality sensor in robot and unqualified waters
The distance that the direction in domain and needs travel, jet amount and jet time needed for calculating traveling, selects on corresponding traveling mechanism
Puff prot, control the first controlled valve and with the required jet amount that the second controlled valve supplies air pump be all transported to corresponding jet
Mouthful, push robot to drive to specified waters；
(5) after robot drives to specified waters, the first controlled valve is controlled by the gas that air pump generates and all passes through aeration
Device carries out sewage aeration processing by the micro porous aeration head of gas pipeline end.
The beneficial effects of the present invention are: the present invention carries out the planning for being aerated path after being able to detect the pollution level of sewage,
The path for reaching sewage aeration processing is reasonable, the effect of Air Exposure qualification.
Detailed description of the invention
Fig. 1 shows the operation schematic diagram of robot；
Fig. 2 shows the structural schematic diagrams of robot；
Fig. 3 shows the control flow chart of robot.
Specific embodiment
With reference to the accompanying drawings, the function that the structure of this system is described in detail and is realized.
A kind of robot for cesspool Air Exposure is disposed with multiple water quality sensors in the cesspool in array
4, the robot includes operation portion 1, data portion and control unit 3；
The operation portion 1 includes:
Air pump 11 is connect by the first controlled valve 111 with aerator 12 and traveling mechanism 14, for controllably to exposure
Device of air 12 and traveling mechanism 14 supply；
Aerator 12 is used to carry out Air Exposure to the sewage in cesspool, including extends to the intracorporal gas transmission of water
Pipeline 121, and it is fixed on the micro porous aeration head 122 in the end of gas pipeline 121；
The bottom of robot is arranged in rubber buoyancy tank 13, bubbles through the water column for carrying robot；
The lower end of rubber buoyancy tank 13 is arranged in traveling mechanism 14 comprising is uniformly arranged on 14 4 week of traveling mechanism
Multiple puff prots 142 on face, and the second controlled valve 141 being connected to each face puff prot 142, traveling mechanism 14 utilize air pump
11 gas supply and water body form the thrust of different size and direction, so that robot be pushed to sail on the water；
Robot is bubbled through the water column by rubber buoyancy tank 13, and air pump 11 to aerator 12 and is gone by the first controlled valve 111
The gas supply of mechanism 14 is sailed, a part of gas carries out sewage by the gas pipeline 121 and micro porous aeration head 122 of aerator 12
Air Exposure, another part gas drive robot to travel in the water surface by traveling mechanism 14；
The data portion includes:
Data receipt unit 21 is communicated to connect with the water quality sensor 4, for receiving the water quality of water quality sensor 4
Detection data；
Distance measuring sensor 22 is arranged in robot, for robot measurement at a distance from cesspool pool side；
The control unit 3 is configured as
The coordinate system for establishing cesspool determines the coordinate position of each water quality sensor 4 in the coordinate system；
According to the range data that distance measuring sensor 22 measures, the coordinate position of robot in the coordinate system is determined；
According to the coordinate position of robot and water quality sensor 4, the distance between robot and water quality sensor 4 are determined,
And direction of the robot relative to water quality sensor 4；
According to the data comparison of data receipt unit 21, determine that each water quality sensor 4 detects the height of water pollution degree
It is low, the sequence of robot Air Exposure priority is carried out with the height of water pollution degree；
Determine that water quality sensor 4 for corresponding detection aeration of stretches point, is determined with the priority of robot Air Exposure
Successively drive to the sequence of aeration point；
Control robot according to successively drive to aeration point sequence aeration: specifically, according to robot with successively travel
To the coordinate position of aeration point, determines the distance that robot is travelled relative to the direction of aeration point and needs, calculate needed for traveling
Jet amount and jet time, select the puff prot 142 on corresponding traveling mechanism 14, control the first controlled valve 111 and second
The required jet amount that controlled valve 141 supplies air pump 11 is all transported to corresponding puff prot 142, and jet pushes robot traveling
To specified waters；
After robot drives to specified waters, the first controlled valve 111 is controlled by the gas that air pump 11 generates and all passes through exposure
Device of air 12 is aerated by the micro porous aeration head 122 of 121 end of gas pipeline.
