JP2019195759A - Scum treatment robot - Google Patents

Abstract

To provide a scum treatment robot capable of preventing scum from being accumulated over an entire area of a treatment tank.SOLUTION: A scum treatment robot of this invention is for treating floated scum and includes a treatment unit for treating the scum, the treatment unit self-travelling. The scum treatment robot can cause the scum treatment unit to move over an entire area of a treatment tank to remove the scum since the treatment unit for treating the scum self-travels.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a scum processing robot for processing a surfaced scum.

In sedimentation basins, biological reaction tanks, etc. in water treatment facilities such as sewage treatment facilities, scum is generated near the water surface. Since scum accumulates in a part of a processing tank such as a sedimentation basin to form a scum layer, a method for removing the scum layer has been developed.
For example, in Patent Document 1, in a method of removing a scum layer, a spray nozzle is embedded under the surface of a portion where a scum layer is easily formed, and cleaning water is sprayed horizontally from the spray nozzle to generate a surface flow. The scum that flows along with the surface layer flow is crushed by the washing water sprayed by the spray nozzle.

JP 2002-233867 A

  In the method of removing scum described in Patent Document 1, since the spray nozzle is fixed only to the portion where the scum layer is easily formed, the formation of the scum layer cannot be prevented in the entire processing tank. For this reason, scum may accumulate other than the portion where the spray nozzle is installed.

  Then, the subject of this invention is providing the scum processing robot which can prevent accumulation of scum in the whole region of a processing tank.

As a result of earnestly examining the above-mentioned problems, the present inventor, in a scum processing robot for processing a scum that has surfaced, allows a processing unit that performs processing such as scum capture, crushing, and scraping to be self-propelled. The present invention was completed by finding that accumulation of scum can be prevented throughout the tank.
Specifically, it is the following scum processing robot.

A scum processing robot of the present invention for solving the above-mentioned problems is a scum processing robot for processing a scum that has floated, and is characterized in that a processing unit for processing the scum is self-propelled.
According to this scum processing robot, since the processing unit for processing scum can be self-propelled, the scum can be removed by moving the scum processing unit over the entire area of the processing tank.
Moreover, according to this scum processing robot, since it can reduce in size, the scum of a processing tank can be removed with a simple apparatus. Therefore, it is effective for power saving and simplification of maintenance work.

Furthermore, according to one embodiment of the scum processing robot of the present invention, the processing unit is a capturing unit that captures scum.
According to this feature, it is possible to remove scum having any property. For example, it is possible to remove scum that has been solidified and is less likely to be crushed. Moreover, since the captured scum can be concentrated or crushed and returned to the water to be treated, the outflow amount of the water to be treated flowing out of the system of the treatment tank can be suppressed together with the removal of the scum.

Furthermore, according to one embodiment of the scum processing robot of the present invention, the processing unit is a crushing processing unit that crushes the scum.
According to this feature, since the scum can be crushed and returned to the water to be treated, there is an effect that it is not necessary to collect the scum and use it for another treatment. In addition, there is an effect of suppressing the outflow amount of the water to be treated which flows with the removal of the scum.

Furthermore, according to one embodiment of the scum processing robot of the present invention, the processing unit is a scraping unit that scrapes the scum.
According to this feature, since the scum can be removed only by scraping the scum to a predetermined position of the processing tank, the apparatus can be simplified.

A scum processing method of the present invention for solving the above-mentioned problem is a scum processing method for processing a scum that has floated, and is characterized by processing a scum using a self-propelled scum processing robot. .
According to this scum processing method, since the scum is processed by the self-propelled scum processing robot, the scum processing robot can move over the entire area of the processing tank to remove the scum.
Further, according to this scum processing method, the scum processing robot can be reduced in size, which is effective for power saving and simplification of work such as maintenance.

  ADVANTAGE OF THE INVENTION According to this invention, the scum processing robot which can prevent accumulation of scum in the whole region of a processing tank can be provided.

It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 1st embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 2nd embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 3rd embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 4th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 5th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 6th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 7th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 8th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 9th embodiment of this invention. It is a schematic explanatory drawing explaining the structure of the scum processing robot of the 10th embodiment of this invention. FIG. 10A is a schematic explanatory diagram illustrating the structure of the scum processing robot. FIG. 10B is a plan view of the processing tank and is a schematic explanatory diagram for explaining the operation of the scum processing robot. It is a schematic explanatory drawing explaining control of operation | movement of the scum processing robot of the 10th embodiment of this invention. FIG. 11A is a plan view of the treatment tank. FIG. 11B is a schematic explanatory diagram illustrating the structure of a display terminal that projects an image of a processing tank.

