CN115213189A

CN115213189A - Dangerous waste filling system for rigid landfill and control method

Info

Publication number: CN115213189A
Application number: CN202111234689.0A
Authority: CN
Inventors: 刘雁飞; 陈红; 颜学宏; 王政
Original assignee: Hunan Zhongye Changtian Energy Conservation And Environmental Protection Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Current assignee: Hunan Zhongye Changtian Energy Conservation And Environmental Protection Technology Co ltd; Zhongye Changtian International Engineering Co Ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-10-21
Anticipated expiration: 2041-10-22
Also published as: CN115213189B

Abstract

The utility model relates to a hazardous waste landfill handles the field, provide a useless filling system of rigidity landfill danger and control method, including the useless identification system of danger, landfill planning system, crane control system, crane traveling system and the useless special crane subassembly of danger, the useless identification system of danger is used for confirming the useless kind information of danger, generate the non-setting adhesive bar code that contains the useless kind information of danger, landfill planning system is according to the useless ton bag kind information of danger of landfill planning and the useless identification system discernment of danger, for useless ton bag distribution target landfill hole of danger and filling position, with the useless ton bag of danger that carries hoist and mount is controlled the useless special crane subassembly of danger by crane traveling system and is moved to filling position, accomplish the useless ton bag of danger and fill the operation. Therefore, after the dangerous waste ton bags enter the landfill, the dangerous waste type of each ton bag is automatically identified, the corresponding filling positions are automatically matched, the data information of the landfill can be updated in real time, too many manual access links are reduced, the working efficiency is improved, and the error rate is reduced.

Description

Dangerous waste filling system for rigid landfill and control method

Technical Field

The application relates to the field of hazardous waste landfill treatment, in particular to a hazardous waste filling system of a rigid landfill and a control method.

Background

With the development of industry, the amount of hazardous waste (hereinafter referred to as "hazardous waste") discharged during industrial production is increasing, and referring to fig. 1, the sources of hazardous waste are distributed in various industries, and the hazardous waste is of various types, and if not properly disposed, it will destroy the ecological environment and affect human health.

Hazardous waste safety landfill is a hazardous waste disposal mode, and refers to a technology for performing final treatment on hazardous waste in a safety landfill site after solidification treatment, and the hazardous waste safety landfill has a plurality of limiting conditions, for example, referring to fig. 2, incompatible hazardous wastes are stacked together to possibly generate a plurality of dangers such as explosion and the like. At present, hazardous waste safety landfill sites have two forms of flexibility and rigidity, wherein the rigid landfill site refers to a landfill disposal facility which adopts reinforced concrete as anti-seepage barrier, consists of a plurality of independent and symmetrical landfill units and is more suitable for hazardous waste safety landfill.

FIG. 3 isA schematic plan view of a conventional rigid landfill site, and fig. 4 is a schematic elevation view of the conventional rigid landfill site. The rigid landfill pits are independent bins which are mutually isolated and are transversely and longitudinally and uniformly distributed to form mutually parallel unit rows and mutually parallel unit columns, adjacent landfill pits share a side wall retaining wall, each landfill pit is subjected to waterproof reverse osmosis treatment, each landfill pit can be filled with one type of hazardous wastes, different landfill pits can be filled with different types of hazardous wastes, and the typical area of the landfill pits of the rigid landfill site is not more than 50m ² Volume of not more than 250m ³ . A bridge crane track 24 is arranged on the top of the pit wall of the rigid landfill pit along the unit row direction, a transport vehicle is arranged on one side of a landfill site to enter a road 21, the hazardous waste transport vehicle transports hazardous waste to a hoisting area 22, a crane moves to any landfill pit of the same unit row from the upper part of the hoisting area along the track to carry out hoisting operation, and the crane cannot move across the unit row in normal operation.

Fig. 5 is a schematic structural view of a conventional hazardous waste ton bag 10. The dangerous waste is packaged by ton bags, two lifting ropes 102 with the length of 1m are arranged outside the packaging bag 101 for loading and unloading, the packaging bag 101 has the functions of water resistance and wear resistance, and has various packaging modes with different specifications and sizes, for example, after a certain landfill site is packaged, the appearance size of the dangerous waste ton bag 10 is 1m (long) × 1m (wide) × 1.2m (high), the dangerous waste ton bag 10 is filled into a rigid landfill pit to complete landfill, the ton bag is not broken, and the ton bag is not taken back.

In fig. 4, a certain batch of hazardous wastes enters a rigid landfill, the hazardous waste types of the batch of hazardous wastes are manually recorded, the workers in the hoisting area search historical filling records, determine the filling positions of the batch of hazardous wastes, and inform crane operators and unhooking workers of the filling positions; the hanging rope 102 of one bag of the hazardous waste ton bag 10 is inserted into a hanging hook of a bridge crane 23 by a hanging tool standing on an automobile, a crane operator in a cab of the bridge crane 23 operates the crane to vertically hoist the hazardous waste ton bag 10 to a height higher than the upper edge of a landfill pit, the crane operator operates the crane to horizontally move to the position above the landfill pit corresponding to the hazardous waste along a crane rail, then the hazardous waste ton bag 10 is placed to the bottom of the landfill pit, after confirming that the position of the hazardous waste ton bag 10 is stable, the hanging rope 102 of the hazardous waste ton bag 10 is separated from the hanging hook, the crane operator operates the crane to return to a hoisting area, and the steps are repeated until all ton bags are placed into the corresponding hazardous waste landfill pits.

According to the dangerous waste ton bag filling mode, the number of manual access links in the filling process is large, the historical filling record and the current filling position of the filling area can only depend on manual record, the working efficiency is low, and the filling current situation of the filling area is unclear; the useless kind of danger of the useless ton bag of every bag danger can not automatic identification, if the useless ton bag of danger of different batches confuses, needs artifical inquiry record one by one, matches and loads the position, causes landfill site artificial pressure and loads the position mistake.

Disclosure of Invention

The application provides a dangerous waste filling system and a control method for a rigid landfill, and aims to solve the problems that the existing method cannot automatically identify dangerous waste types, match filling positions and have many manual access links.

This application discloses useless filling system of rigidity landfill danger on the one hand, useless special crane subassembly of crane control system, crane traveling system and danger including crane, its characterized in that still includes: a landfill planning system and a hazardous waste identification system;

the hazardous waste identification system comprises a laboratory terminal, a bar code printer and an intelligent terminal, wherein the laboratory terminal is used for detecting hazardous waste types, the bar code printer is used for generating non-setting adhesive bar codes containing hazardous waste type information, and the intelligent terminal is connected with the landfill planning system and is used for uploading the hazardous waste type information read by scanning the bar codes to the landfill planning system;

the landfill planning system comprises an operation center, a landfill database and a communication unit, wherein the operation center, the landfill database and the communication unit are connected with each other, and the crane control system and the hazardous waste identification system are respectively connected with the communication unit and used for transmitting crane state and hazardous waste type information read by code scanning to the communication unit;

the landfill database is used for storing filled data of a landfill site, the operation center comprises a hazardous waste classification database which is used for determining the hazardous waste type of each landfill according to the regional hazardous waste yield and the layout of the landfill site, generating a landfill plan, determining a target landfill pit and a filling coordinate of a hazardous waste ton bag according to the landfill plan, hazardous waste type information uploaded by the communication unit and the landfill database, and judging the filling completion condition according to the crane state uploaded by the communication unit so as to control the update information of the landfill database;

the crane control system is used for sending a travelling command to the crane traveling system according to the target landfill pit and the filling coordinate transmitted by the landfill planning system, so that the crane traveling system controls the special dangerous and waste crane assembly to carry the hoisted dangerous and waste ton bags to the filling position, and the filling operation of the dangerous and waste ton bags is completed.

