Method and system for cleaning dumped garbage in dump pit

Abstract

The invention discloses a method and system for cleaning dumped garbage in a dump pit, and the method comprises the steps: obtaining video data of a visual monitoring module for scanning an area behind a discharge door after the discharge door completes each time of discharge, generating a garbage accumulation three-dimensional model based on the video data, judging whether a residual garbage area exceeds a cleaning standard area or not, and if yes, judging whether the residual garbage area exceeds the cleaning standard area; and the compaction area and the dead angle area are recognized, if the garbage compaction degree is larger than the preset compaction degree, the auxiliary disturbance module is driven to loosen garbage in the compaction area, the lifting grabbing module is driven to grab the garbage from the compaction area and the dead angle area and transfer the garbage to a feeding port of the incinerator, and the current discharging task is completed till the residual garbage area reaches the standard. Therefore, the auxiliary disturbance module is used for loosening the garbage compaction area, the cleaning difficulty of compacted and caked garbage is reduced, then the opening and closing cutting edge of the angle-adjustable double-petal grab bucket of the lifting grabbing module is used for cutting in, the grabbing difficulty of garbage in the dead angle area is improved, and therefore the cleaning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of waste treatment equipment technology, and more specifically, to a method and system for cleaning waste unloading from a waste pit. Background Technology

[0002] Waste-to-energy incineration is a core method for the harmless, reduced-volume, and resource-based treatment of municipal solid waste in my country. The waste pit, as a key area for waste storage, fermentation, and dehydration, connects to transport vehicles via multiple hydraulically driven unloading gates. A waste grab crane then grabs the waste and transfers it to the incinerator's feed inlet. Currently, the mainstream industry method relies on conventional double-clutch grab cranes, requiring manual operation for waste handling.

[0003] Due to the limitations of the structure of the garbage pit and the performance of the equipment, the area behind the unloading door is a dead corner due to the obstruction of the door frame and the pit wall. The arm length and angle adjustment range of conventional grab buckets cannot cover this area. In addition, the squeezing when the unloading door is closed will cause the garbage to be compacted and clump together, making it difficult for the blade of conventional grab buckets to cut in, resulting in a low success rate of grabbing and low cleaning efficiency.

[0004] Therefore, how to improve the efficiency of cleaning up the garbage behind the unloading gate of the garbage pit is an issue that needs attention. Summary of the Invention

[0005] In view of the above problems, this application provides a method and system for cleaning up waste unloading from a waste pit, so as to improve the efficiency of cleaning up waste behind the unloading gate of the waste pit.

[0006] To achieve the above objectives, the following specific solutions are proposed:

[0007] A method for cleaning waste unloading from a waste pit is applied to the control module of a waste cleaning system for waste unloading from a waste pit. The cleaning system also includes a waste pit, a discharge gate, a lifting and grabbing module, an auxiliary disturbance module, a visual monitoring module, and an incinerator feed inlet.

[0008] The method includes:

[0009] After each unloading is completed at the unloading gate, the visual monitoring module acquires the visual data of the area behind the unloading gate, and generates a three-dimensional model of the waste accumulation based on the visual data.

[0010] Determine whether the area of ​​residual waste in the three-dimensional model of the waste accumulation exceeds the cleanup target area;

[0011] If so, then identify the compacted waste area and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation;

[0012] If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, then the auxiliary disturbance module is driven to loosen the waste in the compacted waste area;

[0013] The lifting and grabbing module is driven to grab garbage from the garbage compaction area and the garbage accumulation dead corner, and transport it to the incinerator feed inlet. Then, the process returns to the step of obtaining the visual data scanned by the visual monitoring module of the area behind the unloading gate.

[0014] If not, then complete the current unloading task.

[0015] Optionally, the method further includes:

[0016] A cleaning path is generated based on the compacted waste area and the dead corners where waste accumulates.

[0017] Driving the lifting and grabbing module to grab waste from the waste compaction area and the waste accumulation dead corners, and transferring it to the incinerator feed inlet, includes:

[0018] The lifting and grabbing module is driven to move to the waste compaction area according to the cleaning path, grab the waste, and transfer it to the incinerator feed inlet;

[0019] The lifting and grabbing module is driven to move to the dead corner of the garbage accumulation according to the cleaning path, grab the garbage, and transfer it to the feed inlet of the incinerator.

[0020] Optionally, the auxiliary disturbance module includes a hydraulic stirring paddle, a high-pressure water gun, and a mounting bracket;

[0021] The mounting bracket is fixed to the top edge component of the garbage pit, the hydraulic agitator is rigidly connected to the mounting bracket through a rotating bushing and a fixed seat, and the high-pressure water gun is connected to the rotating shaft.

[0022] Optionally, driving the auxiliary disturbance module to loosen the waste in the compacted waste area includes:

[0023] The hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

[0024] Optionally, the lifting and grabbing module includes a crane and a grabbing module, wherein the grabbing module includes an adjustable angle double-lobed grab bucket, a 360° rotating joint, a ±45° angle adjusting cylinder, a two-stage telescopic boom, and a hydraulic drive unit;

[0025] The adjustable angle double-lobed grab has staggered toothed blades for opening and closing. The 360° rotating joint is coaxial with the ±45° angle adjusting cylinder and is installed between the adjustable angle double-lobed grab and the secondary telescopic arm. The front end of the secondary telescopic arm is connected to the 360° rotating joint, and the rear end of the secondary telescopic arm is connected to the hydraulic drive unit.