The scum processing robot of the present invention is a scum processing robot for processing a floating scum, and is characterized in that a processing unit for processing the scum is self-propelled.
Scum is generated in water treatment facilities such as sewage treatment plants, wastewater treatment facilities such as food factories, beverage factories, and pharmaceutical factories, and wastewater treatment facilities such as sedimentation basins, concentration tanks, biological treatment tanks, washing tanks, and floating separation tanks. . The scum processing robot of the present invention can be suitably used for a processing tank that generates these scums.

The processing unit performs processing for suppressing the occurrence of scum and processing for removing the generated scum. Examples of the process for suppressing the occurrence of scum include a stirring process for stirring the vicinity of the water surface of the water to be treated. Examples of the process for removing the generated scum include a capture process for capturing the scum, a crushing process for crushing the scum, and a scraping process for scraping the scum. In the scum processing robot of the present invention, since the processing section is self-propelled, the scum processing robot can move to the entire region of the processing tank and remove the scum.
Here, “self-propelled” means that the processing unit and the driving unit that applies a driving force to the processing unit are integrated, and the driving unit moves together with the processing unit.

  Hereinafter, embodiments of a scum processing robot according to the present invention will be described in detail with reference to the drawings. In addition, about the scum processing robot described in the following embodiment, it illustrated only in order to demonstrate the scum processing robot which concerns on this invention, and is not limited to this.

[First embodiment]
FIG. 1 is a schematic explanatory view illustrating the structure of a scum processing robot 100 according to the first embodiment of the present invention. A scum treatment robot 100 shown in FIG. 1 is disposed near the surface of water to be treated stored in a treatment tank (not shown). Note that as a means for arranging the scum processing robot 100 near the water surface, a float (not shown) for adjusting buoyancy may be used.

The scum processing robot 100 according to the first embodiment of the present invention includes a capturing unit 1A that captures scum as a processing unit, and a drive unit 2A that applies propulsive force to the capturing unit 1A.
1 A of capture parts are provided with the main body 3 which introduces a to-be-processed water inside, and the main body 3 has a function which isolate | separates to-be-processed water and the scum S. FIG. Moreover, the main body 3 includes a water intake 31 for taking up the water to be treated in the vicinity of the water surface, and a drain port 32 that is formed lower than the surface of the water to be treated and drains the water to be treated inside.

  The drive unit 2 </ b> A is installed on the upper part of the main body 3 and includes a motor 4 that generates power and a screw 5 that is rotated by the power of the motor 4. The screw 5 is disposed at the drain port 32 of the main body 3, and can give propulsive force to the capturing unit 1 </ b> A while discharging the water to be treated inside the main body 3. 1, the shaft of the motor 4 and the shaft of the screw 5 are connected vertically, but a gear, a gear, or the like is provided at the intersection to transmit the power of the motor 4 to the screw 5. be able to.

  Next, processing of the scum processing robot 100 will be described. In the scum treatment robot 100, the water to be treated inside the main body 3 is discharged from the discharge port 32 by the screw 5 of the drive unit 2 </ b> A. Thereby, the water to be treated near the water surface flows into the main body 3 from the water intake 31. Since the scum S that has floated floats near the water surface, the scum S flows into the main body 3 together with the water to be treated.

  The inside of the main body 3 has a space for storing the water to be treated, and the water to be treated is in a state where the scum S is separated from the water surface. Since the internal water to be treated is drained from the drain port 32 formed lower than the water surface, only the separated water to be treated is drained, and the scum S is accumulated inside the main body 3.

  Moreover, since the scum processing robot 100 is self-propelled by the propulsive force of the screw 5, the scum S can be captured by moving to the entire area of the processing tank. In addition, in the movement of the scum processing robot 100, a steering portion (not shown) for changing the traveling direction is provided, and the traveling direction can be changed. The control in the traveling direction may be controlled so as to move at random or may be controlled so as to move toward a predetermined position.

