Method, system, device and medium for automatic intelligent landfill of hazardous waste rigid library

Abstract

The application provides a hazardous waste rigid warehouse automatic intelligent landfill method, system, device and medium, the method comprises the following steps: obtaining a ton bag to be filled; wherein the ton bag is filled with waste; reading the identification information on the ton bag to obtain the landfill area of the ton bag; wherein the identification information represents waste information; scanning the volume of the ton bag; finding a landfill unit matching the volume of the ton bag from the landfill area; transporting the ton bag to the landfill unit to perform the landfill operation. By collecting the size information of the ton bag and the pit bottom filling condition, the ton bag placement position with the most efficient use of the reservoir capacity is calculated through an algorithm, and the corresponding coordinates are fed back to the traveling crane control system for accurate landfill.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of waste landfill, in particular to a method, system, device and medium for automatic intelligent landfill of rigid hazardous waste library. BACKGROUND

[0002] With the development of industry, the amount of hazardous waste (hereinafter referred to as "hazardous waste") discharged in the industrial production process is increasing. The sources of hazardous waste are distributed in various industries, and there are many types. If not properly disposed of, it will damage the ecological environment and affect human health.

[0003] Hazardous waste safe landfill is a hazardous waste disposal method, which refers to the final disposal technology of hazardous waste after solidification treatment in a safe landfill site. At present, there are two forms of flexible and rigid in the hazardous waste safe landfill site. Among them, the rigid landfill site refers to the landfill disposal facility using reinforced concrete as the anti-seepage barrier, which is composed of several independent and symmetrical landfill units, and is more suitable for hazardous waste safe landfill. In the existing rigid landfill site, when filling hazardous waste, manual operation of the corresponding equipment is usually required, which not only reduces the filling efficiency, but also endangers the personal safety of the operators. Therefore, it is necessary to provide a method, system, device and medium for automatic intelligent landfill of rigid hazardous waste library. SUMMARY

[0004] In view of the above shortcomings of the prior art, the purpose of the present application is to provide a method, system, device and medium for automatic intelligent landfill of rigid hazardous waste library to improve the problem of low efficiency in filling waste materials by using manual operation of equipment in the prior art.

[0005] To achieve the above and other related purposes, the present application provides a method for automatic intelligent landfill of rigid hazardous waste library, comprising the following processes:

[0006] Obtain a ton bag to be filled; wherein the ton bag is filled with waste materials;

[0007] Read the identification information on the ton bag to obtain the filling area of the ton bag; wherein the identification information represents waste information;

[0008] Scan the volume of the ton bag, and find a filling unit matching the volume of the ton bag from the filling area;

[0009] Transport the ton bag to the filling unit for filling operation.

[0010] In an embodiment of the present application, before obtaining the filling area of the ton bag, it further comprises: identifying the filling library to which the filling area belongs according to the identification information; wherein the filling library comprises a first layer filling library and a second layer filling library.

[0011] In an embodiment of the present application, when the landfill area is in a layer of landfill warehouse, the ton bag is transported by a trolley, and after the landfill area of the ton bag is obtained, the method further comprises: judging whether the trolley needs to be switched to a track on the side of the landfill unit based on the current parking position of the trolley, and switching the trolley to the track on the side of the landfill unit in an empty state when the trolley needs to be switched to the track.

[0012] In an embodiment of the present application, before the trolley is switched to the track on the side of the landfill unit in the empty state, the method further comprises:

[0013] judging whether the trolley runs to a preset position of the current track;

[0014] if the trolley runs to the preset position of the current track, starting a locking device to block the trolley from retreating along the current track;

[0015] if the trolley does not run to the preset position of the current track, the locking device is not started.

[0016] In an embodiment of the present application, when the landfill area is in a layer of landfill warehouse, after the landfill area of the ton bag is obtained, the method further comprises: lifting the ton bag to the second layer of the landfill warehouse.

[0017] In an embodiment of the present application, the ton bag is transported to the landfill unit, comprising:

[0018] transporting the ton bag to above the landfill unit, and measuring a relative position of the ton bag to the landfill unit based on information of the landfill unit by a laser ranging method;

[0019] judging whether the relative position meets a preset ton bag parking range;

[0020] if the relative position meets the ton bag parking range, automatically parking the ton bag in the landfill unit;

[0021] if the relative position does not meet the ton bag parking range, correcting a parking position of the ton bag based on the ton bag parking range, and automatically parking the ton bag in the landfill unit according to the corrected parking position.