[0026] Optionally, driving the lifting and grabbing module to grab garbage from the garbage compaction area and the garbage accumulation dead corner includes:

[0027] Drive the lifting and grabbing module to move to the waste compaction area and the waste accumulation dead corner;

[0028] In the compacted waste area and the dead corners of the waste accumulation, the crane is driven to descend to the height of the waste surface, and the opening and closing blades of the adjustable angle double-lobed grab bucket are driven to cut into the waste and then close to grab it.

[0029] Optionally, the surface of the opening and closing cutting edge is coated with a polytetrafluoroethylene anti-stick coating, the cutting teeth of the opening and closing cutting edge are hydraulic crushing teeth, and the visual monitoring module includes an equipment health monitoring submodule, which is used to monitor the wear of the opening and closing cutting edge.

[0030] Optionally, the inner side of the unloading gate faces the inlet of the incinerator, the lifting and grabbing module is mounted on the top edge of the waste pit, the auxiliary disturbance module is located on the side of the waste pit and fixed to the top edge component railing of the waste pit, and the visual monitoring module is fixed to the top edge component railing.

[0031] Optionally, the cleaning system also includes multiple other garbage pits, each of which is equipped with the visual monitoring module;

[0032] The method also includes:

[0033] Acquire the visual data of each of the aforementioned visual monitoring modules;

[0034] The garbage pit to be cleaned is determined based on the video data provided.

[0035] If there are at least two garbage pits to be cleaned, a cross-pit cleaning path is generated by using a cross-pit scheduling algorithm to clean the various garbage pits to be cleaned.

[0036] Based on the cross-pit cleaning path, the auxiliary disturbance module and the lifting and grabbing module are driven to clean the garbage in each of the garbage pits to be cleaned.

[0037] A waste disposal system for a landfill includes a landfill pit, a discharge gate, a lifting and grabbing module, an auxiliary disturbance module, a visual monitoring module, an incinerator feed inlet, and a control module.

[0038] The control module is used for:

[0039] After each unloading is completed at the unloading gate, the visual monitoring module acquires the visual data of the area behind the unloading gate, and generates a three-dimensional model of the waste accumulation based on the visual data.

[0040] Determine whether the area of ​​residual waste in the three-dimensional model of the waste accumulation exceeds the cleanup target area;

[0041] If so, then identify the compacted waste area and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation;

[0042] If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, then the auxiliary disturbance module is driven to loosen the waste in the compacted waste area;

[0043] The lifting and grabbing module is driven to grab garbage from the garbage compaction area and the garbage accumulation dead corner, and transport it to the incinerator feed inlet. Then, the process returns to the step of obtaining the visual data scanned by the visual monitoring module of the area behind the unloading gate.

[0044] If not, then complete the current unloading task.

[0045] Optionally, the control module is further configured to:

[0046] A cleaning path is generated based on the compacted waste area and the dead corners where waste accumulates.

[0047] The lifting and grabbing module is driven to move to the waste compaction area according to the cleaning path, grab the waste, and transfer it to the incinerator feed inlet;

[0048] The lifting and grabbing module is driven to move to the dead corner of the garbage accumulation according to the cleaning path, grab the garbage, and transfer it to the feed inlet of the incinerator.

[0049] Optionally, the hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

[0050] Optionally, the control module is further configured to:

[0051] The hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

[0052] Optionally, the lifting and grabbing module includes a crane and a grabbing module, wherein the grabbing module includes an adjustable angle double-lobed grab bucket, a 360° rotating joint, a ±45° angle adjusting cylinder, a two-stage telescopic boom, and a hydraulic drive unit;

[0053] The adjustable angle double-lobed grab has staggered toothed blades for opening and closing. The 360° rotating joint is coaxial with the ±45° angle adjusting cylinder and is installed between the adjustable angle double-lobed grab and the secondary telescopic arm. The front end of the secondary telescopic arm is connected to the 360° rotating joint, and the rear end of the secondary telescopic arm is connected to the hydraulic drive unit.

[0054] Optionally, the control module is further configured to:

[0055] Drive the lifting and grabbing module to move to the waste compaction area and the waste accumulation dead corner;

[0056] In the compacted waste area and the dead corners of the waste accumulation, the crane is driven to descend to the height of the waste surface, and the opening and closing blades of the adjustable angle double-lobed grab bucket are driven to cut into the waste and then close to grab it.

[0057] Optionally, the surface of the opening and closing cutting edge is coated with a polytetrafluoroethylene anti-stick coating, the cutting teeth of the opening and closing cutting edge are hydraulic crushing teeth, and the visual monitoring module includes an equipment health monitoring submodule, which is used to monitor the wear of the opening and closing cutting edge.

[0058] Optionally, the inner side of the unloading gate faces the inlet of the incinerator, the lifting and grabbing module is mounted on the top edge of the waste pit, the auxiliary disturbance module is located on the side of the waste pit and fixed to the top edge component railing of the waste pit, and the visual monitoring module is fixed to the top edge component railing.

