WO2021110774A1 - Dispositif de retournement pour retourner un matériau à sécher - Google Patents

Dispositif de retournement pour retourner un matériau à sécher Download PDF

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Publication number
WO2021110774A1
WO2021110774A1 PCT/EP2020/084325 EP2020084325W WO2021110774A1 WO 2021110774 A1 WO2021110774 A1 WO 2021110774A1 EP 2020084325 W EP2020084325 W EP 2020084325W WO 2021110774 A1 WO2021110774 A1 WO 2021110774A1
Authority
WO
WIPO (PCT)
Prior art keywords
turning device
turning
controller
sensor
movement
Prior art date
Application number
PCT/EP2020/084325
Other languages
German (de)
English (en)
Inventor
Alexander Gruber
Martin Gartner
Original Assignee
Tsp Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsp Gmbh filed Critical Tsp Gmbh
Priority to EP20819703.8A priority Critical patent/EP4070024A1/fr
Publication of WO2021110774A1 publication Critical patent/WO2021110774A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B9/00—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards
    • F26B9/06—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards in stationary drums or chambers
    • F26B9/08—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards in stationary drums or chambers including agitating devices, e.g. pneumatic recirculation arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B9/00—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards
    • F26B9/06—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards in stationary drums or chambers
    • F26B9/08—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards in stationary drums or chambers including agitating devices, e.g. pneumatic recirculation arrangements
    • F26B9/082—Machines or apparatus for drying solid materials or objects at rest or with only local agitation; Domestic airing cupboards in stationary drums or chambers including agitating devices, e.g. pneumatic recirculation arrangements mechanically agitating or recirculating the material being dried
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F11/00—Treatment of sludge; Devices therefor
    • C02F11/12—Treatment of sludge; Devices therefor by de-watering, drying or thickening
    • C02F11/16—Treatment of sludge; Devices therefor by de-watering, drying or thickening using drying or composting beds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
    • F26B25/04—Agitating, stirring, or scraping devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/125—Control of position or direction using feedback using discrete position sensor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B3/00—Drying solid materials or objects by processes involving the application of heat
    • F26B3/28—Drying solid materials or objects by processes involving the application of heat by radiation, e.g. from the sun
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W10/00—Technologies for wastewater treatment
    • Y02W10/30—Wastewater or sewage treatment systems using renewable energies
    • Y02W10/37—Wastewater or sewage treatment systems using renewable energies using solar energy

Definitions

  • the present invention relates to a turning device for turning material to be dried, in particular sewage sludge, with the features of the preamble of claim 1, a drying system with at least one such turning device and a method for operating such a drying system.
  • Turning devices for turning material to be dried placed on a floor are used in particular for turning sewage sludge that accumulates at a sewage treatment plant, or other sludges, so that the sewage sludge or sludge can dry more quickly.
  • Such turning devices generally comprise at least one drive axle for moving the turning device on the ground, at least one distribution device for turning the material to be dried or sewage sludge, a movement device with a drive device for driving the at least one drive axle and with a steering device for changing the direction of movement of the turning device, as well as a control connected to the movement device in a signal-conducting manner for controlling the movement device.
  • Known turning devices usually have two vehicle axles, one of which is driven by a motor and represents a drive axle.
  • At least one rolling body e.g. a wheel or a roller
  • the rolling bodies are usually mounted rotatably relative to the vehicle axle and run with them without being themselves driven.
  • At least one distributing tool for turning the material to be dried is usually arranged on the second vehicle axle.
  • Turning devices are generally used in drying rooms, in particular drying halls.
  • drying rooms can include heating devices and / or ventilation devices to support the drying of the material to be dried.
  • the drying rooms are often designed as so-called solar dryers, which primarily use solar energy for the drying process of the items to be dried, which enables resource-saving and cost-effective drying.
  • the material to be dried can be sewage sludge or other sludges or dispersions.
  • the material to be dried can also include biowaste, grass or hedge cuttings, animal excrement, raw sludge (human excrement from sewage treatment plants with a purely mechanical cleaning stage) and mineral sludge (e.g. drinking water sludge, soil, etc.).
  • the goods to be dried can also be bulk goods to be dried (e.g. mineral bulk goods such as coffee, cocoa or rice).
  • a turning device and a drying room designed as a solar dryer according to the prior art are described in the document EP 0899 529 A2.
  • the turning device described therein comprises a switching device which is triggered whenever the turning device collides with a side wall of a drying room (e.g. in the form of a drying hall) in which the turning device is moving, or with another obstacle.
  • the switching device is triggered, the direction of movement and curvature of the path of movement of the turning device are changed at random.
  • the turning device moves over the material to be dried and turns it over by means of the distribution device.
  • the disadvantage of the conventional turning device is that the turning device must collide with an obstacle in order to change the path of movement, so that the switching device of the turning device can be triggered.
  • due to the stochastic path control it can happen that individual areas of the items to be dried are passed over several times, while other areas are hardly or not at all.
  • the object of the invention is to avoid the disadvantages described above and to provide a turning device which is improved over the prior art. Furthermore, a drying system with at least one such improved turning device and a method for operating such an improved drying system are to be specified. This object is achieved by a turning device with the features of claim 1, a drying system with at least one such turning device and a method with the features of claim 28.
  • Advantageous embodiments of the invention are defined in the dependent claims.
  • the turning device comprises at least one distance sensor connected to the control via a sensor line in a signal-conducting manner, sensor data from the at least one distance sensor being able to be reported to the control via the sensor line.
  • the sensor line can be a wired (e.g. via a cable or wire) or wireless connection (e.g. via WLAN or Bluetooth).
  • the sensor data can be analog or digital via the sensor line, preferably using known interfaces (e.g. RS-232 or Ethernet) and
  • Data transmission protocols e.g. TCP / IP
  • TCP / IP Data transmission protocols
  • the turning device can detect the distance to an obstacle located on the path of movement of the turning device, or to boundary walls or columns of a drying room or a drying hall in which the turning device is moving, and react accordingly. For example, it can be avoided that the turning device collides with the obstacle or with the boundary walls or pillars. This enables more complicated hall geometries of drying halls or the use of old buildings.
  • the sensor data of the distance sensor can be used so that the turning device can detect its position within a drying room (eg drying hall) and thus a movement of the turning device can take place according to predetermined position points or paths. It can thus be made possible that the turning device moves specifically along position tracks and unnecessary double journeys through areas of the items to be dried can be avoided. This results in the following advantages, among others:
  • the necessary concrete work can be reduced. Thanks to the precise position detection, it is no longer necessary to enclose a drying area with a concrete wall.
  • the turning device no longer needs collision surfaces to change direction.
  • the drying area no longer has to be unobstructed and can have any plan shape.
  • the drying halls no longer have to be self-supporting, but can have supports, for example in the middle of the area.
