CN209502542U - For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby - Google Patents
For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby Download PDFInfo
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- CN209502542U CN209502542U CN201920077581.7U CN201920077581U CN209502542U CN 209502542 U CN209502542 U CN 209502542U CN 201920077581 U CN201920077581 U CN 201920077581U CN 209502542 U CN209502542 U CN 209502542U
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Abstract
It is intelligently turned over the utility model discloses a kind of self-navigation administered for volatility organic polluted soil and casts standby, including soil turner, communication bus unit, magnetic navigation unit, motion control unit, Anti-bumping protection unit, automatic charging unit, built-in industrial control machine and user terminal.Wherein, built-in industrial control machine is installed on soil turner, and magnetic navigation unit, motion control unit, Anti-bumping protection unit and automatic charging unit are connect by communication bus with built-in industrial control machine, and user terminal is connected by WLAN with built-in industrial control machine.The utility model combines machinery and turns over throwing technology, automatic navigation technology and intelligent control technology, can effectively promote soil and turn over the consistency and production security for casting standby intelligence degree and soil remediation technique, use manpower and material resources sparingly simultaneously.
Description
Technical field
The utility model belongs to soil remediation equipment technical research field, and in particular to one kind is used for volatility organic contamination
The self-navigation of soil remediation intelligently turn over cast it is standby.
Background technique
With the transition of China's economic development and urban structure, originally after chemical company's resettlement in city, leave
Large number of contaminated site.According to incompletely statistics, end 2018, the organic contamination place quantity that China possesses is about tens of
In ten thousand block number magnitudes.In January, 2019, " People's Republic of China's soil temperature and soil moisture content " formally implement, show China incited somebody to action
Remediation contaminated soil is promoted to national legislation height, certainly will greatly push the development in China soil remediation market, meanwhile, market
Also urgent demand is proposed to advanced soil restoring technology and equipment.
Thermal desorption technology is a kind of effective organic polluted soil fast repairing method, including room temperature turns over throwing parsing and high temperature
Two kinds of technologies of thermal desorption.Wherein, the soil moisture is promoted to 400~600 by consumption electric power or combustion gas by high temperature thermal desorption technology
Degree Celsius, the volatile organic contaminant in soil can be efficiently removed, half volatile organic contamination can also be effectively removed
Object.But the energy consumption of high temperature thermal desorption technology still reaches 3500~4,000,000,000 cokes/ton at present, it is even higher, therefore high energy consumption is still
It is so the principal element for influencing the technical application.It is worth noting that, a large amount of contaminated sites survey datas are shown, organic contamination field
Usually there is larger earth volume, the main contaminated soil comprising volatile organic matter in ground, room temperature turns over throwing analytic technique and is suitable for
The improvement of such soil, and possess the advantages that at low cost, high-efficient.For example, in the hair of application number ZL201110460162.X
In bright patent, give it is a kind of be typically used for VOCs-contaminated Soils improvement room temperature turn over throwing analytic technique.Room temperature
Turn over throw analytic technique main technique link be, between closed turnover throwing vehicle under environment, treat administer soil implement repeatedly turn over throwing and
Medicament adds operation, the moisture content, broken soil particle and the permeability for improving soil of soil is reduced, so that accelerating volatility has
The desorption rate of machine pollutant.
All the time, polishing working is turned over to carry out in a manner of manual operation soil turner.Due to being between closed turnover throwing vehicle
Under sultry, fugitive dust environmental condition, and it is enriched the high concentration organic contaminant evaporated from soil, wherein usually packet
Containing carcinogenic, hypertoxic and irritation foul-smelling gas, causes to belong to high-risk working environment between closed turnover throwing vehicle, be not suitable for personnel
It works long hours.On the other hand, manual operation turns over the influence cast by labor intensity and harsh environments, it is difficult to guarantee soil
Earth turns over the consistency for throwing the parameters such as uniformity coefficient, soil particle degree of crushing and medicament delivery amount, occurs soil processed sometimes
Earth checks and accepts event not up to standard, affects the production efficiency between turnover throwing vehicle.Finally, soil, which turns over throwing parsing operation, usually requires the several months
Or even continuously continual development in the whole year needs the more boats of several operators to change work to ensure operator's personal safety
Industry increases the human cost of soil remediation engineering.