[0059] Optionally, the cleaning system also includes multiple other garbage pits, each of which is equipped with the visual monitoring module;

[0060] The control module is also used for:

[0061] Acquire the visual data of each of the aforementioned visual monitoring modules;

[0062] The garbage pit to be cleaned is determined based on the video data provided.

[0063] If there are at least two garbage pits to be cleaned, a cross-pit cleaning path is generated by using a cross-pit scheduling algorithm to clean the various garbage pits to be cleaned.

[0064] Based on the cross-pit cleaning path, the auxiliary disturbance module and the lifting and grabbing module are driven to clean the garbage in each of the garbage pits to be cleaned.

[0065] Using the above technical solution, this application acquires visual data of the area behind the unloading gate scanned by a visual monitoring module after each unloading at the unloading gate. Based on the visual data, a three-dimensional model of the waste accumulation is generated. It then determines whether the area of ​​the residual waste area in the three-dimensional model exceeds the cleanup target area. If so, it identifies the compacted waste area and the waste accumulation dead corners in the three-dimensional model. If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, it drives the auxiliary disturbance module to loosen the waste in the compacted waste area and drives the lifting and grabbing module to grab the waste from the compacted waste area and the waste accumulation dead corners, and transfer it to the incinerator feed inlet until the residual waste area reaches the target area, thus completing the current unloading task. Therefore, by using the auxiliary disturbance module to loosen the compacted waste area, the difficulty of cleaning compacted and clump-like waste is reduced. Furthermore, by utilizing the adjustable angle double-lobed grab of the lifting and grabbing module to cut into the dead corner area, the difficulty of grabbing waste is increased, thereby improving cleaning efficiency. Attached Figure Description

[0066] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0067] Figure 1 A top view of a system structure for cleaning up and unloading waste from a landfill pit, provided in an embodiment of this application;

[0068] Figure 2 A schematic diagram illustrating a process for the control module provided in this application to unload waste from a landfill.

[0069] Figure 3 A schematic diagram of the auxiliary disturbance module structure of a waste disposal and cleaning system for waste pits provided in this application embodiment;

[0070] Figure 4 This is a schematic diagram of the gripping module structure of a garbage pit unloading and cleaning system provided in an embodiment of this application. Detailed Implementation

[0071] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0072] Figure 1This is a top view of an optional system structure for cleaning and unloading waste from a landfill pit, as provided in an embodiment of this application. Figure 1 As shown, the system structure may include: a waste pit 1, a discharge gate 2, a lifting and grabbing module 3, an auxiliary disturbance module 4, a visual monitoring module 5, and an incinerator feed inlet 6.

[0073] Specifically, the waste pit 1 can be used for temporary waste storage, and the waste in the waste pit 1 will be sent to the incinerator feed inlet 6. The inner side of the unloading gate 2 (one side inside the waste pit 1) faces the incinerator feed inlet 6, facilitating the straight-line transport of unloaded waste into the incinerator feed inlet 6 after unloading through the unloading gate 2. The lifting and grabbing module 3 is mounted on the top edge of the waste pit 1 and can move in three dimensions within the waste pit 1. The lifting and grabbing module 3 is used to grab the waste in the waste pit 1. The auxiliary disturbance module 4 is located on the side of the waste pit 1, with auxiliary disturbance modules 4 provided on both the left and right sides of the waste pit 1. The auxiliary disturbance module 4 can be fixed to the top edge component railing of the waste pit 1. The auxiliary disturbance module 4 is used to break up stubborn waste in the waste pit 1 to reduce the difficulty of waste cleaning. The top edge component railing covers half of the top circumference of the waste pit 1 and contains multiple fixing components for fixing the equipment. The visual monitoring module 5 is also fixed to the top edge component bar. The visual monitoring module 5 can be equipped with a 3D camera, which can scan the area behind the unloading gate to obtain visual data of the area behind the unloading gate.

[0074] In addition, the cleaning system may also include a control module. The lifting and grabbing module 3, the auxiliary disturbance module 4, and the visual monitoring module 5 are all communicatively connected to the control module. The core component of the control module can be a PLC controller (such as a Siemens S7-1500), equipped with a human-machine interface. The human-machine interface can display the real-time cleaning progress, as well as the equipment data and monitoring data of the lifting and grabbing module 3, the auxiliary disturbance module 4, and the visual monitoring module 5.

[0075] based on Figure 1 The system architecture shown is as follows: Figure 2 This illustration shows a flowchart of a method for cleaning waste unloading from a landfill, implemented by a control module according to an embodiment of this application. (Refer to...) Figure 2 The process may include:

[0076] Step S110: After each unloading at the unloading gate 2, obtain the visual data of the area behind the unloading gate 2 scanned by the visual monitoring module 5, and generate a three-dimensional model of the waste accumulation based on the visual data.

[0077] Specifically, just before the unloading gate 2 completes a single waste dumping and is about to close, the control module can trigger the visual monitoring module 5 to start operation. More specifically, 2-3 3D industrial cameras (e.g., resolution 2048×1536, frame rate 30fps) arranged at 3m intervals along the unloading gate direction at the top of the waste pit 1 are simultaneously activated to perform a comprehensive scan of the area behind the unloading gate, collecting real-time three-dimensional point cloud data of the waste surface; the collected data is processed by the AI ​​image analysis unit, combining point cloud grayscale values ​​and texture features to accurately reconstruct the spatial morphology, height distribution, and boundary range of the waste accumulation, ultimately generating a complete three-dimensional model of the waste accumulation.