Preferably, the laboratory terminal and the barcode printer are positioned at a hazardous waste generation end or a hazardous waste landfill site;

if the laboratory terminal and the bar code printer are positioned at the hazardous waste generating end, storing the hazardous waste classification database in the laboratory terminal locally;

and if the laboratory terminal and the bar code printer are positioned in the dangerous waste landfill area, connecting the laboratory terminal with the landfill planning system, wherein the laboratory terminal is used for acquiring a dangerous waste classification database of the landfill planning system and uploading a test result to the landfill planning system.

Preferably, still include weight detection device, be equipped with weighing sensor on the useless special crane subassembly of danger, weighing sensor is used for detecting the weight value of the useless ton bag of danger of hoist and mount to and, send the weight value to crane control system.

Preferably, the system also comprises a remote controller and a position detection device, wherein the controller and the position detection device are respectively connected with the crane control system;

the special crane assembly for hazardous wastes comprises a crane rail positioned on the wall of a landfill pit, a cart sliding along the crane rail, a trolley moving along a cart beam, and a lifting hook capable of automatically unhooking and positioned at the bottom of the trolley, wherein the lifting hook is connected with a crane control system, the cart beam is vertical to the crane rail, the cart beam spans the length of the landfill pit, supporting legs at two sides of the cart beam are positioned on the crane rail at the opposite side, and the position detection device is arranged in the cart beam and the trolley;

the remote controller is used for sending a bag hanging instruction and a filling instruction to the crane control system; the position detection device is used for detecting the operating coordinate of the lifting hook and sending the detected operating coordinate to the crane control system;

send the driving instruction to crane traveling system to by crane traveling system control danger is useless special crane subassembly carries the useless ton bag of danger of hoist and mount and is moved to the position of filling, includes:

the crane control system is used for sending a traveling command to the crane traveling system according to the bag hanging command, the filling command, the running coordinate and the filling coordinate, so that the crane traveling system controls the cart to slide along the crane track, the trolley to move along the cart beam and the lifting hook to carry the hoisted hazardous waste ton bags to move upwards or downwards.

Preferably, the system further comprises a landfill cloud platform, wherein the landfill cloud platform is connected with the communication unit and used for acquiring landfill state information and crane state information, and the crane state information comprises hook position information, hook hanging object weight, crane operation state and crane overhauling fault state.

The application discloses another aspect discloses a control method of useless filling system of rigidity landfill danger, includes:

detecting the type of the dangerous waste, generating a bar code containing the type information of the dangerous waste according to the type of the dangerous waste, packaging the dangerous waste into a standard ton bag, and sticking the bar code on the corresponding dangerous waste ton bag;

loading the dangerous waste ton bags loaded by the dangerous waste conveying vehicle into a rigid landfill hoisting area, scanning bar codes on the dangerous waste ton bags by using an intelligent terminal to obtain dangerous waste type information, and transmitting the dangerous waste type information to a landfill planning system through a wireless network;

the landfill planning system determines the dangerous waste type of each landfill according to the regional dangerous waste yield and the layout of the landfill, generates a landfill plan, and determines the target landfill pit and the filling coordinate of the dangerous waste ton bag according to the landfill plan and the dangerous waste type information of the dangerous waste ton bag;

controlling the special dangerous waste component to move to a hoisting area, hanging the dangerous waste ton bag, controlling the special dangerous waste crane component to carry the hoisted dangerous waste ton bag to move to a loading position by a crane traveling system according to a target landfill pit and a loading coordinate, and completing the loading operation of the dangerous waste ton bag; and updating the landfill database, and controlling the dangerous waste special crane assembly which finishes one-time filling to return to the hoisting area.

Preferably, the landfill planning system determines the hazardous waste types buried in each landfill pit according to the regional hazardous waste yield and the landfill layout, and generates the landfill plan, including:

acquiring the regional hazardous waste yield of various hazardous wastes in a certain region;

determining the size of a dangerous waste ton bag and the filling state of a landfill, determining the quantity of various dangerous wastes and the weight of a single bag according to the size of the dangerous waste ton bag, and determining the number of various dangerous wastes occupying a landfill unit according to the net size and the filling state of a landfill unit;

according to the incompatible requirements of hazardous wastes, determining the safe combination of hazardous waste landfill, the weight, the specific gravity, the number of bags and the number of units occupying the landfill of each combination;

and distributing landfill pits for each combination according to the number of bags, the specific gravity and the number of the landfill units of each combination, determining the type of dangerous waste filled in each landfill pit, and generating a landfill plan.

Preferably, the useless special subassembly of control danger moves to hoist and mount district, hangs the useless ton bag of danger, according to target landfill hole and filling coordinate, carries the useless ton bag of danger of hoist and mount to move to the position of filling by the useless special crane subassembly of crane traveling system control danger, accomplishes the useless ton bag of danger and fills the operation, includes:

receiving a bag hanging instruction sent by a remote controller, controlling a lifting hook to move to the position above the dangerous waste ton bag, and hanging the dangerous waste ton bag;

receiving a loading instruction sent by a remote controller, acquiring a hoisting initial coordinate according to the loading instruction, and determining a motion track of a lifting hook according to the hoisting initial coordinate and the loading coordinate;

the motion trail of the lifting hook is sent to a crane traveling system, and the crane traveling system controls the lifting hook with the hazardous waste ton bag hung on to move to a filling position according to the motion trail of the lifting hook;

and receiving an unhooking instruction sent by a crane control system, and controlling a lifting hook to complete unhooking operation so that the dangerous waste ton bag is placed at a corresponding filling position.

Preferably, the determining the motion trajectory of the lifting hook according to the initial hoisting coordinate and the loading coordinate includes:

the method comprises the following steps that a direction in which a large car slides along a crane track and is far away from a hoisting area is taken as an x-axis forward direction, a direction in which a small car moves along a crane beam and moves from a second track to a first track is taken as a y-axis forward direction, a direction in which a lifting hook moves from the crane track to the interior of a landfill pit is taken as a z-axis forward direction, and a coordinate origin is located on the first track, so that a coordinate system is established; and determining hoisting initial coordinates (x) ₁ ,y ₁ ,z ₁ ) And filling coordinate (x) _n ,y _n ,z _n )；

According to the initial coordinates (x) of hoisting ₁ ,y ₁ ,z ₁ ) And a preset height z ₂ Determining the offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) The preset height refers to the height to which the lifting hook is lifted when the cart makes linear motion along the crane track, the position corresponding to the offset initial coordinate refers to the position to which the lifting hook is lifted above the lifting area after a bag is hung, wherein m is ₁ The offset of the lifting hook along the y-axis direction after the lifting hook is lifted to the upper part of the hoisting area;

according to the filling coordinate (x) _n ,y _n ,z _n ) And a preset height z ₂ Determining the offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) The offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) The corresponding position is the position where the hook is moved above the filling coordinate, where m ₂ After the lifting hook is lowered to the landfill pit, the offset of the lifting hook along the y-axis direction is measured;

determining the motion track of the lifting hook to be the lifting hook for hanging the dangerous waste ton bag sequentially along the initial hoisting coordinate (x) ₁ ,y ₁ ,z ₁ ) Offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) Offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) And filling coordinate (x) _n ,y _n ,z _n ) The formed trajectory is moved.