  • Drying areas can be used as storage areas without delimitation: If you wanted to temporarily store dried material in a drying hall, you had to physically separate the storage area (partition). Otherwise the turning device could get stuck in the pile or, in the worst case, overturn.
  • partition walls can be dispensed with. Dried sludge can be accumulated at any point and can then be automatically detected and bypassed.
  • the movement device can be controlled by the controller, taking the sensor data into account.
  • the control of the turning device can be configured in such a way that it controls the movement device of the turning device as a function of the sensor data.
  • the sensor data can be taken into account, for example, by the fact that if the value falls below a specified or specifiable Distance value to an obstacle, the path of movement of the turning device is changed in such a way that the obstacle is bypassed.
  • the sensor data can also be taken into account in that, on the basis of the sensor data, the position of the turning device relative to the floor or within a drying room is determined continuously (continuously or time-discrete) and the turning device is moved along predetermined or predefinable position points or paths. A position-controlled movement of the turning device can be carried out.
  • the at least one distance sensor is an optical distance sensor, preferably a LIDAR sensor.
  • LIDAR is the common abbreviation for the English term "light detection and ranging", which describes a radar-related method for optical distance and speed measurement.
  • LIDAR sensors measure the distance to an object (e.g. an obstacle) and, if necessary, measure the speed relative to the object on the basis of a time of flight measurement of light emitted and reflected back from the object, usually laser light.
  • LIDAR sensors often have a scanning mode for recording spatial contours and / or contours of objects (e.g.
  • LIDAR sensors are therefore sometimes also referred to as navigation scanners. Examples of suitable LIDAR sensors are the LIDAR sensors from SICK (www.sick.com) that are commercially available under the names Series NAV2xx and Series NAV3xx.
  • an opening angle of the at least one distance sensor is at least 120 °, preferably at least 180 °, in particular preferably about 270 ° to 360 °.
  • the opening angle defines the working area that can be detected by the distance sensor. The larger the opening angle, the more surroundings around the turning device can be detected by the distance sensor.
  • the maximum range of the distance sensor in the area of the opening angle can be in a range from approximately 20 m to approximately 300 m.
  • That embodiment is particularly advantageous in which the at least one distance sensor is arranged on the turning device so that it can rotate about an axis of rotation.
  • the distance sensor can be rotated continuously or in discrete time around the axis of rotation, resulting in a working range of 360 ° and thus the entire area around the turning device can be detected by the distance sensor.
  • the controller has a data memory, with movement data relating to movements of the turning device being or can be stored in the data memory, the movement device being controllable by the controller in accordance with the movement data.
  • the turning device can execute a movement in accordance with the movement data.
  • the controller can comprise a processing unit comprising at least one processor and the data memory. Predefined movement data or predefinable movement data can be stored in the data memory.
  • the processor can read out the movement data from the data memory and control the movement device of the turning device in accordance with the movement data, as a result of which the turning device makes a movement in accordance with the movement data.
  • the processing unit can be designed, for example, as a programmable logic controller (referred to as “PLC” for short) or as a control device or controller, possibly including a PLC.
  • PLC programmable logic controller
  • An example of a suitable processing unit is the controller from Siemens, which is commercially available under the name Open Controller.
  • the movement data can include data for a planned movement of the turning device on the ground or data relating to movement limits of the turning device.
  • the movement data can include, for example:
  • - Movement patterns on the basis of which a movement of the turning device is to take place, e.g. a helical or a meander-shaped movement within a specified or specifiable range of motion.
  • the controller can control the movement device of the turning device in such a way that the turning device is self-propelled or autonomously follows the position path.
  • the control can also ensure that the turning device only moves within the movement area and does not leave it.
  • a movement of the turning device can be changed in accordance with the movement data from the controller as a function of the sensor data of the at least one distance sensor. If, for example, the distance sensor detects an obstacle, the movement of the turning device can be modified so that the turning device drives around the obstacle and then travels again in accordance with the originally planned movement data.
  • the distributing device comprises at least one turning shaft with at least one distributing tool arranged thereon, the at least one turning shaft preferably being a vehicle axle of the turning device.
  • the distribution tools can be shovels or paddles which turn the material to be dried.
  • the rolling bodies eg wheels or rollers
  • the rolling bodies eg wheels or rollers
  • the turning shaft can be arranged on the turning device in a height-adjustable manner in order to be able to adjust the depth of penetration of the at least one distributing tool into the material to be dried.
  • the at least one turning shaft can be rotated by a forward or backward movement of the turning device.
  • the distribution device comprises at least one turning motor connected in a signal-conducting manner to the controller and controllable by the controller, wherein the at least one turning shaft can be driven by the at least one turning motor.
  • the drive device comprises at least one drive motor connected to the control in a signal-conducting manner and controllable by the control, the at least one drive axle being drivable by the at least one drive motor.
  • the at least one drive axle can be designed as a rigid axle and, in a known manner, be equipped with two wheels arranged in a rotationally fixed manner at the ends of the drive axle. A rotation of the at least one drive axle leads to a rotation of the wheels, whereby the turning device is moved (forward and backward movements). It may be that all vehicle axles of the turning device are designed as drive axles with rolling bodies (eg wheels). However, it can preferably be provided that only one vehicle axle of the turning device is designed as a drive axle with rolling bodies.
  • the rolling bodies on the remaining vehicle axles of the turning device can be mounted rotatably relative to the vehicle axles on the vehicle axles and thereby simply run with a movement of the turning device without being themselves driven.
  • the at least one drive motor By controlling the at least one drive motor, the direction of rotation and the speed of rotation of the at least one drive axle and thus the direction of movement and the speed of movement of the turning device can be controlled.
  • At least one distribution tool is arranged on the at least one drive axle.
  • the distribution tools can in turn be shovels or paddles which turn the material to be dried.
  • the at least one turning motor and the at least one drive motor can be designed as electric motors, which can drive the at least one turning shaft and the at least one drive axle via known force or torque transmission devices (e.g. belt, wheel or roller gears).
  • force or torque transmission devices e.g. belt, wheel or roller gears.
  • internal combustion engines or hydraulic drives are used as turning motors and / or drive motors.
  • the turning device comprises a feed module and a turning module, the feed module being articulated to the turning module via an articulated joint having an articulation axis.
  • the turning device can be steered by the articulated joint.
  • the at least one drive axle with at least one non-rotatably arranged roller body (eg wheel or roller) on the Feed module is arranged and forms a vehicle axis of the turning device, and that a turning shaft with at least one rotating body (eg wheel or roller) arranged rotatably relative to the turning shaft is arranged on the turning module and forms a further vehicle axis of the turning device.
  • the rolling elements of the drive axle move the turning device and the rolling elements of the turning shaft run along without being driven themselves. It can be provided that the turning shaft rotates faster than the drive axle, which results in a better or more intensive distribution of the material to be dried in the region of the turning shaft.