[0022] In an embodiment of the present application, after the ton bag is transported to the landfill unit for landfill operation, the method further comprises:

[0023] scanning the landfill unit based on the laser ranging method, stitching position data of the landfill unit to generate a three-dimensional point cloud image of the landfill unit;

[0024] The three-dimensional point cloud image is transmitted to a database to update information of the landfill unit.

[0025] In an embodiment of the present application, a system for automatic intelligent landfill of hazardous waste rigid warehouse is also provided, and the system comprises:

[0026] An information acquisition module is configured to acquire a ton bag to be filled with waste.

[0027] A landfill area acquisition module is configured to read identification information on the ton bag to acquire a landfill area of the ton bag, wherein the identification information represents the attribute of the waste.

[0028] A landfill unit acquisition module is configured to scan the volume of the ton bag and find a landfill unit matching the volume of the ton bag from the landfill area.

[0029] A landfill module is configured to transport the ton bag to the landfill unit to perform a landfill operation.

[0030] In an embodiment of the present application, an apparatus for automatic intelligent landfill of hazardous waste rigid warehouse is also provided, and the apparatus comprises a processor coupled with a memory, wherein the memory stores program instructions, and the program instructions stored in the memory are executed by the processor to implement the method described in any of the above embodiments.

[0031] In an embodiment of the present application, a computer readable storage medium is also provided, and the medium comprises a program, wherein the program is executed on a computer to implement the method described in any of the above embodiments.

[0032] In summary, in the present application, when landfill is performed, a ton bag filled with waste is first acquired, and a landfill area to which the ton bag belongs is obtained according to identification information on the ton bag. Then, a landfill unit matching the volume of the ton bag to be filled in the current landfill area is found from a database by scanning the volume of the ton bag, and the ton bag is transported to the landfill unit to perform a landfill operation. The problem of low efficiency in the prior art when landfill is performed by using manual operation of equipment is solved. By collecting size information of the ton bag and landfill conditions of the pit bottom, the ton bag placement position with the most efficient utilization of the capacity is calculated by an algorithm, and the corresponding coordinates are fed back to a travelling control system to perform accurate landfill. The ton bag filled with waste and the landfill conditions of the pit bottom are scanned, and the intelligent travelling control system is used to perform accurate positioning, so that automatic accurate landfill and effective utilization of the capacity are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only aim to some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0034] Figure 1 A flowchart of a method for automatic intelligent landfill of hazardous waste rigid warehouse is shown in an embodiment of the present application.

[0035] Figure 2 A structural diagram of an automatic unhooking structure is shown in an embodiment of the present application.

[0036] Figure 3 A structural diagram of an intelligent driving double hook is shown in an embodiment of the present application.

[0037] Figure 4 A principle structural diagram of a system for automatic intelligent landfill of hazardous waste rigid warehouse is shown in an embodiment of the present application.

[0038] Element number explanation:

[0039] 1, three-dimensional imaging measurement laser radar; 2, servo motor; 100, automatic intelligent landfill system of hazardous waste rigid warehouse; 110, information acquisition module; 120, landfill area acquisition module; 130, landfill unit acquisition module; 140, landfill module. DETAILED DESCRIPTION

[0040] The embodiments of the present application will be described in detail through specific, concrete examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied through other different specific embodiments, and each detail in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present application are used to describe specific specific embodiments, but not to limit the protection scope of the present application. The test methods in the following embodiments are not specified, and are usually performed according to conventional conditions or according to the conditions recommended by each manufacturer.

[0041] Please refer to Figures 1 to 4It is to be understood that the structures, proportions, sizes, etc. shown in the drawings of the present disclosure are merely intended to facilitate the understanding of the present disclosure, and are not intended to limit the scope of the present disclosure. Any modification, change or adjustment of the structures, proportions or sizes, which do not affect the effects and purposes of the present disclosure, shall still fall within the scope of the present disclosure. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" in the present disclosure are merely for the convenience of understanding, and are not intended to limit the scope of the present disclosure. Any change or adjustment of the relative relationship, without substantially changing the technical content, shall also be considered as the scope of the present disclosure.

[0042] When the embodiments give numerical ranges, it should be understood that, unless otherwise stated by the present disclosure, each numerical range of two endpoints and any numerical value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present disclosure can be used with any method, equipment and material of the prior art similar or equivalent to the method, equipment and material described in the embodiments of the present disclosure to realize the present disclosure, which is mastered by the skilled in the art of the present technology and the description of the present disclosure.

[0043] Please refer to Figure 1 , Figure 1 The flowchart shows the method of automatic intelligent landfill of hazardous waste rigid warehouse in an embodiment of the present disclosure. The present disclosure provides a method for automatic intelligent landfill of hazardous waste rigid warehouse. During landfill, a ton bag filled with waste is first obtained, and the landfill area to which the ton bag belongs is obtained according to the identification information on the ton bag. Then, by scanning the volume of the ton bag, the landfill unit in the landfill area that matches the volume of the current ton bag to be filled is found from the database, and the ton bag is transported to the landfill unit for landfill operation. The problem of low efficiency in the prior art when landfilling waste by using manual operation equipment is solved. By collecting the size information of the ton bag and the landfill condition of the pit bottom, the ton bag placement position with the most efficient use of the capacity is calculated by an algorithm, and the corresponding coordinates are fed back to the crane control system for accurate landfill. The ton bag loaded with waste and the landfill condition of the pit bottom are scanned, and the intelligent crane control system is used for accurate positioning to realize automatic accurate landfill and effective use of the capacity. In addition, laser radar three-dimensional point cloud image recognition is used to accurately detect the length, width and height parameters of the ton bag and the landfill unit, to realize accurate volume and capacity recognition. By measuring the distance of the longitudinal and transverse operation platforms, accurate vector information is obtained to accurately determine the travel distance of the crane. Using laser active three-dimensional imaging detection, which is not affected by light conditions and target color / gray scale, and through an adaptive matched filter algorithm, which is not limited by external weather conditions, the weather condition adaptability is improved.

[0044] First of all, it needs to be pointed out that the hazardous waste rigid library automation wisdom landfill method of the present application is used for single-layer, double-layer or multi-layer rigid landfill library. First of all, the structure of the double-layer rigid landfill library is simply introduced. For the double-layer rigid landfill library, from bottom to top, it includes a layer of landfill library and a layer of landfill library, that is, the first layer of landfill library is located below the second layer of landfill library. For different landfill libraries, according to different operation areas, the corresponding feeding process is also different. For the first layer of landfill library, it is designed as automatic intelligent landfill operation, and for the second layer of landfill library, it is designed as manual assisted automatic landfill operation. Assist the operation and management system of the rigid landfill site, so as to realize the information management of the rigid landfill site. Among them, the rigid landfill site operation and management system contains landfill site operation equipment, personnel, capacity and operation management, safety monitoring and early warning, data transmission and recording, operation analysis and statistics. The system has an open API interface and can be connected with the existing full-site management system to realize the information management of the rigid landfill site. Of course, for multi-layer rigid landfill library, the uppermost layer of the landfill method is similar to the second layer of landfill library, and the remaining layers are similar to the first layer of landfill library, which will not be described in detail. Further, three feeding areas are respectively arranged on the east, west and north sides of the first layer of landfill library. After the ton bag is transported to the feeding area, according to the corresponding landfill unit, it is judged whether the ton bag needs to be lifted to the second layer of landfill library, or directly transported to the specified landfill unit of the first layer of landfill library through the crane in the feeding area. Among them, each layer of landfill library is composed of multiple landfill units, and a plurality of landfill units are arranged in parallel to form a row, and a plurality of rows of landfill units form a landfill library.

[0045] Please refer to Figure 1 In an embodiment of the present application, an automatic landfill method is provided, comprising the following processes:

[0046] S10, obtaining a ton bag to be filled; wherein the ton bag is filled with waste.

[0047] When waste needs to be filled in landfill, it is necessary to determine whether the waste is suitable for entering the rigid landfill site. The composition of the waste can be determined by testing, and the suitability of the waste for landfill can be determined according to the composition of the waste. If the waste can be filled, the waste is loaded into a ton bag. It should be noted that the ton bag described in the subsequent application is a ton bag that has been filled with waste. The ton bag is a square body, which can better reduce the volume and hold more waste. In each layer of the landfill library, different landfill areas are divided according to different waste. Since a large amount of waste to be filled is stored in the factory area, by comparing the composition of the waste and the composition of the waste in each landfill area, the real-time information of the waste stored in the factory area can be obtained. The rigid landfill site operation management system can obtain the landfill area corresponding to the waste to be filled, and generate a landfill operation plan according to the landfill area. The contents of the landfill operation plan include but are not limited to operation time, landfill area, ton bag travel route and waste information in the ton bag, etc., wherein the travel route refers to the route of the ton bag from the current position to the landfill area.

