CN115213189B - Dangerous waste filling system of rigid landfill and control method - Google Patents
Dangerous waste filling system of rigid landfill and control method Download PDFInfo
- Publication number
- CN115213189B CN115213189B CN202111234689.0A CN202111234689A CN115213189B CN 115213189 B CN115213189 B CN 115213189B CN 202111234689 A CN202111234689 A CN 202111234689A CN 115213189 B CN115213189 B CN 115213189B
- Authority
- CN
- China
- Prior art keywords
- landfill
- dangerous waste
- crane
- waste
- filling
- 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.)
- Active
Links
- 239000002699 waste material Substances 0.000 title claims abstract description 330
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000002920 hazardous waste Substances 0.000 claims abstract description 134
- 238000001514 detection method Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 21
- 230000005484 gravity Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 7
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 239000002390 adhesive tape Substances 0.000 claims description 4
- 239000000853 adhesive Substances 0.000 abstract description 4
- 230000001070 adhesive effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 101150054854 POU1F1 gene Proteins 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 238000001223 reverse osmosis Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE
- B09B1/00—Dumping solid waste
- B09B1/004—Covering of dumping sites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/04—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
-
- 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
- Y02W30/00—Technologies for solid waste management
- Y02W30/30—Landfill technologies aiming to mitigate methane emissions
Abstract
The utility model relates to a hazardous waste landfill treatment field provides a rigid landfill danger waste filling system and control method, including danger waste identification system, landfill planning system, crane control system, crane traveling system and danger waste special crane subassembly, danger waste identification system is used for confirming danger waste kind information, generate the non-setting adhesive bar code that contains danger waste kind information, landfill planning system is according to landfill planning and danger waste ton bag kind information of recognition system recognition, for danger waste ton bag allocation target landfill hole and filling position, with the dangerous waste ton bag operation that carries the hoist and mount by crane traveling system control danger waste special crane subassembly to filling position, accomplish the filling operation of danger waste ton bag. Therefore, after the dangerous waste ton bags enter the landfill, the dangerous waste types of each ton bag are 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
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, hazardous waste (hereinafter referred to as "hazardous waste") discharged during industrial production is increasing, and referring to fig. 1, sources of hazardous waste are distributed in various industries, and hazardous waste is various, if disposed of inappropriately, to destroy ecological environment and affect human health.
Hazardous waste safe landfill is a hazardous waste disposal mode, and refers to a technology of final treatment in a safe landfill after hazardous waste solidification treatment, and the hazardous waste safe landfill has a plurality of limiting conditions, for example, referring to fig. 2, and incompatible hazardous wastes are stacked together to possibly generate a plurality of dangers such as explosion. At present, the dangerous waste safety landfill has two forms of flexibility and rigidity, wherein the rigid landfill is a landfill disposal facility adopting reinforced concrete as seepage prevention and blocking, and the landfill disposal facility consists of a plurality of independent and symmetrical landfill units, and is more suitable for dangerous waste safety landfill.
Fig. 3 is a schematic plan view of a conventional rigid landfill, and fig. 4 is a schematic elevation view of a conventional rigid landfill. The rigid landfill pits are independent grids which are mutually isolated and are uniformly distributed transversely and longitudinally to form parallel unit rows and parallel unit columns, the adjacent landfill pits share side wall retaining walls, each landfill pit is subjected to waterproof reverse osmosis treatment, each landfill pit can be filled with one type of dangerous waste, different landfill pits can be filled with different types of dangerous waste, and the landfill pit area of a typical rigid landfill site is not more than 50m 2 The volume is not more than 250m 3 . The top of the rigid landfill pit wall is provided with a bridge crane track 24 along the direction of the unit row, one side of the landfill site is provided with a transport vehicle entering a road 21, the dangerous waste transport vehicle conveys the dangerous waste to a hoisting area 22, and the crane moves along the track from the upper part of the hoisting area to the landfill of any same unit rowAnd (3) a pit is used for hoisting operation, and a crane cannot move across the unit row in normal operation.
Fig. 5 is a schematic diagram of a conventional hazardous waste ton bag 10. The dangerous waste is packed by ton bags, two lifting ropes 102 with the length of 1m are arranged outside the packing bag 101 for loading and unloading, the packing bag 101 has the functions of water resistance and wear resistance, and has packing modes with various specifications and sizes, for example, the outline dimension of the dangerous waste ton bag 10 is 1m (length) x 1m (width) x 1.2m (height) after being packed in a landfill site, and the dangerous waste ton bag 10 is buried after being placed in a rigid landfill pit, so that the ton bag is not broken and is not retrieved.
In fig. 4, a certain batch of hazardous waste enters a rigid landfill, the hazardous waste type of the batch of hazardous waste is manually recorded, hoisting area staff searches historical filling records, determines the filling position of the batch of hazardous waste, and informs a crane operator and a unhooking operator of the filling position; the hook worker stands on the automobile to penetrate the lifting rope 102 of the dangerous waste ton bag 10 into the lifting hook of the bridge crane 23, the crane operator in the cab of the bridge crane 23 operates the crane to vertically lift the dangerous waste ton bag 10 to a height higher than the upper edge of the landfill pit, the crane operator operates the crane to horizontally move to the position above the landfill pit corresponding to the dangerous waste along the crane track, the dangerous waste ton bag 10 is lowered to the bottom of the landfill pit, the unhooking worker of the landfill pit releases the lifting rope 102 of the dangerous waste ton bag 10 from the hook after confirming that the position of the dangerous waste ton bag 10 is stable, and the crane operator operates the crane to return to the lifting area, and the steps are repeated until all the ton bags are filled into the corresponding dangerous waste landfill pit.
According to the dangerous waste ton bag landfill mode, a plurality of manual access links are needed in the filling process, the historical filling records and the current filling positions of the filling area can only be recorded manually, the working efficiency is low, and the filling current situation of the filling area is unclear; the dangerous waste type of each dangerous waste ton bag cannot be automatically identified, if dangerous waste ton bags of different batches are mixed, manual one-to-one inquiry records are needed, and filling positions are matched, so that manual pressure and filling position errors of a landfill are caused.
Disclosure of Invention
The application provides a dangerous waste filling system of a rigid landfill and a control method, which are used for solving the problems that the existing method cannot automatically identify the type of dangerous waste, match filling positions and have more manual access links.
The application discloses a useless filling system of rigid landfill danger, including crane control system, crane traveling system and useless special crane subassembly of danger, its characterized in that still includes: a landfill planning system and a hazardous waste identification system;
the dangerous waste identification system comprises a laboratory terminal, a bar code printer and an intelligent terminal, wherein the laboratory terminal is used for detecting dangerous waste types, the bar code printer is used for generating a non-setting adhesive tape code containing dangerous waste type information, and the intelligent terminal is connected with a landfill planning system and used for uploading the dangerous waste type information read by the code scanning 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 are used for transmitting crane states and hazardous waste type information read by sweeping codes to the communication unit;
the operation center comprises a dangerous waste classification database, is used for determining dangerous waste types filled in each landfill pit according to regional dangerous waste yield and landfill layout, generates a landfill plan, determines target landfill pits and filling coordinates of dangerous waste ton bags according to the landfill plan, dangerous waste type information uploaded by the communication unit and the landfill database, and judges 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 driving instruction to the crane traveling system according to the target landfill pit and the filling coordinates transmitted by the landfill planning system, so that the crane traveling system controls the dangerous waste ton bag carried and hoisted by the dangerous waste special crane assembly to move to the filling position, and the filling operation of the dangerous waste ton bag is completed.