Preferably, before receiving an unhooking instruction from a crane control system and controlling the hook to complete an unhooking operation, the method further includes:

acquiring the weight value of the dangerous waste ton bag detected by the weight sensor;

and if the detected deviation between the lifting hook operating coordinate and the loading coordinate is smaller than a preset threshold value, and the detected weight value of the dangerous waste ton bag is lower than a preset weight value, the crane control system sends out an unhooking instruction.

According to the technical scheme, the system comprises a dangerous waste identification system, a landfill planning system, a crane control system, a crane traveling system and a dangerous waste special crane assembly, wherein the dangerous waste identification system is used for determining dangerous waste type information and generating adhesive bar codes containing the dangerous waste type information, the landfill planning system distributes target landfill pits and filling positions for dangerous waste ton bags according to the dangerous waste ton bag type information identified by the landfill planning and dangerous waste identification system, the crane control system transmits a driving instruction to the crane traveling system, so that the crane traveling system controls the dangerous waste ton bags carried by the dangerous waste special crane assembly to travel to the filling positions, and the dangerous waste ton bags are filled. Therefore, after the dangerous waste ton bags enter the landfill, the dangerous waste type of each ton bag can be automatically identified, the corresponding filling positions can be automatically matched, the data information of the landfill can be updated in real time, too many manual access links are reduced, the working efficiency is improved, and the error rate is reduced.

Drawings

FIG. 1 is a schematic view of a part of the kinds of hazardous waste in the prior art;

FIG. 2 is a schematic representation of a conventional incompatible waste;

FIG. 3 is a schematic plan view of a conventional rigid landfill;

FIG. 4 is a schematic elevation view of a conventional rigid landfill;

FIG. 5 is a schematic structural diagram of a conventional hazardous waste ton bag;

FIG. 6 is a schematic view of a rigid landfill site provided in accordance with an embodiment of the present application;

fig. 7 is a schematic diagram of the operation of a hazardous waste identification system according to an embodiment of the present application;

fig. 8 is a schematic diagram of a landfill planning system according to an embodiment of the present application;

fig. 9 is a schematic view of a rigid landfill hazardous waste loading system provided in an embodiment of the present application;

fig. 10 is a block diagram of a hazardous waste loading system of a rigid landfill according to an embodiment of the present disclosure;

fig. 11 is a schematic view illustrating a filling state in a landfill pit according to an embodiment of the present application.

Detailed Description

In order to facilitate the technical solution of the present application, some concepts related to the present application will be described below.

the embodiment of the application provides a useless filling system of rigidity landfill danger for with the useless ton bagging-off of danger in filling into the corresponding landfill hole of rigidity landfill. In the embodiment of the present application, the landfill pits can be represented by row numbers and column numbers, as shown in fig. 6, a certain rigid landfill site includes rows a to E and columns 1 to 8, for example, C6 represents row C, column 6, and different landfill pits can be filled with different types of hazardous wastes. The rigid landfill site has no landfill pit in the 1 st row, a dangerous waste conveying vehicle 20 enters a road below the rigid landfill site, and the dangerous waste conveying vehicle 20 loaded with the dangerous waste ton bags conveys dangerous waste to a hoisting area 22 so as to carry out filling operation.

The useless ton bag of this application embodiment of danger is controlled by crane control system 200, crane traveling system 400 and the useless special crane subassembly of danger and is moved to corresponding landfill hole to in the operation of filling. The rigid landfill site is not provided with a special hazardous waste crane component for each row, as shown in the rigid landfill site A and D rows of figure 6, each row is provided with a crane, a crane rail 3 is arranged on the landfill wall 2 of each row and extends from the upper part of a hoisting area 22 to the upper part of a landfill pit at the tail end of the unit row along the direction of the unit row, the opposite sides of the crane rail of each row are respectively a first rail 31 and a second rail 32, the crane of the row A is operated at the row A, after the landfill pits of the row A are completely filled and sealed, the crane of the row A can be transferred to the other rows, for example, after 8 landfill pits of the row A are completely filled, the crane of the row A can be transferred to the row B by an external crane, at the moment, the crane can be operated at the row B, and the crane of each row does not carry out cross-row movement in normal operation.

The hazardous waste ton bags are conveyed to a landfill hoisting area 22 by a hazardous waste conveying vehicle 20, the type information of the hazardous waste ton bags needs to be determined before the hazardous waste enters a landfill, referring to fig. 7, a hazardous waste identification system 800 comprises a laboratory terminal, a bar code printer and an intelligent terminal, after a certain batch of hazardous waste enters a hazardous waste landfill plant, the hazardous waste firstly enters the laboratory to test the components of the hazardous waste ton bags, a test result is input into the laboratory terminal, the laboratory terminal is communicated with the landfill planning system 100 to obtain a hazardous waste classification database, then the test result is combined to determine the type of the hazardous waste entering the plant, and the test result is uploaded to the landfill planning system 100; the bar code printer is used for generating a self-adhesive bar code containing dangerous waste type information and pasting the bar code on the corresponding dangerous waste packaging ton bag; laboratory terminal and bar code printer also can be located the useless production end of danger, will endanger useless categorised database storage local at laboratory terminal, produce the useless ton bag of end packing danger and paste contain the useless kind information of danger in the danger.

And each batch of incoming hazardous wastes can enter a landfill site after being tested, and each hazardous waste ton bag needs to be pasted with a hazardous waste information bar code. After the dangerous waste ton bag pasted with the dangerous waste information bar code is conveyed to the hoisting area 22, the intelligent terminal held by the bag hanging worker scans the code, reads the dangerous waste type information, and uploads the read dangerous waste type information to the landfill planning system 100.

Referring to fig. 8, the landfill planning system 100 includes an operation center, a landfill database, and a communication unit, which are connected to each other, and the crane control system 200 and the hazardous waste identification system 800 are respectively connected to the communication unit for transmitting crane status and hazardous waste type information read by scanning codes to the communication unit; the landfill database is used for storing landfill state information; the operation center comprises a dangerous waste classification database and is used for determining the dangerous waste type of each landfill according to the regional dangerous waste yield and the layout of a landfill site, generating a landfill plan, determining the target landfill pit and the filling coordinate of the dangerous waste ton bag according to the landfill plan, the dangerous waste type information uploaded by the communication unit and the landfill database, and judging the filling completion condition according to the crane state uploaded by the communication unit so as to control the landfill database to update information.

After receiving the target landfill pit and the filling coordinates transmitted by the landfill planning system 100, the crane control system 200 sends a traveling command to the crane traveling system 400, so that the crane traveling system 400 controls the special dangerous and waste crane assembly to carry the hoisted dangerous and waste ton bag 10 to the filling position, and the filling operation of the dangerous and waste ton bag is completed.