In view of the above-mentioned problems, equipment research and development field proposes the concept of self-propelled soil turner, which passes through artificial
The mode of outer long-range control (wired or wireless) between closed turnover throwing vehicle, realize soil turner walks certainly and turns over polishing working
Function.For example, the utility model patent of application number 201620524226.6, gives a kind of typical self-propelled soil turner
Technical solution, the program walk guiding by the interior setting mechanical guide guide rail of closed turnover throwing vehicle, realize soil turner certainly,
The personnel of avoiding, which are directly exposed to, to be turned in throwing parsing workshop.The place that the technical solution is worth perfect is: on the one hand, machinery is led
Rail guidance method increases the complexity and construction cost turned over and throw parsing workshop structure, affects the production cloth for turning over and throwing parsing workshop
Office；On the other hand, self-propelled soil turner substantially still falls within manual operation operation mode, only improves operator's
Personal safety, solving the problems, such as that conventional soil turns over to throw that automation degree of equipment is low, it is intrinsic to turn over throwing process consistency difference etc.,
Turn over the efficiency not substantive raising for throwing analyzing device.Therefore, how to realize soil turn over cast standby automation navigation and
Intelligent operation is domestic soil remediation equipment research and development field problem in the urgent need to address.
Utility model content
The utility model provide it is a kind of for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby, tool
Body will solve the problems, such as to include: research soil turner automatic navigation technology, thoroughly realize the unattended operation of soil turner
Ability；Turner intelligent operation technology is studied, solves the problems, such as that conventional soil turner process consistency is poor.
In order to achieve the above objectives, it is led automatically the utility model proposes a kind of for what volatility organic polluted soil was administered
Boat intelligence, which is turned over, to be cast standby, includes soil turner, communication bus unit, magnetic navigation unit, motion control unit, Anti-bumping protection
Unit, automatic charging unit, built-in industrial control machine and user terminal.Wherein,
Soil turner includes battery, electronic turner and medicament charging device, between in closed turnover throwing vehicle
The contaminated soil of stacking, turn over throwing, broken and medicament feeds intake operation, realizes and accelerates organic contaminants in soil desorption rate
Purpose；
Communication bus unit, for communication bus unit, magnetic navigation unit, motion control unit, Anti-bumping protection unit, from
Data communication and control between dynamic charhing unit, built-in industrial control machine；
Magnetic navigation unit includes magnetic stripe track and magnetic navigation sensor, for perceiving the practical walking rail of soil turner
Whether mark deviates magnetic stripe track, provides running environment data for behaviour decision making software, realizes seeking for soil turner operating path
Magnetic navigation function；
Motion control unit includes the control of soil turner power steering engine, the control of direction steering engine, feeding intake controls and turn over
The controllers such as roller are thrown, for soil turner power, steering, the automatic control of roller and charging device；
Anti-bumping protection unit includes range radar, radar signal processor and alarm module, is used for soil turner
Self-navigation Safety Redundancy measure；
Automatic charging unit includes accumulator voltage monitoring, charging to connection module and charging station, is used for soil turner
Battery automatic charging；
Built-in industrial control machine for realizing the mission planning of soil turner, Route guiding, turn over polishing working, automatic charging and
Function of safety protection.
User terminal includes mobile terminal and WLAN, remotely controls for technical staff and turns over throwing analyzing device,
And receive job logging and warning information.
As a kind of perferred technical scheme, soil turner uses battery power, has and turns over throwing to stacking soil
Parsing, crushing and delivering medicament；The soil turner has both someone's driver behavior device, and soil turner can led automatically
Switch between boat and manned mode；Soil turner enters construction site by manned mode, enters later automatic
Navigation mode；
As a kind of perferred technical scheme, communication bus unit use can-bus bus, connection built-in industrial control machine with
The sensor and controller of each functional unit；
As a kind of perferred technical scheme, magnetic navigation unit magnetic stripe track is the guidance path that basis is planned in advance,
The flexible magnetic strips laid on lower concrete layer between closed turnover throwing vehicle；Planning driving path of the magnetic stripe position between soil pile
On, entire room surface magnetic stripe track is at pectination closing structure；Magnetic stripe 30~50mm of width, by magnetic stripe when concrete pavement
It is embedded under concrete layer at 10mm in advance；Magnetic navigation sensor is installed on the connecting rod top that soil turner rack guides ground into,
It works in right above magnetic stripe at 50~100mm height；
As a kind of perferred technical scheme, motion control unit is received built-in industrial control machine and is issued by communication bus
Control instruction, and to built-in industrial control machine feed back；
As a kind of perferred technical scheme, Anti-bumping protection unit uses ultrasonic distance measuring radar, is installed on soil and turns over throwing
Machine frame upper end, ranging range are better than 10m, and precision is better than 0.1m；The distance that built-in industrial control machine is acquired according to ultrasonic radar
Information judges whether be in safe distance between canopy wall between soil turner and closed turnover throwing vehicle, is in an emergency and issues
Soil turner braking instruction out, while the form alarmed with acousto-optic and wireless telecommunications, notify production safety personnel；
As a kind of perferred technical scheme, automatic charging unit is turning over polishing working tempus intercalare or battery voltage
When lower than safety value, soil turner battery automatic charging is completed；
As a kind of perferred technical scheme, the user terminal can be the electricity of the plate with wireless communication function
Brain or mobile phone.