[0048] S20, read the identification information on the ton bag to obtain the landfill area of the ton bag; wherein the identification information represents waste information.

[0049] The ton bag has identification information representing the waste information in the ton bag, and the specific form of the identification information includes but is not limited to a two-dimensional code and a bar code. The identification information also contains the landfill operation plan of the current ton bag. By reading the identification information, the landfill operation plan can be obtained to know the landfill area that needs to be transported by the ton bag. Further, in an embodiment of the present application, before obtaining the landfill area of the ton bag in step S20, it further includes: identifying the landfill library to which the landfill area belongs according to the identification information; wherein the landfill library includes a first layer of landfill library and a second layer of landfill library. Since the landfill library has two layers, the landfill library to which the ton bag belongs can be obtained by reading the identification information, so as to subsequently transport the ton bag to the specified landfill unit.

[0050] In an embodiment of the present application, when the landfill area is in a layer of landfill warehouse, the ton bag is transported by the intelligent trolley, and after the landfill area of the ton bag is obtained, the method further comprises: judging whether the intelligent trolley needs to be switched to the track on the side of the landfill unit based on the current parking position of the intelligent trolley, and switching the intelligent trolley to the track on the side of the landfill unit in an empty state when the intelligent trolley needs to be switched to the track on the side of the landfill unit. When the landfill area is in a layer of landfill warehouse, the ton bag is transported to the landfill unit along the set track by the intelligent trolley. In order to prevent the intelligent trolley from being damaged due to switching tracks with materials, it is necessary to judge in advance whether the intelligent trolley needs to be switched to the track. Specifically, a loading area is arranged in the layer of landfill warehouse, and whether the intelligent trolley and the landfill unit are located on the same longitudinal track is judged according to the longitudinal track above the landfill unit and the current position of the intelligent trolley. If yes, the intelligent trolley does not need to be switched to the track, and only needs to be transported to the loading area on the same row as the landfill unit. If the intelligent trolley and the landfill unit are located on different longitudinal tracks, in order to avoid damage to the intelligent trolley, the intelligent trolley needs to be switched to the longitudinal track on which the landfill unit is located in an empty state, and then the ton bag is transported to the position of the loading area corresponding to the longitudinal track on which the intelligent trolley is switched. In this way, the intelligent trolley can directly transport the ton bag to the landfill unit without switching tracks. Further, considering that the intelligent trolley may have an incorrect travel route, the identification information on the ton bag can be read again at the loading area, and it is judged whether the ton bag is the landfill material planned at present. If not, the operator is prompted to start the intelligent trolley again so that the intelligent trolley automatically travels to the preset position.

[0051] In an embodiment of the present application, before the intelligent trolley is switched to the track on the side of the landfill unit in an empty state, the method further comprises:

[0052] judging whether the intelligent trolley travels to the preset position of the current track;

[0053] if the intelligent trolley travels to the preset position of the current track, the locking device is started to block the intelligent trolley from retreating along the current track;

[0054] if the intelligent trolley does not travel to the preset position of the current track, the locking device is not started.

[0055] In order to avoid this situation, a rail switching part is movably connected to one end of each longitudinal rail, and a sensor is installed at a set position on the rail switching part. When the sensor detects that the intelligent vehicle has run to the preset position, the intelligent vehicle is locked to the current position by controlling the locking device installed between the rail switching part and the longitudinal rail, and the rail switching part is connected to the working rail to form a whole. Then the rail switching part is controlled to advance or retreat along the running rail perpendicular to the longitudinal rail, and finally reaches the longitudinal rail where the landfill unit is located. By setting the locking device, the connection misalignment of the rail switching part and the longitudinal rail can be effectively prevented, and the retreat of the intelligent vehicle can be effectively blocked. Further, in an embodiment of the present application, the top of the rail switching part and the top of the landfill area are concrete support structures, and the power supply mode of the rail switching part and the intelligent vehicle is the slide wire mode. This mode has flexible and convenient wiring and stable operation. When the rail is switched, the power supply can be automatically transferred to the working area along the slide rail, saving manpower and material resources, and the conversion speed is fast.