The hazardous waste landfill system of the rigid landfill site can further comprise a weight detection device 600, wherein the weight detection device 600 comprises a weight sensor arranged on the hazardous waste special-purpose crane assembly, and the weight detection device 600 is connected with the crane control system 200 and sends a detected weight value to the crane control system 200; when the loading operation is started, the weight detection device 600 detects the hoisting weight value of the hazardous waste ton bag, and can judge whether the loading operation is finished according to the hoisting weight value of the hazardous waste ton bag and the weight value variation detected by the weight sensor, so as to upload the state of the crane in real time through the crane control system 200 and update the landfill database.

Referring to fig. 9, in one embodiment provided herein, a crane assembly dedicated for hazardous waste in a rigid landfill hazardous waste loading system includes a crane rail 3, a cart 4 sliding along the crane rail 3, a cart 5 moving along a cart beam, and a hook 7 at the bottom of the cart 5, wherein the crane rail 3 includes a first rail 31 and a second rail 32, the cart beam is perpendicular to the crane rail 3, the cart beam has legs at both sides, the cart beam spans a length of a landfill pit, the legs at both sides of the cart beam are located on opposite sides of the crane rail 3, the cart 4 and the cart 5 are connected to a crane traveling system 400, and the hazardous waste ton bag is moved above the corresponding landfill pit by controlling the sliding of the cart 4 on the crane rail 3 and the movement of the cart 5 on the cart beam. The lifting hook 7 located at the bottom of the trolley 5 is used for lifting dangerous waste ton bags, the lifting hook 7 is a remote-controllable automatic unhooking lifting hook 7, the lifting hook 7 is connected with a crane control system, and an unhooking power supply of the lifting hook 7 can be provided by a dangerous waste special crane assembly or provided with a battery.

Be equipped with the hoist engine 6 of being connected with crane traveling system 400 in the dolly 5, hoist engine 6 is controlled by the motor, and corotation and the reversal through the motor make lifting hook 7 rise and descend, and lifting hook 7's specific height can be through detecting lifting rope length or through detecting the motor and rotate the number of turns and detect, and this is prior art, no longer redundantly. All be equipped with position detection device 500 in cart car roof beam and the dolly 5 for detect cart 4 in the position of line direction, the position of dolly 5 in the direction of being listed as, and the position of lifting hook 7, position detection device 500 includes modes such as position encoder, laser rangefinder and position induction area, and various different detection modes all have ripe implementation scheme, and the no longer repeated herein.

The rigid landfill hazardous waste filling system further comprises a landfill cloud platform, the landfill cloud platform is connected with the communication unit and used for acquiring landfill state information and crane state information, the crane state information comprises lifting hook 7 position information, lifting hook 7 hanging object weight and crane overhauling fault states, authorized visitors can access the landfill cloud platform at any geographic position and acquire the landfill state information and the crane state information.

In order to further improve the working efficiency of the rigid landfill hazardous waste filling system and reduce the manual access links, in the embodiment of the present application, the control system is used to implement the process of automatically unloading the hazardous waste ton bags of the rigid landfill filling system, as shown in fig. 10, the rigid landfill hazardous waste filling system includes a landfill planning system 100, a crane control system 200, a remote controller 300, a crane traveling system 400, a position detection device 500, and an automatic unhooking device 700. The crane traveling system 400 includes driving systems of the cart 4, the trolley 5 and the winch 6, such as switches, contactors, frequency converters and the like; the automatic unhooking device 700 comprises a remotely unhookable hook 7. The remote controller 300, the crane traveling system 400, the position detection device 500, and the automatic unhooking device 700 are respectively connected to the crane control system 200, and the position information detected by the position detection device 500 is transmitted to the crane control system 200, so that the crane control system 200 performs a corresponding control operation according to the received data.

When the dangerous waste landfill system of the rigid landfill site provided by the embodiment of the application enters a control state, a bag hanging region worker operates the lifting hook 7 to be above the hoisting region 22 through the remote controller 300 to hang the dangerous waste ton bag 10, namely the remote controller 300 is connected with the crane control system 200, and the remote controller sends a bag hanging instruction to the crane control system 200; after the bag hanging is finished, a corresponding button for completing the bag hanging is pressed on the remote controller 300, at this time, the system enters a full-automatic state, the crane control system 200 receives a filling instruction, the position detection device 500 detects the initial position of the lifting hook 7, and in the embodiment, the running position is represented by running coordinates; the crane control system 200 sends a traveling command to the crane traveling system 400 according to the bag hanging command, the filling command, the initial coordinates of the hook and the filling position, so that the crane traveling system 400 controls the cart 4 to slide along the crane rail 3, the trolley 5 to move along the cart beam 42 and the winch 6 to drive the hook 7 for hoisting the dangerous waste ton bag to move up or down. When the dangerous waste ton bag is conveyed to the filling position, the crane control system 200 sends out an unhooking instruction to control the unhooking of the lifting hook 7, so that the dangerous waste ton bag 10 is buried. Further, whether the unhooking instruction is sent or not can be judged according to the hoisting weight value of the dangerous waste ton bag and the weight value variation detected by the weight sensor, and the dangerous waste ton bag can be more stably buried.

The rigid landfill dangerous and waste filling system comprises a dangerous and waste identification system 800, a landfill planning system 100, a crane control system 200, a crane traveling system 400 and a dangerous and waste special crane component, wherein the dangerous and waste identification system 800 is used for determining dangerous and waste type information and generating an adhesive bar code containing the dangerous and waste type information, the landfill planning system 100 distributes a target landfill pit and a filling position for a dangerous and waste ton bag according to the dangerous and waste ton bag type information identified by the landfill planning and the dangerous and waste identification system 800, the crane control system 200 sends a driving instruction to the crane traveling system 400 so that the crane traveling system 400 controls the dangerous and waste ton bag 10 carried by the dangerous and waste special crane component to move to the filling position, and the filling operation of the dangerous and waste ton bag is completed. The system that this application embodiment provided, after useless ton bag of danger gets into the landfill, can the useless kind of danger of every bag ton bag of automatic identification to the corresponding position of filling of automatic matching, the data information of landfill also can be updated in real time, reduces too much artifical access link and improves work efficiency, reduces the error rate.

In order to more clearly illustrate the control process and the obtained beneficial effects of the rigid landfill hazardous waste loading system provided by the embodiment, the embodiment further provides a control method of the rigid landfill waste loading system, the method is executed by the rigid landfill waste loading system provided by the embodiment, and the control method of the rigid landfill waste loading system provided by the embodiment includes the following steps:

s1, detecting the dangerous waste type, generating a bar code containing dangerous waste type information according to the dangerous waste type, packaging the dangerous waste into a standard ton bag, and pasting the bar code on the corresponding dangerous waste ton bag.

After a certain batch of dangerous waste enters a dangerous waste landfill, the dangerous waste can be transported to a temporary storage of the dangerous waste landfill to sample and test the components of the dangerous waste, the test result is input into a laboratory terminal, the laboratory terminal is communicated with the landfill planning system 100 to obtain a dangerous waste classification database, and then the classification of the dangerous waste entering the field is determined by combining the test result; the bar code printer generates a non-setting adhesive bar code containing dangerous waste type information according to dangerous waste types, and the bar code is pasted on the corresponding dangerous waste packaging ton bag.