Preferably, the laboratory terminal and the bar code printer are positioned at a hazardous waste generating 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 a hazardous waste classification database at the laboratory terminal;
and if the laboratory terminal and the bar code printer are positioned in the hazardous waste landfill site, connecting the laboratory terminal with a landfill planning system, wherein the laboratory terminal is used for acquiring a hazardous waste classification database of the landfill planning system and uploading the laboratory result to the landfill planning system.
Preferably, the system further comprises a weight detection device, wherein a weight sensor is arranged on the hazardous waste special crane assembly and used for detecting the weight value of the hoisted hazardous waste ton bag and sending the weight value to a crane control system.
Preferably, the crane control system further comprises a remote controller and a position detection device, wherein the remote controller and the position detection device are respectively connected with the crane control system;
the special dangerous waste crane assembly comprises a crane rail positioned on the landfill pit wall, a cart sliding along the crane rail, a cart moving along a cart beam, and an automatic unhooking lifting hook positioned at the bottom of the cart, wherein the lifting hook is connected with a crane control system, the cart beam is perpendicular to the crane rail, the cart beam spans the length of one landfill pit, the supporting legs at two sides of the cart beam are positioned on the opposite-side crane rail, and the position detection device is arranged in the cart beam and the cart;
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 operation coordinates of the lifting hook and sending the detected operation coordinates to the crane control system;
the sending of a traveling command to a crane traveling system to control the operation of the dangerous waste ton bag carried and hoisted by a dangerous waste special crane assembly to a filling position by the crane traveling system comprises the following steps:
the crane control system is used for sending a travelling instruction to the crane travelling system according to the bag hanging instruction, the filling instruction, the running coordinate and the filling coordinate, so that the crane travelling system controls the cart to slide along a crane track, the cart to move along a cart beam and the lifting hook to carry the suspended dangerous waste ton bag to ascend or descend.
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 lifting hook position information, lifting hook suspended object weight, crane operation state and crane maintenance fault state.
Another aspect of the application discloses a method for controlling a hazardous waste filling system of a rigid landfill, comprising:
Detecting dangerous waste types, generating a bar code containing dangerous waste type information according to the dangerous waste types, packaging the dangerous waste into standard ton bags, and pasting the bar code on the corresponding dangerous waste ton bags;
the method comprises the steps that dangerous waste conveying vehicles load dangerous waste ton bags into a rigid landfill hoisting area, an intelligent terminal is utilized to scan bar codes on the dangerous waste ton bags, dangerous waste type information is obtained, and the dangerous waste type information is transmitted to a landfill planning system through a wireless network;
the landfill planning system determines the dangerous waste types 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 coordinates of the dangerous waste ton bags according to the landfill plan and the dangerous waste type information of the dangerous waste ton bags;
controlling the dangerous waste special-purpose assembly to run to a hoisting area, suspending the dangerous waste ton bags, and controlling the dangerous waste special-purpose crane assembly to carry the hoisted dangerous waste ton bags to run to a filling position by a crane travelling system according to the target landfill pit and the filling coordinates, so as to finish the filling operation of the dangerous waste ton bags; updating the landfill database, and controlling the dangerous waste special crane assembly which is completed once to return to the hoisting area.
Preferably, the landfill planning system determines the dangerous waste types of each landfill according to the regional dangerous waste yield and the landfill layout, and generates a landfill plan, including:
Obtaining regional hazardous waste yield of various hazardous wastes in a certain region;
determining the size of dangerous waste ton bags and the filling state of a landfill site, determining the bagging quantity and the weight of single bags of various dangerous wastes according to the size of the dangerous waste ton bags, and determining the number of the landfill units occupied by various dangerous wastes according to the net size and the filling state of the landfill pit units;
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 the dangerous waste;
and distributing landfill pits for each combination according to the number of bags, the specific gravity and the number of occupied landfill units of each combination, determining the types of dangerous wastes filled in each landfill pit, and generating a landfill plan.
Preferably, the special subassembly of control danger useless moves to the hoist and mount district, suspends 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 by crane traveling system control useless special crane subassembly and moves to filling position, 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 hoisting initial coordinates according to the loading instruction, and determining a motion trail of a lifting hook according to the hoisting initial coordinates and the loading coordinates;
The motion trail of the lifting hook is sent to a crane traveling system, and the crane traveling system controls the lifting hook hung with the hazardous waste ton bag to move to a filling position according to the motion trail of the lifting hook;
and receiving an unhooking instruction sent by the crane control system, and controlling the lifting hook to finish unhooking operation, so that the dangerous waste ton bags are placed at corresponding filling positions.
Preferably, the determining the motion trail of the lifting hook according to the initial lifting coordinate and the loading coordinate includes:
taking the direction of the trolley sliding along the crane track and far away from the hoisting area as the x-axis forward direction, taking the direction of the trolley moving along the trolley beam and moving from the second track to the first track as the y-axis forward direction, taking the direction of the lifting hook moving from the crane track to the landfill pit as the z-axis forward direction, and establishing a coordinate system by the origin of coordinates on the first track; and determining the hoisting initial coordinates (x 1 ,y 1 ,z 1 ) And loading coordinates(x n ,y n ,z n )；
According to the initial coordinates (x 1 ,y 1 ,z 1 ) And a preset height z 2 Determining the offset start coordinates (x 1 ,y 1 +m 1 ,z 2 ) The preset height is the height to which the lifting hook is lifted when the cart moves linearly along the crane track, and the position corresponding to the initial offset coordinate is the position to which the lifting hook is lifted above the lifting area after the bag is hung, wherein m is as follows 1 The deviation amount of the lifting hook along the y-axis direction is used for lifting the lifting hook to the position above the lifting area;
According to the loading coordinates (x n ,y n ,z n ) And a preset height z 2 Determining offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) The offset end point coordinates (x n ,y n +m 2 ,z 2 ) The corresponding position refers to the position where the hook is moved to above the loading coordinates, where m 2 The deviation amount of the lifting hook along the y-axis direction is calculated after the lifting hook is lowered to the landfill pit;
determining that the motion trail of the lifting hook is that the lifting hook suspending the dangerous waste ton bag sequentially follows the initial lifting coordinate (x 1 ,y 1 ,z 1 ) Offset start coordinates (x 1 ,y 1 +m 1 ,z 2 ) Offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) And the loading coordinate (x) n ,y n ,z n ) The formed trajectory is moved.
Preferably, before receiving the unhooking instruction sent by the crane control system and controlling the lifting hook to complete unhooking operation, the method further comprises:
acquiring the weight value of the dangerous waste ton bag detected by the weight sensor;
and if the deviation of the detected lifting hook operation coordinate and the loading coordinate is smaller than a preset threshold value and the detected weight value of the dangerous waste ton bag is smaller than a preset weight value, the crane control system sends out a unhooking instruction.
According to the technical scheme, the system comprises a hazardous waste identification system, a landfill planning system, a crane control system, a crane traveling system and a hazardous waste special crane assembly, wherein the hazardous waste identification system is used for determining hazardous waste type information and generating a self-adhesive bar code containing the hazardous waste type information, the landfill planning system distributes a target landfill pit and a filling position for the hazardous waste ton bag according to the landfill planning and the hazardous waste ton bag type information identified by the hazardous waste identification system, and the crane control system filling position sends a travelling command to the crane traveling system so as to control the hazardous waste ton bag carried and hoisted by the hazardous waste special crane assembly to move to the filling position by the crane traveling system, thereby completing the filling operation of the hazardous waste ton bag. Therefore, after the dangerous waste ton bags enter the landfill, the dangerous waste types of each ton bag can be 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.