Utility model has the advantages that this is practical compared with manual operation or self-propelled soil are turned over and throw analyzing device
The novel magnetic navigation technology high using at low cost, maturity, it is closed turn over throwing parsing workshop be sultry and dust environment under, realize
The self-navigation of soil turner, and no setting is required complicated mechanical guide structures simplify and closed turn over throwing parsing workshop knot
Structure optimizes place layout；On the other hand, it is turned over by the property of will volatilize organic polluted soil and throws process, technique and knowhow, letter
Breath chemical conversion is production prediction scheme software module, turns over polishing working process by software control, solves tradition and turns over throwing parsing operation technique
The problem of consistency difference, effective guarantee soil remediation acceptable quality level；Finally, by built-in industrial control machine, state sensor,
The full-automatic unmanned operation on duty of soil turner is realized, the cost of labor of soil remediation engineering is reduced.
In conclusion the utility model realize a set of volatility organic polluted soil self-navigation intelligently turn over cast it is standby,
Effective guarantee soil remediation compliance rate, and have long-term continuous unattended production capacity, improve soil remediation enterprise list
The profitability of position personnel.
Detailed description of the invention
Fig. 1 be the utility model it is a kind of for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby
General frame schematic diagram.
Fig. 2 is the utility model device and production scene affiliated facility schematic top plan view, wherein 201 be closed turnover throwing vehicle
Between wall, 202 be magnetic stripe track, 203 be soil pile, 204 be planning driving path, and 205 be magnetic navigation sensor, and 206 be soil
Turner, 207 be the area that awaits orders, and 208 be charging station.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the utility model.
The utility model, which can be used for newly researching and developing self-navigation, intelligently turns over throwing analyzing device, can be used for existing goods
Change soil turner and carries out automatic improving.For the technology path of the description the utility model being more clear, below with Fig. 1 and
Fig. 2 is example, and the utility model is specifically described.It is worth noting that, parameter described in Fig. 1 and Fig. 2, can pass through
A variety of different relevant parameters for configuring to arrange and design, therefore provide in figure, it is not intended that claimed reality of limitation
With novel range, but it is used merely to the statement the embodiments of the present invention being more clear.
First by Fig. 1 and Fig. 2, illustrate the connection relationship and installation for constituting block diagram, each module of utility model device
Position.As shown in Figure 1, the composition of the utility model includes soil turner (being not drawn into figure) and self-navigation and intelligence
Control device.Wherein, self-navigation and intelligent controlling device can be divided into again from top to bottom: user terminal, built-in industrial control machine,
4 functional units such as communication bus unit and magnetic navigation, motion control, Anti-bumping protection and automatic charging and 4 functions
The sensor and controller of unit subordinate.Communication bus is arranged in soil turner car body, for connecting each functional unit
Controller and sensor and built-in industrial control machine.4 functional units receive built-in industrial control machine by communication bus and send
Instruction, and instruction execution result is fed back into built-in industrial control machine.User terminal accesses embedded work using WLAN
Control machine.Technical staff passes through user terminal or built-in industrial control machine touch display, operation production prediction scheme visual software circle
Face, setting soil turns over throwing technological parameter, while receiving job logging and warning information.Behaviour decision making unit combines production prediction scheme
With running environment data, realizes the walking of soil turner, the functions such as turn over throwing, feed intake and charge.