Laboratory terminal and bar code printer also can be located the useless production end of danger or independent third party, and with the useless categorised database storage of danger local at laboratory terminal, generate the bar code behind the useless information of definite danger, with the bar code paste on the ton bag that corresponds can, guarantee that every batch of entering danger is useless and all need to get into the landfill after the chemical examination, every useless ton bag of danger all needs to paste the useless information bar code of danger.

S2, the dangerous waste conveying vehicle 20 loads dangerous waste ton bags and enters the rigid landfill hoisting area 22, the intelligent terminal is used for scanning bar codes on the dangerous waste ton bags, dangerous waste type information is obtained, and the dangerous waste type information is transmitted to the landfill planning system 100 through the wireless network.

After the dangerous waste ton bags pasted with the dangerous waste information bar codes are conveyed to the hoisting area 22, the intelligent terminal held by a bag hanging worker scans the codes, reads dangerous waste type information, and uploads the read dangerous waste type information to the landfill planning system 100, so that the landfill planning system 100 distributes target landfill pits and filling positions for the current dangerous waste ton bags.

S3, the landfill planning system 100 determines the dangerous waste type of each landfill pit according to the regional dangerous waste yield and the landfill layout, generates a landfill plan, determines the target landfill pit and the filling position of the dangerous waste ton bag according to the landfill plan and the dangerous waste type information of the dangerous waste ton bag, and sends the target landfill pit and the filling position of the dangerous waste ton bag to the crane control system 200.

In order to reduce the operation cost of the landfill site and reduce the equipment loss, the hazardous waste types buried in the landfill pits need to be reasonably planned, the landfill planning system 100 of the embodiment of the application determines the hazardous waste types buried in the landfill pits of the rigid landfill site according to the layout of the landfill site and the yield of various hazardous wastes in the area, and generates a landfill plan, and the landfill plan is generated by the following method:

s31, obtaining the area hazardous waste yield of various types of hazardous waste in a certain area.

In the embodiment of the application, a rigid landfill is taken as an example, a schematic plan view of the rigid landfill is shown in fig. 6 and includes rows a to E and columns 1 to 8, the output of the regional hazardous wastes received by the rigid landfill in a preset time period is obtained, an output table can be obtained through investigation, the hazardous wastes generated in the region have types a to G, and the output per season is shown in table 1 below.

TABLE 1 quarterly output table for various dangerous wastes in a certain area

S32, determining the size of the dangerous waste ton bag and the filling state of the landfill, determining the quantity of various dangerous waste bags and the weight of each single bag according to the size of the dangerous waste ton bag, and determining the number of various dangerous waste occupied landfill units according to the net size and the filling state of the landfill unit.

The filling state of the landfill site refers to the filling form of the dangerous waste ton bags in each landfill site, for example, the number of rows and the number of columns of how many layers of the dangerous waste ton bags can be filled in one landfill site, and after the size of the dangerous waste ton bags and the filling state of the landfill site are determined, the number of the dangerous waste ton bags which can be filled in each landfill site can be determined. According to the embodiment of the application, in order to maximize the utilization of the space in the landfill pit, the standard size of the dangerous waste ton bag is determined according to the size of the landfill pit, and the optimal filling state of a landfill site is realized. Before the dangerous waste is packaged by the ton bags, deformation of the dangerous waste ton bags after falling to the ground and net size of the bottom of the landfill pit are combined, so that the dangerous waste ton bags can be tiled at the bottom of the landfill pit to form a filling form that a plurality of landfill layers are overlapped, wherein each landfill layer comprises a plurality of rows or a plurality of columns.

In a preferred loading state, the filling space of each layer of the pit bottom can be fully utilized by the filling pit, and as shown in fig. 11, fig. 11 (a) is a D5 pit standard loading plan view, fig. 11 (b) is a D5 pit standard loading elevation view, and the D5 pit is loaded with 36 hazardous waste ton bags per layer of the plane and is loaded with 4 layers, wherein D represents a cell row in which the filling pit is located, 5 represents a cell column in which the filling pit is located, and D5 represents a pit position of the filling pit in the rigid filling field. In the filling pit, each filling position has a corresponding numbering rule, for example, D5_ c63 represents row 6, column 3 of layer c of the D5 pit, the numbering rule is not specifically limited in the embodiment of the application, the numbering rule and the spatial position of the filling ton bag can be in a corresponding relationship, and the numbering can be mapped to the corresponding filling position.

After each dangerous waste ton bag is placed to the bottom of the pit and filled, the bag deforms to a certain extent, the size after deformation can be measured through tests, for example, the size of the dangerous waste ton bag is 1m × 1m × 1.5m, the dangerous waste in the ton bag is bulk granular substances, deformation can occur after falling to the ground, and the size of the dangerous waste ton bag after deformation is 1.1m × 1.1m × 1.24m through tests. Before dangerous waste is packaged by the ton bags, the size of the dangerous waste ton bags is determined by combining the deformation of the dangerous waste ton bags after falling to the ground and the size of the bottom of the landfill pit, so as to realize the filling state of the landfill pit as shown in fig. 11, the size of the landfill pit of the rigid landfill site as shown in fig. 7 is 6.6m × 6.6m × 5m, and the dangerous waste ton bags with the size of 1.1m × 1.1m × 1.24m after deformation can be flatly paved to fill the landfill pit, so as to achieve the better space utilization rate of the landfill pit.

After the ton bag size and the landfill state are determined, a state data table can be generated for the position of each dangerous waste ton bag, and as shown in the following table 2, the state data table is stored in a landfill database of the landfill planning system 100 and is updated in real time; the landfill planning system 100 prestores filling coordinates for the position of each dangerous waste ton bag, the filling coordinates are corresponding hook coordinates when each dangerous waste ton bag is unloaded to the filling position, codes are scanned at the handheld intelligent terminal of the bag hanging worker, after the type of the dangerous waste ton bag is uploaded to the landfill planning system 100, the landfill planning system 100 distributes a target landfill pit for the dangerous waste ton bag according to the dangerous waste type information, and then the unfilled prestore filling coordinates are distributed to the dangerous waste ton bag.

TABLE 2 landfill status Table

Dangerous waste filling position	Variety of dangerous and waste filling	Dangerous and waste loading state	Hazardous waste loading time	Hazardous waste source
					D5_a11	HW02 hazardous waste	Is filled with	2020-6-10	Pharmaceutical factory 101
…	..	…	…	…
					E5_c33	HW11 hazardous waste	Is not filled

After the size of the dangerous waste ton bag is determined, determining the bagging quantity and the single bag weight of each type of dangerous waste according to the size of the dangerous waste ton bag, the yield of each type of dangerous waste and the specific gravity of each type of dangerous waste; determining the number of various dangerous waste occupation landfill units according to the net size and the filling state of the landfill pit units, wherein the number is specifically shown in the table 3:

TABLE 3 bagging table for various dangerous waste seasonal yields in certain area

And S33, determining dangerous waste landfill safety combinations and the weight, the bag number, the number of landfill units and the bag number ratio of each combination according to the incompatible requirements of dangerous waste.