Drawings
FIG. 1 is a schematic diagram of a portion of a hazardous waste type in the prior art;
FIG. 2 is a schematic diagram of a conventional, common, incompatible waste;
FIG. 3 is a schematic plan view of a conventional rigid landfill;
FIG. 4 is a schematic elevation view of a prior art rigid landfill;
FIG. 5 is a schematic diagram of a prior art hazardous waste ton bag;
FIG. 6 is a schematic view of a rigid landfill according to one embodiment of the present application;
FIG. 7 is a schematic diagram of the dangerous waste identification system according to the embodiment of the present application;
FIG. 8 is a schematic diagram of a landfill planning system according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a rigid landfill hazardous waste filling system provided in an embodiment of the present application;
FIG. 10 is a block diagram of a rigid landfill hazardous waste filling system provided in an embodiment of the present application;
fig. 11 is a schematic diagram of a filling state in a landfill according to an embodiment of the present application.
Detailed Description
In order to facilitate the technical solution of the application, some concepts related to the present application will be described below first.
FIG. 6 is a schematic view of a rigid landfill according to one embodiment of the present application;
FIG. 7 is a schematic diagram of the dangerous waste identification system according to the embodiment of the present application;
the embodiment of the application provides a dangerous waste filling system of a rigid landfill, which is used for filling dangerous waste ton bags into corresponding landfill pits of the rigid landfill. In this embodiment, the landfill pit may be represented by a line number and a column number, as shown in fig. 6, where a certain rigid landfill includes a to E lines and 1 to 8 columns, for example, C6 represents a C-line and a 6-column landfill pit, and different landfill pits may fill different types of hazardous wastes. The column 1 of the rigid landfill has no landfill pit, and a dangerous waste conveying vehicle 20 enters a road below the rigid landfill, and the dangerous waste conveying vehicle 20 loaded with dangerous waste ton bags conveys dangerous waste to a hoisting area 22 so as to carry out filling operation.
In the embodiment of the application, the crane control system 200, the crane traveling system 400 and the hazardous waste special crane assembly control the hazardous waste ton bags to run to the corresponding landfill pits so as to carry out filling operation. The rigid landfill is not provided with a dangerous waste special crane assembly in each row, as shown in fig. 6, a crane is arranged in each row of the rigid landfill A and D, a crane track 3 is arranged on the landfill wall 2 of each row, the crane track extends to the position above the landfill pit at the tail end of the unit row along the unit row direction from the position above the hoisting area 22, the opposite sides of the crane track of each row are respectively a first track 31 and a second track 32, the crane of the row A moves in the row A, after the landfill pit of the row A is fully filled with the sealing field, the crane of the row A can be transferred to the other rows, for example, after the 8 landfill pits of the row A are fully filled, the crane of the row A can be transferred to the row B by an external crane, at the moment, the crane can move in the row B, and the crane of each row does not move across the row in normal operation.
The hazardous waste ton bags are transported to a landfill hoisting area 22 by a hazardous waste transporting vehicle 20, the type information of the hazardous waste ton bags needs to be determined before hazardous waste enters the 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 batch of hazardous waste enters the hazardous waste landfill, the hazardous waste enters the laboratory to test the components of the hazardous waste, a test result is input into the laboratory terminal, the laboratory terminal is communicated with a landfill planning system 100 to obtain a hazardous waste classification database, and the type of entering hazardous waste is determined by combining the test result, and the test result is uploaded to the landfill planning system 100; the bar code printer is used for generating a self-adhesive tape code containing dangerous waste type information, and pasting the bar code on a corresponding dangerous waste packaging ton bag; the laboratory terminal and the bar code printer can also be positioned at a hazardous waste generation end, the hazardous waste classification database is stored at the laboratory terminal, and the hazardous waste ton bag is packaged at the hazardous waste generation end and attached with hazardous waste type information.
Each batch of dangerous waste entering can enter a landfill after being tested, and each dangerous waste ton bag is required to be stuck with a dangerous waste information bar code. After the dangerous waste ton bags with the dangerous waste information bar codes adhered are conveyed to the hoisting area 22, a bag hanging worker scans the codes by using the handheld intelligent terminal, 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, 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 are used for transmitting crane status and hazardous waste type information read by a scanning code to the communication unit; the landfill database is used for storing landfill state information; the operation center comprises a dangerous waste classification database for determining dangerous waste types filled in each landfill pit according to regional dangerous waste yield and landfill layout, generating a landfill plan, determining target landfill pits and filling coordinates of dangerous waste ton bags according to the landfill plan, dangerous waste type information uploaded by the communication unit and the landfill database, and judging filling completion conditions according to crane states uploaded by the communication unit so as to control update information of the landfill database.
After receiving the target landfill and the filling coordinates transmitted by the landfill planning system 100, the crane control system 200 sends a driving instruction to the crane traveling system 400 so as to control the crane traveling system 400 to control the dangerous waste special crane assembly to carry the suspended dangerous waste ton bag 10 to move to the filling position, thereby completing the filling operation of the dangerous waste ton bag.
The rigid landfill hazardous waste landfill system may further include a weight detection device 600, the weight detection device 600 including a weight sensor provided at the hazardous waste dedicated crane assembly, the weight detection device 600 being connected to the crane control system 200, which transmits the detected weight value to the crane control system 200; when the filling operation is started, the weight detection device 600 detects the lifting weight value of the dangerous waste ton bag, and can judge whether the filling operation is finished according to the lifting weight value of the dangerous waste ton bag and the weight value change detected by the weight sensor, so that the crane state is uploaded in real time through the crane control system 200, and the landfill database is updated.
Referring to fig. 9, in one embodiment provided herein, a hazardous waste hoist assembly for a rigid landfill hazardous waste filling system includes a hoist rail 3, a cart 4 sliding along the hoist rail 3, a cart 5 moving along a cart beam, and a hook 7 positioned at the bottom of the cart 5, wherein the hoist rail 3 includes a first rail 31 and a second rail 32, the cart beam is perpendicular to the hoist rail 3, legs are provided on both sides of the cart beam, the cart beam spans a landfill pit length, the legs on both sides of the cart beam are positioned on the opposite hoist rail 3, and both the cart 4 and the cart 5 are connected with a hoist traveling system 400 to move a hazardous waste ton bag over the corresponding landfill pit by controlling the sliding of the cart 4 on the hoist rail 3 and the movement of the cart 5 on the cart beam. The lifting hook 7 positioned at the bottom of the trolley 5 is used for lifting dangerous waste ton bags, the lifting hook 7 is an automatic unhooking lifting hook 7 capable of being controlled remotely, the lifting hook 7 is connected with a crane control system, and unhooking power supply of the lifting hook 7 can be provided by a dangerous waste special crane assembly or provided by a self-charging battery.
The hoist engine 6 connected with the crane traveling system 400 is arranged in the trolley 5, the hoist engine 6 is controlled by a motor, the lifting hook 7 ascends and descends through forward rotation and reverse rotation of the motor, the specific height of the lifting hook 7 can be detected by detecting the length of a lifting rope or detecting the rotation number of turns of the motor, and the hoist engine is not described in detail. The cart beam and the cart 5 are internally provided with a position detection device 500 for detecting the position of the cart 4 in the row direction, the position of the cart 5 in the column direction and the position of the lifting hook 7, and the position detection device 500 comprises a position encoder, a laser ranging mode, a position sensing mode and the like, and various different detection modes have mature implementation modes and are not repeated herein.