  • a drive axle with rolling elements is arranged both on the feed module and on the turning module.
  • the at least one distance sensor is arranged on the feed module and / or on the turning module.
  • the steering device comprises an actuator, which is connected to the controller and can be controlled by the controller, preferably in the form of an actuating cylinder, the actuator connecting the feed module to the turning module, whereby the feed module and the turning module are relatively operated by actuating the actuator are pivotable to each other about the articulation axis.
  • the actuator can preferably be designed as an adjusting cylinder.
  • the actuating cylinder can be, for example, a hydraulic or pneumatic piston-cylinder unit or an electric cylinder in the form of a linear drive.
  • the steering device comprises an articulated motor arranged in or on the articulated joint, preferably in the form of a geared motor, the articulated motor being connected to the control in a signal-conducting manner and being controllable by the control.
  • the control can command the articulated motor to have a desired angular position from the feed module relative to the turning module and the articulated motor then performs the desired relative movement through a corresponding rotational movement of the articulated joint around the articulation axis.
  • the steering device can also be designed as a conventional swivel axle steering system or a stub axle steering system that is common in vehicles.
  • the drive device and / or the steering device can be activated by the controller, taking into account or depending on the sensor data of the at least one distance sensor.
  • the turning device comprises at least one additional sensor connected in a signal-conducting manner to the controller via an additional sensor line, the at least one additional sensor being an optical distance sensor, preferably a LIDAR sensor, with additional sensor data from the at least one additional sensor via the additional sensor line can be reported to the control.
  • the at least one additional sensor can be oriented in the direction of the floor and can be used to detect obstacles close to the floor and / or to detect the application of the material to be dried on the floor or to continuously detect the filling level of a drying room.
  • the at least one additional sensor can have an opening angle of approximately 90 ° to 150 °, preferably approximately 120 °.
  • the at least one additional sensor can be a horizontal sensor (opening angle, for example 120 °) with a vertical scattering angle (for example 15 °). If the at least one additional sensor is used to detect the application of the material to be dried on the floor or to continuously detect the filling level of a drying room, additional sensor data from the at least one additional sensor can be transmitted via the control of the turning device to a central control of a drying system connected to the control and passed on there be evaluated. In this way, for example, the filling levels on the floor of a drying room or a drying hall can be mapped. It can preferably be provided that an additional sensor is arranged in a front end region of the turning device and a further additional sensor is arranged in a rear end region of the turning device. In the case of a turning device comprising a feed module and a turning module, it can accordingly be provided that an additional sensor is arranged on the feed module and a further additional sensor is arranged on the turning module.
  • the additional sensor line can be a wired (e.g. via a cable or wire) or wireless connection (e.g. via WLAN or Bluetooth).
  • the additional sensor data can be transmitted in analog or digital form via the additional sensor line, preferably using known interfaces (e.g. RS-232 or Ethernet) and data transmission protocols (e.g. TCP / IP).
  • the movement device can be controlled by the controller, taking into account the additional sensor data.
  • the additional sensor data can be taken into account, for example, by modifying the trajectory of the turning device in such a way that the obstacle is bypassed when a predetermined or predeterminable distance value to an obstacle is not reached.
  • the turning device comprises at least one analysis sensor, preferably in the form of an NIR sensor, connected in a signal-conducting manner to the control via an analysis sensor line, with analysis sensor data from the at least one analysis sensor being able to be reported to the control via the analysis sensor line.
  • NIR is the common abbreviation for the term “near infrared”.
  • near infrared spectroscopy also known as NIR spectroscopy or NIRS for short
  • NIRS near infrared spectroscopy
  • Near-infrared spectroscopy is often used to determine moisture in products and to determine the composition of products.
  • an analysis sensor can be used to detect the moisture and / or the ingredients of the items to be dried.
  • analysis sensor data from the analysis sensor can be transmitted via the control of the turning device to a central control of a drying system connected to the control and further evaluated there. In this way, for example, the moisture values of the items to be dried can be mapped on the floor of a drying room.
  • the analysis sensor line can be a wired (e.g. via a cable or wire) or wireless connection (e.g. via WLAN or Bluetooth).
  • the analysis sensor data can be transmitted in analog or digital form via the analysis sensor line, preferably using known interfaces (e.g. RS-232 or Ethernet) and data transmission protocols (e.g. TCP / IP).
  • the movement device can be activated by the controller, taking into account the analysis sensor data.
  • the analysis sensor data can be taken into account, for example, in that the analysis sensor continuously (continuously or time-discrete) records moisture values of the items to be dried over which the turning device is moving and the control activates the movement device in such a way that the turning device moves within a range of the items to be dried, whose humidity exceeds a specified or specifiable value. This is particularly helpful when the material to be dried is processed in certain areas, because it enables more humid areas to be processed automatically and areas that are already drier to be avoided.
  • the proposed drying system comprises at least one drying room, preferably a drying hall, with a floor on which the material to be dried is to be applied or applied, at least one turning device of the type described above that can be moved in the at least one drying room, and a central control, the central control being via a control connection with the Control of the at least one turning device is connected in a signal-conducting manner, with movement data relating to movements of the at least one turning device being transmitted from the central control to the control of the at least one turning device via the control connection, the movement device of the at least one turning device correspondingly from the control of the at least one turning device the movement data can be controlled.
  • control of the at least one turning device can comprise a processing unit comprising a processor and a data memory.
  • the movement data transmitted by the central control can be stored in the data memory.
  • the processor can read out the movement data from the data memory and control the movement device of the at least one turning device in accordance with the movement data, whereby the turning device makes a movement in accordance with the movement data.
  • the movement data can, for example, position points or trajectories that are to be approached or followed by the at least one turning device, movement areas within which the at least one turning device is to move or that the at least one turning device is not to travel on, movement limits, which should not be exceeded by the at least one turning device, or movement patterns on the basis of which a movement of the at least one turning device should take place.
  • the control connection can be a wired (e.g. via a cable or wire) or wireless connection (e.g. via WLAN or Bluetooth).
  • data can be analog or digital, preferably using known interfaces (e.g. RS-232 or Ethernet) and
  • the central control can comprise one or more control devices.
  • the central control can comprise a stationary control device in a control room for the drying system and / or a mobile control device which can be operated by the operator from any location.
  • a mobile control device can in turn be wired or wirelessly connected to a stationary control device, and corresponding data or signals can be transmitted analog or digital between the control devices of the central controller.
  • a control device can comprise at least one processing unit, wherein a processing unit can comprise at least one processor and at least one data memory in a known manner.
  • a control device can have at least one display device (e.g.
  • signal lamps graphic displays, screens, touch screens, etc.