Referring to fig. 2, a schematic diagram of the conventional common incompatible wastes, according to the incompatible requirements of hazardous wastes, the hazardous waste types a to G produced in the area are safely combined, and the weight, the number of bags, the number of landfill units and the ratio of the number of bags of each combination are shown in table 3 below:

TABLE 3 hazardous waste safety landfill combination table

Safety combination

Combination

1

Combination 2

Combination 3

Combination 4

Total up to

Combination mode

A

B+C

D+F

E+G

Weight (ton)

2000

500+300

200+175

800+25

Number of bags

888

238+160

102+77

381+13

Number of units occupied in landfill

6.17

2.76

1.24

2.74

12.91

Bag number ratio

47.8％

21,4％

9.6％

21.2％

100％

And S34, distributing landfill pits for each combination according to the number of bags, the specific gravity and the number of the landfill units of each combination, determining the dangerous waste type of each landfill pit, and generating a landfill plan.

The rigid landfill site is characterized in that the 2 nd to 8 th rows are landfill areas, 35 landfill pits are formed in total, when dangerous waste ton bags are hung to the 2 nd row from the hoisting area 22, the traveling distance of a crane is shortest, the time consumption is minimum, the energy consumption is minimum, the traveling distance is longest when the dangerous waste ton bags are hung to the 8 th row, the time consumption is maximum, and the energy consumption is highest. When the crane travels on the crane track 3, the crane makes a switch after 7 pits in one row are filled, so that the crane can fill the second row. Each pit is filled as much as possible so as to fully utilize the storage capacity of the filling pit. The crane in line A of the rigid landfill site is used for receiving the landfill of the combination 1, namely the crane in line A is dangerous to waste, the crane in line D is used for receiving the landfill of the combinations 2-4, the combination 2 is placed in the 2 nd, 3 rd and 4 th rows, the combination 4 is placed in the 5 th, 6 th and 7 th rows according to the proportion of the number of bags, the combination 3 can be temporarily stored in the rest positions of the landfill site, and the crane in line A or the crane in line D is used for landfill after the crane in line A or the crane in line D is transferred. The planning energy consumption is low, and the transfer of the crane is less.

S4, controlling the special dangerous waste component to move to a hoisting area, hanging the dangerous waste ton bag, controlling the special dangerous waste crane component to carry the hoisted dangerous waste ton bag 10 to move to a loading position by the crane traveling system 400 according to a target landfill pit and a loading coordinate, and completing the loading operation of the dangerous waste ton bag; and updating the landfill database, and controlling the dangerous waste special crane assembly which finishes one-time filling to return to the hoisting area.

Referring to fig. 9, in an embodiment provided by the present application, a bag hanging worker sends a bag hanging command through a remote controller 300, operates a hook 7 to move above a hoisting area 22, hangs a dangerous waste ton bag 10 which has just been scanned to the hook 7, after the bag hanging is finished, presses a corresponding key on the remote controller 300, sends a filling command of the bag hanging completion to a crane control system 200, and after the filling command is sent, the filling enters a full-automatic operation state, and does not need to manually participate in operations such as crane movement and unhooking.

According to the embodiment of the application, when the crane control system 200 receives the loading instruction and starts to load the task, the weight detection device 600 can be controlled to record the hoisting weight value of the dangerous waste ton bag and the real-time weight value of the dangerous waste ton bag in the loading process, so that the system abnormity can be judged. After the lifting hook 7 rises above the set height or the loading operation is performed for more than a preset time, if the change value of the weight of the lifting hook detected by the weight sensor exceeds the set value, the system will give an audible and visual alarm while controlling the lifting hook 7 to return to the initial lifting coordinate, for example, if the lifting hook 7 rises above 1m or the full-automatic unloading exceeds 30s, and the change value of the suspended weight of the lifting hook detected by the weight sensor exceeds the set value, the system will give an audible and visual alarm while controlling the lifting hook 7 to return to the initial lifting hook coordinate.

When the crane control system 200 receives a loading instruction, a loading task is performed, the position detection device 500 is controlled to record an initial hoisting coordinate, that is, a coordinate of the lifting hook 7 at an initial bag hanging position, and then a motion track of the lifting hook 7 is determined according to the current loading coordinate, in the embodiment of the application, each position coordinate is determined in a manner of establishing a three-dimensional coordinate system to determine the motion track of the lifting hook 7, and the method includes the following steps:

s41, taking the direction that the cart 4 slides along the crane track 3 and is far away from the hoisting area 22 as an x-axis positive direction, the direction that the trolley 5 moves along the cart beam and moves from the second track 32 to the first track 31 as a y-axis positive direction, the direction that the lifting hook 7 moves from the crane track 3 to the landfill pit 1 as a z-axis positive direction, and coordinatesThe origin is located on the first track 31, and a coordinate system is established; and determining initial hoisting coordinates (x) ₁ ,y ₁ ,z ₁ ) And filling coordinate (x) _n ,y _n ,z _n )。

S42, according to the hoisting initial coordinate (x) ₁ ,y ₁ ,z ₁ ) And a preset height z ₂ Determining the offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) The preset height refers to a height to which the lifting hook 7 is lifted when the cart 4 makes linear motion along the crane track 3, the position corresponding to the offset starting coordinate refers to a position to which the lifting hook 7 is lifted above the lifting area 22 after a bag is hung, wherein m is ₁ The hoisting hook 7 is lifted for the hoist 6 to the offset of the hoisting hook 7 in the y-axis direction above the hoisting zone 22.

After bag hanging is finished, firstly, the special dangerous and waste crane assembly needs to lift the dangerous and waste ton bags to be higher than the plane height of a port of a landfill pit of a rigid landfill site, and then the dangerous and waste ton bags can move linearly on the track to move to a set landfill pit position. In the process, the cart 4 and the trolley 5 do not move, and the winch is controlled to drive the lifting hook 7 to ascend to the preset height z ₂ At this time, the hook 7 moves to the offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) Wherein m is ₁ The hoisting device is determined by factors such as the height difference of the lifting hook 7 caused by the rotation of the hoisting machine, the diameter of a steel wire rope in the hoisting machine, the diameter of a hoisting drum and the like, and in the embodiment of the application, the offset of the hoisting hook 7 in the y-axis direction after the hoisting hook 7 is lifted by the hoisting machine 6 to the upper part of the hoisting area 22 is determined according to the following formula:

in the formula, z ₁ Is the height of the lifting hook at the initial position of lifting in the low state, namely the unit mm, z ₂ Is a preset height in mm and D of the lifting hook in a high state ₁ The diameter of a winding drum of the trolley is measured in mm and D ₂ Is the diameter of the steel wire rope and has unit mm.

S43, according to the filling coordinate (x) _n ,y _n ,z _n ) And presetHeight z ₂ Determining the offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) The offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) The corresponding position is the position in which the hook 7 is moved above the filling coordinate, where m ₂ And (4) the offset of the lifting hook 7 along the y-axis direction after the lifting hook is lowered to the landfill pit for the winch 6.