[0078] Understandably, quantifying the state of waste accumulation through 3D visual scanning and 3D modeling can accurately cover corners and blind spots that are difficult to reach with conventional grabs, avoiding missed cleaning due to visual blind spots. The data contained in the model, such as the accumulation height and distribution range, provide a reliable basis for subsequent disturbance operations and grab trajectory planning, avoiding blind disturbances and ineffective grabbing, and reducing the frequency of equipment start-up and shutdown and energy consumption.

[0079] Step S120: Determine whether the area of ​​the residual garbage region in the three-dimensional model of the garbage accumulation exceeds the cleanup target area. If yes, proceed to step S130; otherwise, proceed to step S160.

[0080] Specifically, after receiving the 3D model of the garbage accumulation output by the AI ​​analysis unit, the PLC controller of the control module can start the area calculation program: using point cloud data segmentation algorithms to remove non-garbage areas such as the pit bottom and door frame, it accurately extracts the 3D outline of the remaining garbage and projects it onto a horizontal reference plane to convert it into 2D area data. Simultaneously, it calls the system's preset cleanup threshold area (e.g., uncleaned area < 0.1m). 2 The system uses numerical comparison to determine whether the total area of ​​the current residual waste area exceeds the threshold.

[0081] Understandably, the cleaned-up area represents the threshold at which the remaining garbage in garbage pit 1 needs to be cleaned further. If the area of ​​the remaining garbage is larger than the cleaned-up area, it means that there is too much garbage remaining in garbage pit 1 and further cleaning is needed to make room. If the area of ​​the remaining garbage is smaller than the cleaned-up area, it means that garbage pit 1 is relatively clean and no further cleaning is needed.

[0082] Step S130: Identify the compacted waste areas and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation.

[0083] Understandably, when the area of ​​residual waste in the 3D model of the waste accumulation exceeds the area required for cleaning, it indicates that there is too much residual waste in waste pit 1. In this case, priority should be given to cleaning compacted areas that are difficult to clean using conventional methods, as well as waste accumulation dead spots that are difficult to reach during conventional cleaning. By further cleaning the compacted areas and waste accumulation dead spots, most of the residual waste in waste pit 1 can be removed.

[0084] Specifically, the AI ​​image analysis unit of the control module initiates a dual-target recognition process based on the generated 3D model of the waste accumulation. First, for the compacted waste area, the built-in waste density recognition algorithm extracts the grayscale values ​​and texture features of the point cloud of each area in the model. Waste with high compaction degree has denser particles and smaller gaps, resulting in more concentrated grayscale values ​​and more regular textures in the corresponding point cloud. The algorithm calculates the actual compaction degree of each area by comparing these features with a preset database, and accurately marks areas with a compaction degree ≥0.8g / cm³ as high-priority compaction areas. Furthermore, for dead corners of garbage accumulation, the pre-set structural parameters of the garbage pit (such as the location of the pit wall and the size of the unloading gate frame) and the spatial contour after the gate is closed can be combined. Through spatial collision detection algorithms, areas in the 3D model that are obscured by the pit wall and the gate frame and cannot be covered by the conventional grab bucket arm length and angle can be screened out. The corner areas of the vertical pit wall and horizontal ground within 0.3-1.8m behind the unloading gate are marked. At the same time, invalid areas in the model with flat pit bottoms and no garbage accumulation are removed. Finally, a visual marking result is formed that includes the location, range, compaction degree level of the compacted area and the boundary and spatial coordinates of the dead corner area.

[0085] Step S140: If the compaction degree of the garbage in the compaction area is greater than the preset compaction degree, then drive the auxiliary disturbance module 4 to loosen the garbage in the compaction area.

[0086] The preset compaction degree can be measured by density indicators (such as 0.8 g / cm³), which reflects the difficulty of cleaning stubborn sediment.

[0087] Understandably, for hard, compacted waste with a compaction degree greater than the preset compaction degree, the auxiliary disturbance module 4 loosens and breaks up the waste in the compacted area to reduce the compaction degree, reduce the difficulty of the grab bucket's cutting edge, increase the success rate of the grab bucket's cutting edge, reduce the number of grab attempts, and improve cleaning efficiency. In addition, the disturbance can be performed on demand rather than throughout the entire area, which can reduce the ineffective operation of the auxiliary module, reduce energy consumption and equipment wear, and at the same time, the loosened waste has increased fluidity, making it easier for the grab bucket to accurately grab and transport the waste, reducing the amount of waste remaining in the pit and secondary scattering.

[0088] Step S150: Drive the lifting and grabbing module 3 to grab the garbage from the garbage compaction area and the dead corner of the garbage accumulation, and transfer it to the incinerator feed port 6, then return to execute step S110.