  • at least one input device e.g. buttons, switches, sliders or rotary controls, software buttons on a touch Screen, etc.
  • the at least one drying room can be designed as a solar dryer and can be equipped with a heating device and / or a ventilation device to support the drying, which is or are preferably controllable via the central control.
  • the at least one turning device can be supplied with energy via an energy cable that connects the at least one turning device to an energy source, preferably with a current tracking system in the form of a cable station that can be moved in the drying room, or via at least one energy store (e.g. in the form of Batteries or accumulators).
  • an energy cable that connects the at least one turning device to an energy source, preferably with a current tracking system in the form of a cable station that can be moved in the drying room, or via at least one energy store (e.g. in the form of Batteries or accumulators).
  • the sensor data of the at least one distance sensor of the at least one turning device can be transmitted to the central control via the control connection. Especially with If several turning devices are used, the sensor data from all turning devices can be collected centrally and processed further.
  • the movement device of the at least one turning device can be activated by the control of the at least one turning device, taking into account the sensor data.
  • a movement of the turning device can thus take place as a function of the movement data and the sensor data.
  • the control of the at least one turning device can be configured in such a way that it controls the movement device of the at least one turning device as a function of the sensor data.
  • the sensor data can be taken into account, for example, by modifying the trajectory of the at least one turning device in such a way that the trajectory of the at least one turning device is bypassed and then the planned position trajectory is recorded again when the distance to an obstacle falls below a specified or specifiable value. It can therefore be provided that a movement of the at least one turning device according to the
  • Movement data can be changed by the controller as a function of the sensor data of the at least one distance sensor.
  • the sensor data can also be taken into account in that, on the basis of the sensor data, the position of the at least one turning device relative to the floor or within the at least one drying room is determined continuously (continuously or discrete in time) and the at least one
  • the movement data contain, for example, a maintenance position point (e.g. a defined point at an entrance to a drying hall) so that the at least one turning device is triggered by a command (e.g. triggered by pressing a button on the central control and via the control connection the control of the at least one turning device is transmitted) automatically drives to this maintenance position point.
  • a maintenance position point e.g. a defined point at an entrance to a drying hall
  • a command e.g. triggered by pressing a button on the central control and via the control connection the control of the at least one turning device is transmitted
  • the at least one turning device can therefore be serviced there without having to enter the drying hall.
  • the at least one turning device can be received there and transported, for example, to a workshop.
  • the movement data can include a parking position point in order to automatically move the at least one turning device into a parking position before clearing the drying hall.
  • the movement data can, for example, also include at least one charging position point within the drying room, which indicates the position of a charging station for a turning device with an energy store. To charge the energy store, such a turning device can automatically drive to the charging station with battery operation. This function can be triggered automatically by a specific charge state of the energy store, for example if the energy store falls below a predetermined or specifiable state of charge.
  • control commands can also be transmitted to the control of the at least one turning device for remote control of the at least one turning device via the control connection.
  • the at least one turning device can be moved remotely via a stationary or mobile control device of the central control.
  • specific movement commands e.g. forward, backward, left, right, speed
  • trigger commands e.g. a command to trigger the automatic approach to a maintenance position point or a parking position point
  • activation commands e.g. a command to activate a turning shaft and / or a command for setting a rotation speed of a turning shaft
  • the sensor data can also be taken into account, for example, by transmitting the sensor data to the central controller and, depending on the sensor data, creating new or changed movement data for the at least one turning device and transmitting it to the controller of the at least one turning device.
  • the central control can continuously act remotely on the movement of the at least one turning device, depending on the sensor data.
  • a movement area can be transmitted as part of the movement data via the control line to the control of the at least one turning device, so that subsequently the at least one turning device only moves within the movement area.
  • at least one movement area can also be stored or can be stored in the central control which is not to be traveled over by the at least one turning device.
  • the at least one turning device By defining movement areas or zones, the at least one turning device allows freely selectable zones within the drying room to be approached and processed in a targeted manner.
  • the material to be dried for example in the form of sewage sludge or another sludge, is given up at certain locations or zones within the drying room and the sewage sludge is to be processed more frequently and thus also distributed at these locations or zones.
  • certain areas of movement or zones within the drying room can also be avoided in a targeted manner. This is particularly helpful when the drying room is loaded successively and zones that have not yet been loaded are to be avoided by the at least one turning device. These zones can thus be blocked by control technology ("virtual pen"). In the case of overhead loading, certain zones can also be avoided at certain times in order to avoid contamination of the at least one turning device by falling sludge. By avoiding certain zones, it is also possible to load a drying room gradually.
  • the multiple processing of certain zones can also be avoided by means of predefined or predeterminable movement areas or zones.
  • control technology of conventional turning devices which is based on a random principle, multiple passes over areas of the items to be dried cannot be avoided.
  • the at least one turning device can process the material to be dried in a targeted manner and in defined paths. In this way, the sludge structure can also be optimized.
  • sludge can be transported from specific zones to other zones in a targeted manner.
  • sludge from an entry zone can be brought into areas with less sludge cover. In the case of short distances, this can be done by distributing tools running in the same direction on one or more drive axle (s) and / or on one or more turning shaft (s) of the at least one turning device.
  • at least one sludge pick-up unit can be attached, e.g.
  • the at least one turning device at least one with the control of the at least comprises an additional sensor connected to conduct signals via an additional sensor line, the at least one additional sensor being an optical distance sensor, preferably a LIDAR sensor, wherein additional sensor data of the at least one additional sensor can be reported to the control of the at least one turning device via the additional sensor line, the additional sensor data being reported via the Control connection can be transmitted to the central control.
  • the movement device of the at least one turning device can be controlled by the control of the at least one turning device, taking into account the additional sensor data.
  • the additional sensor data can be taken into account, for example, by modifying the trajectory of the at least one turning device in such a way that the obstacle is bypassed when the distance to an obstacle falls below a specified or specifiable value.
  • the additional sensor data can also be taken into account, for example, by transmitting the additional sensor data to the central controller and, depending on the additional sensor data, creating new or changed movement data for the at least one turning device and transmitting it to the controller of the at least one turning device.
  • the central control can continuously act remotely on the movement of the at least one turning device, depending on the additional sensor data.
  • the at least one turning device comprises at least one analysis sensor, preferably in the form of an NIR sensor, connected to the control of the at least one turning device in a signal-conducting manner, with analysis sensor data from the at least one analysis sensor being transmitted via the control's analysis sensor line the at least one turning device can be reported, wherein the analysis sensor data can be transmitted to the central controller via the control connection.
  • the movement device of the at least one turning device can be controlled by the control of the at least one turning device, taking into account the analysis sensor data.