The hook 7 is moved to the offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) Afterwards, cart 4 moves along crane track 3 in the x axle direction, and dolly 5 moves along cart roof beam in the y axle direction, transports lifting hook 7 to the top of filling the coordinate, because lifting hook 7 is transferring in-process, can produce the skew in the y axle direction, so the position of lifting hook this moment, the skew terminal point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) And the hoisting machine is not positioned right above the filling coordinate in the z-axis direction, wherein the offset of the hoisting machine along the y-axis direction after the hoisting machine lowers the hoisting hook to the landfill pit is determined according to the following formula:

in the formula, z _n Is the height of the coordinates of the filling position in mm, z in the low state ₂ Is preset height in mm, D in high position ₁ The diameter of a winding drum of the trolley is measured in mm and D ₂ Is the diameter of the steel wire rope and has unit mm.

S44, determining the motion track of the lifting hook 7 as the lifting hook 7 for hanging the dangerous waste ton bags sequentially along the lifting initial coordinate (x) ₁ ,y ₁ ,z ₁ ) Offset starting coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) Offset endpoint coordinate (x) _n ,y _n +m ₂ ,z ₂ ) And filling coordinate (x) _n ,y _n ,z _n ) The formed trajectory is moved.

After the movement track is determined, the movement track is sent to a crane traveling system, and the crane traveling system 400 controls a lifting hook 7 hung with the dangerous waste ton bags to move to a filling position according to the movement track of the lifting hook; and receiving a unhooking instruction sent by the crane control system 200, controlling the lifting hook 7 to complete unhooking operation, enabling the dangerous waste ton bag to be placed at a corresponding filling position, and sending the crane state and the current filling completion to the landfill planning system 100 by the crane control system 200 so as to control the landfill database to update the filling data by the landfill planning system 100.

When the dangerous waste ton bag 10 reaches the filling position, the bottom of the ton bag can contact the bottom of the landfill pit 1 or the dangerous waste ton bag 10 filled before, and at the moment, the weight detection device 600 can detect the weight change of the suspended heavy object of the lifting hook 7, so that in order to enable the dangerous waste ton bag to more stably complete the unloading operation, the method and the device can also receive an unhooking instruction sent by the crane control system 200 and control the lifting hook 7 to complete the unhooking operation, and then obtain the weight value of the dangerous waste ton bag detected by the weight sensor; if the deviation between the loading coordinate and the detected hook coordinate is less than a preset threshold value, for example, the deviation in each direction is within 100mm, and the detected weight value of the dangerous and waste ton bag is lower than a preset weight value, for example, the weight is reduced to 60% of the hoisting weight value of the ton bag, the crane control system 200 sends out an unhooking instruction, and after the unhooking is completed, the crane control system 200 moves the automatic operation hook 7 to the position of the initial hook coordinate according to the reverse direction of the loading motion trajectory.

The crane control system 200 can also judge whether the unhooking action is finished or not through the weight change when the lifting hook 7 rises, if the unhooking action is not finished, an unhooking abnormity alarm is sent out, meanwhile, a second unhooking operation is executed, if the second unhooking operation is still unsuccessful, the crane control system 200 terminates the task, and the crane enters a fault or detection state to wait for the processing of related personnel.

It can be seen from the above embodiments that the system and the control method for filling hazardous waste in a rigid landfill site provided in the embodiments of the present application include a hazardous waste identification system 800, a landfill planning system 100, a crane control system 200, a crane traveling system 400 and a dedicated hazardous waste crane component, where the hazardous waste identification system 800 is configured to determine information of hazardous waste type and generate a non-setting adhesive barcode containing information of hazardous waste type, the landfill planning system 100 allocates a target landfill pit and a filling position to a hazardous waste ton bag according to the hazardous waste ton bag type information identified by the landfill planning and hazardous waste identification system 800, and the crane control system 200 transmits a driving instruction to the crane traveling system 400, so that the crane traveling system 400 controls the dedicated hazardous waste crane component to carry the hoisted hazardous waste ton bag 10 to the filling position, thereby completing filling operation of the hazardous waste ton bag. Therefore, after the dangerous and waste ton bags enter the landfill, the dangerous and waste type of each ton bag can be automatically identified, the corresponding filling positions can be automatically matched, the data information of the landfill can be updated in real time, too many manual access links are reduced, the working efficiency is improved, and the error rate is reduced.

The embodiment of the application further determines the dangerous waste type of each landfill pit of the rigid landfill according to the dangerous waste yield and the layout of the landfill through the landfill planning system 100, generates the landfill plan, and reduces the equipment loss and the operation cost of the landfill.

The above-described embodiments of the present application do not limit the scope of the present application.

Claims

1. The utility model provides a useless system of filling of rigidity landfill danger, includes crane control system (200), crane traveling system (400) and the useless special crane subassembly of danger, its characterized in that still includes: a landfill planning system (100) and a hazardous waste identification system (800);

the hazardous waste identification system (800) comprises a laboratory terminal, a bar code printer and an intelligent terminal, wherein the laboratory terminal is used for detecting hazardous waste types, the bar code printer is used for generating adhesive bar codes containing hazardous waste type information, and the intelligent terminal is connected with the landfill planning system (100) and is used for uploading the hazardous waste type information read by scanning the bar codes to the landfill planning system (100);

the landfill planning system (100) comprises an operation center, a landfill database and a communication unit, wherein the operation center, the landfill database and the communication unit are connected with each other, and the crane control system (200) and the hazardous waste identification system (800) are respectively connected with the communication unit and used for transmitting crane states and hazardous waste type information read by scanning codes to the communication unit;

the landfill database is used for storing filled data of a landfill, the operation center comprises a dangerous waste classification database which is used for determining the dangerous waste type of each landfill according to the regional dangerous waste yield and the layout of the landfill, generating a landfill plan, determining a target landfill pit and a filling coordinate of a dangerous waste ton bag according to the landfill plan, dangerous waste type information uploaded by the communication unit and the landfill database, and judging the filling completion condition according to the crane state uploaded by the communication unit so as to control the landfill database to update information;

the crane control system (200) is used for sending a travelling command to the crane traveling system (400) according to the target landfill pit and the filling coordinate transmitted by the landfill planning system (100), so that the crane traveling system (400) controls the special dangerous and waste crane assembly to carry the hoisted dangerous and waste ton bags (10) to the filling position, and the filling operation of the dangerous and waste ton bags is completed.

2. The system according to claim 1, wherein the laboratory terminal and the barcode printer are located at a hazardous waste generation end or a hazardous waste landfill site;

and if the laboratory terminal and the barcode printer are located in the hazardous waste landfill area, connecting the laboratory terminal with the landfill planning system (100), wherein the laboratory terminal is used for acquiring a hazardous waste classification database of the landfill planning system (100) and uploading a test result to the landfill planning system (100).

3. The system for filling hazardous waste in a rigid landfill according to claim 1, further comprising a weight detection device (600), wherein a weight sensor is arranged on the crane assembly dedicated for hazardous waste, the weight sensor is used for detecting the weight value of the hoisted hazardous waste ton bag and sending the weight value to the crane control system (200).