As shown in Fig. 2, except magnetic stripe track 202 defaults in planning driving path 204, charging station 208 positioned at awaiting orders in addition to area 207, originally
Sensor belonging to remaining component part of equipment, such as touch display and each functional unit and controller (are only drawn in Fig. 2
Magnetic navigation sensor 205), it is mounted on soil turner 206.
The specific implementation of the utility model is as follows:
(1) according to the specification of 201 planar dimension between closed turnover throwing vehicle and soil turner tool, soil item is cooked up
The layout of pile 203 and soil turner are awaited orders area 207, and charging station 208, which is arranged in, awaits orders in area 207.Planning driving path 204 is located at two
Between a soil pile 203；Route, the pre-buried magnetic stripe rail under corresponding planning driving path are planned according to soil turner run trace
Mark 202 (there is overlapping magnetic stripe track 202 with part planning driving path 204 in Fig. 2).
Fig. 2 is using certain an example insecticide factory site remediation engineering as design example, according to technical solutions of the utility model
Production scene planning is given, turns over and casts standby and its affiliated facility schematic top plan view.In this example, wall 201 between closed turnover throwing vehicle
Planar dimension are as follows: workshop is about 100m, wide about 40m, about 4000 square metres of floor space；The bottom width of soil pile is about
4.5 meters, 6 parallel soil piles 203 are longitudinally arranged along workshop altogether, every is about 75 meters.
(2) it will volatilize contact scar soil room temperature and turn over technique and process that throwing analytic technique is related to, information turns to embedded work
Control machine produces prediction scheme parameter；By built-in industrial control machine man-machine interface, soil turner travel rate, turn over throwing cylinder can be set
Revolving speed, turn over throw the frequency, feed intake the job parameters such as option and additive amount of medicament.The setting method of above-mentioned parameter, and to pollution administration
The physicochemical characteristics of soil are related.For example, the setting for throwing travel rate and turn over throwing cylinder revolving speed is turned over, with soil soil property type to be repaired
It is related；The setting for throwing the frequency is turned over, it is related to the factors such as the type of soil target contaminant；Feed intake option and additive amount of medicament, then
It is related with the factors such as soil types and water content.
Equally involved in Fig. 2 for recovery project, production prediction scheme parameter setting example is provided.The place includes larger
Earth volume, using the volatile chlorinated hydrocarbons such as vinyl chloride, trichloro ethylene and chloroform pollutant as the contaminated soil of representative, pollution level
Belong to middle serious pollution, soil property is based on silty clay.Throwing is turned over according to the physicochemical characteristics of contaminated soil and the type soil
Production technology experience, production prediction scheme parameter setting are as follows: soil turner travel rate is 600 ms/h, turn over throwing cylinder revolving speed
For middling speed；Turning over and throwing the frequency is 6 times/day, and turning over the throwing duration is 6 days；During turning over throwing, according to the 4% of soil weight to be repaired
Launch quick lime medicament.
(3) after the completion of producing prediction scheme parameter setting, soil turner drives into the area 207 that awaits orders by manual operation mode, with
Enter production district using self-navigation mode afterwards, the route of prediction scheme and the planning of magnetic stripe track 202 is produced according to soil turner, is opened
Open up automatic turning polishing working.Still by taking the case that Fig. 2 is related to as an example, soil turner completion single turns over throwing parsing operation and about needs 1 hour,
It turns over and is cast for the area 207 that awaits orders is sailed go back to later, in remaining 3 hour stand-by times, pass through the charging pair of automatic charging unit
Connection module docks charging with charging station 208, to keep turning over casting standby continuous production ability.Meanwhile according to embedded industry control
The working sequence of machine, soil turner wait the starting of next work cycle, until completing the production preset all works of prediction scheme
Industry circulation.
(4) during turning over polishing working, magnetic navigation unit ensures that soil turner is advised with certain precision along run trace
Circuit homework is drawn, when soil turner deviates desired trajectory, built-in industrial control machine, which is automatically stopped to turn over, casts standby operation.With this
Meanwhile Anti-bumping protection unit is the operational process of soil turner, and charging docking operation, provides Safety Redundancy protection.