The rigid landfill dangerous waste filling 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, the crane state information comprises position information of a lifting hook 7, weight of a lifting hook 7 suspended object and a crane maintenance fault state, and authorized visitors can access the landfill cloud platform at any geographic position to acquire the landfill state information and the crane state information.
In order to further improve the working efficiency of the hazardous waste filling system of the rigid landfill and reduce the manual access links, the embodiment of the application utilizes the control system to realize the process of automatically unloading the hazardous waste ton bags of the filling system of the rigid landfill, and as shown in fig. 10, the hazardous waste filling system of the rigid landfill comprises 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 cart 5, and the hoist 6, such as a switch, a contactor, a frequency converter, and the like; the automatic unhooking device 700 includes a remotely unhookable hook 7. The remote controller 300, the crane traveling system 400, the position detecting device 500 and the automatic unhooking device 700 are respectively connected with the crane control system 200, and the position information detected by the position detecting device 500 is transmitted to the crane control system 200 to be correspondingly controlled by the crane control system 200 according to the received data.
When the dangerous waste landfill system of the rigid landfill provided by the embodiment of the application enters a control state, a worker in a bag hanging area hangs the dangerous waste ton bag 10 by operating the lifting hook 7 to the upper part of the lifting area 22 through the remote controller 300, 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 key after the bag hanging is finished is pressed on the remote controller 300, at the moment, 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 travelling command to the crane travelling system 400 according to the bag hanging command, the filling command, the initial coordinates of the lifting hook and the filling position, so that the crane travelling system 400 controls the cart 4 to slide along the crane track 3, the cart 5 to move along the cart beam 42 and the winch 6 to drive the lifting hook 7 for lifting the dangerous waste ton bag to ascend or descend. When the dangerous waste ton bags are conveyed to the filling position, the crane control system 200 sends out a unhooking instruction to control the lifting hook 7 to unhook, so that the landfill operation of the dangerous waste ton bags 10 is realized. Further, whether to send out unhooking instructions can be judged according to the lifting weight value of the dangerous waste ton bag and the weight value change quantity detected by the weight sensor, so that more stable landfill of the dangerous waste ton bag is realized.
The embodiment of the application provides a dangerous waste filling system of a rigid landfill, including dangerous waste identification system 800, landfill planning system 100, crane control system 200, crane traveling system 400 and dangerous waste special crane assembly, dangerous waste identification system 800 is used for confirming dangerous waste kind information, generate the non-setting adhesive bar code that contains dangerous waste kind information, landfill planning system 100 is according to landfill planning and dangerous waste ton bag kind information that dangerous waste identification system 800 discerned, for dangerous waste ton bag distribution target landfill hole and filling position, crane control system 200 fills the position and sends the driving instruction to crane traveling system 400, with the dangerous waste ton bag 10 operation that the special crane assembly of control dangerous waste carries hoist to filling position by crane traveling system 400, accomplish the filling operation of dangerous waste ton bag. The system that this application embodiment provided, after the useless ton bag of danger gets into the landfill site, can the useless kind of danger of every bag ton bag of automatic identification to the automatic matching corresponds filling position, and the data information in landfill site also can be updated in real time, reduces too much manual 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 hazardous waste filling system for a rigid landfill provided in this embodiment, this embodiment also provides a control method for the hazardous waste filling system for a rigid landfill, where the method is executed by the hazardous waste filling system for a rigid landfill provided in the foregoing embodiment, and the control method for the hazardous waste filling system for a rigid landfill provided in this embodiment includes the following steps:
S1, detecting dangerous waste types, generating a bar code containing dangerous waste type information according to the dangerous waste types, packaging the dangerous waste into standard ton bags, and pasting the bar code on the corresponding dangerous waste ton bags.
After a certain batch of dangerous waste enters a dangerous waste landfill factory, the dangerous waste can be transported to a temporary warehouse of the dangerous waste landfill factory, the components of the dangerous waste landfill factory are sampled and tested, the test result is input into a laboratory terminal, the laboratory terminal is communicated with a landfill planning system 100 so as to obtain a dangerous waste classification database, and the type of the dangerous waste entering the dangerous waste is determined by combining the test result; the bar code printer generates a self-adhesive tape code containing dangerous waste type information according to the dangerous waste type, and the bar code is stuck to the corresponding dangerous waste packaging ton bag.
The laboratory terminal and the bar code printer can also be located at a dangerous waste generation end or an independent third party, the dangerous waste classification database is stored at the laboratory terminal, bar codes are generated after dangerous waste information is determined, the bar codes are pasted on corresponding ton bags, the situation that dangerous waste entering each batch can enter a landfill after all the dangerous waste needs to be tested is ensured, and the bar codes of the dangerous waste information are pasted on each dangerous waste ton bag.
S2, loading the dangerous waste ton bags by the dangerous waste conveying vehicle 20, entering a rigid landfill hoisting area 22, scanning bar codes on the dangerous waste ton bags by using an intelligent terminal, acquiring dangerous waste type information, and transmitting the dangerous waste type information to a landfill planning system 100 through a wireless network.
After the dangerous waste ton bags adhered with the dangerous waste information bar codes are transported to the hoisting area 22, a bag hanging worker scans the codes by using the handheld intelligent terminal, reads the 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 can conveniently allocate target landfill pits and filling positions for the current dangerous waste ton bags.
S3, the landfill planning system 100 determines the dangerous waste types of each landfill 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 operation cost of a landfill and equipment loss, it is necessary to reasonably plan dangerous waste types of landfill of each landfill, the landfill planning system 100 in the embodiment of the present application determines dangerous waste types of landfill of a rigid landfill according to landfill layout and various dangerous waste yields of areas, and generates a landfill plan by the following method:
s31, obtaining the regional dangerous waste yield of various dangerous wastes in a certain region.
In this embodiment, a certain rigid landfill is taken as an example, and a schematic plan view of the rigid landfill is shown in fig. 6, and includes rows a to E and columns 1 to 8, and the yield table can be obtained by investigation, and the total of the yields of the regions with the preset time period and the yields of the regions with the quarterly yields are shown in the following table 1.
TABLE 1 various dangerous waste quarter yield scales in certain area
S32, determining the size of the dangerous waste ton bags and the filling state of a landfill site, determining the bagging quantity and the single bag weight of various dangerous wastes according to the size of the dangerous waste ton bags, and determining the number of the various dangerous wastes accounting for the filling unit according to the net size and the filling state of the landfill pit unit.
The filling state of the landfill refers to the filling form of dangerous waste ton bags in each landfill, for example, how many layers, rows and columns one landfill dangerous waste ton bag can fill, and after the size of the dangerous waste ton bags and the filling state of the landfill are determined, how many dangerous waste ton bags can be filled in each landfill can be determined. In order to achieve maximization of space utilization in a landfill, the embodiment of the application determines the standard size of the hazardous waste ton bag according to the size of the landfill, and achieves the optimal filling state of the landfill. Before dangerous waste adopts ton bags for packaging, the deformation of the dangerous waste ton bags after falling to the ground and the net size of the pit bottom of the landfill pit are combined, so that the dangerous waste ton bags can be tiled at the pit bottom of the landfill pit to form a filling form of stacking a plurality of landfill layers, wherein each landfill layer comprises a plurality of rows or a plurality of columns.
