CN109250808A - A kind of sewage treatment machine people of environmental protection - Google Patents
A kind of sewage treatment machine people of environmental protection Download PDFInfo
- Publication number
- CN109250808A CN109250808A CN201811247449.2A CN201811247449A CN109250808A CN 109250808 A CN109250808 A CN 109250808A CN 201811247449 A CN201811247449 A CN 201811247449A CN 109250808 A CN109250808 A CN 109250808A
- Authority
- CN
- China
- Prior art keywords
- robot
- aeration
- traveling mechanism
- inflection point
- sewage
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Microbiology (AREA)
- Aeration Devices For Treatment Of Activated Polluted Sludge (AREA)
Abstract
The invention belongs to environment protection fields, robot field, more particularly to a kind of sewage treatment machine people of environmental protection, it includes operation portion, data portion and control unit, robot is bubbled through the water column by rubber buoyancy tank, after traveling mechanism pushes robot to drive to specified aeration starting point, gas a part that air pump generates is transported to corresponding puff prot by traveling mechanism by the first controlled valve, jet pushes robot slowly to travel on aeration driving path, another part passes through 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 the sewage treatment machine people of a kind of environmental protection.
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 treatment 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 of cesspool is established, is determined using water quality sensor as the center of circle, with water quality sensor to coordinate system original
The distance of point is the circle of diameter, using the side of round inscribe regular quadrangle as aeration path；
(2) according to cesspool coordinate system, the position of each inflection point in the coordinate system on aeration driving path is determined；
(3) it determines that the inflection point apart from coordinate origin proximal most position is to be aerated the starting point of driving path, is being exposed with starting point
Driving direction of the clockwise direction as aeration path on gas circuit diameter；
(4) range data measured according to distance measuring sensor determines the coordinate position of robot in the coordinate system；
(5) according to aeration driving path in each inflection point coordinate position, determine between inflection point and another inflection point away from
From and direction of the inflection point relative to another inflection point；
(6) control robot carries out Air Exposure to water quality sensor transmission data judging for underproof waters, specifically
: according to the coordinate position of robot and the unqualified aeration of stretches starting point, determine robot relative to aeration starting point
Direction and the distance that travels of needs, jet amount and jet time needed for calculating traveling select on corresponding traveling mechanism
Puff prot controls the first controlled valve with the required jet amount that the second controlled valve supplies air pump and is all transported to corresponding jet
Mouthful, push robot to drive to specified aeration starting point；
(7) after robot drives to specified aeration starting point, according to the coordinate of each inflection point in aeration driving path
Position determines the distance that inflection point is travelled relative to the direction of another inflection point and needs, jet amount and jet needed for calculating traveling
Time, the puff prot on corresponding traveling mechanism is selected, a part of gas that the first controlled valve of control generates air pump passes through row
It sails mechanism and is transported to corresponding puff prot, push robot slowly to travel on aeration driving path, another part gas passes through
Aerator is aerated 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.
The sewage treatment machine people of environmental protection, works in cesspool, is disposed with multiple water in the cesspool in array
Matter sensor 4, the robot include 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
It establishes using the geometric center of cesspool as the cesspool coordinate system of origin, determines with water quality sensor 4 to be the center of circle, with
The half that water quality sensor 4 arrives the distance of the coordinate origin is the circle of radius, is made with the side of round inscribe regular quadrangle
To be aerated path；
According to cesspool coordinate system, the position of each inflection point in the coordinate system on aeration driving path is determined；
Determine that the inflection point apart from coordinate origin proximal most position is to be aerated the starting point of driving path, with starting point on aeration road
Driving direction of the clockwise direction as aeration path on diameter；
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 each inflection point in aeration driving path, the distance between inflection point and another inflection point are determined,
And direction of the inflection point relative to another inflection point；
It controls robot and carries out Air Exposure to water quality sensor transmission data judging for underproof waters: specifically,
According to the coordinate position of robot and the unqualified aeration of stretches starting point, side of the robot relative to aeration starting point is determined
To the distance travelled with needs, jet amount and jet time needed for calculating traveling select the jet on corresponding traveling mechanism
Mouth 142, the first controlled valve 111 of control are all transported to corresponding with the required jet amount that the second controlled valve 141 supplies air pump 11
Puff prot 142, jet push robot drive to specified aeration starting point；
After robot drives to specified aeration starting point, according to the coordinate bit of each inflection point in aeration driving path
It sets, determines the distance that inflection point is travelled relative to the direction of another inflection point and needs, when calculating the jet amount and jet needed for travelling
Between, the puff prot 142 on corresponding traveling mechanism is selected, gas a part that the first controlled valve 111 of control generates air pump 11
It is transported to corresponding puff prot 142 by traveling mechanism, jet pushes robot slowly to travel on aeration driving path, another
Part is aerated by aerator 12 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 treatment machine people of environmental protection, which is characterized in that it floats and travels on sewage water surface, while to water
Aeration in vivo, and its basis detects that the pollution level of sewage carries out the planning in aeration path.