Claims (8)
1. it is a kind of for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby, it is characterised in that: include
It is soil turner, communication bus unit, magnetic navigation unit, motion control unit, Anti-bumping protection unit, automatic charging unit, embedding
Enter formula industrial personal computer and user terminal, in which:
The soil turner includes battery, electronic turner and medicament charging device, between closed turnover throwing vehicle
The contaminated soil of interior stacking, turn over throwing, broken and medicament feeds intake operation, realizes and accelerates organic contaminants in soil desorption rate
Purpose；
The communication bus unit, for communication bus unit, magnetic navigation unit, motion control unit, Anti-bumping protection unit,
Data communication and control between automatic charging unit, built-in industrial control machine；
The magnetic navigation unit includes magnetic stripe track and magnetic navigation sensor, for perceiving the practical row of soil turner
It walks whether track deviates magnetic stripe track, provides running environment data for built-in industrial control machine, realize soil turner operating path
Seek magnetic navigation function；
The motion control unit includes soil turner power steering engine controller, direction steering engine controller, feed intake control
Device and turn over throwing cylinder controller, for soil turner power, steering, the automatic control of roller and charging device；
The Anti-bumping protection unit includes range radar, radar signal processor and alarm module, turns over throwing for soil
Machine self-navigation Safety Redundancy measure；
The automatic charging unit includes accumulator voltage monitoring, charging to connection module and charging station, turns over throwing for soil
Machine battery automatic charging；
The built-in industrial control machine for realizing the mission planning of soil turner, Route guiding, turn over polishing working, automatic charging
And function of safety protection；
The user terminal includes mobile terminal and WLAN, turns over throwing analyzing device for technical staff's remote control,
And receive job logging and warning information.
2. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the soil turner uses battery power, has and turns over throwing parsing to stacking soil, crushes and launch medicine
Agent function；The soil turner has both someone's driver behavior device, and soil turner can be in self-navigation and manned
Switch between mode；Soil turner enters construction site by manned mode, enters self-navigation mode later.
3. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the communication bus unit uses can-bus bus, connects the sensing of built-in industrial control machine and each functional unit
Device and controller.
4. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the magnetic navigation unit magnetic stripe track is the bottom between closed turnover throwing vehicle according to the guidance path planned in advance
The flexible magnetic strips laid on concrete layer；Magnetic stripe position is in the planning driving path between soil pile, entire room surface magnetic
Track is at pectination closing structure；Magnetic stripe is embedded under concrete layer by magnetic stripe 30~50mm of width, when concrete pavement in advance
At 10mm；Magnetic navigation sensor is installed on the connecting rod top that soil turner rack guides ground into, works in right above magnetic stripe
At 50~100mm height.
5. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the motion control unit receives the control instruction that built-in industrial control machine issues by communication bus, and to embedding
Enter formula industrial personal computer feedback command implementing result.
6. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the Anti-bumping protection unit uses ultrasonic distance measuring radar, is installed on soil turner frame upper end, ranging amount
Journey is better than 10m, and precision is better than 0.1m；The range information that built-in industrial control machine is acquired according to ultrasonic radar judges that soil turns over throwing
Whether between machine and closed turnover throwing vehicle between canopy wall in safe distance, be in an emergency lower sending soil turner brake finger
The form for enabling, while being alarmed with acousto-optic and wireless telecommunications, notifies production safety personnel.
7. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the automatic charging unit is completed when turning over polishing working tempus intercalare or battery voltage lower than safety value
Soil turner battery automatic charging.
8. it is according to claim 1 for volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby,
Be characterized in that: the user terminal can be tablet computer or mobile phone with wireless communication function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920077581.7U CN209502542U (en) | 2019-01-17 | 2019-01-17 | For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920077581.7U CN209502542U (en) | 2019-01-17 | 2019-01-17 | For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550774A (en) * | 2019-01-17 | 2019-04-02 | 中科院合肥技术创新工程院 | For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby |
| CN110862279A (en) * | 2019-12-18 | 2020-03-06 | 华中农业大学 | Crawler-type unmanned organic fertilizer turner based on laser radar navigation |
-
2019
- 2019-01-17 CN CN201920077581.7U patent/CN209502542U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109550774A (en) * | 2019-01-17 | 2019-04-02 | 中科院合肥技术创新工程院 | For volatility organic polluted soil administer self-navigation intelligently turn over cast it is standby |
| CN110862279A (en) * | 2019-12-18 | 2020-03-06 | 华中农业大学 | Crawler-type unmanned organic fertilizer turner based on laser radar navigation |
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