Below, each structure of a processing tank and the scum processing robot of this invention is demonstrated in detail.
<Treatment tank>
The treatment tank is a tank that performs a process in which scum is generated in the water to be treated, for example, a water treatment facility such as a sewage treatment plant, a wastewater treatment facility such as a food factory, a beverage factory, a pharmaceutical factory, or a wastewater treatment facility. , A concentration tank, a biological treatment tank, a washing tank, a floating separation tank, and the like. The shape of the treatment tank is not particularly limited, and examples of the shape in plan view include polygonal shapes such as a substantially square shape, a rectangular shape, a triangular shape, and a pentagonal shape, a circular shape, and an elliptical shape. In the polygonal shape, since the scum easily accumulates at the corners, the effect of the present invention that the scum can be removed in the entire region of the treatment tank is further exhibited. In addition, since the circular shape and the elliptical shape do not have corner portions, there is an effect that a trouble that the scum processing robot is stuck in the corner portions and cannot move is less likely to occur.

<Processing unit>
The processing unit performs processing for suppressing the occurrence of scum and processing for removing the generated scum. As a processing part for suppressing generation | occurrence | production of a scum, the stirring process part etc. which stir the water surface vicinity of to-be-processed water are mentioned, for example. Examples of the processing unit for removing the generated scum include a capturing unit that captures the scum, a crushing processing unit that crushes the scum, and a scraping unit that scrapes the scum. In the scum processing robot of the present invention, since the processing section is self-propelled, the scum processing robot can move to the entire region of the processing tank and remove the scum.

(Capture part)
The capturing unit is a processing unit for capturing scum. Further, the scum may be concentrated by separating the scum and the water to be treated. The means for concentrating scum is not particularly limited, and examples thereof include specific gravity separation means using the specific gravity difference between water to be treated and scum, and filtration separation means using a filter. In the specific gravity separation means, scum levitation assisting means for assisting scum levitation by aeration, injection of pressurized water, or the like may be provided. Since the specific gravity separation means can be realized with a simple device, there is an effect that the work such as maintenance can be simplified. Moreover, since the filtration separation means can separate the scum from the water to be treated with high performance, there is an effect of suppressing the re-generation of the scum.

  The captured scum may be treated in any way. For example, it may be transported to a recovery base provided in the treatment tank and discharged out of the system, or it may be crushed and discharged into the water to be treated. May be. In the case of discharging outside the system, there is an effect that it is possible to suppress scum regeneration. Moreover, when crushing and discharging | emitting to to-be-processed water, there exists an effect that it is not necessary to use a scum for another process.

(Fracture processing part)
The crushing processing unit is a processing unit for crushing the scum. The means for crushing the scum is not particularly limited. For example, crushing means using a crushing device such as a crushing blade, crushing means using a spraying device such as a spray nozzle, crushing means using a stirring device such as a stirring blade, And crushing means using a water flow generator such as a pump. The crushing means using the crushing device can crush the scum solidified by the progress of scum accumulation. Moreover, since the crushing means using the spray device, the crushing means using the stirring device, and the crushing means using the water flow generator can crush the scum with a simple device, the configuration of the scum processing robot can be simplified.

  In the crushing process, the scum captured inside the main body of the scum processing robot may be crushed, or the scum may be crushed outside the main body of the scum processing robot. When scum is crushed inside the main body of the scum treatment robot, scattering of water to be treated can be prevented during the crushing treatment. In addition, when the scum is crushed outside the main body of the scum processing robot, the scum can be crushed with a simple device, so that the configuration of the scum processing robot can be simplified.

  When the crushing process is performed as the processing unit, the driving force of the crushing means can be used as the driving force of the scum processing robot. For example, when the scum is crushed using a paddle as the crushing processing unit, the paddle which is the crushing processing unit can be moved to the entire area of the processing tank while crushing the scum on the water surface. In this way, by using a crushing processing unit that generates a propulsive force for moving to a predetermined position, it is not necessary to provide a drive unit separately from the processing unit, and thus the configuration of the scum processing robot can be simplified.

  In addition, since all of the above crushing means have an action of stirring the water to be treated near the water surface, the crushing means may be used as a stirring processing unit. The agitation processing unit is a processing unit for suppressing the occurrence of scum.