In a preferred filling state, the filling space of each layer of the pit bottom can be fully utilized by the filling pit, as shown in fig. 11, fig. 11 (a) is a D5 pit standard filling plan, fig. 11 (b) is a D5 pit standard filling elevation, the D5 pit is filled with 36 dangerous ton bags on each layer of plane, 4 layers are filled, wherein D represents a unit row where the filling pit is located, 5 represents a unit column where the filling pit is located, and D5 represents a pit position of the filling pit in the rigid filling field. In the landfill pit, each filling position has a corresponding numbering rule, for example, d5_c63 represents a c layer, a 6 th row and a 3 rd column of the D5 pit, and the numbering rule is not specifically limited in the embodiment of the present application, and a corresponding relationship can be established between the numbering rule and a space position of the filling ton bag, and the corresponding filling position can be mapped through the numbering.
After each dangerous waste ton bag is placed at the bottom of a pit for filling, a certain degree of deformation exists, the size after deformation can be measured through experiments, for example, the size of the dangerous waste ton bag is 1m multiplied by 1.5m, dangerous waste in the ton bag is bulk particulate matters, deformation can occur after the ton bag falls to the ground, and the size of the dangerous waste ton bag after deformation is 1.1m multiplied by 1.24m. Before dangerous waste is packaged by adopting ton bags, the deformation of the dangerous waste ton bags after falling to the ground and the size of the bottom of a landfill pit are combined, the size of the dangerous waste ton bags is determined, so that the filling state of the landfill pit shown in fig. 11 is realized, the size of the landfill pit of the rigid landfill site shown in fig. 7 is 6.6mx6.6mx5 m, and the dangerous waste ton bags with the size of 1.1mx1.1mx1.24m after deformation can be tiled to fill the landfill pit, so that the preferable space utilization rate of the landfill pit is realized.
After determining the ton bag size and landfill status, a status data table may be generated for each hazardous waste ton bag location, as shown in table 2 below, which is stored in the landfill database of landfill planning system 100 and updated in real time; the landfill planning system 100 pre-stores filling coordinates for the position of each dangerous waste ton bag, wherein the filling coordinates are corresponding lifting hook coordinates when each dangerous waste ton bag is unloaded to the filling position, a hand-held intelligent terminal of a bag hanging worker scans codes, the types of the dangerous waste ton bags are uploaded to the landfill planning system 100, the landfill planning system 100 distributes target landfill pits for the dangerous waste ton bags according to the dangerous waste type information, and the pre-stored filling coordinates which are not filled are distributed to the dangerous waste ton bags.
Table 2 landfill status table
| Dangerous waste filling position | Dangerous waste filling type | Dangerous waste filling state | Time of filling hazardous waste | Hazardous waste source |
| D5_a11 | HW02 type hazardous waste | Filled with | 2020-6-10 | Pharmaceutical factory 101 |
| … | .. | … | … | … |
| E5_c33 | HW11 class hazardous waste | Unfilled with |
After the size of the dangerous waste ton bags is determined, determining the bagging quantity and the single bag weight of various dangerous wastes according to the size of the dangerous waste ton bags, the yield of various dangerous wastes and the specific gravity of various dangerous wastes; the number of various dangerous waste occupying landfill units is determined according to the net size and the filling state of the landfill units, and is specifically shown in the table 3:
TABLE 3 bagging table for various dangerous waste quarter output in certain area
S33, determining the hazardous waste landfill safety combination according to the hazardous waste incompatibility requirement, and the weight, the bag number, the landfill unit number and the bag number ratio of each combination.
Referring to fig. 2, a schematic diagram of the existing common incompatible waste, according to the incompatible requirements of hazardous waste, the hazardous waste types a-G produced in the area are safely combined, and the weight, the number of bags, the number of landfill units and the number of bags in each combination are as shown in the following table 3:
table 3 dangerous waste safety landfill combined table
| Safety combination | Combination 1 | Combination 2 | Combination 3 | Combination 4 | Totalizing |
| 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 | |
| Accounting for the number of landfill units | 6.17 | 2.76 | 1.24 | 2.74 | 12.91 |
| Bag number ratio | 47.8％ | 21,4％ | 9.6％ | 21.2％ | 100％ |
S34, distributing landfill pits for each combination according to the number of bags, the specific gravity and the number of occupied landfill units of each combination, determining the types of dangerous waste landfills of each landfill pit, and generating a landfill plan.
The rigid landfill is characterized in that the 2 nd row to the 8 th row are landfill areas, 35 landfill pits are formed, when the dangerous waste ton bags are lifted from the lifting area 22 to the 2 nd row, the crane travel distance is shortest, the time consumption is least, the energy consumption is lowest, the travel distance is longest when the dangerous waste ton bags are lifted to the 8 th row, the time consumption is most, and the energy consumption is highest. When the crane walks on the crane track 3, after one row of 7 pits is filled, the crane turns the track, and the second row can be filled. Each pit is filled as much as possible to fully utilize the landfill pit storage capacity. The A-row crane of the rigid landfill site receives the landfill of the combination 1, namely the first row is completely filled with the 1-risk waste of the combination, the D-row crane receives the landfill of the combination 2-4, the combination 2 is placed in the 2 nd, 3 rd and 4 th columns according to the bag number proportion, the combination 4 is placed in the 5 th, 6 th and 7 th columns, the combination 3 can be temporarily stored in the rest positions of the landfill site, and the A-row crane or the D-row crane is waited to transfer and then is used for the landfill. The planning energy consumption is low, and the crane has less transition.
S4, controlling the dangerous waste special-purpose assembly to run to a hoisting area, suspending the dangerous waste ton bags, and controlling the dangerous waste special-purpose crane assembly to carry the hoisted dangerous waste ton bags 10 to run to a filling position by a crane traveling system 400 according to a target landfill pit and filling coordinates, so as to finish the filling operation of the dangerous waste ton bags; updating the landfill database, and controlling the dangerous waste special crane assembly which is completed once to return to the hoisting area.
Referring to fig. 9, in a specific embodiment provided in the application, a bag hanging worker sends a bag hanging instruction through a remote controller 300, operates a lifting hook 7 to move to the upper portion of a lifting area 22, hangs a dangerous waste ton bag 10 just scanned with the lifting hook 7, presses a corresponding key on the remote controller 300 after the bag is hung, sends a filling instruction for the bag hanging to the crane control system 200, and after the filling instruction is sent, the filling is in a full-automatic running state without manually participating in operations such as movement and unhooking of the crane.
In this embodiment of the present application, when the crane control system 200 receives a loading instruction to start a loading task, the weight detection device 600 may be further controlled to record the lifting weight value of the hazardous waste ton bag and the real-time weight value of the hazardous waste ton bag in the loading process, so as to determine that the system is abnormal. After the lifting hook 7 has risen above the set level or the loading operation has been performed for more than a preset time, the system will sound an audible and visual alarm if the value of the change in weight of the lifting appliance detected by the weight sensor exceeds the set value, while controlling the lifting hook 7 to return to the lifting initial coordinates, for example, if the lifting hook 7 has risen above 1m or the full automatic unloading has exceeded 30s, the system will sound an audible and visual alarm while controlling the lifting hook 7 to return to the lifting hook initial coordinates.
At the beginning of receiving a filling instruction by the crane control system 200, performing a filling task, controlling the position detection device 500 to record initial coordinates of lifting, that is, coordinates of the lifting hook 7 at an initial bag hanging position, and determining a motion track of the lifting hook 7 according to the coordinates of the current filling.