[0089] Specifically, after the auxiliary disturbance module 4 loosens the garbage, the lifting and grabbing module 3 can more easily grab the garbage, achieving the effect of compacting and cleaning it. In the dead corners of garbage accumulation, the lifting and grabbing module 3 can adjust the angle of the grab bucket so that the grab bucket can reach the dead corners of garbage accumulation, further improving the garbage cleaning efficiency.

[0090] Step S160: Complete the current unloading task.

[0091] Understandably, when the area of ​​residual waste in the 3D model of the waste pile does not exceed the area that meets the cleaning standard, it means that the waste pit 1 is relatively clean or has been cleaned to a relatively clean level. Therefore, no further cleaning is required, and the current unloading task of waste pit 1 is completed.

[0092] The waste cleaning method for unloading waste from a waste pit provided in this embodiment involves acquiring visual data of the area behind the unloading gate after each unloading operation via a visual monitoring module. A three-dimensional model of the waste accumulation is generated based on this data. The method then determines whether the area of ​​residual waste in the three-dimensional model exceeds the cleanup target area. If so, it identifies the compacted waste areas and dead corners of the waste accumulation. If the compaction degree of the compacted waste areas is greater than a preset degree, an auxiliary disturbance module is activated to loosen the waste in the compacted areas. A lifting and grabbing module then grabs the waste from the compacted areas and dead corners and transports it to the incinerator feed inlet. This process continues until the residual waste area reaches the target area, completing the current unloading task. Therefore, by using the auxiliary disturbance module to loosen the compacted waste areas, the difficulty of cleaning compacted and clump-like waste is reduced. Furthermore, the adjustable-angle double-lobed grabber of the lifting and grabbing module cuts into the dead corner areas, increasing the difficulty of grabbing waste and thus improving cleaning efficiency.

[0093] In some embodiments of this application, considering safety during the waste disposal process and further improving waste disposal efficiency, the control module may apply a path planning algorithm to calculate the optimal path during the waste disposal process. This scheme may specifically include:

[0094] Cleaning paths are generated based on the compacted areas and dead corners where garbage accumulates.

[0095] Specifically, the PLC controller receives the precise coordinates and boundary data of the compacted waste areas and dead corners marked in the 3D model of the waste pile. Simultaneously, it calls the hardware constraint parameters of the lifting and grabbing module and the baseline data of the waste pit structure, and initiates the RRT* path planning algorithm. The algorithm first prioritizes the work according to the compaction degree from high to low and the dead corner areas from inside to outside. For each target area, it plans a complete trajectory of descent → cutting in → grabbing → lifting → transfer. The path design can control the extension range of the telescopic arm and the tilt angle of the grab bucket. It avoids contact with the door and pit walls through spatial collision detection, while optimizing trajectory continuity to ensure seamless connection between grabbing paths in adjacent areas, reducing unnecessary equipment movement distance. Finally, it generates the optimal cleaning path, including the 3D coordinates of each work point, grab bucket action parameters, and movement speed thresholds. This path is simultaneously uploaded to the human-machine interface for real-time monitoring, and a manual fine-tuning interface is reserved to ensure that the path both meets the equipment's operating limits and achieves efficient, accurate, and collision-free continuous cleaning operations.

[0096] Based on this, the process of driving the lifting and grabbing module 3 mentioned in the aforementioned embodiments to grab garbage from the garbage compaction area and garbage accumulation dead corners and transfer it to the incinerator feed inlet 6 can include two situations:

[0097] The first method involves driving the lifting and grabbing module 3 to move along the cleaning path to the garbage compaction area to grab the garbage and transfer it to the incinerator feed inlet 6.

[0098] The second method involves driving the lifting and grabbing module 3 to move to the dead corner of the garbage accumulation according to the cleaning path, grab the garbage, and transfer it to the incinerator feed inlet 6.

[0099] In some embodiments of this application, the auxiliary disturbance module 4 mentioned in the foregoing embodiments is further described, such as... Figure 3 As shown, the auxiliary disturbance module 4 may include a hydraulic stirring paddle 42, a high-pressure water gun 43, and a mounting bracket 41.

[0100] Specifically, the mounting bracket 41 can be fixed to the top edge component railing of the garbage pit 1. The hydraulic agitator 42 is rigidly connected to the mounting bracket 41 via a rotating bushing and a fixed seat. The high-pressure water gun 43 can be connected to the rotating shaft.

[0101] The hydraulic agitator 42 has a blade diameter of 600mm and a rotation speed of 0-30r / min. It is activated before the unloading gate closes to loosen the accumulated garbage behind it and break up the clumps. The high-pressure water gun 43, which is connected in parallel with the hydraulic agitator 42, has a working pressure range of 10-15Mpa and an adjustable spray angle. It can create loose gaps through the impact of high-pressure water flow to assist the grab bucket blades in insertion.

[0102] Based on this, the process of driving the auxiliary disturbance module 4 to compact the loose garbage in the area mentioned in the foregoing embodiments may include:

[0103] The hydraulic mixing paddle 42 is driven to rotate and shear the garbage in the compacted area, and the high-pressure water gun 43 is driven to spray high-pressure water into the garbage in the compacted area.