  • the analysis sensor data can be taken into account, for example, in that the analysis sensor continuously (continuously or time-discrete) records moisture values of the items to be dried, over which the at least one turning device moves, and the control the
  • Moving device controls such that the at least one
  • Turning device moves within an area of the item to be dried, the moisture of which exceeds a predetermined or predeterminable value. This is particularly helpful when the material to be dried is processed in certain areas, because it enables more humid areas to be processed automatically and areas that are already drier to be avoided.
  • the analysis sensor data can also be taken into account, for example, in that the analysis sensor data is transmitted to the central control and, depending on the analysis sensor data, the central control creates new or changed movement data for the at least one turning device and transmitting it to the control of the at least one turning device.
  • the central control can thereby continuously act remotely on the movement of the at least one turning device as a function of the analysis sensor data.
  • the at least one turning device approaches and drives over certain areas of the items to be dried several times and thus achieves a more intensive processing of a freshly introduced item to be dried and its distribution.
  • the fill level and / or moisture in different trap sectors of a drying room or in different drying rooms can be detected.
  • the determination of these measured values enables the optimal use of the drying system and the following calculations, for example, can be carried out in the central control:
  • the creation of a filling level or moisture mapping of the at least one drying room also enables the targeted processing of certain areas in order to optimize the uniformity of the drying. This also gives the possibility of optimizing the running / operating time of the at least one turning device and a reduction in energy consumption and wear can be achieved.
  • At least one reference point is arranged in the at least one drying room, with the at least one distance sensor of the at least one turning device being able to report sensor data relating to the at least one reference point to the control of the at least one turning device are, with the control of the at least one turning device in each case current position data of the at least one turning device in relation to the at least one drying room can be determined on the basis of the sensor data, the movement device of the at least one turning device being controlled by the at least one turning device as a function of the position data is controllable.
  • control of the at least one turning device can control the movement device of the at least one turning device depending on the movement data and the position data derived from the sensor data of the at least one turning device within the drying room (or relative to the floor of the drying room). For example, if the movement data has a planned position path for which comprise at least one turning device, the controller can control the movement device of the at least one turning device in such a way that the at least one turning device moves along the position path autonomously or autonomously.
  • the current position of the at least one turning device can thus be displayed on the central control, for example on a plan of the drying room on which a planned position path for the at least one turning device is also displayed.
  • the at least one reference point can be an object in the drying room (e.g. a hall column of a drying room in the form of a drying hall).
  • the at least one reference point can also be a reflector mark (e.g. in the form of a flat reflective film or a cylindrical reflector) arranged on an object in the drying room.
  • a plurality of turning devices are used in one or more drying rooms, preferably drying halls.
  • Large drying areas can be turned through a coordinated cooperation of several turning devices working in parallel.
  • the obstacle and / or position control of the turning devices can avoid collisions and concrete work during the construction of the drying rooms can be reduced to a minimum, since no partition walls have to be provided to delimit individual working areas of the turning devices.
  • the turning devices can also be moved easily and automatically from one drying hall to another drying hall. As a result, several drying halls can also be processed by a single turning device.
  • a movable Cable station be provided, which can be moved between the drying halls.
  • the provision of a movable cable station can be dispensed with.
  • movement data relating to movements of the at least one turning device are transmitted from the central control to the control of the at least one turning device, the movement device of the at least one turning device being controlled by the control of the at least one turning device in accordance with the movement data.
  • the sensor data of the at least one distance sensor of the at least one turning device are transmitted to the central control via the control connection;
  • the movement device of the at least one turning device is activated by the control of the at least one turning device, taking into account the sensor data;
  • the at least one turning device comprises at least one additional sensor connected to the control of the at least one turning device via an additional sensor line in a signal-conducting manner, the at least one additional sensor being an optical distance sensor, preferably a LIDAR sensor, additional sensor data from the at least one additional sensor via the additional sensor line of the control the at least one turning device are reported, the additional sensor data being transmitted via the control connection to the central control, wherein the movement device of the at least one turning device is preferably from the Control of the at least one turning device is activated taking into account the additional sensor data; and / or the at least one turning device comprises at least one analysis sensor, preferably in the form of an NIR sensor, connected to the control of the at least one turning device via an analysis sensor line, with analysis sensor data from the at least one analysis sensor being reported to the control of the at least one turning device via the analysis sensor line
  • the analysis sensor data are transmitted to the central control via the control connection, the movement device of the at least one turning device preferably being controlled by the control of the at least one turning device, taking into
  • At least one reference point is arranged in the at least one drying room, with the at least one distance sensor of the at least one turning device reporting sensor data relating to the at least one reference point to the control of the at least one turning device Control of the at least one turning device
  • Current position data of the at least one turning device in relation to the at least one drying room are determined on the basis of the sensor data, the movement device of the at least one turning device being controlled by the control of the at least one turning device as a function of the position data.
  • FIG. 2 shows an exemplary embodiment of a proposed turning device in a schematic representation
  • 3 shows a further exemplary embodiment of a proposed one
  • FIG. 5 shows a schematic block diagram of a control of a proposed turning device
  • FIGS. 12-17 show a further exemplary embodiment of a proposed one
  • FIG. 1 shows, in a schematic representation, an exemplary embodiment of a proposed drying system 25 with a drying room 26 in the form of a drying hall designed as a solar dryer. On a floor 27 of the drying hall, items to be dried 2 are arranged, which are turned by a turning device 1.
  • the turning device 1 comprises a vehicle body with two vehicle axles arranged thereon. One vehicle axle is formed by a drive axle 3 and the other vehicle axle is formed by a turning shaft 12. Two wheels 33 are arranged on each drive axle 3 and turning shaft 12.
  • the turning device 1 comprises a movement device 5 with a drive device 6, not shown here, for driving the at least one drive axle 3 and a steering device 7, also not shown here, for changing the direction of movement of the turning device 1.
  • the drive axis 3 is driven by the drive device 6 , whereby the wheels 33 arranged on the drive axle 3 are set in rotation so that the turning device 1 moves.
  • the movement device 5 is connected in a signal-conducting manner to a controller 8 of the turning device 1, so that movements of the turning device 1 can be triggered and controlled by the controller 8.
  • the turning device 1 also comprises a distributing device 4 for turning the material to be dried 2, the distributing device 4 comprising the turning shaft 12 with the distributing tool 13 arranged thereon.
  • the distribution tools 13 indicated here by dashed lines immerse themselves in the material to be dried 2 and turn it over when the turning shaft 12 rotates. Rotation of the turning shaft 12 can be brought about by rotating the turning shaft 12 via the wheels 33 arranged on it as the turning device 1 moves. However, it can also be provided that the turning shaft 12 is driven by its own drive, which is independent of the drive device 6, and is thereby rotated.
  • the turning device 1 is supplied with electrical energy via an energy supply 31.
  • the energy supply 31 comprises a power cable which connects the turning device 1 to a cable station 32 arranged on the roof of the drying hall.