[0056] In an embodiment of the present application, when the landfill area is in a two-layer landfill bank, the method further comprises: lifting the ton bag to the two-layer landfill bank. If the landfill area is in a two-layer landfill bank, the ton bag needs to be transported to the feeding area, then placed in the conveying drum on the feeding area, the conveying drum is rolled to the transfer platform located in the feeding area, and the transfer platform is lifted to the transfer area located on both sides of the two-layer landfill bank by the lifting machine. A plurality of ton bags can be placed in the conveying drum, thereby improving the transportation efficiency of the ton bags. Specifically, when all the ton bags are placed in the conveying drum, the operator can start the lifting machine by controlling the APP, and the transfer platform with the ton bags is lifted to the transfer area of the two-layer landfill bank. Then the transfer platform automatically runs along the horizontal rail to the longitudinal rail area where the working platform is located, and the ton bags are transported to the working platform by the conveying drum, and then the conveying drum automatically returns to the transfer area. The horizontal rail is located on the upper side of the transfer area, and the longitudinal rail is perpendicular to the horizontal rail and passes above each landfill unit. After the operator controls the working platform to run above the landfill unit, the related landfill work can be performed by manually assisting the bag hanging. It should be noted that for a one-layer landfill bank, the ton bag can be transported to the landfill unit by the working platform as described above, or the ton bag can be transported to the landfill unit by the intelligent vehicle as described for the two-layer landfill bank, and the specific process is not described here.

[0057] S30, scanning the volume of the ton bag, and searching for a landfill unit matching the volume of the ton bag from the landfill area.

[0058] Considering that one landfill unit can place multiple tons of bags, in order to maximize the capacity of the landfill unit, therefore, before landfill, it is necessary to scan the volume of the tons of bags by laser radar, and obtain the most suitable landfill unit for the volume of the tons of bags through AI algorithm, so as to carry out the landfill operation. Specifically, the volume of the tons of bags is scanned by using the laser radar to generate three-dimensional point cloud information, through the AI algorithm, the unique modeling and filtering algorithm is used, the Open3D data is extracted from the three-dimensional point cloud information, and the denoising, projection and RANSAC fitting are carried out to obtain the contour information of the tons of bags, and then the volume information of the tons of bags is obtained according to the contour information. According to the volume information of the tons of bags, the best landfill unit is obtained after being matched with the storage volume position in each landfill unit, and the landfill path is generated. After the operation management system of the rigid landfill site controls the intelligent vehicle to travel to the upper part of the best landfill unit, the intelligent vehicle automatically carries out the material under the hook and returns to the loading area. Through this modeling and filtering algorithm, the material state, the tons of bags volume, the landfill site volume and the remaining volume can be accurately analyzed, so as to accurately give the action track of the intelligent vehicle and feedback to the operation management system of the rigid landfill site for execution.

[0059] S40, transporting the tons of bags to the landfill unit to carry out the landfill operation.

[0060] Specifically, in an embodiment of the present application, in step S40, the transporting the tons of bags to the landfill unit includes:

[0061] transporting the tons of bags to the upper part of the landfill unit, and measuring the relative position of the tons of bags to the landfill unit based on the information of the landfill unit by laser ranging method;

[0062] judging whether the relative position meets the preset tons of bags parking range;

[0063] if the relative position meets the tons of bags parking range, the tons of bags are automatically placed in the landfill unit;

[0064] if the relative position does not meet the tons of bags parking range, the parking position of the tons of bags is corrected based on the tons of bags parking range, and the tons of bags are automatically placed in the landfill unit according to the corrected parking position.