S41, taking the direction of the cart 4 sliding along the crane track 3 and far away from the hoisting area 22 as the x-axis forward direction, taking the direction of the cart 5 moving along the cart beam and moving from the second track 32 to the first track 31 as the y-axis forward direction, taking the direction of the lifting hook 7 moving from the crane track 3 into the landfill pit 1 as the z-axis forward direction, and establishing a coordinate system by the origin of coordinates on the first track 31; and determining the hoisting initial coordinates (x 1 ,y 1 ,z 1 ) And the loading coordinate (x n ,y n ,z n )。
S42, according to the hoisting initial coordinates (x 1 ,y 1 ,z 1 ) And a preset height z 2 Determining the offset start coordinates (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 moves linearly along the crane track 3, and the position corresponding to the initial coordinate of the offset refers to the position above the lifting area 22 after the bag is hung, wherein m is 1 The hoisting machine 6 is lifted to the position above the hoisting area 22 by the offset of the hoisting hook 7 in the y-axis direction.
After the bag is hung up,firstly, the dangerous waste special crane assembly can do linear motion on the track after the dangerous waste ton bag is lifted to be above the plane height of the pit mouth of the landfill pit of the rigid landfill site, and moves to the set pit position of the landfill pit. 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 rise to a 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 height difference caused by the rotation of the hoist to rise or fall the lifting hook 7, the diameter of the steel wire rope in the hoist, the diameter of the hoist drum and other factors determine, in the embodiment of the application, the offset of the lifting hook 7 along the y-axis direction after the hoist 6 lifts the lifting hook 7 to the upper part of the lifting area 22 is determined according to the following formula:
wherein z is 1 In the low position, namely the height of the lifting hook at the initial lifting position, the unit is mm, z 2 Is the preset height of the lifting hook in the high position, namely the unit mm, D 1 The diameter of the winding drum of the trolley is in mm and D 2 The diameter of the steel wire rope is in mm.
S43, according to the filling coordinates (x n ,y n ,z n ) And a preset height z 2 Determining offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) The offset end point coordinates (x n ,y n +m 2 ,z 2 ) The corresponding position refers to the position where the hook 7 is moved to above the loading coordinates, where m 2 The hook 7 is offset in the y-axis direction after lowering the hook to the landfill for the hoist 6.
The hook 7 moves to the offset start coordinate (x 1 ,y 1 +m 1 ,z 2 ) After that, the cart 4 moves along the crane rail 3 in the x-axis direction, the cart 5 moves along the cart beam in the y-axis direction, and the hook 7 is transported to above the loading coordinates, and the hook 7 is shifted in the y-axis direction during the lowering process, so that the position of the hook, i.e., the shift end point coordinates (x n ,y n +m 2 ,z 2 ) Not directly above the loading coordinate in the z-axis direction, wherein the amount of displacement of the lifting hook in the y-axis direction after the lifting hook is lowered to the landfill pit by the winch is determined according to the following formula:
wherein z is n The height of the filling position coordinate is in the low position state, the unit is mm, z 2 Is in a high state, namely preset height, unit mm and D 1 The diameter of the winding drum of the trolley is in mm and D 2 The diameter of the steel wire rope is in mm.
S44, determining that the motion trail of the lifting hook 7 is that the lifting hook 7 suspending the dangerous waste ton bag sequentially follows the initial lifting coordinate (x 1 ,y 1 ,z 1 ) Offset start coordinates (x 1 ,y 1 +m 1 ,z 2 ) Offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) And the loading coordinate (x) n ,y n ,z n ) The formed trajectory is moved.
After the motion trail is determined, the motion trail is sent to a crane traveling system, and the crane traveling system 400 controls the lifting hook 7 with the dangerous waste ton bag to move to the filling position according to the motion trail of the lifting hook; and receiving a unhooking instruction sent by the crane control system 200, controlling the lifting hook 7 to finish unhooking operation, and placing the dangerous waste ton bags at corresponding filling positions, wherein the crane control system 200 sends the crane state and the filling completion to the landfill planning system 100 so as to control the landfill planning system 100 to update filling data by a landfill database.
When the dangerous waste ton bag 10 reaches the filling position, the bottom of the ton bag contacts with the bottom of the landfill pit 1 or the dangerous waste ton bag 10 filled before, and the weight detection device 600 detects the weight change of the suspended weight of the lifting hook 7, so in order to make the dangerous waste ton bag more stably finish the unloading operation, the present application can also acquire the weight value of the dangerous waste ton bag detected by the weight sensor before receiving the unhooking instruction sent by the crane control system 200 and controlling the lifting hook 7 to finish the unhooking operation; if the deviation of the loading coordinates from the detected hook coordinates is less than a preset threshold, for example, within 100mm in each direction, and the detected dangerous waste ton bag weight value is lower than the preset weight value, for example, the weight is reduced to 60% of the ton bag lifting weight value, the crane control system 200 issues a unhooking instruction, and after unhooking is completed, the crane control system 200 moves the automatically operated hooks 7 to the positions of the hook initial coordinates in the opposite direction of the loading motion trajectory.
The crane control system 200 can also judge whether the unhooking action is finished through the weight change when the lifting hook 7 ascends, if the unhooking action is not finished, a unhooking abnormal alarm is sent out, the second unhooking operation is executed at the same time, if the second unhooking operation is not successful yet, the crane control system 200 stops the task, and the crane enters a fault or detection state and waits for relevant personnel to process.
As can be seen from the foregoing embodiments, the rigid landfill hazardous waste filling system and the control method 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 hazardous waste dedicated crane assembly, where the hazardous waste identification system 800 is used to determine hazardous waste type information, generate a self-adhesive barcode containing the hazardous waste type information, and the landfill planning system 100 allocates a target landfill pit and a filling position for the hazardous waste ton bag according to the landfill plan and the hazardous waste ton bag type information identified by the hazardous waste identification system 800, and the crane control system 200 sends a traveling command to the crane traveling system 400 to control the hazardous waste dedicated crane assembly to carry the suspended hazardous waste ton bag 10 to the filling position by the crane traveling system 400, so as to complete the filling operation of the hazardous waste ton bag. Therefore, after the dangerous waste ton bags enter the landfill, the dangerous waste types of each ton bag can be 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.
The embodiment of the application further determines the dangerous waste types of each landfill pit of the rigid landfill according to the dangerous waste yield and the landfill layout through the landfill planning system 100, generates landfill planning, and reduces equipment loss and landfill operation cost.
The above-described embodiments of the present application are not intended to limit the scope of the present application.