[0104] Understandably, the shearing force of the blades can directly break up the hardened clumps formed by compacted waste, shearing large, dense pieces into smaller ones and disrupting the overall compacted structure, thus creating the necessary conditions for the grab bucket to cut in. Simultaneously, the high-pressure water jets, operating at 10-15 MPa and a precise 30° angle, spray water into the compacted area. This high-pressure water penetrates the gaps in the waste after being sheared by the agitator blades, further loosening the internal adhesions and simultaneously flushing away stubborn deposits on the surface, preventing clumping. The combined effect of these two processes significantly reduces the compaction of the waste, greatly decreasing the cutting resistance of the grab bucket's staggered toothed blades and significantly improving the success rate of entry.

[0105] In some embodiments of this application, the lifting and gripping module 3 mentioned in the above embodiments is further described. The lifting and gripping module 3 may include a crane and a gripping module. (See reference...) Figure 4 The specific structure of the gripping module may include an adjustable angle double-lobed gripper 311, a 360° rotating joint 312, a ±45° angle adjusting cylinder 313, a two-stage telescopic arm 314, and a hydraulic drive unit 315.

[0106] The adjustable-angle double-lobed grab 311 features staggered toothed cutting edges 3111 (tooth spacing of 80mm, tooth tip hardness of HRC 55-60). A 360° rotating joint 312 is coaxial with a ±45° angle adjusting cylinder 313 (which can hydraulically adjust the tilt angle) and is installed between the adjustable-angle double-lobed grab 311 and the secondary telescopic arm 314. The front end of the secondary telescopic arm 314 is connected to the 360° rotating joint 312. The rear end of the secondary telescopic arm 314 is connected to the hydraulic drive unit 315. The secondary telescopic arm 314 can adopt a two-stage telescopic structure, with a maximum extension length 2.5-3m longer than a conventional grab, covering a 0.3-1.8m blind spot area behind the unloading gate 2.

[0107] Based on this, the process of driving the lifting and grabbing module 3 to grab garbage from the garbage compaction area and the dead corner of garbage accumulation mentioned in the above embodiments may include:

[0108] S1, drive the lifting and grabbing module 3 to move to the garbage compaction area and the dead corner of garbage accumulation.

[0109] S2. In the compacted waste area and the dead corners of waste accumulation, drive the crane to descend to the height of the waste surface, drive the adjustable angle double-lobed grab bucket 311 to open and close the blades to cut into the waste and then grab it.

[0110] Specifically, based on the preset cleaning path and the 3D model data of the garbage accumulation, the PLC controller precisely drives the grab crane to move along the track at the top of the garbage pit to above the target working area. Simultaneously, it controls the extension of the secondary telescopic arm 314 to the appropriate length. The adjustable angle double-lobed grab bucket 311 is adjusted to the optimal working posture by the ±45° angle adjustment cylinder 313. Then, the crane is driven to slowly descend, and combined with the real-time feedback of the garbage surface height data from the vision monitoring module 5, it is precisely stopped at a distance of 10-20cm from the garbage surface. Then, the grab bucket is controlled to move down at a steady speed, so that the staggered toothed opening and closing blades 3111 with HRC55-60 hardness and 80mm tooth spacing can cut into the loose garbage. The blades enhance the gripping stability through tooth interlocking. After the blades are fully embedded into the garbage to the preset depth, the hydraulic drive unit 315 is activated to control the grab bucket to close. The closing force is dynamically adjusted according to the garbage compaction to ensure that the garbage is clamped tightly without being crushed and scattered, thus completing the gripping action.

[0111] Understandably, precise attitude adjustment, depth control, and adaptive gripping significantly improve cleaning coverage and eliminate the risk of waste accumulation. The adaptive design of staggered toothed blades and dynamic closing force, combined with pre-treatment disturbance, improves the success rate of grab bucket entry. Precise descent and entry control based on visual feedback avoids collisions between the grab bucket and pit walls or doors, reducing equipment wear and tear.

[0112] Furthermore, considering that there may be a high proportion (≥40%) of kitchen waste in the garbage pit 1, a polytetrafluoroethylene anti-stick coating can be sprayed on the surface of the opening and closing blade to prevent kitchen waste from sticking together and causing a decrease in the amount of food to be grabbed, thereby further improving the grabbing efficiency.

[0113] Furthermore, the blades of the opening and closing blades can be hydraulic crushing teeth, with a maximum biting force of 50kN, which can simultaneously crush and grab large pieces of waste without the need for additional crushing equipment.

[0114] Furthermore, the visual monitoring module 5 may include an equipment health monitoring submodule. This submodule can monitor the wear of the opening and closing cutting edges. Simultaneously, it can also monitor the vibration frequency of the telescopic boom, automatically generating maintenance suggestions such as "cutting edge replacement reminder" and "hydraulic oil replacement cycle," thereby reducing equipment downtime.

[0115] In the following embodiments, a garbage disposal solution for the garbage disposal system mentioned in the foregoing embodiments when there are multiple garbage pits will be described.

[0116] Specifically, each waste pit is equipped with a visual monitoring module to transmit visual data of the area behind the corresponding waste pit after each unloading at the unloading gate 2.

[0117] Furthermore, the garbage pits to be cleaned can be determined based on the data from each video recording.

[0118] Specifically, the determination of whether a garbage pit corresponding to the video data is a garbage pit to be cleaned can be based on whether the area of ​​the residual garbage area identified from the video data exceeds the cleanup target area.

