JP5318591B2 - Waste disposal method and waste disposal equipment - Google Patents

Description

  The present invention relates to a waste embedding disposal method and a waste embedding disposal apparatus capable of reliably embedding even a waste containing a radioactive substance, for example.

  Conventionally, as a method for disposing of wastes containing, for example, radioactive substances, there is a method of burying deep in the ground. When burying waste, there are many cases where human beings cannot perform burying work nearby, and in this case, it is necessary to bury them by remote operation.

  As a method for burying and disposing of such waste, for example, a waste body is accommodated in a water-stopping container, and a waste body pack in which a buffer material is disposed around the waste body. There is a method of transferring from a ground facility to an underground facility, and further burying a disposal hole and a tunnel (Patent Document 1).

JP 2004-286451 A

  However, the burying disposal method of Patent Document 1 has a problem that it is difficult to grasp whether or not the waste has been reliably backfilled when the disposal holes and the like are reliably backfilled. Therefore, in particular, when a radioactive substance or the like is included, there is a demand for a method that can be more reliably buried.

  For example, waste disposal is usually performed by remote operation. However, it is difficult to reliably detect the state at the time of disposal by remote operation, and this is an operation that requires skill. Thus, there is a demand for a method for reliably burying waste by remote operation while constantly grasping the state of burying waste.

  The present invention has been made in view of such a problem, for example, even waste such as radioactive materials can be reliably embedded by remote control while grasping the burial status, An object of the present invention is to provide a waste disposal method and a waste disposal apparatus.

  In order to achieve the above-mentioned object, the first invention is a method for burying and disposing of waste, the step (a) of stacking a plurality of waste inclusion bodies in a disposal hole to a predetermined height, A step (b) of detecting a tip position of each of the plurality of filling nozzles and a gap between the enclosures by a plurality of detection means capable of detecting a dimensional outer shape, and a tip position of the filling nozzle is matched with the gap position; Step (c), step (d) of lowering the filling nozzle and inserting it into the gap, step (e) of supplying a filler from the filling nozzle, and a plurality of the detection means, And (f) adjusting the filling amount of each filling nozzle by detecting the height of the upper end surface of the filling material at a position corresponding to the waste filling method.

  In the step (e), it is desirable to raise the filling nozzle as the height of the upper end surface of the filler increases due to the supply of the filler.

  In the step (d), it is preferable that the plurality of filling nozzles are arranged in a substantially uniform manner in the disposal holes.

  In the step (c), the filling nozzle is held by a pair of adjusting devices arranged to be shifted in the vertical direction, and the pair of adjusting devices are relatively displaced in the horizontal direction, whereby the tip of the filling nozzle The position may be adjusted.

  According to the first invention, since the detection means detects the tip position of the filling nozzle and the position of the gap between the enclosures, the filling nozzle can be reliably inserted into the gap between the enclosures. Further, since the detecting means can also detect the filling height of the filler, the filling amount from the filling nozzle at the corresponding position is determined according to the filling height (that is, the filling amount of the filler at that position). Can be adjusted. For this reason, the filling height of the filling material becomes uniform in the disposal hole, and voids are not generated in the filling material, and the inclusion body does not fall down due to the flow of the filling material in the disposal hole. .

  Moreover, if the height of the filling nozzle can be raised and lowered according to the height of the upper end surface of the filling material, the filling material can always be filled from a certain height.

  In addition, if the filling nozzles are uniformly distributed in the disposal hole, the filling amount of the filling material in the disposal hole can be made more uniform, and the height of the upper surface of the filling material in the disposal hole can be increased. Easy to control.

  Further, as a method for adjusting the tip position of the filling nozzle, if it can be carried out by a pair of adjusting devices installed shifted in the vertical direction, the tip of the filling nozzle can be easily and reliably moved by the relative movement in the horizontal direction of the pair of adjusting devices. The position can be changed. For this reason, for example, the position of only the tip of the filling nozzle can be adjusted with little displacement of the position above the filling nozzle.

  A second invention is an apparatus for burying and disposing of waste in a disposal hole, and a filling material supply means capable of supplying a filling material, and a filling material supplied by the filling material supply means is filled in the disposal hole. A plurality of possible filling nozzles, a plurality of detection means provided for each of the plurality of filling nozzles and capable of detecting the three-dimensional outer shape of the target range, and a nozzle capable of adjusting the tip position of the filling nozzle in the horizontal direction A position adjusting means; a lifting / lowering means capable of raising and lowering the filling nozzle; an upper lid that closes an upper end of the disposal hole; and a frame that is suspended from the upper lid and holds the nozzle position adjusting means and the detecting means. And the said detection means is a burial disposal apparatus of the waste characterized by moving along the said flame | frame.

  The nozzle position adjusting means may include a pair of adjusting devices arranged on the frame so as to be shifted in the vertical direction, and the pair of adjusting devices may be capable of relatively displacing the positions in the horizontal direction. .

  You may have a control part which controls the filling amount of the filler from each filling nozzle according to the filler upper end surface height of the corresponding position detected by the said detection means.

  According to the second aspect of the present invention, the nozzle tip position can be adjusted by the nozzle position adjusting unit because the detection unit is provided for each filling nozzle and detects the tip position of the filling nozzle and the position of the gap between the enclosures. it can. For this reason, a filling nozzle can be reliably inserted in the clearance gap between enclosure bodies.

  In addition, if the nozzle position adjusting means has a pair of adjusting devices installed so as to be shifted in the vertical direction, the tip position of the filling nozzle can be easily and surely changed by the relative movement in the horizontal direction of the pair of adjusting devices. Can do. For this reason, for example, the position of only the tip of the filling nozzle can be adjusted with little displacement of the position above the filling nozzle.

  In addition, since the detection means can also detect the filling height of the filler, if there is a control unit that controls the filling amount of the filler, the control unit allows the filling nozzle at the corresponding position according to the filling height. The filling amount of the filler can be adjusted. For this reason, the filling height of the filling material becomes uniform within the disposal hole, and voids are not generated in the filling material, and the inclusion body does not fall down due to the flow of the filling material from one side.

  According to the present invention, for example, even a waste containing a radioactive substance or the like can be reliably buried by remote operation while grasping the burial status, A buried disposal device can be provided.

It is a figure which shows the burying disposal apparatus 1, (a) is front sectional drawing, (b) is the sectional view on the AA line of (a). It is the B section enlarged view of Drawing 1 (a), and is a figure showing sensor 23, nozzle position adjusting devices 21a and 21b, and enclosure 5. It is a figure which shows the structure of the nozzle position adjustment apparatus 21a, 21b, (a) is a front view, (b) is CC sectional view taken on the line of (a). The figure which shows the state which adjusts the front-end | tip position of the filling nozzle 15 by the nozzle position adjustment apparatus 21a, 21b. The figure which shows the state which inserted each filling nozzle 15 in the clearance gap 39 of the enclosure 5. FIG. The figure which shows the filling order of the filler from each filling nozzle 15 with respect to the disposal hole 3. FIG. The figure which shows the state which started the filling of the mortar 41 from each filling nozzle 15 with respect to the disposal hole 3. FIG. The figure which shows the state which completed the filling of the mortar 41 with respect to the disposal hole 3 Front sectional drawing of the burying disposal apparatus 50. FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1A and 1B are diagrams showing an embedding disposal apparatus 1, in which FIG. 1A is a front cross-sectional view, and FIG. 1B is a cross-sectional view taken along line AA in FIG. The buried disposal apparatus 1 mainly includes an upper lid 7, a winch 11, a frame 13, a filling nozzle 15, a nozzle lifting / lowering device 19, nozzle position adjusting devices 21 a and 21 b, a sensor 23, and the like.

  The upper lid 7 is installed on the disposal hole 3 where the waste is disposed. That is, the disposal hole 3 is substantially sealed by the upper lid 7. The upper lid 7 can be moved in the horizontal direction by traveling means such as a rail (not shown).

  A wire 9 is provided from the upper lid 7, and a winch 11 is provided at the other end of the wire 9. The winch 11 is installed on the frame 13. That is, the frame 13 can be moved up and down by the winch 11.

  In addition to the winch 11, the frame 13 is provided with a nozzle lifting and lowering device 19, nozzle position adjusting devices 21a and 21b, a sensor 23, and the like. As shown in FIG. 1B, a plurality of nozzle lifting devices 19, nozzle position adjusting devices 21 a and 21 b, sensors 23, and the like are provided in a substantially uniform manner with respect to the frame 13. The shape of the frame 13 is substantially the same as that of the disposal hole 3 as shown in FIG. 1B. For example, in the case of a cylindrical disposal hole, the circular frame 13 is preferably provided.

  The nozzle lifting device 19 is provided with a filling nozzle 15. The filling nozzle 15 is installed downward in a substantially vertical direction. The nozzle lifting / lowering device 19 is for moving the tip position of the filling nozzle 15 up and down. In order to insert the filling nozzle 15 straight into the enclosure, for example, a steel pipe having a certain degree of strength is used.

  On the other hand, as a method of adjusting the length above the filling nozzle 15 accompanying the raising and lowering operation of the filling nozzle 15, for example, the upper portion of the filling nozzle 15 may be wound around a reel as a flexible tube, or a plurality of swivel joints may be used. The steel pipes may be connected to each other to provide a steel pipe folding part above the filling nozzle 15, and the whole filling nozzle 15 may be foldable by a swivel joint and a steel pipe. In any case, the filling nozzle 15 only has to protrude above the frame 13 to a predetermined height and can be moved up and down (expanded / contracted) with respect to the lower side of the frame 13.

  For each of the plurality of filling nozzles 15, nozzle position adjusting devices 21 a and 21 b and a sensor 23 are provided. The sensor 23 which is a detection means can detect a three-dimensional shape in a predetermined range below the frame 13. For example, a laser sensor or the like can be used as the sensor 23.

  The nozzle position adjusting devices 21 a and 21 b can adjust the lower end position of the filling nozzle 15. Details of the configuration of the nozzle position adjusting devices 21a and 21b will be described later.

  Next, the installation state of the embedding disposal apparatus 1 will be described. A large number of the enclosures 5 in which the waste is enclosed are arranged in the standing disposal holes 3 provided on the ground. The enclosure 5 is, for example, a drum, and is stacked in a state of being tilted in the lateral direction. In addition, with respect to the installation of the enclosure 5, the enclosure 5 is stacked by using a gantry (not shown). In addition, in order to obtain higher installation efficiency of the enclosure, the enclosures 5 are arranged with only a slight gap therebetween. For example, it is densely filled with only a gap into which the hanger of the enclosure 5 enters. Therefore, the gap between the adjacent enclosures 5 is extremely narrow, about 150 mm.

  A filler supply pump 17 is installed outside the disposal hole 3. The filler supply pump 17 is for supplying a filler to each filling nozzle 15. The filler sent from the filler supply pump 17 passes through a pipe penetrating the upper lid 7, is provided on the frame 13, and is distributed to each filling nozzle 15 by a distributor (not shown). The filler is discharged from the tip of the filling nozzle 15.

  Next, the positional relationship between the sensor 23, the filling nozzle 15, and the enclosure 5 will be described. FIG. 2 is an enlarged view of a portion B in FIG. As described above, the filling nozzle 15 is held by the pair of nozzle position adjusting devices 21a and 21b arranged so as to be shifted in the vertical direction. The nozzle position adjusting devices 21 a and 21 b are provided above and below the frame 13. A sensor 23 that can move along the frame 13 is installed below the frame 13. For example, the frame 13 has an H-shaped cross section, and the sensor 23 moves along the lower flange portion.

  The sensor 23 detects a three-dimensional solid shape in a predetermined range below. The detection range of the sensor 23 includes the tip of the filling nozzle 15 and the outer shape of the enclosure 5 below the filling nozzle 15. That is, the sensor 23 can detect the tip position (shape) of the filling nozzle 15 and the position (shape) of the gap 39 formed by the enclosure 5. Since the sensor 23 is movable with respect to the frame 13 as described above, the sensor 23 can adjust its position so that the position of the tip of the filling nozzle 15 and the gap 38 can be detected reliably. is there. Moreover, since the detection height of the sensor 23 is sufficient, the shape from the gap 39 to the vicinity of the bottom surface of the disposal hole 3 can be detected, for example, from a position installed on the frame 13 as long as the position is substantially straight. is there.

  Next, the configuration of the nozzle position adjusting devices 21a and 21b, which are nozzle position adjusting means, will be described. 3A and 3B are diagrams showing the nozzle position adjusting devices 21a and 21b. FIG. 3A is a front view, and FIG. 3B is a cross-sectional view taken along the line CC in FIG.

  The nozzle position adjusting device 21 a is installed on the upper portion of the frame 13. The nozzle position adjusting device 21a mainly includes an X direction traveling mechanism 25, a Y direction traveling mechanism 27, a bracket 29, and the like.

  The pair of brackets 29 are fixed to the frame 13. The bracket 29 is, for example, a member having a U-shaped cross-section, and as shown in FIG. 3B, the bracket 29 is outward from the frame 13 (for example, outward in the radial direction of the frame 13 if the frame 13 is circular). Toward each other in the form of an arm so as to face each other at a predetermined interval.

  A Y-direction travel mechanism 27 is disposed so as to straddle the pair of brackets 29. The Y-direction traveling mechanism 27 has a pair of guides 32, and the guides 32 are disposed between the pair of brackets 29. The guide 32 is a member having a U-shaped cross section, for example. Rollers 31 are provided in the vicinity of the four corners of the Y-direction traveling mechanism 27. The roller 31 is disposed so as to fit into the bracket 39. For this reason, the Y-direction traveling mechanism 27 is movable along the bracket 29. In other words, the Y-direction traveling mechanism 27 can move in and out of the frame 13 (the direction of arrow F in FIG. 3B).

  An X-direction traveling mechanism 25 is installed on the Y-direction traveling mechanism 27. Rollers 33 are provided in the vicinity of the four corners of the X-direction traveling mechanism 25. The roller 33 is installed so as to fit into the pair of guides 32 of the Y-direction traveling mechanism 27. For this reason, the X-direction traveling mechanism 25 can travel relative to the Y-direction traveling mechanism 27. In other words, the X-direction traveling mechanism 25 can move along the frame 13 (in the direction of arrow D in FIG. 3) in a direction substantially perpendicular to the moving direction of the Y-direction traveling mechanism 27.

  The X-direction traveling mechanism 25 includes a pair of arms 34 that are connected to the rollers 33 and the like and straddle the guide 32 of the Y-direction traveling mechanism 27. The arm 34 is provided so as to protrude from the Y-direction traveling mechanism 27, and a pressing roller 35 is provided at the tip. In addition, a pair of arms 36 that protrude in the same manner as the arm 35 are provided outside the X-direction traveling mechanism 25. A pair of pressing rollers 37 are provided at the tips of the arms 36, respectively.

  Here, the filling nozzle 15 has wings 16 at both ends of the tubular body through which the filler flows. The wing portion 26 is a plate-like member provided along the longitudinal direction of the filling nozzle 25. The pressing roller 35 is disposed so as to sandwich the entire filling nozzle 15 including the wings 16 from both sides. On the other hand, the pair of pressing rollers 37 are arranged so as to sandwich the wing part 16 from both sides. That is, the filling nozzle 15 is pressed by the pressing rollers 35 and 37 so as not to move in the moving directions of the X-direction traveling mechanism 25 and the Y-direction traveling mechanism 27. Even in this state, the filling nozzle 15 can be moved in the axial direction (the direction of arrow E in FIG. 3A). Is possible.

  A nozzle position adjusting device 21b is provided below the nozzle position adjusting device 21a. Since the configuration of the nozzle position adjusting device 21b is the same as that of the nozzle position adjusting device 21a, the description thereof is omitted.

  Next, the operation of the nozzle position adjusting devices 21a and 21b will be described. FIG. 4 is a schematic diagram showing the positional relationship between the nozzle position adjusting devices 21a and 21b, the filling nozzle 15 and the enclosure 5. As shown in FIG. 4A, when the tip of the filling nozzle 15 is displaced from the position of the gap 39 of the enclosure 5, the tip of the filling nozzle 15 is sealed when the filling nozzle 15 is lowered straight. Interfere with the body.

  In such a case, as shown in FIG. 4B, the tip position of the filling nozzle 15 can be adjusted by relatively displacing the nozzle position adjusting devices 21a and 21b. For example, if the filling nozzle 15 is moved in the G direction by the nozzle position adjusting device 21a and the filling nozzle 15 is moved in the H direction by the nozzle position adjusting device 21b, the tip position of the filling nozzle 15 is the gap 39 position (I direction). Move to). In FIG. 4B, each of the nozzle position adjusting devices 21a and 21b is moved in the same axial direction. However, by combining the movement amounts of the X direction traveling mechanism 25 and the Y direction traveling mechanism 27, The tip position of the filling nozzle 15 can be adjusted in any direction.

  Next, the waste disposal process by the disposal apparatus 1 will be described. 5-8 is a figure which shows an embedment disposal process. First, as shown in FIG. 5, the winch 11 is operated to lower the frame 13 itself (in the direction of arrow J in the figure). Further, the tip position and the gap 39 position of each filling nozzle 15 are detected by the sensor 23, and the filling nozzle 15 position is adjusted by the nozzle position adjusting devices 21a and 21b so that the filling nozzle 15 can be inserted into the gap 39.

  Further, all the filling nozzles 15 are inserted into the gaps 39 of the enclosure 5 by the nozzle lifting device 19. In this state, the filling nozzle 15 is inserted so that the tip thereof reaches the vicinity of the bottom surface of the disposal hole 3. Furthermore, the position of the sensor 23 is adjusted so that the vicinity of the bottom surface of the disposal hole 3 can be detected from the gap 39 in which the filling nozzle 15 is inserted.

  Next, mortar as a filler is supplied to each filler nozzle 15 by the filler supply pump 17. As a method of distributing the filler, all nozzles may be provided with throttle valves, and the supply amount may be controlled by the throttle amount of each nozzle, or an open / close valve may be provided for each nozzle, The opening / closing operation of the opening / closing valve may be sequentially performed for each nozzle.

  FIG. 6 is a diagram showing an example of the arrangement of the filling nozzles 15 and the filling order (open / close valve opening / closing operation order). For example, after opening and closing the opening / closing valve in order from the filling nozzle 15a to the adjacent filling nozzle 15b → 15c →... And filling the filling material for a predetermined time (predetermined amount), the opening / closing valve of the nozzle is closed and the next nozzle The on-off valve may be opened to sequentially fill the filler. In this case, the filling amount for each nozzle can be adjusted, for example, by adjusting the valve opening time for each nozzle. Note that it is not always necessary to open one on-off valve for each nozzle, and a plurality of on-off valves may be opened and closed sequentially.

  FIG. 7 is a diagram showing a state in which filling of the mortar 41 is started. As described above, the disposal hole 3 is filled with the mortar 41 from each filling nozzle 15. At this time, the sensor 23 detects the filling height position of the mortar 41 below the filling nozzle 15. The control unit (not shown) provided outside moves up the filling nozzle 15 at the position according to the detected filling height (in the direction of arrow L in the figure), and the tip position of the filling nozzle 15 is always It is adjusted so as to be constant with respect to the height of the upper surface of the mortar 41.

  Further, when the sensor 23 detects that the filling height of the mortar 41 is lower than the surrounding filling height (K portion in the figure), for example, the control unit fills the filling nozzle 15 corresponding to the position. Is increased with respect to the filling amount of the other filling nozzles 15. For example, when the nozzles that are sequentially filled are changed as shown in FIG. 6, the filling time of the filling nozzle is increased with respect to the filling time of the other filling nozzles. As described above, the filling operation proceeds while the filling height of the mortar 41 is kept substantially uniform in the disposal hole 3.

  As described above, when the enclosure 5 is completely buried in the mortar 41, the frame 13 is raised in the direction of the upper lid 7 by the winch 11 as shown in FIG. At this time, the filling nozzle 15 is also raised completely. Therefore, the frame 13 and various devices provided on the frame 13 are accommodated in the side wall of the upper lid 7. Therefore, the upper lid 7 can be moved in the horizontal direction. By moving the upper lid 7 in the horizontal direction, the same operation can be performed for other adjacent disposal holes. Thus, the burying disposal work for the enclosure 5 disposed in the disposal hole 3 is completed.

  Similarly, when the filling nozzle 15 needs to be cleaned before completion of the burying disposal operation, the frame 13 and the like are retracted into the upper lid 7 and the upper lid 7 is moved to the disposal hole 3 side, and then the filling is performed. Maintenance of the nozzle 15 may be performed.

  As described above, according to the burying disposal apparatus 1 according to the present invention, it is possible to reliably bury the waste by remote operation.

  In addition, since the sensor 23 can detect the tip position of the filling nozzle 15 and the position of the gap 39 between the enclosures 5, the filling nozzle 15 can be reliably inserted into the gap 39 of the enclosure 5. In addition, the tip position of the filling nozzle 15 can be easily and reliably changed by the pair of nozzle position adjusting devices 21a and 21b installed so as to be shifted in the vertical direction. That is, the position of the tip of the filling nozzle 15 can be reliably adjusted by only slightly moving the nozzle position adjusting devices 21a and 21b.

  Moreover, since the sensor 23 can also detect the filling height of the mortar 41, the height of the filling nozzle 15 can be raised and lowered according to the filling height of the mortar 41. Therefore, the mortar 41 can be always filled from a certain height. Moreover, according to the filling height of the mortar 41, the filling amount of the mortar 41 from the filling nozzle 15 at the corresponding position can be adjusted by the control unit. For this reason, the filling height of the mortar 41 becomes uniform in the disposal hole 3, and voids are generated in the mortar 41, or the inclusion body 5 falls because the mortar 41 flows from one side in the disposal hole. There is nothing to do.

  In addition, the upper lid 7 can be moved in the horizontal direction, and the frame 13 and each device installed on the frame 13 are accommodated within the height of the side wall of the upper lid 7. Removal and further maintenance of the filling nozzle 15 and the like can be performed.

  Next, an embedding disposal apparatus 50 according to the second embodiment will be described. In addition, in the following embodiment, the same number is attached | subjected to the component which performs the same function as the embedment disposal apparatus 1 shown in FIGS. 1-8, and the duplicate description is avoided. The buried disposal device 50 differs from the buried disposal device 1 in the installation positions of the winch 11, the nozzle lifting device 19, and the like.

  The winch 11 and the nozzle lifting / lowering device 19 are installed on the upper lid 51 of the buried disposal device 50. Therefore, each filling nozzle 15 is provided through the upper lid 51.

  A wire 9 is joined to the winch 11, and the other end of the wire 9 is joined to the frame 13. Therefore, the frame 13 can be moved up and down by the winch 11.

  A distributor (not shown) is provided on the upper lid 51, and the filler supplied from the filler supply pump 17 is distributed to the respective filling nozzles 15.

  According to the burying disposal apparatus 50 according to the second embodiment, the same effect as that of the burying disposal apparatus 1 can be obtained. Further, the winch 11 and the nozzle lifting / lowering device 19 are provided on the upper lid 51. That is, the winch 11, the nozzle lifting and lowering device 19, the folding portion of the filling nozzle 15, and the like are excluded from the frame 13. Therefore, when the frame 13 is retracted in the direction of the upper lid 51, the total thickness of the frame 13 and the devices installed on the frame 13 becomes more compact, and the side height of the upper lid 51 for moving the upper lid 51 in the horizontal direction. Can be reduced.

  As mentioned above, although embodiment of this invention was described referring an accompanying drawing, the technical scope of this invention is not influenced by embodiment mentioned above. It is obvious for those skilled in the art that various modifications or modifications can be conceived within the scope of the technical idea described in the claims, and these are naturally within the technical scope of the present invention. It is understood that it belongs.

  For example, the operations of the nozzle elevating device 19, the nozzle adjusting devices 21a and 21b, the sensor 23, the winch 11, and the like may be operated by a human based on image information from the sensor 23 or the like, or automatically performed by the control unit. It may be controlled by.

1, 50 ......... Disposal device 3 ......... Disposal hole 5 ......... Enclosure 7 ......... Top cover 9 ......... Wire 11 ......... Winch 13 ......... Frame 15 ......... Filling nozzle 16 ... ... wing part 17 ......... filler supply pump 19 ......... nozzle lifting device 21a, 21b ......... nozzle position adjusting device 23 ......... sensor 25 ......... X-direction traveling device 27 ......... Y-direction traveling device 32 ……… Guide 31, 33 ……… Roller 34, 36 ……… Arm 35, 37 ……… Pressing roller 39 ……… Gap 41 ……… Mortar

Claims (7)

A method for burying and disposing of waste,
A step (a) of stacking a plurality of waste inclusion bodies in a disposal hole to a predetermined height;
A step (b) of detecting a tip position of each of a plurality of filling nozzles and a gap between the inclusions by a plurality of detecting means capable of detecting a three-dimensional outer shape of a target range;
A step (c) of aligning the tip position of the filling nozzle with the gap position;
Lowering the filling nozzle and inserting it into the gap (d);
Supplying a filler from the filling nozzle (e);
A step (f) of detecting the height of the upper end surface of the filler at a position corresponding to each of the filling nozzles by a plurality of the detection means and adjusting the filling amount of each of the filling nozzles;
A method for embedding waste, comprising:   The waste embedding method according to claim 1, wherein the step (e) raises the filling nozzle as the height of the upper end surface of the filler increases due to the supply of the filler.   The waste embedding method according to claim 1 or 2, wherein in the step (d), the plurality of filling nozzles are arranged in a substantially uniform manner in the disposal holes.   In the step (c), the filling nozzle is held by a pair of adjusting devices arranged to be shifted in the vertical direction, and the pair of adjusting devices are relatively displaced in the horizontal direction, whereby the tip of the filling nozzle The method for embedding waste according to any one of claims 1 to 3, wherein the position is adjusted. A waste disposal device in a disposal hole,
A filler supply means capable of supplying the filler;
A plurality of filling nozzles capable of filling the disposal hole with the filler supplied by the filler supply means;
A plurality of detection means provided for each of the plurality of filling nozzles and capable of detecting a three-dimensional outer shape of the target range;
Nozzle position adjusting means capable of adjusting the tip position of the filling nozzle in the horizontal direction;
Elevating means capable of elevating and lowering the filling nozzle;
An upper lid closing the upper end of the disposal hole;
A frame suspended from the upper lid and holding the nozzle position adjusting means and the detecting means;
Comprising
The waste disposal apparatus according to claim 1, wherein the detection means is movable along the frame.   The nozzle position adjusting means includes a pair of adjusting devices arranged on the frame so as to be shifted in the vertical direction, and the pair of adjusting devices can be relatively displaced in the horizontal direction. The waste disposal apparatus according to claim 5. Depending on the filler upper surface height of the corresponding position detected by said detection means, according to claim 5 or claim characterized in that it has a control unit for controlling the filling amount of the filling material from each of the filling nozzle 6. The waste disposal apparatus according to 6.

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