  • the cable station 32 can be slidably attached to the hall roof, as a result of which the energy supply 31 can easily be tracked when the turning device 1 is moved.
  • the turning device 1 comprises a distance sensor 10 connected in a signal-conducting manner to the controller 8 via a sensor line 9, sensor data from the distance sensor 10 being able to be reported to the controller 8 via the sensor line 9.
  • the distance sensor 10 is an optical distance sensor in the form of a LIDAR sensor.
  • the distance sensor 10 can detect a distance D to a reference point 30 attached in the drying hall and the controller 8 Report. By detecting the distance to one or more reference points 30, the turning device 1 or its controller 8 can determine the position of the turning device 1 in the drying room 26.
  • the controller 8 of the turning device 1 is connected in a signal-conducting manner to a central controller 28 of the drying system 25 via a control connection 29.
  • desired movement data for example predetermined movement paths
  • the controller 8 can control the movement device 5 of the turning device 1 in such a way that the turning device 1 moves in accordance with the desired movement data.
  • the control connection 29 is designed in the form of a wireless connection.
  • the control connection 29 is in the form of a cable connection which runs together with the power supply 31 to the turning device 1.
  • the energy supply 31 can include the control connection 29, for example if the data to be transmitted via the control connection 29 are modulated onto the power supply, for example by means of the powerline technology known per se.
  • FIG. 2 shows a schematic representation of an exemplary embodiment of a proposed turning device 1.
  • the turning device 1 shown here comprises a feed module 16 and a turning module 17, the feed module 16 being articulated to the turning module 17 via an articulated joint 18 having an articulation axis K.
  • the movement device 5 of the turning device 1 comprises a drive device 6 and a steering device 7.
  • the drive device 6 comprises a drive motor 15 which drives a drive axle 3 in a manner known per se by means of a transmission device 34 (for example in the form of a belt drive), at each of its end regions a wheel 33 connected in a rotationally fixed manner to the drive axle 3 is arranged.
  • the drive axle 3 arranged on the feed module 16 thus represents a vehicle axle of the turning device 1.
  • the turning device 1 is provided with a distribution device 4 comprising a turning shaft 12 equipped with distribution tools 13 arranged thereon. At the end regions of the turning shaft 12 there is a wheel 33 which is rotatably mounted relative to the turning shaft 12.
  • the turning shaft 12 arranged on the turning module 17 thus represents a further vehicle axle of the turning device 1.
  • the turning shaft 12 can be driven independently of the drive axle 3 via a turning motor 14, again in a manner known per se by means of a transmission device 34 (for example in the form of a belt drive ).
  • a transmission device 34 for example in the form of a belt drive
  • the steering device 7 includes an articulated motor 20 arranged on the articulated joint 18 in the form of a geared motor, the articulated motor 20 being connected in a signal-conducting manner to the controller 8 via a steering control line 35 and being controllable by the controller 8.
  • the controller 8 can control the articulated motor 20 in such a way that a desired angular position of the articulated joint 18 is set and a corresponding steering movement of the turning device 1 is initiated.
  • a distance sensor 10 is arranged on the turning module 17 and is connected in a signal-conducting manner to the controller 8 via a sensor line 9.
  • FIG. 3 shows a schematic representation of a further exemplary embodiment of a proposed turning device 1.
  • the turning device 1 shown here has additional sensors.
  • An additional sensor 22 in the form of a LIDAR sensor is arranged on the feed module 16 and on the turning module 17.
  • the additional sensors 22 are each connected in a signal-conducting manner to the controller 8 via an additional sensor line 21, additional sensor data from the additional sensors 22 being able to be reported to the controller 8 via the respective additional sensor line 21.
  • the additional sensors 22 can, in particular, detect distances to obstacles close to the ground, and the movement device 5 can be activated by the controller 8, taking into account the additional sensor data.
  • the turning device 1 is controlled in such a way that it evades obstacles close to the ground.
  • the fill levels on the floor 27 of a drying room 26 can be detected by the additional sensors 22 and transmitted, for example, to a central control 28 for further use.
  • the turning device 1 also includes an analysis sensor 24 in the form of an NIR sensor, with analysis sensor data from the at least one analysis sensor 24 being able to be reported to the control 8 via an analysis sensor line 23 connected to the control 8 in a signal-conducting manner.
  • the moisture of drying material 2 can be detected by the analysis sensor 24 and the movement device 5 can be activated by the control 8 taking into account the analysis sensor data, so that, for example, the turning device 1 turns more humid areas of the drying material 2 more intensively.
  • the analysis sensor data can also be transmitted to a central controller 28 for further use.
  • FIG. 4 shows an exemplary embodiment of a drying system 25 in a top view.
  • the drying system 25 comprises a drying room 26 in the form of a drying hall with a floor 27 on which a material to be dried 2 (for example sewage sludge or another sludge) is applied.
  • a turning device 1 is movably arranged in the drying room 26. Reference points 30 in the form of reflector marks are attached to corners and side walls of the drying hall.
  • the drying system 25 comprises a central control 28, which is connected in a signal-conducting manner to a control 8 of the turning device 1 via a control connection 29.
  • the turning device 1 has a feed module 16 and a turning module 17, which are pivotably connected to one another via an articulated joint 18.
  • Vehicle axles which can be in the form of a drive axle 3 and a turning shaft 12 of the turning device 1 (cf. FIG. 2 or FIG. 3), are arranged on the feed module 16 and turning module 17.
  • the turning device 1 is equipped with a distance sensor 10 and with two additional sensors 22.
  • the distance sensor 10 offers a horizontal first opening angle W1 over 360 ° and the additional sensors 22 each offer a horizontal second opening angle W2 over approximately 120 °.
  • the additional sensors 22 are used to detect ground-level obstructions and the distance sensor 10 is used to detect the position of the turning device 1 in the drying room 26.
  • the distance sensor 10 determines distances D to the reference points 30 (for the sake of clarity, this is only for three of the six reference points 30 in this example shown in the figure), which are reported as sensor data to the controller 8.
  • the controller 8 can use this to refer to current position data of the turning device 1 in a manner known per se on the drying room 26. Via the control connection 29, movement data relating to movements of the turning device 1 can be transmitted from the central controller 28 to the controller 8 of the turning device 1, the movement device 5 of the turning device 1 being controlled by the controller 8 in accordance with the movement data and as a function of the position data.
  • desired movement paths or sequences for the turning device 1 can be configured at the central controller 28 and transmitted to the controller 8 via the control connection 29. By activating the movement device 5, the controller 8 then ensures that the turning device 1 moves in accordance with the configured movement paths or sequences.
  • FIG. 5 shows a schematic block diagram of a control 8 of a turning device 1, which is connected in a signal-conducting manner via a control connection 29 to a central control 28 of a drying system 25.