Claims (9)
1. A rigid landfill hazardous waste filling system, includes crane control system (200), crane traveling system (400) and hazardous waste private crane subassembly, its characterized in that still includes: a landfill planning system (100) and a hazardous waste identification system (800);
the dangerous waste identification system (800) comprises a laboratory terminal, a bar code printer and an intelligent terminal, wherein the laboratory terminal is used for detecting dangerous waste types, the bar code printer is used for generating a non-setting adhesive tape code containing dangerous waste type information, and the intelligent terminal is connected with the landfill planning system (100) and is used for uploading the dangerous waste type information read by the code scanning 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 are used for transmitting crane states and hazardous waste type information read by scanning codes to the communication unit;
the operation center comprises a dangerous waste classification database, is used for determining dangerous waste types filled in each landfill pit according to regional dangerous waste yield and landfill layout, generates a landfill plan, determines target landfill pits and filling coordinates of dangerous waste ton bags according to the landfill plan, dangerous waste type information uploaded by the communication unit and the landfill database, and judges 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 (200) is used for sending a driving instruction to the crane traveling system (400) according to the target landfill and the filling coordinates transmitted by the landfill planning system (100) so as to control the crane traveling system (400) to control the dangerous waste ton bag (10) carried and hoisted by the dangerous waste crane assembly to move to the filling position and complete the filling operation of the dangerous waste ton bag;
determining dangerous waste types of landfill according to the regional dangerous waste yield and the landfill layout, and generating a landfill plan, wherein the method comprises the following steps of:
obtaining regional hazardous waste yield of various hazardous wastes in a certain region;
determining the size of the dangerous waste ton bags and the filling state of a landfill site, determining the bagging quantity and the single bag weight of each type of dangerous waste according to the size of the dangerous waste ton bags, the yield of each type of dangerous waste and the specific gravity of each type of dangerous waste, and determining the number of the dangerous waste accounting for the landfill unit according to the net size, the filling state, the size of the dangerous waste ton bags, the bagging quantity and the single bag weight of a landfill unit;
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 the dangerous waste;
according to the number of bags and the number of filling units of each combination, filling pits are distributed for each combination, and the types of dangerous wastes filled in each filling pit are determined to generate a filling plan;
The size of the dangerous waste ton bag is determined by adopting the following method: before dangerous waste adopts the ton bag package, combine the deformation of dangerous waste ton bag (10) after falling to the ground and landfill hole (1) hole bottom size, confirm the size of dangerous waste ton bag (10) to and adopt this size's dangerous waste ton bag to carry out dangerous waste package, so that dangerous waste ton bag (10) can tile landfill hole (1) hole bottom, form a plurality of landfill layers and fold the filling form, wherein, every the landfill layer includes a plurality of rows or a plurality of columns.
2. A rigid landfill hazardous waste filling system according to claim 1, wherein the laboratory terminal and barcode printer are located at a hazardous waste generating 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 a hazardous waste classification database at the laboratory terminal;
if the laboratory terminal and the bar code printer are located in a hazardous waste landfill site, the laboratory terminal is connected with the landfill planning system (100), and is used for acquiring a hazardous waste classification database of the landfill planning system (100) and uploading the test result to the landfill planning system (100).
3. The hazardous waste filling system of claim 1, further comprising a weight detection device (600), wherein the hazardous waste hoist assembly is provided with a weight sensor for detecting a weight value of the hoisted hazardous waste ton bag, and wherein the weight value is sent to the hoist control system (200).
4. A rigid landfill hazardous waste filling system according to claim 3, further comprising a remote control (300) and a position detection device (500), the remote control (300) and the position detection device (500) being respectively connected to the crane control system (200);
the dangerous waste special crane assembly comprises a crane track (3) positioned on a landfill pit wall (2), a cart (4) sliding along the crane track, a cart (5) moving along a cart beam, a lifting hook (7) capable of automatically unhooking and positioned at the bottom of the cart (5), wherein the lifting hook (7) is connected with a crane control system (200), the cart beam is perpendicular to the crane track (3), the cart beam spans the length of the landfill pit, the supporting legs at the two sides of the cart beam are positioned on the opposite-side crane track (3), and the position detection device (500) is arranged in the cart beam and the cart (5);
the remote controller (300) is used for sending a bag hanging instruction and a filling instruction to the crane control system (200); the position detection device (500) is used for detecting the operation coordinates of the lifting hook (7) and sending the detected operation coordinates to the crane control system (200);
the method for sending a traveling command to a crane traveling system (400) so that the crane traveling system (400) controls a hazardous waste special crane assembly to carry a suspended hazardous waste ton bag (10) to a filling position, and comprises the following steps:
The crane control system (200) is used for sending a travelling instruction to the crane travelling system (400) according to the bag hanging instruction, the filling instruction, the running coordinate and the filling coordinate, so that the crane travelling system (400) controls the cart (4) to slide along the crane track (3), the cart (5) to move along the cart beam and the lifting hook (7) to carry the suspended dangerous waste ton bag to ascend or descend.
5. The 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 service fault status.
6. A method for controlling a hazardous waste filling system of a rigid landfill, comprising the steps of:
detecting dangerous waste types, generating a bar code containing dangerous waste type information according to the dangerous waste types, packaging the dangerous waste into standard ton bags, and pasting the bar code on the corresponding dangerous waste ton bags;
the method comprises the steps that dangerous waste conveying vehicles (20) load dangerous waste ton bags, the dangerous waste ton bags enter a rigid landfill hoisting area (22), bar codes on the dangerous waste ton bags are scanned by using an intelligent terminal, dangerous waste type information is obtained, and the dangerous waste type information is transmitted to a landfill planning system (100) through a wireless network;
The landfill planning system (100) determines the dangerous waste types of landfill 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 filling coordinates of the dangerous waste ton bags according to the landfill plan and the dangerous waste type information of the dangerous waste ton bags;
controlling the dangerous waste special-purpose assembly to run to a hoisting area, suspending the dangerous waste ton bags, and controlling the dangerous waste special-purpose crane assembly to carry the hoisted dangerous waste ton bags (10) to run to a loading position by a crane traveling system (400) according to a target landfill pit and loading coordinates, so as to finish the loading operation of the dangerous waste ton bags; updating a landfill database, and controlling the dangerous waste special crane assembly which is completed once to return to a hoisting area;
the landfill planning system (100) determines the dangerous waste types of each landfill pit landfill according to the regional dangerous waste yield and the landfill layout, and generates a landfill plan, and comprises:
obtaining regional hazardous waste yield of various hazardous wastes in a certain region;
determining the size of the dangerous waste ton bags and the filling state of a landfill site, determining the bagging quantity and the single bag weight of each type of dangerous waste according to the size of the dangerous waste ton bags, the yield of each type of dangerous waste and the specific gravity of each type of dangerous waste, and determining the number of the dangerous waste accounting for the landfill unit according to the net size, the filling state, the size of the dangerous waste ton bags, the bagging quantity and the single bag weight of a landfill unit;
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 the dangerous waste;
according to the number of bags and the number of filling units of each combination, filling pits are distributed for each combination, and the types of dangerous wastes filled in each filling pit are determined to generate a filling plan;
the size of the dangerous waste ton bag is determined by adopting the following method: before dangerous waste adopts the ton bag package, combine the deformation of dangerous waste ton bag (10) after falling to the ground and landfill hole (1) hole bottom size, confirm the size of dangerous waste ton bag (10) to and adopt this size's dangerous waste ton bag to carry out dangerous waste package, so that dangerous waste ton bag (10) can tile landfill hole (1) hole bottom, form a plurality of landfill layers and fold the filling form, wherein, every the landfill layer includes a plurality of rows or a plurality of columns.
7. The control method of the hazardous waste filling system of the rigid landfill according to claim 6, wherein the controlling hazardous waste special assembly is operated to a hoisting area, the hazardous waste ton bag is suspended, the hazardous waste special crane assembly is controlled by a crane traveling system (400) to carry the suspended hazardous waste ton bag (10) to a filling position according to the target landfill pit and the filling coordinates, and the filling operation of the hazardous waste ton bag is completed, the 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 hoisting initial coordinates according to the loading instruction, and determining a motion track of a lifting hook (7) according to the hoisting initial coordinates and the loading coordinates;
the motion trail 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 bag to move to a filling position according to the motion trail of the lifting hook (7);
and receiving a unhooking instruction sent by the crane control system (200), and controlling the lifting hook (7) to finish unhooking operation, so that the dangerous waste ton bag is placed at a corresponding filling position.
