CN109250809A - A kind of robot for cesspool Air Exposure - Google Patents
A kind of robot for cesspool Air Exposure Download PDFInfo
- Publication number
- CN109250809A CN109250809A CN201811249513.0A CN201811249513A CN109250809A CN 109250809 A CN109250809 A CN 109250809A CN 201811249513 A CN201811249513 A CN 201811249513A CN 109250809 A CN109250809 A CN 109250809A
- Authority
- CN
- China
- Prior art keywords
- robot
- water quality
- sewage
- controlled valve
- water
- 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 robot of sewage aeration processing, 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 robot for cesspool Air Exposure.
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.
A kind of robot for cesspool Air Exposure 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；
Controlling robot and transmitting data judging to water quality sensor 4 is that underproof waters carries out Air Exposure: specifically,
According to the coordinate position of water quality sensor 4 in robot and unqualified waters, side of the robot relative to unqualified waters is determined
To the distance travelled with needs, jet amount and jet time needed for calculating traveling select the spray on corresponding traveling mechanism 14
Port 142 controls the required jet amount that the first controlled valve 111 and the second controlled valve 141 supply air pump 11 and is all transported to pair
The puff prot 142 answered, jet push robot to drive 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 handling machine people, which is characterized in that it floats and travels on sewage water surface, while to water body
Interior aeration, and its basis detects that the pollution level of sewage carries out the planning in aeration path.
2. a kind of robot for cesspool Air Exposure, it is disposed with multiple water quality sensors in array in the cesspool,
The robot includes 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 of 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) it is that underproof waters carries out Air Exposure that control robot, which drives to water quality sensor transmission data judging, specifically
, according to the coordinate position of water quality sensor in robot and unqualified waters, determine robot relative to unqualified waters
Direction and the distance for needing to travel, jet amount and jet time needed for calculating traveling, select the spray on corresponding traveling mechanism
Port controls the first controlled valve with the required jet amount that the second controlled valve supplies air pump and is all transported to corresponding puff prot,
Robot is pushed 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 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 |
|---|---|---|---|
| CN201811249513.0A CN109250809A (en) | 2018-10-25 | 2018-10-25 | A kind of robot for cesspool Air Exposure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811249513.0A CN109250809A (en) | 2018-10-25 | 2018-10-25 | A kind of robot for cesspool Air Exposure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109250809A true CN109250809A (en) | 2019-01-22 |
Family
ID=65045741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811249513.0A Pending CN109250809A (en) | 2018-10-25 | 2018-10-25 | A kind of robot for cesspool Air Exposure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109250809A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112101454A (en) * | 2020-09-15 | 2020-12-18 | 成都明控科技有限公司 | Sewage aeration analysis method |
| 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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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112101454A (en) * | 2020-09-15 | 2020-12-18 | 成都明控科技有限公司 | Sewage aeration analysis method |
| 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 |