[0119] When the number of garbage pits to be cleaned is ≥2, a cross-pit scheduling algorithm can be used to generate a cross-pit cleaning path to clean between the various garbage pits to be cleaned. Based on this cross-pit cleaning path, the auxiliary disturbance module and the lifting and grabbing module are driven to clean the garbage in each garbage pit to be cleaned.

[0120] Specifically, it can drive one auxiliary disturbance module and one lifting and grabbing module to achieve the rotational cleaning of multiple garbage pits to be cleaned, without the need for additional equipment, thereby improving equipment utilization.

[0121] The following describes the system for cleaning up waste unloading from a landfill pit, as provided in the embodiments of this application. The system described below can be referred to in correspondence with the method described above for cleaning up waste unloading from a landfill pit.

[0122] The cleaning system may include: a waste pit, a discharge gate, a lifting and grabbing module, an auxiliary disturbance module, a visual monitoring module, an incinerator feed inlet, and a control module.

[0123] The control module is used for:

[0124] After each unloading is completed at the unloading gate, the visual monitoring module acquires the visual data of the area behind the unloading gate, and generates a three-dimensional model of the waste accumulation based on the visual data.

[0125] Determine whether the area of ​​residual waste in the three-dimensional model of the waste accumulation exceeds the cleanup target area;

[0126] If so, then identify the compacted waste area and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation;

[0127] If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, then the auxiliary disturbance module is driven to loosen the waste in the compacted waste area;

[0128] The lifting and grabbing module is driven to grab garbage from the garbage compaction area and the garbage accumulation dead corner, and transport it to the incinerator feed inlet. Then, the process returns to the step of obtaining the visual data scanned by the visual monitoring module of the area behind the unloading gate.

[0129] If not, then complete the current unloading task.

[0130] Optionally, the control module is further configured to:

[0131] A cleaning path is generated based on the compacted waste area and the dead corners where waste accumulates.

[0132] The lifting and grabbing module is driven to move to the waste compaction area according to the cleaning path, grab the waste, and transfer it to the incinerator feed inlet;

[0133] The lifting and grabbing module is driven to move to the dead corner of the garbage accumulation according to the cleaning path, grab the garbage, and transfer it to the feed inlet of the incinerator.

[0134] Optionally, the hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

[0135] Optionally, the control module is further configured to:

[0136] The hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

[0137] Optionally, the lifting and grabbing module includes a crane and a grabbing module, wherein the grabbing module includes an adjustable angle double-lobed grab bucket, a 360° rotating joint, a ±45° angle adjusting cylinder, a two-stage telescopic boom, and a hydraulic drive unit;

[0138] The adjustable angle double-lobed grab has staggered toothed blades for opening and closing. The 360° rotating joint is coaxial with the ±45° angle adjusting cylinder and is installed between the adjustable angle double-lobed grab and the secondary telescopic arm. The front end of the secondary telescopic arm is connected to the 360° rotating joint, and the rear end of the secondary telescopic arm is connected to the hydraulic drive unit.

[0139] Optionally, the control module is further configured to:

[0140] Drive the lifting and grabbing module to move to the waste compaction area and the waste accumulation dead corner;

[0141] In the compacted waste area and the dead corners of the waste accumulation, the crane is driven to descend to the height of the waste surface, and the opening and closing blades of the adjustable angle double-lobed grab bucket are driven to cut into the waste and then close to grab it.

[0142] Optionally, the surface of the opening and closing cutting edge is coated with a polytetrafluoroethylene anti-stick coating, the cutting teeth of the opening and closing cutting edge are hydraulic crushing teeth, and the visual monitoring module includes an equipment health monitoring submodule, which is used to monitor the wear of the opening and closing cutting edge.

[0143] Optionally, the inner side of the unloading gate faces the inlet of the incinerator, the lifting and grabbing module is mounted on the top edge of the waste pit, the auxiliary disturbance module is located on the side of the waste pit and fixed to the top edge component railing of the waste pit, and the visual monitoring module is fixed to the top edge component railing.

[0144] Optionally, the cleaning system also includes multiple other garbage pits, each of which is equipped with the visual monitoring module;

[0145] The control module is also used for:

[0146] Acquire the visual data of each of the aforementioned visual monitoring modules;

[0147] The garbage pit to be cleaned is determined based on the video data provided.

[0148] If there are at least two garbage pits to be cleaned, a cross-pit cleaning path is generated by using a cross-pit scheduling algorithm to clean the various garbage pits to be cleaned.

[0149] Based on the cross-pit cleaning path, the auxiliary disturbance module and the lifting and grabbing module are driven to clean the garbage in each of the garbage pits to be cleaned.

[0150] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0151] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0152] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for cleaning up waste unloaded from a landfill, characterized in that, A control module for a waste cleaning system applied to waste unloading from a landfill, the cleaning system also including a landfill, a discharge gate, a lifting and grabbing module, an auxiliary disturbance module, a visual monitoring module, and an incinerator feed inlet; The method includes: After each unloading is completed at the unloading gate, the visual monitoring module acquires the visual data of the area behind the unloading gate, and generates a three-dimensional model of the waste accumulation based on the visual data. Determine whether the area of ​​residual waste in the three-dimensional model of the waste accumulation exceeds the cleanup target area; If so, then identify the compacted waste area and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation; If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, then the auxiliary disturbance module is driven to loosen the waste in the compacted waste area; The lifting and grabbing module is driven to grab garbage from the garbage compaction area and the garbage accumulation dead corner, and transport it to the incinerator feed inlet. Then, the process returns to the step of obtaining the visual data scanned by the visual monitoring module of the area behind the unloading gate. If not, then complete the current unloading task.