One skilled in the art would recognize that without departing substantially from the spirit and scope of the invention as generally describing,
Various variations and/or modification can be carried out to invention shown in each specific embodiment.Therefore, in terms of all
For, embodiment here is considered as illustrative and and non-limiting.Equally, the present invention includes any feature
Combination, the combination of any feature especially in Patent right requirement, even if the combination of this feature or feature is not in patent
It is explicitely stated in claim or each embodiment here.
Claims (2)
1. a kind of sewage aeration machine people, which is characterized in that it floats and travels on sewage water surface, while exposing into water body
Gas, and its basis detects that the pollution level of sewage carries out the planning in aeration path.
2. a kind of sewage aeration machine people, works in cesspool, multiple water quality are disposed in the cesspool in array and are passed
Sensor, the robot include operation portion, data portion and control unit；It is characterized in that,
The operation portion includes:
Air pump is connect by the first controlled valve with aerator and traveling mechanism, for controllably to aerator and traveling
Mechanism gas supply；
Aerator is used to carry out Air Exposure to the sewage in cesspool, including extends to the intracorporal gas pipeline of water, and
It is fixed on the micro porous aeration head in the end of gas pipeline；
The bottom of robot is arranged in rubber buoyancy tank, bubbles through the water column for carrying robot；
The lower end of rubber buoyancy tank is arranged in traveling mechanism comprising is uniformly arranged on multiple on four circumferential surfaces of traveling mechanism
Puff prot, and the second controlled valve being connected to each face puff prot, traveling mechanism form difference using the gas supply and water body of air pump
The thrust of size and Orientation, so that robot be pushed to sail on the water；
Robot is bubbled through the water column by rubber buoyancy tank, and air pump is supplied by the first controlled valve to aerator and traveling mechanism, and one
Partial gas carries out Air Exposure to sewage by the gas pipeline and micro porous aeration head of aerator, and another part gas is logical
Traveling mechanism is crossed to drive robot to travel in the water surface；
The data portion includes:
Data receipt unit is communicated to connect with the water quality sensor, for receiving the water quality testing data of water quality sensor；
Distance measuring sensor is arranged in robot, for robot measurement at a distance from cesspool pool side；
The control unit is configured as:
(1) coordinate system for establishing cesspool determines the coordinate position of each water quality sensor in the coordinate system；
(2) range data measured according to distance measuring sensor determines the coordinate position of robot in the coordinate system；
(3) according to the coordinate position of robot and water quality sensor, the distance between robot and water quality sensor are determined, and
Direction of the robot relative to water quality sensor；
(4) water quality testing data received according to data receipt unit, the pollution in waters where determining each water quality sensor
The height of degree, and with the sequence of the height of water pollution degree progress robot Air Exposure priority；
(5) control robot successively drives to corresponding aeration point according to above-mentioned sequence, specific: according to robot and aeration
The coordinate position of point determines the distance that robot is travelled relative to the direction of aeration point and needs, jet needed for calculating traveling
Amount and jet time, select the puff prot on corresponding traveling mechanism, and the first controlled valve of control supplies air pump with the second controlled valve
The required jet amount given all is transported to corresponding puff prot, and robot is pushed to drive to specified waters；
(6) after robot drives to specified waters, the first controlled valve is controlled by the gas that air pump generates and all passes through aerator,