  • the controller 8 comprises a processing unit 40 which comprises a data memory 11 and a processor 41 which can read data from the data memory 11 and write it into the data memory 11 in the usual manner.
  • the processing unit 40 can be a programmable logic controller which can control devices connected to the controller 8 in a manner known per se via appropriate signal and / or control lines.
  • the controller 8 is connected to a distance sensor 10 via a sensor line 9, via a sensor line 21 to an additional sensor 22, via an analysis sensor line 23 to an analysis sensor 24, via a drive control line 36 to a drive motor 15 of a drive device 6, via a steering control line 35 connected to an articulated motor 20 of a steering device 7 and via a turning control line 37 to a turning motor 14 of a distribution device 4.
  • the central control 28 comprises a display device 38 and an input device 39.
  • a hall plan of a drying room 26 can be displayed on the display device 38.
  • movement data including movement areas and / or movement paths can be defined for the turning device 1 and displayed on the display device 38.
  • the in the central control 28 Defined movement data can be transmitted to the controller 8 via the control connection 29.
  • the controller 8 can store the transmitted movement data in the data memory 11 and the processor 41 can read out these movement data from the data memory 11 and carry out a corresponding control of the devices connected to the controller 8.
  • Figures 6a to 6d show examples of movement data in the form of movement paths B for a turning device 1.
  • the movement device 5 of the respective turning device 1 is controlled by the controller 8 of the respective turning device 1 in accordance with the movement data.
  • a meander-shaped movement path B is specified
  • a helical movement path B is specified.
  • the movement path B of FIG. 6c comprises forward and backward movements of the turning device 1 on essentially parallel track sections, with a steering movement of the turning device 1 being carried out at the end of a forward or backward movement so that the turning device 1 reaches the next track section.
  • the movement path B of Figure 6d also includes forward and backward movements of the turning device 1.
  • the movement data also include control data for the control of the distribution device 4 of the turning device 1, not shown here shown by a solid line from top to bottom) the distribution device 4 is activated (for example by a turning shaft 12 with attached distribution tools 13 being driven by a turning motor 14) and when the turning device 1 moves backwards (in the figure as a dotted line from the bottom to shown above) the distribution device 4 is deactivated (in that the turning motor does not drive the turning shaft 12 during this movement of the turning device 1).
  • a so-called continuous conveyance of an item to be dried 2 (for example in the form of a sludge) can take place from top to bottom.
  • Figures 7a and 7b show examples of evasive maneuvers of a turning device 1 on the basis of sensor data of a device not shown here Distance sensor 10 of turning device 1 and / or based on additional sensor data from an additional sensor 22 (not shown here).
  • this obstacle H can be detected and the movement device 5 of the turning device 1 can be controlled by the controller 8 on the basis of the planned movement path B and taking into account the sensor data, so that the turning device 1 avoids this obstacle H.
  • FIG. 7a shows examples of evasive maneuvers of a turning device 1 on the basis of sensor data of a device not shown here
  • Distance sensor 10 of turning device 1 there is an obstacle H in the form of a hall pillar on planned movement path B of turning device 1.
  • the movement device 5 of the turning device 1 can be controlled by the controller 8 on the basis of the planned movement path B and taking into account the sensor data, so that the turning device 1 avoids this obstacle H.
  • an obstacle H in the form of a pile of material is located on the floor 27 of a drying room 26, which the turning device 1 should not drive over.
  • this obstacle H can be detected and the movement device 5 of the turning device 1 can be controlled by the controller 8 on the basis of the planned movement path B and taking into account the sensor data, so that the turning device 1 does not have this obstacle H drives.
  • FIGS. 8a and 8b show examples of the use of movement data for a turning device 1, each of which includes a movement area Z1 that is to be traveled over or processed by the respective turning device 1.
  • a zone or a movement area Z1 is defined in an end area of a drying room 26, within which the turning device 1 is to move on the basis of a predetermined movement pattern (meander-shaped movement path B).
  • a zone or a movement area Z1 is defined in a central area of a drying room 26, within which the turning device 1 is to move on the basis of a predetermined movement pattern (meander-shaped movement path B).
  • FIG. 9 shows the example of processing a large area with several turning devices 1.
  • the drying room 26 shown here is divided into two zones or Divided movement areas Z1, Z2.
  • the movement data of the turning device 1 on the left in the illustration include the movement range Z1 and a predetermined meander-shaped movement path B for the movement of the turning device 1 within the movement area Z1 and the movement data of the turning device 1 on the right in the illustration include the movement area Z2 and a predetermined meander-shaped movement path B for the movement of the turning device 1 within the movement range Z2.
  • FIG. 10 shows a further exemplary embodiment of a proposed turning device 1 in a side view.
  • the turning device 1 comprises a drive axle 3 and a distribution device 4 with a turning shaft 12, the drive axle 3 and turning shaft 12 each being equipped with wheels 33 and forming vehicle axles of the turning device 1.
  • the turning device 1 comprises two vehicle modules in the form of a feed module 16 and a turning module 17.
  • Feed module 16 and turning module 17 are articulated to one another via an articulated joint 18 and, by means of a steering device 7 comprising an articulated motor 20 attached to the articulated joint 18 in the form of a geared motor, feed module 16 and Turning module 17 can be pivoted relative to one another about an articulation axis K of the articulation joint 18, whereby a steering movement of the turning device 1 can be carried out.
  • Distributing tools 13 are attached to the turning shaft 12 and the turning shaft 12 is connected to a turning motor 14 via a transmission device 34 (for example a belt drive) so that the turning motor 14 can drive the turning shaft 12.
  • the drive axle 3 is also connected by means of a transmission device 34 to a drive motor 15, which cannot be seen in this view, so that the drive motor 15 can drive the drive axle 3 and thus move the turning device 1.
  • the distribution device 4 of the turning device 1 comprises the turning shaft 12 with distributing tools 13 arranged thereon, the turning motor 14 and the transmission device 34 which connects the turning motor 14 to the turning shaft 12.
  • the drive device 6 of the turning device 1 comprises the drive motor 15 and the transmission device 34 connecting the drive motor 15 to the drive axle 3.
  • Turning motor 14 and drive motor 15 conduct signals connected to a controller 8 of the turning device 1 and controllable by this.
  • the turning device 1 shown here is equipped with a distance sensor 10, two additional sensors 22 and an analysis sensor 24.
  • the distance sensor 10 is used for obstacle detection and position detection of the turning device 1 and is an optical distance sensor in the form of a LIDAR sensor with a horizontal first opening angle W1 of about 360 ° and a range of about 300 m in diameter.
  • the distance sensor 10 can in particular be used to detect the absolute position of the turning device 1 within a drying hall as a drying room 26 with at least one orientation point (fixed point) as a reference point 30.
  • a reflector can be installed inside the drying hall as a fixed point.