2. The method according to claim 1, characterized in that, Also includes: A cleaning path is generated based on the compacted waste area and the dead corners where waste accumulates. Driving the lifting and grabbing module to grab waste from the waste compaction area and the waste accumulation dead corners, and transferring it to the incinerator feed inlet, includes: The lifting and grabbing module is driven to move to the waste compaction area according to the cleaning path, grab the waste, and transfer it to the incinerator feed inlet; The lifting and grabbing module is driven to move to the dead corner of the garbage accumulation according to the cleaning path, grab the garbage, and transfer it to the feed inlet of the incinerator.

3. The method according to claim 1, characterized in that, The auxiliary disturbance module includes a hydraulic stirring paddle, a high-pressure water gun, and a mounting bracket. The mounting bracket is fixed to the top edge component of the garbage pit, the hydraulic agitator is rigidly connected to the mounting bracket through a rotating bushing and a fixed seat, and the high-pressure water gun is connected to the rotating shaft.

4. The method according to claim 3, characterized in that, The auxiliary disturbance module is used to loosen the waste in the compacted waste area, including: The hydraulic agitator is driven to rotate and shear the waste in the compacted waste area, and the high-pressure water gun is driven to spray high-pressure water jets into the waste in the compacted waste area.

5. The method according to claim 1, characterized in that, The lifting and grabbing module includes a crane and a grabbing module. The grabbing module includes an adjustable angle double-lobed grab bucket, a 360° rotating joint, a ±45° angle adjusting cylinder, a two-stage telescopic boom, and a hydraulic drive unit. The adjustable angle double-lobed grab has staggered toothed blades for opening and closing. The 360° rotating joint is coaxial with the ±45° angle adjusting cylinder and is installed between the adjustable angle double-lobed grab and the secondary telescopic arm. The front end of the secondary telescopic arm is connected to the 360° rotating joint, and the rear end of the secondary telescopic arm is connected to the hydraulic drive unit.

6. The method according to claim 5, characterized in that, Driving the lifting and grabbing module to grab garbage from the compacted garbage area and the dead corners of garbage accumulation includes: Drive the lifting and grabbing module to move to the waste compaction area and the waste accumulation dead corner; In the compacted waste area and the dead corners of the waste accumulation, the crane is driven to descend to the height of the waste surface, and the opening and closing blades of the adjustable angle double-lobed grab bucket are driven to cut into the waste and then close to grab it.

7. The method according to claim 5, characterized in that, The surface of the opening and closing cutting edge is coated with a polytetrafluoroethylene anti-stick coating. The cutting teeth of the opening and closing cutting edge are hydraulic crushing teeth. The visual monitoring module includes an equipment health monitoring submodule, which is used to monitor the wear of the opening and closing cutting edge.

8. The method according to claim 1, characterized in that, The inner side of the unloading gate faces the inlet of the incinerator. The lifting and grabbing module is mounted on the top edge of the waste pit. The auxiliary disturbance module is located on the side of the waste pit and fixed to the top edge component railing of the waste pit. The visual monitoring module is fixed to the top edge component railing.

9. The method according to any one of claims 1-8, characterized in that, The cleaning system also includes multiple other garbage pits, each of which is equipped with the visual monitoring module; The method also includes: Acquire the visual data of each of the aforementioned visual monitoring modules; The garbage pit to be cleaned is determined based on the video data provided. If there are at least two garbage pits to be cleaned, a cross-pit cleaning path is generated by using a cross-pit scheduling algorithm to clean the various garbage pits to be cleaned. Based on the cross-pit cleaning path, the auxiliary disturbance module and the lifting and grabbing module are driven to clean the garbage in each of the garbage pits to be cleaned.

10. A system for cleaning waste unloading from a landfill, characterized in that, It includes a waste pit, unloading gate, lifting and grabbing module, auxiliary disturbance module, visual monitoring module, incinerator feed inlet and control module; The control module is used for: After each unloading is completed at the unloading gate, the visual monitoring module acquires the visual data of the area behind the unloading gate, and generates a three-dimensional model of the waste accumulation based on the visual data. Determine whether the area of ​​residual waste in the three-dimensional model of the waste accumulation exceeds the cleanup target area; If so, then identify the compacted waste area and dead corners of the waste accumulation in the three-dimensional model of the waste accumulation; If the compaction degree of the waste in the compacted waste area is greater than the preset compaction degree, then the auxiliary disturbance module is driven to loosen the waste in the compacted waste area; The lifting and grabbing module is driven to grab garbage from the garbage compaction area and the garbage accumulation dead corner, and transport it to the incinerator feed inlet. Then, the process returns to the step of obtaining the visual data scanned by the visual monitoring module of the area behind the unloading gate. If not, then complete the current unloading task.

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