2. a kind of sewage treatment machine people of environmental protection, works in cesspool, it is disposed in array in the cesspool multiple
Water quality 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 of cesspool is established, is determined using water quality sensor as the center of circle, with water quality sensor to the coordinate origin
Distance is the circle of diameter, using the side of round inscribe regular quadrangle as aeration path；
(2) according to cesspool coordinate system, the position of each inflection point in the coordinate system on aeration driving path is determined；
(3) determine that the inflection point apart from coordinate origin proximal most position is to be aerated the starting point of driving path, with starting point on aeration road
Driving direction of the clockwise direction as aeration path on diameter；
(4) range data measured according to distance measuring sensor determines the coordinate position of robot in the coordinate system；
(5) according to the coordinate position of each inflection point in aeration driving path, the distance between inflection point and another inflection point are determined, with
And direction of the inflection point relative to another inflection point；
(6) control robot is that underproof waters carries out Air Exposure to water quality sensor transmission data judging, specific: root
According to the coordinate position of robot and the unqualified aeration of stretches starting point, direction of the robot relative to aeration starting point is determined
The distance travelled with needs, jet amount and jet time needed for calculating traveling, selects the puff prot on corresponding traveling mechanism,
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, push machine
Device people drives to specified aeration starting point；
(7) after robot drives to specified aeration starting point, according to aeration driving path in each inflection point coordinate position,
Determine the distance that inflection point is travelled relative to the direction of another inflection point and needs, jet amount and jet time needed for calculating traveling,
The puff prot on corresponding traveling mechanism is selected, a part of gas that the first controlled valve of control generates air pump passes through traveling mechanism
It is transported to corresponding puff prot, robot is pushed slowly to travel on aeration driving path, another part gas passes through aeration dress
It sets, is aerated by the micro porous aeration head of gas pipeline end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247449.2A CN109250808A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage treatment machine people of environmental protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247449.2A CN109250808A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage treatment machine people of environmental protection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109250808A true CN109250808A (en) | 2019-01-22 |
Family
ID=65045867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811247449.2A Pending CN109250808A (en) | 2018-10-25 | 2018-10-25 | A kind of sewage treatment machine people of environmental protection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250808A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112624457A (en) * | 2020-12-18 | 2021-04-09 | 杭州市农业科学研究院 | Shellfish-based aquaculture tail water treatment device |
| CN115432836A (en) * | 2022-09-09 | 2022-12-06 | 长江生态环保集团有限公司 | Uniform aeration robot and trajectory planning method |
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| 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 |
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| 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 |
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| CN107640834A (en) * | 2016-07-20 | 2018-01-30 | 郑伟 | A kind of floating oxygenation decontamination apparatus |
| CN207498147U (en) * | 2017-11-10 | 2018-06-15 | 北京华亚科创科技有限公司 | Floated river and lake intelligence oxygenation and on-line monitoring integrated apparatus |
| 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 |
| CN108307767A (en) * | 2018-01-12 | 2018-07-24 | 山东师范大学 | Detection of obstacles obstacle avoidance system and method suitable for full-automatic weeder |
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| CN102541057A (en) * | 2010-12-29 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | Moving robot obstacle avoiding method based on laser range finder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112624457A (en) * | 2020-12-18 | 2021-04-09 | 杭州市农业科学研究院 | Shellfish-based aquaculture tail water treatment device |
| CN115432836A (en) * | 2022-09-09 | 2022-12-06 | 长江生态环保集团有限公司 | Uniform aeration robot and trajectory planning method |
| CN115432836B (en) * | 2022-09-09 | 2023-09-29 | 长江生态环保集团有限公司 | Uniform aeration robot and track planning method |
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Application publication date: 20190122 |