  • the additional sensors 22 arranged in the area of the vehicle ends of the turning device 1 on the feed module 16 and turning module 17 are used to detect obstacles close to the ground and to detect the filling level of a drying room 26 and are also optical distance sensors in the form of LIDAR sensors.
  • the additional sensors 22 each have a horizontal second opening angle W2 of approximately 120 ° and a vertical scattering angle or vertical opening angle W3 of approximately 35 °.
  • the additional sensors 22 can detect possible obstacles such as hall walls and pillars, accumulations, etc. At the same time, these sensors can be used to map the filling levels on the drying surface or on the floor 27 of the drying room 26.
  • the analysis sensor 24 is an N IR sensor and is used to detect moisture in drying items 2. Distance sensor 10, the two additional sensors 22 and the analysis sensor 24 are connected to the controller 8 via corresponding signal lines, so that sensor data from these sensors are sent to the controller 8 for further use can be transmitted.
  • the controller 8 can be a controller connected to a central controller 28 via a control connection 29 in a signal-conducting manner, comprising a PLC with at least one CPU or at least one processor 41.
  • This enables movement data to be sent to the turning device 1, for example in the form of desired positions or coordinates of the turning device 1. This makes it possible to follow controlled paths that can be specified or taught in as required.
  • the signals from the LIDAR sensors are used to detect obstacles and maneuver close to the wall and used to avoid obstacles.
  • the LIDAR sensors can record the surroundings and the absolute position of the turning device 1 as RAW scan data. These data can be reported back to the central controller 28 via the controller and the control connection 29 and incorporated into the command sequence for the turning device 1. By detecting the exact position and the detection of obstacles, an empty drying hall can also be measured by the turning device 1 and fixed obstacles can be added to the hall map.
  • FIG. 11 shows a further exemplary embodiment of a turning device 1 in a top view.
  • the turning device 1 shown here is equipped with a distance sensor 10 and two additional sensors 22.
  • the opening angles of the sensors are shown, namely the horizontal first opening angle W1 of the distance sensor 10 and the horizontal second opening angle W2 of the additional sensors 22.
  • FIG. 12 shows a perspective view of the turning device 1 at an angle from above
  • FIG. 13 shows a perspective view of the turning device 1 at an angle from below
  • FIG. 14 shows a top view of the turning device 1
  • FIG. 15 shows the turning device 1 in a view from below
  • 16 shows a side view of the turning device 1
  • FIG. 17 shows a sectional view through the turning device 1 according to section line AA in FIG. 16.
  • the turning device 1 is basically constructed in the same way and has the same equipment as the turning device 1 according to FIG However, the two additional sensors 22, the analysis sensor 24 and the controller 8 (as well as all control and signal lines to the motors and sensors) cannot be seen in the illustrations, since these components are built into the turning device 1.
  • An energy supply 31 for the turning device 1 and / or a control connection 29 from a central control 28 of a drying system 25 to the turning device 1 can be connected to the turning device 1 via a connection device 42. Starting from the connection device 42, further Energy supply, control and signal lines can be routed to the corresponding components of the turning device 1.
  • FIG. 18 shows a further embodiment of a turning device 1 in a side view and FIG. 19 shows a top view of this turning device 1.
  • the turning device 1 shown here corresponds to the turning device 1 according to FIGS. 12 to 17, but is equipped with a differently designed steering device 7.
  • the steering device 7 comprises an actuator 19 in the form of an adjusting cylinder, which is connected in a signal-conducting manner to the controller 8 and can be controlled by the controller 8, the actuator 19 connecting the feed module 16 to the turning module 17, with the feed module being actuated by the actuator 19 16 and the turning module 17 can be pivoted relative to one another about the articulation axis K.

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Abstract

L'invention se rapporte à un dispositif de retournement (1) pour retourner un matériau à sécher (2), en particulier des boues, le dispositif comprenant : au moins un essieu moteur (3) pour transporter le dispositif de retournement (1) ; au moins un dispositif de distribution (4) pour retourner le matériau à sécher (2) ; un dispositif de déplacement (5) comprenant un dispositif d'entraînement (6) pour entraîner ledit essieu moteur (3) et un dispositif de direction (7) pour changer la direction de déplacement du dispositif de retournement (1) ; et un dispositif de commande (8) qui est connecté par conduction de signal au dispositif de déplacement (5) et qui est destiné à commander le dispositif de déplacement (5), le dispositif de retournement (1) comprenant au moins un capteur de distance (10) qui est connecté par conduction de signal au dispositif de commande (8) par l'intermédiaire d'une ligne de détection (9), des données de capteur provenant dudit capteur de distance (10) pouvant être signalées au dispositif de commande (8) par l'intermédiaire de la ligne de détection (9).
PCT/EP2020/084325 2019-12-06 2020-12-02 Dispositif de retournement pour retourner un matériau à sécher WO2021110774A1 (fr)

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WO2023122853A1 (fr) * 2021-12-27 2023-07-06 无锡市东舟船舶设备股份有限公司 Appareil de séchage pour adhésif en verre destiné à sceller des fenêtres spécialisées de navire de grandes dimensions

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FR2857086A1 (fr) * 2003-07-02 2005-01-07 Otv Sa Dispositif de traitement d'un dechet humide
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US5712782A (en) * 1995-04-15 1998-01-27 Claas Kgaa Method of optimizing utilization of a group of agricultural machine
DE29723757U1 (de) * 1997-05-26 1999-05-12 Bux, Markus, Dr., 70599 Stuttgart Wendevorrichtung für Schlämme und Dispersionen und Solartrockner mit Wendevorrichtung
EP0899529A2 (fr) 1997-08-25 1999-03-03 Tilo Dr. Conrad Dispositif de retournement de boues et de dispersions, et sécheur solaire avec dispositif de retournement
FR2857086A1 (fr) * 2003-07-02 2005-01-07 Otv Sa Dispositif de traitement d'un dechet humide
US20100299016A1 (en) * 2007-06-21 2010-11-25 Robert Bosch Gmbh Activation system for a robotic vehicle
EP2197171A2 (fr) * 2008-12-10 2010-06-16 CLAAS Selbstfahrende Erntemaschinen GmbH Procédé d'assistance de l'automatisation de services agricoles
JP2011062115A (ja) * 2009-09-16 2011-03-31 Iseki & Co Ltd 作業車両
CN104129895A (zh) * 2014-05-12 2014-11-05 上海大学 一种用于污泥自动处理的移动机器人系统
CN104529130A (zh) * 2014-12-31 2015-04-22 北京沃特林克环境工程有限公司 太阳能污泥干化装置

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Publication number Priority date Publication date Assignee Title
CN114234576A (zh) * 2021-12-20 2022-03-25 瑞昌市久兴农业科技有限公司 一种鸡饲料加工用高效烘干设备

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