4. A rigid landfill hazardous waste loading system according to claim 3, characterized by further comprising a remote controller (300) and a position detection device (500), wherein the remote controller (300) and the position detection device (500) are respectively connected with the crane control system (200);

the special crane assembly for hazardous wastes comprises a crane rail (3) positioned on a landfill pit wall (2), a cart (4) sliding along the crane rail, a trolley (5) moving along a cart beam, and a lifting hook (7) capable of automatically unhooking and positioned at the bottom of the trolley (5), wherein the lifting hook (7) is connected with a crane control system (200), the cart beam is vertical to the crane rail (3), the cart beam spans the length of a landfill pit, supporting legs at two sides of the cart beam are positioned on the opposite crane rail (3), and a position detection device (500) is arranged in the cart beam and the trolley (5);

the remote controller (300) is used for sending a bag hanging command and a filling command to the crane control system (200); the position detection device (500) is used for detecting the operation coordinate of the lifting hook (7) and sending the detected operation coordinate to the crane control system (200);

send driving instruction to crane traveling system (400) to by crane traveling system (400) control useless special crane subassembly of danger carries useless ton bag of danger (10) of hoist and mount and moves to the filling position, include:

the crane control system (200) is used for sending a traveling command to the crane traveling system (400) according to the bag hanging command, the filling command, the operation coordinate and the filling coordinate, so that the crane traveling system (400) controls the cart (4) to slide along the crane track (3), the trolley (5) to move along the cart beam and the lifting hook (7) to carry out ascending or descending movement along with the hoisted dangerous waste ton bags.

5. The rigid landfill hazardous waste loading system of claim 4, further comprising a landfill cloud platform connected to the communication unit for obtaining landfill status information and crane status information, the crane status information including hook position information, hook hanger weight, crane operating status and crane overhaul fault status.

6. A control method for a hazardous waste filling system of a rigid landfill site is characterized by comprising the following steps:

the method comprises the steps that a hazardous waste conveying vehicle (20) loads hazardous waste ton bags into a rigid landfill hoisting area (22), barcodes on the hazardous waste ton bags are scanned by an intelligent terminal, hazardous waste type information is obtained, and the hazardous waste type information is transmitted to a landfill planning system (100) through a wireless network;

the landfill planning system (100) determines the dangerous waste type of each landfill according to the regional dangerous waste yield and the landfill layout, generates a landfill plan, and determines the target landfill pit and the filling coordinate of the dangerous waste ton bag according to the landfill plan and the dangerous waste type information of the dangerous waste ton bag;

controlling the special dangerous waste component to move to a hoisting area, hanging the dangerous waste ton bag, controlling the special dangerous waste crane component to carry the hoisted dangerous waste ton bag (10) to move to a loading position by a crane traveling system (400) according to a target landfill pit and a loading coordinate, and completing the loading operation of the dangerous waste ton bag; and updating the landfill database, and controlling the dangerous and waste special crane assembly which finishes one-time filling to return to the hoisting area.

7. The control method of the rigid landfill dangerous waste filling system according to claim 6, wherein the landfill planning system (100) determines the dangerous waste types of each landfill pit according to the regional dangerous waste yield and the landfill layout to generate the landfill plan, and comprises the following steps:

determining dangerous waste landfill safety combinations and the weight, specific gravity, bag number and landfill unit number of each combination according to the incompatible requirements of dangerous waste;

and distributing landfill pits for each combination according to the number of bags and the number of occupied landfill units of each combination, determining the dangerous waste type of landfill of each landfill pit, and generating a landfill plan.

8. The control method of the hazardous waste filling system of the rigid landfill according to claim 6, wherein the hazardous waste special-purpose components are controlled to move to the hoisting area, the hazardous waste ton bag is hung, and the crane traveling system (400) controls the hazardous waste special-purpose crane components to carry the hoisted hazardous waste ton bag (10) to move to the filling position according to the target landfill pit and the filling coordinates, so as to complete the filling operation of the hazardous waste ton bag, and the control method comprises the following steps:

receiving a bag hanging instruction sent by a remote controller (300), controlling a lifting hook (7) to move to the position above the dangerous waste ton bag, and hanging the dangerous waste ton bag;

receiving a loading instruction sent by a remote controller (300), acquiring a hoisting initial coordinate according to the loading instruction, and determining a motion track of a lifting hook (7) according to the hoisting initial coordinate and the loading coordinate;

the motion track of the lifting hook (7) is sent to a crane traveling system (400), and the crane traveling system (400) controls the lifting hook (7) hung with the dangerous waste ton bags to move to a filling position according to the motion track of the lifting hook (7);

and receiving an unhooking instruction sent by a crane control system (200), and controlling a lifting hook (7) to complete unhooking operation so that the dangerous waste ton bags are placed at corresponding filling positions.

9. The control method for the hazardous waste filling system of the rigid landfill site according to claim 8, wherein the determining the motion track of the lifting hook (7) according to the hoisting initial coordinate and the filling coordinate comprises:

the direction that a cart (4) slides along a crane track (3) and is far away from a hoisting area is taken as an x-axis forward direction, the direction that a trolley (5) moves along a cart beam and moves from a second track (32) to a first track (31) is taken as a y-axis forward direction, the direction that a lifting hook (7) moves from the crane track (3) to the interior of a landfill pit is taken as a z-axis forward direction, and the origin of coordinates is located on the first track, so that a coordinate system is established; and determining hoisting initial coordinates (x) ₁ ,y ₁ ,z ₁ ) Combined garmentFill in coordinate (x) _n ,y _n ,z _n )；

According to the initial coordinates (x) of hoisting ₁ ,y ₁ ,z ₁ ) And a preset height z ₂ Determining the offset start coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) The preset height refers to the height to which the lifting hook (7) is lifted when the cart (4) makes linear motion along the crane track (3), the position corresponding to the offset starting coordinate refers to the position to which the lifting hook (7) is lifted above a lifting area after a bag is hung, wherein m is the height to which the lifting hook (7) is lifted after the bag is hung ₁ The offset of the lifting hook (7) along the y-axis direction is realized after the lifting hook (7) is lifted to the position above the hoisting area;

according to the filling coordinate (x) _n ,y _n ,z _n ) And a preset height z ₂ Determining the offset endpoint coordinate (x) _n ,y _n +m ₂ ,z ₂ ) Said offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) The corresponding position is the position in which the hook (7) is moved above the filling coordinate, where m ₂ After the lifting hook (7) is lowered to the landfill pit, the offset of the lifting hook (7) along the y-axis direction is measured;

determining that the lifting hook (7) with the movement track of the lifting hook (7) for hanging dangerous waste ton bags sequentially follows the initial hoisting coordinate (x) ₁ ,y ₁ ,z ₁ ) Offset starting coordinate (x) ₁ ,y ₁ +m ₁ ,z ₂ ) Offset end point coordinate (x) _n ,y _n +m ₂ ,z ₂ ) And filling coordinate (x) _n ,y _n ,z _n ) The formed trajectory is moved.

10. The control method for the hazardous waste filling system of the rigid landfill according to claim 9, wherein before receiving the unhooking command from the crane control system (200) and controlling the hook (7) to complete the unhooking operation, the method further comprises:

and if the detected deviation between the operating coordinate and the loading coordinate of the lifting hook (7) is smaller than a preset threshold value and the detected weight value of the dangerous waste ton bag is lower than the preset weight value, the crane control system (200) sends out an unhooking instruction.