8. The control method of the hazardous waste filling system of the rigid landfill according to claim 7, wherein the determining the movement track of the lifting hook (7) according to the initial lifting coordinate and the filling coordinate comprises the following steps:
the direction of the cart (4) sliding along the crane track (3) and far away from the hoisting area is taken as the x-axis forward direction, the direction of the cart (5) moving along the cart beam and moving from the second track (32) to the first track (31) is taken as the y-axis forward direction, the direction of the lifting hook (7) moving from the crane track (3) to the landfill pit is taken as the z-axis forward direction, and the origin of coordinates is positioned on the first track to establish a coordinate system; and determining the hoisting initial coordinates (x 1 ,y 1 ,z 1 ) And the loading coordinate (x) n ,y n ,z n )；
According to the initial coordinates (x 1 ,y 1 ,z 1 ) And a preset height z 2 Determining the offset start coordinates (x 1 ,y 1 +m 1 ,z 2 ) The preset height is the height to which the lifting hook (7) is lifted when the cart (4) moves linearly along the crane track (3), and the position corresponding to the initial coordinate of the deviation is the position to which the lifting hook (7) is lifted to the position above the lifting area after the bag is hung, wherein m is as follows 1 The deviation amount of the lifting hook (7) along the y-axis direction is used for lifting the lifting hook (7) to the position above the lifting area;
according to the loading coordinates (x n ,y n ,z n ) And a preset height z 2 Determining offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) The offset end point coordinates (x n ,y n +m 2 ,z 2 ) The corresponding position is the position of the lifting hook (7) above the loading coordinate, wherein m 2 In order to lower the lifting hook (7) to the landfill pit, the lifting hook (7) is arranged alongOffset in the y-axis direction;
determining that the motion trail of the lifting hook (7) is that the lifting hook (7) suspending dangerous waste ton bags sequentially follows the initial lifting coordinate (x 1 ,y 1 ,z 1 ) Offset start coordinates (x 1 ,y 1 +m 1 ,z 2 ) Offset endpoint coordinates (x n ,y n +m 2 ,z 2 ) And the loading coordinate (x) n ,y n ,z n ) The formed trajectory is moved.
9. The method of claim 8, wherein before receiving the unhooking command from the crane control system (200) to control the lifting hook (7) to complete the unhooking operation, further comprising:
Acquiring the weight value of the dangerous waste ton bag detected by the weight sensor;
and if the deviation of the detected operation coordinates and the loading coordinates of the lifting hook (7) is smaller than a preset threshold value and the detected weight value of the dangerous waste ton bag is smaller than a preset weight value, the crane control system (200) sends out a unhooking instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234689.0A CN115213189B (en) | 2021-10-22 | 2021-10-22 | Dangerous waste filling system of rigid landfill and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234689.0A CN115213189B (en) | 2021-10-22 | 2021-10-22 | Dangerous waste filling system of rigid landfill and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115213189A CN115213189A (en) | 2022-10-21 |
| CN115213189B true CN115213189B (en) | 2024-02-20 |
Family
ID=83606720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111234689.0A Active CN115213189B (en) | 2021-10-22 | 2021-10-22 | Dangerous waste filling system of rigid landfill and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115213189B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201820264U (en) * | 2010-10-22 | 2011-05-04 | 吴湘 | Management system for treating solid waste |
| CN110697582A (en) * | 2019-11-13 | 2020-01-17 | 湖南中冶长天节能环保技术有限公司 | Activated carbon filling method and system |
| CN111515214A (en) * | 2020-04-17 | 2020-08-11 | 中国电建集团华东勘测设计研究院有限公司 | Step type hazardous waste rigid landfill system based on valley terrain and operation method |
| CN111605923A (en) * | 2020-04-26 | 2020-09-01 | 中国瑞林工程技术股份有限公司 | Waste landfill device, rigid landfill site and waste landfill method |
| CN212256097U (en) * | 2020-06-12 | 2020-12-29 | 天津鲁润环保科技有限公司 | Dangerous waste intelligent operation system for rigid landfill |
| CN212612660U (en) * | 2020-08-31 | 2021-02-26 | 中国瑞林工程技术股份有限公司 | Hazardous waste landfill system |
| CN113392480A (en) * | 2021-06-16 | 2021-09-14 | 温州市环境发展有限公司 | Landfill three-dimensional simulation integrated management system based on virtual reality technology |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7501951B2 (en) * | 2006-09-06 | 2009-03-10 | Casella Waste Systems, Inc. | Systems and methods for identifying and collecting banned waste |
-
2021
- 2021-10-22 CN CN202111234689.0A patent/CN115213189B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201820264U (en) * | 2010-10-22 | 2011-05-04 | 吴湘 | Management system for treating solid waste |
| CN110697582A (en) * | 2019-11-13 | 2020-01-17 | 湖南中冶长天节能环保技术有限公司 | Activated carbon filling method and system |
| CN111515214A (en) * | 2020-04-17 | 2020-08-11 | 中国电建集团华东勘测设计研究院有限公司 | Step type hazardous waste rigid landfill system based on valley terrain and operation method |
| CN111605923A (en) * | 2020-04-26 | 2020-09-01 | 中国瑞林工程技术股份有限公司 | Waste landfill device, rigid landfill site and waste landfill method |
| CN212256097U (en) * | 2020-06-12 | 2020-12-29 | 天津鲁润环保科技有限公司 | Dangerous waste intelligent operation system for rigid landfill |
| CN212612660U (en) * | 2020-08-31 | 2021-02-26 | 中国瑞林工程技术股份有限公司 | Hazardous waste landfill system |
| CN113392480A (en) * | 2021-06-16 | 2021-09-14 | 温州市环境发展有限公司 | Landfill three-dimensional simulation integrated management system based on virtual reality technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115213189A (en) | 2022-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108455156B (en) | Intelligent goods loading and unloading system for unmanned warehouse and control method thereof | |
| CN109095059B (en) | Unmanned loading system and loading method thereof | |
| CN103523675B (en) | Track crane automatic yard operation control system and automated container handling method | |
| CA1249870A (en) | Automated in-process pipe storage and retrieval system | |
| CN115213188B (en) | Method and system for dangerous waste landfill of rigid landfill | |
| CN203740901U (en) | Automated stacking yard operation control system of track crane | |
| CN107055330B (en) | Intelligent tower crane centralized control system and its method of work suitable for collaborative work | |
| CN206232157U (en) | Fully-automatic intelligent loading system | |
| CN111071822A (en) | Bagged material loading system | |
| CN208008089U (en) | A kind of automatic dress cabinet device suitable for counter | |
| KR101013430B1 (en) | Method for loading and unloading | |
| CN201347326Y (en) | Automatic confirmation system for containers moved by crane in container yard | |
| CN114096481B (en) | Method and elevator arrangement | |
| CN115213189B (en) | Dangerous waste filling system of rigid landfill and control method | |
| CN109110635B (en) | Automatic activated carbon discharging system and control method thereof | |
| WO2021000339A1 (en) | Automated container yard | |
| JP2019169017A (en) | Material/equipment transportation system at construction site | |
| CN206050993U (en) | Material bag Palletised carry equipment | |
| CN110697582A (en) | Activated carbon filling method and system | |
| CN207129684U (en) | Ship-to-shore induction system | |
| CN211366740U (en) | Activated carbon filling system | |
| CN212126855U (en) | Bagged material loading system | |
| CN214376001U (en) | Bulk material handling system | |
| CN208054117U (en) | Intelligent automation loading and unloading container | |
| CN210594353U (en) | Intelligent automatic loading system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |