JPS63291610A - Robot for scraping contaminated sand of flow filter basin - Google Patents

Abstract

PURPOSE:To make it possible to apply a robot to a filter basin having nonlinear or various configuration and various area, by providing a caterpillar traveling type contaminated sand scraping robot with a traveling route change sensor, a traveling route correction sensor and a program controller so that self-judgement and combined control can be conducted. CONSTITUTION:A screw type contaminated sand scraping device is provided and contaminated sand can be discharged out of a basin 2 through a contaminated sand discharge hose 4 by means of a submergible sand pump. A caterpillar traveling robot for scraping contaminated sand 1 is provided with a program controller, a traveling route change sensor, and a traveling route correction sensor, wherein said program controller is connected to an electric supply controlling panel 6 by a flexible electric cable 7 placed outside the basin. When the self-traveling robot reaches the other end of the route, the route change sensor detects it and the robot is transferred to the next traveling route, while the route correction sensor detects a part which has been scraped and a remaining part, whereby correct traveling route is maintained by its self judgement even when there is any irregularity such as steps on the bottom surface of the basin, therefore, the robot can be used at a filter basin having various area and configuration.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is a device for scraping and removing dirt generated on the surface of a filter sand layer of a slow filtration basin used for waterworks, etc. An underwater dirt scraping robot that autonomously performs the work of scraping dirt by self-traveling along a programmed travel path underwater and above the filter sand layer in a stretched state, and then carrying it out of the pond immediately while making its own judgment. Regarding the device.

(Prior Art) Slow filtration basins have long been used for turbidity removal treatment as part of water treatment systems in water supplies and the like. Slow filtration basins are easier to maintain and manage than rapid filtration basins, and in addition to filtering and removing suspended solids in raw water, they also remove the biofilm of pollutants that accumulate on the surface layer of the filter sand layer as filtration continues. It has the advantage of producing high-quality filtered water because it has the function of removing various dissolved components and odor components in water through biochemical action.

However, as filtration continues, if water gradually becomes difficult to pass through due to the progress of accumulation on the surface of the filter sand layer, the surface of the filter sand layer should be periodically contaminated because it is different from a rapid filtration pond and does not have a filter sand cleaning mechanism. It is necessary to scrape and remove the sand.

Slow filtration basins generally have a vast area, and are usually divided into a plurality of unit filtration basins and used alternately. For unit filtration ponds where surface sedimentation has progressed, the water flow is stopped and the water is drained, and by entering the pond, the surface dirt with a thickness of about 1C111 is scraped off and carried out of the pond. This work requires a lot of effort,
Requires time, money and experience, usually 1 pond #) 1~
Repeat every two months, but the filter sand layer has become clogged quickly due to pollution and eutrophication of water sources in recent years.
There is a tendency for the cycle of shavings removal work to be significantly shortened.

In order to eliminate this manual work of scraping and transporting the sludge, an underwater sludge scraper is moved on the bottom of the slow filtration pond where water is not drained, and the sludge that has been scraped is transported out of the pond. Various scraping devices have been proposed. Most of these are driven types in which the dirt scraper is moved by a drive device outside the pond, so ancillary equipment such as rails and frames must be installed for each unit filtration basin, and multiple Slow filtration ponds, which require a vast area, require a large amount of money for external drive facilities, including the sludge scraper itself and the equipment needed to move it from place to place.

Earlier patent application 1986-118060
804) is one of the most advanced conventional technologies for a device that scrapes the dirt on the surface of the underwater filtration sand layer without draining water from the slow filtration basin.It uses a float as a relay, and the dirt can be freely raised and lowered below the float. The scraping machine is installed by pulling it from outside the pond with a wire rope, and the scraped dirt is discharged outside the pond from a pump in the float section, which has the advantage of being able to keep the cost of incidental equipment relatively low. .

(Problems to be Solved by the Invention) The automatic dirt scraping device of the prior application requires the least amount of underwater equipment for scraping work, but as the number of unit filtration basins increases, traction equipment and traversing equipment are required. Due to the need to increase the number of facilities,
Another problem is that it is difficult to apply to non-linear filters or large-scale filters, such as fan-shaped divided unit filters of circular filters.

(Means for Solving the Problems) The present invention has been made for the purpose of solving the above-mentioned problems of the prior art. This is an underwater dirt scraping robot that self-runs according to the set running program to scrape off the dirt on the surface of the filter sand layer and automatically discharge it outside the pond. A watertight control box with a built-in system is mounted on the underwater vehicle and connected to the power supply control panel on land using a flexible electric cable, and the vehicle can travel not only in straight lines but also in curves using caterpillar-type traveling devices on both sides. A screw-type dirt scraping device for scraping work is installed on the front and rear of the running vehicle, and a submersible sand pump device with a switching valve for scraping and discharging dirt is installed on the vehicle. The dirt is guided out of the pond via a transport hose, and a running route change sensor and a running route correction sensor are installed at appropriate locations on the running vehicle to allow the vehicle to run on its own according to a running program, regulated by its own judgment. Sensor signals are sent to a computer, which performs self-judgment and integrated control.

During manual operation or in an emergency, a portable operation box that communicates wirelessly with the power supply control panel can also be used to remotely control the robot via a wired communication signal path connected to a flexible electric cable from the power supply control panel.

In other words, the overall structure of the slow filtration basin dirt scraping robot of the present invention is to scrape off the dirt on the surface of the filter sand layer of the slow filtration basin while it is filled with water, and automatically carry it out of the pond. ,
The dirt scraping vehicle is capable of self-traveling in straight lines and curves on the water bottom and on the surface of the filter sand layer using caterpillar-type traveling devices on both sides, and the screw-type dirt can be raised and lowered onto the surface of the filter sand layer at the front and rear ends of the vehicle. A scraping device is installed, and a submersible sand pump device whose suction side is selectively connected to the sand collecting section is mounted on a traveling vehicle, and its discharge side is connected to the outside of the pond via a flexible dirt transport hose. In addition, a watertight control box containing a programmable gIJ device containing programs for selecting travel routes and operating various devices on the vehicle is installed on the vehicle, and a power supply control panel outside the pond and a program control box are installed on the vehicle. ? A flexible electric cable is used to connect the aluminum to the vehicle, and a traveling route change sensor and a traveling route correction sensor are installed on the vehicle, and the signals from these sensors are input to a program controller for calculation, self-judgment, and integrated control. It is characterized by being made to perform.

(Function) The dirt scraping robot of the present invention travels by itself from one end of the filtration basin to the other end on one travel path according to a travel program preset by an automatic program controller in a watertight control box. When the travel route change sensor detects that the robot has reached the end, the robot stops in response to the signal, and according to a preset travel route change pattern, the robot moves backward using the curve travel function and moves to the next travel route. Then, on the next travel route, even if there is an irregular shape such as a step on the surface of the filter sand layer, the travel route correction sensor will read and identify the parts of the surface of the filter sand layer that have been scraped and the parts that have not been scraped, and make a self-judgment based on the signal. While maintaining the correct travel route, the vehicle performs scraping travel. The above operations are repeated according to the program to completely scrape the pond surface.

(Example) Hereinafter, the dirt scraping robot for a slow filtration basin according to the present invention will be specifically described based on a typical example with reference to the accompanying drawings. Fig. 1 is a longitudinal side view showing the overall equipment, Fig. 2 is a plan view showing the structure of the dirt scraping robot of a typical embodiment, and Fig. 5
The figure is a side view, Figure 4 is a plan view showing an example of a travel program for one unit filter of a slow filtration basin divided into fan shapes, and Figure 5 is a local enlargement showing the movement of changing the travel route. FIG.

In Fig. 1, the dirt scraping robot (1) of the present invention, indicated by the generic symbol (1), is lowered onto the surface of the filter sand layer (3) of the Yusoku filtration basin (2), which is still in a water-filled state. The machine runs on its own to scrape off dirt from the surface of the sand layer, and the scraped dirt is immediately transferred to a sand washer (5) outside the pond via a flexible sand removal hose (4) with a float. Transport and carry out. sludge raking robot)
(1) t/'i Also, a flexible composite electric cable (7) is connected to the power supply control panel (6) installed on land, and the scraping operation unit etc. is connected from the power supply control panel (6) to the power supply control panel (6). The system receives power for driving and driving, and receives wired signals for operation control.The system automatically travels over the entire surface of the slow-speed filtration basin according to a preset travel program pattern, and automatically scrapes dirt without making a self-judgment. go to Electric cable (7) is hose (4)
It can be summarized as: In addition, manual control operations can be added to the operation of the dirt scraping robot in a timely manner by an operator using a wireless signal sent from the button pull operation box (8) to the power supply control panel (6).

As an example of the above-mentioned dirt scraping robot (1) is shown in detail in Figs. 2 and 5, the running vehicle (9) is a crawler type with caterpillar αOQO on both sides, which allows it to run in a straight line. The drive speed difference between the caterpillars on both sides allows it to travel in curves.

In order to scrape and collect dirt on the surface of the filter sand layer (3) as the vehicle travels, screw-type dirt scraping devices (11A) and (11B) are installed at the front and rear ends of the vehicle (9) so that they can be raised and lowered. When the vehicle (9) moves in front of the scraping device (IIA), the scraping device (IIA) is lowered so that the narrow sand layer around 101E” can be scraped off, and the dirt scraping device (IIA) is removed. These screw-type dirt scraping devices (11
In A) or (11B), a left and right screw @ installed horizontally perpendicular to the running direction is driven to rotate in the direction of center displacement, and this is covered with a cover 〇.
A sliding plate αY and a rake αQ are provided at the bottom of the cover 〇, which are located before and after the screw (2), and the sliding plate a→
The depth of dirt scraping is determined by adjusting the height of the screw (6), and the sand surface after dirt scraping is leveled with a rake QQ. The drive motor for the screw @ and the lifting motor for the scraping device (11AX11E) are placed on the cover 〇 in this example, but these drive motors can also be stored inside the traveling vehicle (9). can.

A submersible sand pump device Q is mounted on the traveling vehicle (9), and its suction side is connected to each scraper via a switching valve aη that can be switched between a scraping side and a non-scraping side, and the respective suction pipes (to). It is connected to the top surface of the cover 〇 of the sand collection section in the center of the scraping device (11A) (11B), and its discharge side is connected to the dirt discharge hose power 4〉 by the rotary joint Ql, and the dirt removal hose 4〉 is selectively suctioned and discharged to the sand washer (5) outside the pond. The scraped dirt is sucked into the sand pump at 10 o'clock in a solid-liquid state and carried out through the discharge hose (4) in a solid-liquid state. Work can also be simplified.

The traveling vehicle (9) is equipped with a program controller with a microcomputer that controls the gear tab 2 traveling section, the dirt scraping section, and the drive section that operates the submersible sand pump) built into a watertight control box. has been done. Program controller (
E) receives power supply from the onshore power supply control panel (6) via the composite electric cable (7) as described above, and receives a wired control signal.

Furthermore, each dirt scraping device (11A) (1
1E) is equipped with a travel route change sensor eυ and a travel route correction sensor (A), which will be described later.The signals from these sensors are input to a program controller (E) for computer calculation, integrated judgment, and self-control. Control the dirt scraping robot (1)
) is to be carried out at one's own discretion.

The dirt scraping robot of the present invention) The scraping operation (1) is programmed according to the shape of the slow filtration basin (2). Figures 4 and 5 show that a circular slow filtration basin is replaced by a fan-shaped unit filtration basin (
4) @ (This is divided into O (to). We will use this as a representative example to explain the setting program and the behavior of the robot based on it. Now, we will use this as a representative example to explain the setting program and the robot's behavior based on it. For convenience of explanation, the center point of the filtration pond group (
The clockwise direction centering on 0 is the forward direction, the counterclockwise direction is the backward direction, the center point (the direction approaching 0 is the near direction, and the center point (
The direction moving away from O is expressed as far.

The first row (1) of the travel route of (1) (sand scraping robot)
The second row (1) follows an arcuate path that goes backwards and forwards from the farthest point in the pond, and the second row (1) follows an arcuate path that goes forward and backwards at the farthest point next to it.

The power supply control panel (6) and the sand washer (6) are installed at a point (G) on land near the center (O), and the operator carries the portable operation box (8) near the scraping start point. The dirt scraping robot (1) is mostly made of stainless steel, has a total weight of, for example, 450#, and weighs about 200# in water, and is carried to the spot by a truck crane (not shown). (It is transported to a certain point, suspended from the starting point in the filtration basin (G), and landed on the sand layer (3). At this time, the sludge scraping devices (11A) and (11B) remain raised. If it has not landed correctly at the starting point, the operator operates the botple operation box (8) to move the dirt scraping robot (1) and position it correctly at the starting point.

After that, the operator uses the box (8) to
) to send a signal to start automatic operation. The dirt scraping robot (1) lowers the dirt scraping device (11A) in front onto the filter sand layer and starts moving forward, and carries out the dirt scraping in the first row of the travel route ([1]). In this case, so that the dirt scraping robot (1) can correctly travel on an arcuate path centered on the center point (0), the motor that drives the far side caterpillar of the traveling vehicle (9) drives the near side caterpillar. The microcomputer installed in the traveling vehicle (9) is programmed in advance to rotate faster than the motor.However, in case the dirt scraping robot (1) deviates from the traveling route due to the condition of the traveling surface, etc. , the operator can use the box (
8) Hold and monitor. Instead of these, a sludge scraping device (
IIA) If a wall sensor is installed on the side of the vehicle to detect the ground wall on the far side, the dirt scraping robot (1)
can correctly run on the first row (1) of the running route along the ground wall on the far side. It should be noted that at the starting point, there appears to be a dirt scraping area equal to the length of the dirt scraping robot (1), but before shifting to automatic operation, the operator uses the operation box to remove the dirt dirt from the rear. It is sufficient to use the scraping device (11E) to scrape backwards to the rear ground wall and scrape it.

When the dirt scraping robot (1) travels on the first row (1) of the travel route and reaches the point (0), the travel route changing sensor υ in front detects the ground wall in front and removes the dirt. The scraping robot (1) stops and the dirt scraping of the first row +11 of the travel route is completed.

Thereafter, the dirt scraping robot (1) moves to the second row (Ml) of the travel route according to the travel pattern preprogrammed in the if microcomputer.

FIG. 5 shows this transition. In other words, in FIG. 5, the dirt scraping robot (1) that stopped at point (Gl) first moves backward until the traveling route change sensor &I separates from the ground wall in front of it, and then moves back to the dirt scraping device (11A) in front. pull up. Next, it turns to the near side and moves to the second row (11) of the travel route, and stops once at the transition completion point (al).Then, the forward dirt scraping device (IIA) is lowered again and the second row Column (1
) and move forward to remove dirt and sand up to the ground wall in front. In this way, when the running route change sensor Qυ detects that the dirt scraping robot (1) has reached the ground wall in front of it, the dirt scraping robot (1) stops, but in this second detection, the running route is not changed and the dirt scraping robot (1) (1) moves backward on the second row (1) of the travel route, and when the travel route change sensor shim leaves the front ground wall, pulls up the dirt scraping device (11A) in front, and points to (a). Before passing, the rear dirt scraping device (11B) is lowered onto the sand layer, and the vehicle moves backward while familiarizing itself with the rear point] while carrying out the dirt scraping run on the second row (1) of the travel route.

In the second row (ml and subsequent sand scraping runs), the travel route correction sensor wire installed on the far side of the dirt scraping device (11AXI 1B) detects the dirt scraping end portion on the sand layer (
xi and the unscraped portion (to) (see Fig. 5), move along the predetermined travel route in the correct direction.
``'°6° and 11. In the slow filtration basin, there is a difference in the color of the surface of the sand layer between the part where the dirt has been scraped (■) and the part where the dirt, scraping, and l has been removed (■), so these can be optically distinguished. Detect 2
By arranging different types of sensors in parallel in a direction perpendicular to the direction of movement of the dirt scraping robot (1), the robot (1) can self-determine the travel route it should travel. Travel route change sensor (2) in the illustrated example
) is a far-side sensor (22
) and the area where the dirt has not been scraped (the near side sensor (22) that detects chrysanthemums)
y) are arranged side by side at a small interval in the direction perpendicular to the traveling direction of the traveling vehicle (9), so that the far side sensor (22x) detects the unscraped portion ( 1), the traveling direction of the traveling vehicle (9) is corrected to the far side, and when the near side sensor (22y) detects the scraping finished part (3), the traveling direction of the traveling vehicle (9) is changed to the near side. Since the dirt scraping robot (1) can move to scrape dirt without making a self-judgment to correct the direction to the side,
There is almost no dirt left behind or overlapped scraping between the rows (ID).

The dirt scraping robot (1) is in the second row of the travel route.
When the vehicle moves backward and reaches point l while self-judging the above, and when the travel route change sensor Qυ of the rear dirt scraping device (11B) detects the ground wall behind it, the travel route change sensor ψυ works to remove the dirt and sand. The scraping robot behaves in the same manner as described above, moves to the third row of the travel path, and performs dirt scraping travel in the third row.

In this way, the dirt scraping robot (1) sequentially scrapes dirt from far to near while reciprocating on an arc-shaped travel path centered on the center 0 within the unit filter Ikeda. b. When the dirt scraping robot (1) reaches the last row of the travel route, the dirt scraping robot (1) moves around the point (g) so that it can scrape along the ground wall on the near side. The operator holds the portable operation box (8) and monitors the situation.

In this case, similarly to the dirt scraping run in the first row, there is a wall on the near side of each dirt scraping device (11A) (1113) or traveling vehicle (9) that detects the ground wall on the near side. If a sensor is installed, the dirt scraping robot (1) will correctly run on its own over the last row of the travel path along the ground wall on the near side, and will scrape the dirt when it finishes scraping the last row. The robot (1) can be automatically stopped and killed.