Sewage aeration processing is carried out by the micro porous aeration head of gas pipeline end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247448.8A CN109250807A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage aeration machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247448.8A CN109250807A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage aeration machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109250807A true CN109250807A (en) | 2019-01-22 |
Family
ID=65045532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811247448.8A Pending CN109250807A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage aeration machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250807A (en) |
Citations (16)
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|---|---|---|---|---|
| JPH11262777A (en) * | 1998-03-17 | 1999-09-28 | Hitachi Kiden Kogyo Ltd | Method for removing phosphorus in wastewater |
| CN103851305A (en) * | 2012-11-29 | 2014-06-11 | 哈尔滨市三和佳美科技发展有限公司 | Jet-propelled sewage pipe robot |
| CN204697760U (en) * | 2015-06-27 | 2015-10-14 | 陈伟强 | Water-bed from Mobile oxygen adding device |
| CN105043401A (en) * | 2015-07-14 | 2015-11-11 | 南京理工大学 | Urban healthy trip planning method and system based on floating car method |
| CN205313209U (en) * | 2016-01-22 | 2016-06-15 | 王以尧 | Intelligence navigation solar energy aeration equipment |
| CN205922531U (en) * | 2016-08-02 | 2017-02-08 | 广西大学 | Autonomic mobile solar power efflux oxygenation platform |
| CN106527448A (en) * | 2016-12-16 | 2017-03-22 | 浙江工业大学 | Improved A* robot optimal path planning method suitable for warehouse environment |
| CN206069496U (en) * | 2016-08-31 | 2017-04-05 | 福建元科机械有限公司 | A kind of water process autonomous oxygen-increasing device |
| CN106614208A (en) * | 2015-11-09 | 2017-05-10 | 江苏华邦新材料科技有限公司 | Fishery breeding self-propelled robot |
| CN106830118A (en) * | 2017-02-23 | 2017-06-13 | 上海帆煜自动化科技有限公司 | A kind of intelligent robot system for lake sewage purified treatment |
| CN107156015A (en) * | 2017-04-20 | 2017-09-15 | 广西柳州中嘉知识产权服务有限公司 | Fishpond water quality control system |
| CN206502671U (en) * | 2017-01-04 | 2017-09-19 | 广州市水之道生态环境修复有限公司 | A kind of remote control satellite fix solar energy aeration cleaning system |
| CN206892658U (en) * | 2016-12-22 | 2018-01-16 | 江苏科茂信息技术有限公司 | It is a kind of based on solar powered walking intelligence oxygenation robot |
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Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11262777A (en) * | 1998-03-17 | 1999-09-28 | Hitachi Kiden Kogyo Ltd | Method for removing phosphorus in wastewater |
| CN103851305A (en) * | 2012-11-29 | 2014-06-11 | 哈尔滨市三和佳美科技发展有限公司 | Jet-propelled sewage pipe robot |
| CN204697760U (en) * | 2015-06-27 | 2015-10-14 | 陈伟强 | Water-bed from Mobile oxygen adding device |
| CN105043401A (en) * | 2015-07-14 | 2015-11-11 | 南京理工大学 | Urban healthy trip planning method and system based on floating car method |
| CN106614208A (en) * | 2015-11-09 | 2017-05-10 | 江苏华邦新材料科技有限公司 | Fishery breeding self-propelled robot |
| CN205313209U (en) * | 2016-01-22 | 2016-06-15 | 王以尧 | Intelligence navigation solar energy aeration equipment |
| CN107640834A (en) * | 2016-07-20 | 2018-01-30 | 郑伟 | A kind of floating oxygenation decontamination apparatus |
| CN205922531U (en) * | 2016-08-02 | 2017-02-08 | 广西大学 | Autonomic mobile solar power efflux oxygenation platform |
| CN206069496U (en) * | 2016-08-31 | 2017-04-05 | 福建元科机械有限公司 | A kind of water process autonomous oxygen-increasing device |
| CN106527448A (en) * | 2016-12-16 | 2017-03-22 | 浙江工业大学 | Improved A* robot optimal path planning method suitable for warehouse environment |
| CN206892658U (en) * | 2016-12-22 | 2018-01-16 | 江苏科茂信息技术有限公司 | It is a kind of based on solar powered walking intelligence oxygenation robot |
| CN206502671U (en) * | 2017-01-04 | 2017-09-19 | 广州市水之道生态环境修复有限公司 | A kind of remote control satellite fix solar energy aeration cleaning system |
| CN106830118A (en) * | 2017-02-23 | 2017-06-13 | 上海帆煜自动化科技有限公司 | A kind of intelligent robot system for lake sewage purified treatment |
| CN107156015A (en) * | 2017-04-20 | 2017-09-15 | 广西柳州中嘉知识产权服务有限公司 | Fishpond water quality control system |
| CN207498146U (en) * | 2017-11-10 | 2018-06-15 | 北京华亚科创科技有限公司 | Liftable type has the function of the aeration system of water remediation |
| CN108217994A (en) * | 2018-02-01 | 2018-06-29 | 宁波立升环保工程有限公司 | Intelligent governing system applied to body eutrophication |
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| Title |
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| PB01 | Publication | ||
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Application publication date: 20190122 |