(Scraping part)
The scraping unit is a processing unit for scraping the scum. The scum scraped is transferred to a predetermined position in the processing tank and discharged out of the system. The means for scraping the scum is not particularly limited. For example, the means for scraping the scum by transferring the scraping plate with the driving force of the driving unit or the wind force is applied to the surface of the water to be treated, and the scum is swept by the waves. And means for scraping The means for scraping the scum by the scraping plate can scrape the scum with a simple device, so that the configuration of the scum processing robot can be simplified. Further, the means for scraping the scum by the wave has an effect that the scum at a position away from the scum scraping portion can be scraped.

<Driver>
A drive part gives a driving force to a process part, and moves a process part to the whole region of a processing tank. As an energy source of the drive unit, it is only necessary to be able to generate a propulsive force, and examples thereof include electric power and thermal power. When using electric power, the power source for generating the propulsive force may be equipped with a storage battery in the scum processing robot, or the power source may be installed in a place different from the scum processing robot and the cable connected. Electric power may be supplied to the scum processing robot via this. The energy source for generating electricity may be self-generated by thermal power, sunlight, hydropower, etc. obtained by burning gasoline, kerosene, LP gas, coal, etc., or power supplied from an electric power company is used. May be.

  The means for applying a propulsive force to the processing unit is not particularly limited, and examples thereof include a screw, a paddle, and a pump. Moreover, you may utilize the underwater vehicle which drive | works the bottom face of a processing tank, the self-propelled vehicle which drive | works the rail arrange | positioned at the upper part of a processing tank, etc.

  The movement of the processing unit may be randomly moved or controlled to move to a predetermined position. When controlling to move to a predetermined position, the control unit such as a computer may automatically control based on the position information of the scum processing robot, or the position of the scum processing robot may be controlled by the operator. Good. The means for controlling the position of the scum processing robot by the operator is not particularly limited, but means for giving a movement instruction via a computer while checking the position of the scum on a tablet or a computer screen, or driving a self-propelled vehicle Thus, there are means for moving the scum processing robot.

[Second Embodiment]
FIG. 2 is a schematic explanatory diagram illustrating the structure of the scum processing robot 101 according to the second embodiment of the present invention. In the scum processing robot 101 of the second embodiment, the capturing unit 1B is provided with a filter separation means using a filter as means for concentrating the scum. In addition, about the structure of the same sign as a 1st embodiment, description is abbreviate | omitted.

  As shown in FIG. 2, the filter 6 is erected in the space inside the main body 3, and is divided into a front chamber 33 on the water intake 31 side and a rear chamber 34 on the drain port 32 side. The opening of the filter 6 is not particularly limited, but may be appropriately adjusted so that the scum can be captured by filtration.

  The water to be treated that flows from the water intake 31 is filtered by the filter 6 and the scum S is removed. The treated water from which the scum S has been removed flows into the rear chamber 34 and is drained from the drain port 32 to the outside of the main body 3 by the screw 5 of the drive unit 2A. The scum S accumulates on the front chamber 33 side of the filter 6 and is captured inside the main body 3.

  In addition, the scum processing robot 101 includes a backwash device 7 in the rear chamber 34. The backwash device 7 is a device that absorbs the water to be treated from the rear chamber 34 side by the pump P and injects the water to be treated to the rear chamber 34 side of the filter 6. Thereby, the scum accumulated on the filter 6 can be peeled off, and the filter 6 can be prevented from being clogged.

[Third embodiment]
FIG. 3 is a schematic explanatory view illustrating the structure of the scum processing robot 102 according to the third embodiment of the present invention. The scum processing robot 102 of the third embodiment includes a crushing processing unit 1C as a processing unit. In addition, about the structure of the same sign as a 1st embodiment, description is abbreviate | omitted.

  The crushing processing unit 1 </ b> C is a crushing device for crushing the scum S, and is a device in which a plurality of crushing blades 8 are fixed to a rotating shaft arranged substantially horizontally near the water surface. The rotating shaft is connected to the motor 4 and is driven to rotate by the power of the motor 4. In FIG. 3, the shaft of the motor 4 and the rotation shaft of the crushing processing unit 1 </ b> C are vertically connected. However, by providing a gear or a gear in the connecting unit, the power of the motor 4 is rotated by the rotation shaft of the crushing processing unit 1 </ b> C. Can be communicated to.