When the dirt scraping run of the last row is completed, the unit filtration unit (Ikeda)
The dirt scraping robot (1) is lifted by a truck crane and transported to the starting point of the adjacent unit filter (O), and the dirt scraping robot (1) is carried out in the same manner as in the unit filter 031.

In the embodiment, a dirt scraping device (
11A) (IIB) is provided and the scraping operation is performed alternately, but it is also possible to use one dirt scraping device by rotating the vehicle 186 times and switching its front and rear positions. , such modifications are included within the similar scope of the present invention. In the above embodiment, the case of fan-shaped unit filtration basins will not be explained in detail, but the program setting of the travel route may be done depending on the shape of the unit filtration basin. It can be selected to be optimal.

(Effects of the Invention) As described above, according to the dirt scraping robot of the present invention, the following effects can be obtained in total.

1) Since it is an underwater self-propelled self-contained operation type, there is no need for land-based equipment to drive or move the dirt scraping device within the slow filtration basin. 02) It is composed of a large number of unit filtration basins. The dirt scraping robot F of the present invention can also be used in slow filtration basins.
Since one i unit can be shared, large equipment costs are not required.

3) It can be applied to slow filtration basins of different sizes and shapes by simply replacing the travel pattern data input to the microcomputer of the program controller.

4) Since the robot moves on the filter sand layer while making its own decisions, there is almost no need for operator supervision or intervention, and the automation of the scraping work can be greatly advanced.

5) Therefore, the work of removing dirt from the slow filtration basin is significantly labor-saving, and operation and maintenance costs can be reduced.

[Brief explanation of the drawing]

Fig. 1 is a vertical sectional side view of the overall device including a dirt scraping robot for a slow filtration basin according to one embodiment of the present invention, and Figures 2 and 2 show the structure of the dirt scraping robot of a representative embodiment. A plan view, Fig. 6 is a side view thereof, Fig. 4 is a plan view showing an example of the shape of a slow filtration basin and a program for the robot's running route therein, and Fig. 5 shows the movement of changing the running route. FIG. 3 is a partially enlarged plan view. (1)...Dirty sand scraping robot, (2)...Slow filtration basin,
(3)... Filter sand layer, (4)... Dirty sand removal hose, (5
)...Sand washer, (6)...Power supply control panel, (7) Fist/electrical cable, (8)...Botapu operation box, (9)
...Dirty sand scraping vehicle, QQ... Caterpillar, (11A
) (11B)...Screw type dirt scraping device, @-...Screw, (6)...Cover, 9...Sliding plate, aO...Rake, QQ...Underwater sand pump device, 9η... Switching valve, (to) Suction pipe, Ql... Rotating joint part, (E)... Program controller, QQ... Running route change sensor, (2)... Running route correction sensor, (22x) (22y
)...sensor, (I)(l)(Ill...travel route change, (0)...other group center, outgoing) (0) 01...unit filtration basin, (g) (g) (0( 8) (a) ψ point, flash
・Dirty sand scraping finished part, (■-・Dirty sand scraping work.

Claims (1)

[Scope of Claims] In order to scrape the dirt on the surface of the filter sand layer of the slow filtration tank while it is filled with water and automatically carry it out of the pond, a dirt scraping vehicle is equipped with caterpillar type running devices on both sides thereof. This enables self-traveling in straight lines and curves on the water bottom and on the surface of the filter sand layer, and a screw-type dirt scraping device that can be raised and lowered on the surface of the filter sand layer is installed at the front and rear ends of the vehicle. A submersible sand pump device is mounted on the vehicle, and its discharge side is guided outside the pond via an abrasive sand discharge hose, as well as selection of the travel route and various equipment installed on the vehicle. A watertight control box containing a program controller containing a program for operation is installed on the vehicle, and the power supply control panel outside the pond and the program controller are connected with a frayable electric cable. A slow filtration basin characterized in that a running route change sensor and a running route correction sensor are provided on the top of the slow filter, and the signals of these sensors are input to a program controller to perform calculations, self-judgment, and integrated control. Sand scraping robot (2) The slow filtration basin according to claim 1, wherein the power supply control panel is capable of receiving and transmitting a wireless communication control signal from a human-operated portable operation box. Sludge scraping robot. (3) The traveling route correction sensor is constituted by sensors that are arranged at right angles to the traveling direction of the vehicle at a small interval and detect the part where the dirt has been scraped and the part where the dirt has not been scraped on the surface of the filter sand layer. A dirt scraping robot for a slow filtration basin according to claim 1.