  Further, the rotating shaft of the crushing processing unit 1 </ b> C is arranged from the water intake 31 of the main body 3 to the inside of the main body 3. Thus, by disposing the crushing treatment unit 1 </ b> C inside the main body 3, the water to be treated which is scattered by the crushing blade 8 rotating can be kept inside the main body 3.

  The scum S that has flowed into the main body 3 together with the water to be treated is crushed by the crushing processing unit 1C, dispersed in the water to be treated, and drained from the drain port 32 to the outside of the main body 3 together with the water to be treated. Thus, since the scum S is dispersed in the water to be treated by using the crushing processing unit 1C, there is an effect that it is not necessary to treat the scum S with another processing facility outside the system.

[Fourth Embodiment]
FIG. 4 is a schematic explanatory diagram illustrating the structure of the scum processing robot 103 according to the fourth embodiment of the present invention. The scum processing robot 103 according to the fourth embodiment includes a crushing processing unit 1D as a processing unit and a paddle 9 as a driving unit 2B. The main body 3 does not have the water intake 31 and the water discharge port 32 and does not have a space inside.

  The crushing processing unit 1 </ b> D includes a pump P and a spray nozzle 10, and the water to be treated sucked up by the pump P is sprayed toward the water surface by the spray nozzle 10. The sprayed water to be treated can collide with the scum S and crush the scum S. Since the scum S thus crushed is dispersed in the water to be treated, it is not necessary to treat the scum S with another processing facility outside the system. Moreover, in the crushing process part 1D provided with the spray nozzle 10, since to-be-processed water is not scattered easily, it crushes inside the main body 3 like the crushing process part 1C provided with the crushing blade 8 of the third embodiment. There is no need, and the apparatus can be simplified.

[Fifth Embodiment]
FIG. 5 is a schematic explanatory view for explaining the structure of the scum processing robot 104 according to the fifth embodiment of the present invention. The scum processing robot 104 according to the fifth embodiment includes a crushing processing unit 1E including a paddle 9 as a processing unit. The paddle 9 generates not only an action for crushing the scum S but also a driving force for moving to a predetermined position. Therefore, according to the scum processing robot 104, there is an effect that it is not necessary to provide a drive unit.

[Sixth embodiment]
FIG. 6 is a schematic explanatory diagram illustrating the structure of the scum processing robot 105 according to the sixth embodiment of the present invention. The scum processing robot 105 of the sixth embodiment includes a scraping unit 1F including a scraping plate 11 as a processing unit. According to the scum processing robot 105, the scraping plate 11 may be installed as a processing unit, so that the apparatus can be simplified.

[Seventh embodiment]
FIG. 7 is a schematic explanatory view for explaining the structure of the scum processing robot 106 according to the seventh embodiment of the present invention. The scum processing robot 106 according to the seventh embodiment includes the underwater vehicle 12 that travels on the bottom surface of the processing tank as the drive unit 2C. Since the underwater vehicle 12 has higher stability against shaking of the water surface than the float type processing unit, the processing unit such as the scraping plate 11 can be moved stably. Therefore, there is an effect that the accuracy of scum processing in the processing unit is increased, and the scum can be reliably processed.

[Eighth embodiment]
FIG. 8 is a schematic explanatory diagram for explaining the structure of the scum processing robot 107 according to the eighth embodiment of the present invention. The scum processing robot 107 of the eighth embodiment includes a self-propelled vehicle 13 that travels on a rail 14 installed at the top of the processing tank as the drive unit 2D. Since the self-propelled vehicle 13 is disposed above the water surface, operations such as maintenance are simplified. Moreover, since there is no contact with the water to be treated, there is an effect that the progress of corrosion is slow.

[Ninth Embodiment]
FIG. 9 is a schematic explanatory view for explaining the structure of the scum processing robot 108 according to the ninth embodiment of the present invention. The scum processing robot 108 of the ninth embodiment includes a drone 19 as the drive unit 2E. The drone 19 is a device that includes flying means such as a propeller and flies in the air. Since the drone 19 does not come into contact with the water to be treated, there is an effect that it is difficult to corrode. Control of the flight of the drone 19 can use control means in a known drone. For example, the position of the drone 19 may be operated by an operation device such as a controller or a tablet, or the drone 19 may be automatically controlled. Also good.

  Moreover, the scum processing robot 108 of the ninth embodiment includes a scooping net 20 as the capturing unit 1G. The scooping net 20 includes a net and a handle for scooping up the scum S floating on the water surface. A net is attached to one end of the handle and the other end is fixed to the drone 19. When scooping up the scum S, approximately half of the net is placed in water, and the drone 19 is moved in the horizontal direction to capture the scum S in the net. Note that the handle of the scooping net 20 may be attached to the drone 19 so as to be pivotable, and the scum S may be scooped by swinging the net.

[Tenth embodiment]
FIG. 10 is a schematic explanatory diagram for explaining the structure of the scum processing robot 109 according to the tenth embodiment of the present invention. FIG. 10A is a schematic explanatory diagram illustrating the structure of the scum processing robot. FIG. 10B is a plan view of the processing tank and is a schematic explanatory diagram for explaining the operation of the scum processing robot.

  The scum processing robot 109 according to the tenth embodiment detects the scum detection part 16 for detecting the scum and the thickness of the scum layer deposited inside the main body 3 in the scum processing robot according to the first embodiment. A scum water level detection unit 17 and an operation control unit 15 that controls the traveling direction of the scum processing robot 109 are provided. The drive unit 2 </ b> A includes a power source 18 that supplies power to the motor 4. The power source 18 also supplies power to the scum detection unit 16, the scum water level detection unit 17, and the operation control unit 15.

  As shown in FIG. 10B, the processing tank 200 includes a charging base 201 for charging the scum processing robot 109 and a recovery base for discharging the scum captured by the scum processing robot 109 to the outside of the system. 202.

<Scum Detection Department>
The scum detector 16 is a device for detecting scum. The apparatus for detecting the scum is not particularly limited, and examples thereof include a camera that acquires an image of the surface of the treated water, and a reflective optical sensor.

  As a method for detecting scum by a scum detection unit equipped with a camera, for example, the position of the scum can be detected from image information obtained by the camera based on a difference in color tone between the scum and the treated water. A scum detection unit equipped with a camera has excellent scum detection capability because it can obtain a wide range of water surface information.

  As a method for detecting scum by a scum detection unit provided with a reflective optical sensor, for example, infrared rays can be irradiated, and the position of the scum can be detected based on the difference in reflected light between the scum and the treated water.

  Note that the scum detector 16 is fixed to the main body 3 so as to be rotatable. By making the scum detection unit 16 rotatable, it is possible to obtain a wide range of water surface information, thereby improving the scum detection capability.

<Scum water level detector>
The scum water level detection unit 17 is a detection device for detecting the amount of scum captured by the capturing unit 1A. When the scum is concentrated inside the main body 3 of the capturing part 1A, the scum is deposited and a scum layer is formed. By providing the scum water level detection unit 17, it is possible to detect the amount of scum accumulated in the capturing unit 1 </ b> A, and thus it is possible to prevent the scum from overflowing from the capturing unit 1 </ b> A. In addition, the sensor used as a scum water level detection part is not specifically limited, For example, an ultrasonic interface sensor etc. can be utilized.

<Operation control unit>
The operation control unit 15 is a control device for controlling the traveling direction of the scum processing robot 109. The operation control unit 15 is electrically connected to the scum detection unit 16, the scum water level detection unit 17, and the power source 18.

  When processing for capturing scum is performed, scum position information detected by the scum detection unit 16 is transmitted to the operation control unit 15. The operation control unit 15 controls the scum processing robot 109 to move in the scum direction based on the scum information transmitted from the scum detection unit 16.

  When the process of capturing the scum is continued, the scum accumulates inside the main body 3. When the scum layer formed by the accumulation of scum reaches a predetermined thickness, the scum water level detection unit 17 detects the scum and transmits information on the scum accumulation amount to the operation control unit 15. Then, the operation control unit 15 controls the scum processing robot 109 to move to the collection base 202 for collecting the scum (see FIG. 10B). When the scum processing robot 109 is docked to the recovery base 202, the scum processing robot 109 discharges the scum accumulated inside the main body 3 to the outside of the system. Means for discharging the scum from the inside of the main body 3 to the outside of the system is not particularly limited. Examples include means for inserting a vacuum hose into the main body 3 and sucking out the scum.

  Further, when the power amount of the power source 18 of the scum processing robot 109 decreases to a predetermined amount, information on the power amount of the power source 18 is transmitted to the operation control unit 15. Then, the operation control unit 15 controls the scum processing robot 109 to move to the charging base 201. When the power source 18 is charged by the charging base 201 and the electric power is charged to a predetermined amount, the scum processing robot 109 leaves the charging base 201 and resumes the scum processing.

  Control that the scum processing robot 109 moves to the charging base 201 and the recovery base 202 is automatically controlled by a control device such as a computer. As a method for automatically controlling the movement of the scum processing robot 109, any method may be used. For example, the position information of the scum processing robot 109 is acquired by an infrared sensor, and the charging base 201 or the recovery base is automatically acquired. 202 can be moved.

  The movement of the scum processing robot 109 may be controlled manually by an operator. Any method may be used as a method for manually controlling the movement of the scum processing robot 109. For example, the position of the scum processing robot 109 is displayed on the screen of a display terminal such as a tablet or a computer, There is a control for moving the actual scum processing robot 109 by moving the scum processing robot 109. Alternatively, the control may be performed by using the controller of the scum processing robot 109.

[Tenth embodiment]
FIG. 11 is a schematic explanatory view for explaining the control of the operation of the scum processing robot according to the tenth embodiment of the present invention. FIG. 11A is a plan view of the treatment tank. FIG. 11B is a schematic explanatory diagram illustrating the structure of a display terminal that projects an image of a processing tank.

  A processing tank 200 shown in FIG. 11 is provided with a fixed point camera 203, and the state of the water surface of the entire processing tank is photographed. The image of the fixed point camera 203 is projected on the screen of the tablet 204. Then, the scum processing robot 109 is moved by swiping the scum processing robot 109 displayed on the screen of the tablet 204 with a finger. For example, as shown in FIG. 11B, the scum processing robot 109 in the processing tank 200 is moved by moving the scum processing robot 109 to a position where there is a lot of scum S on the screen of the tablet 204 (enclosed by a broken line). To move. Thus, the scum processing robot 109 can be easily moved while visually confirming the position of the scum S.

  In addition, the scum processing robot of the present invention is not limited to the configuration of the embodiment, and can be applied to various aspects. For example, the combination of each mode of the processing unit such as the capturing unit, the crushing processing unit, and the scraping unit and each mode of the driving unit may be changed, and the capturing unit, the crushing processing unit, and the scraping unit as the processing unit. A plurality may be provided, or a plurality of modes of the drive unit may be provided.

  The scum treatment robot of the present invention is used as a treatment tank for treating the water to be treated that generates scum near the water surface. For example, it is suitable for use in water treatment facilities such as sewage treatment plants, wastewater treatment facilities such as food factories, beverage factories, pharmaceutical factories, etc. can do.

DESCRIPTION OF SYMBOLS 100-109 ... Scum processing robot, 1A, 1B, 1G ... Capture part, 1C, 1D, 1E ... Crushing processing part, 1F ... Scraping part, 2A, 2B, 2C, 2D, 2E ... Drive part, 3 ... Main body, 31 ... Water intake port, 32 ... Drain port, 33 ... Front chamber, 34 ... Rear chamber, 4 ... Motor, 5 ... Screw, 6 ... Filter, 7 ... Backwash device, 8 ... Crushing blade, 9 ... Paddle, 10 ... Spray Nozzle, 11 ... scraping plate, 12 ... underwater vehicle, 13 ... self-propelled vehicle, 14 ... rail, 15 ... operation control unit, 16 ... scum detection unit, 17 ... scum water level detection unit, 18 ... power supply, 19 ... drone, DESCRIPTION OF SYMBOLS 20 ... Scooping net, 200 ... Processing tank, 201 ... Charging base, 202 ... Collection base, 203 ... Fixed point camera, 204 ... Tablet, S ... Scum, M ... Motor, P ... Pump, B ... Bottom

Claims (5)

A scum processing robot for processing a surfaced scum,
A scum processing robot, wherein a processing unit for processing scum is self-propelled.   The scum processing robot according to claim 1, wherein the processing unit is a capturing unit that captures scum.   The scum processing robot according to claim 1, wherein the processing unit is a crushing processing unit that crushes scum.   The scum processing robot according to claim 1, wherein the processing unit is a scraping unit that scrapes the scum. A scum processing method for processing a surfaced scum,
A scum processing method, wherein a scum is processed using a self-propelled scum processing robot.

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