[0065] Above the filling unit, two position sensing laser range finders and two three-dimensional imaging measurement laser radars are distributed for obtaining the ton bag and the capacity of the filling unit. Specifically, one of the position sensing laser range finders is installed on the operation platform for measuring the longitudinal distance to the target plate fixed inside the filling unit, and the longitudinal position of the trolley is determined through the distance information of the target plate. The other position sensing laser range finder is installed on the intelligent trolley for measuring the transverse distance to the cooperative target plate fixed inside the pool body, and the transverse position of the trolley is determined through the distance information of the target plate. And the two position sensing laser range finders are diagonally distributed. The two three-dimensional imaging measurement laser radars are installed on the two sides of the intelligent trolley respectively, and the two three-dimensional imaging measurement laser radars are diagonally distributed. Through this diagonal installation method, the ton bag can be measured at the best angle of 360 degrees, so that the specific values of the length, width and height of the ton bag can be completely calculated. Specifically, after the ton bag is transported to the top of the filling unit, the size of the ton bag and the point cloud information of the bottom of the filling unit are measured by the three-dimensional imaging measurement laser radar through the laser ranging method, and the position information of the intelligent trolley and the hoisting device is measured by the position sensing laser range finder. Then the information obtained by the above three-dimensional imaging measurement laser radar and position sensing laser range finder is transmitted to the control processor, the three-dimensional contour information of the ton bag and the bottom of the filling pit is generated by integrating and processing the information, and the ton bag parking range is calculated by the built-in AI algorithm. Then, according to the current position of the ton bag, it is judged whether the ton bag is in the parking range. If yes, the intelligent trolley can be directly controlled to unhook and place the ton bag in the filling unit. If not, an adjustment scheme is generated and fed back to the intelligent trolley, so that the intelligent trolley adjusts the position of the intelligent trolley according to the ton bag parking range, and finally makes the ton bag in the parking range. It can be understood that, in order to maximize the utilization of the capacity, the ton bag parking range can be a specific position, i.e. the best parking position of the ton bag. Through information scanning of the ton bag loaded with waste and the filling condition of the pit bottom, combined with the intelligent trolley control system, precise positioning is realized, automatic precise filling and effective utilization of the capacity are realized. The size information of the ton bag and the filling condition of the pit bottom are collected, the ton bag placement position for the most efficient utilization of the capacity is calculated by algorithm, and the corresponding coordinates are fed back to the trolley control system for precise filling. Further, the intelligent trolley automatically unhooked and placed the ton bag in the filling unit, and then automatically returned to the loading area according to the set route, waiting for the next bag of ton bag to be hoisted.

[0066] Please refer to Figure 2 , Figure 2The figure shows the structure of the automatic unhooking structure in an embodiment of the present application. After the ton bag reaches above the landfill unit, the ton bag is scanned in all directions by the three-dimensional imaging measurement laser radar 2 installed above the landfill unit, and the volume of the ton bag is calculated. If the relative position of the ton bag to the landfill unit is not within the preset ton bag parking range, the intelligent travelling crane is driven by the servo motor 1 to reach the designated position according to the corrected travel route. Then the three-dimensional imaging measurement laser radar is used again to scan the volume of the material already filled in the landfill unit and the current remaining volume, so as to obtain the best parking position of the intelligent travelling crane. After the intelligent travelling crane is driven to the best parking position, the hook is automatically opened, so that the ton bag is automatically unhooked and falls into the current landfill unit. This operation mode does not require personnel to enter the pit for unhooking, thereby maximizing the safety of personnel and improving economic efficiency. It can be understood that the present application controls the automatic unhooking of the hook of the intelligent travelling crane by means of electric control, so as to release the ton bag. Therefore, no operation personnel are arranged at the bottom of the landfill unit. Compared with the traditional operation mode, when the ton bag enters the landfill unit, a dedicated person is needed to unhook, so the efficiency is relatively low and the labor cost is increased. In addition, the operation personnel need to go down to the bottom of the landfill unit for operation, which has a high risk of contacting with hazardous waste materials for a long time, thereby forming an occupational safety hazard and increasing the safety risk of on-site operation. Through electromagnetic automatic unhooking, the ton bag does not need to be manually unhooked when it enters the landfill unit. The operator can automatically unhook in the closed control room, thereby reducing the labor cost, ensuring the safety of personnel and improving the safety production efficiency.

[0067] Please refer to Figure 3 , Figure 3 The figure shows the structure of the double-hook intelligent travelling crane in an embodiment of the present application. In order to maximize the utilization of the storage capacity, in an embodiment of the present application, the ton bags are placed in the landfill unit in the same direction, and the hook on the intelligent travelling crane is a double-hook structure, which can ensure that the ton bags are stable in one direction and facilitate operation. Further, the width of the landfill unit is 5000 mm, and the height of the landfill unit is 4825 mm, which is less than the width of the landfill unit. If the ton bags are not filled to the pool wall, it is easy to cause waste of storage capacity. Therefore, the distance between the center of the hook and the rear side and the left and right sides of the landfill unit is 400 mm, and the radius of the ton bag is greater than 450 mm, so that the ton bag can contact the pool wall when filled, thereby maximizing the utilization of the storage capacity.

[0068] Further, in an embodiment of the present application, the technical indicators of the three-dimensional imaging measurement laser radar are shown in Table 1:

[0069] Technical index name Technical index range Measurement range ≥20m Horizontal / vertical scanning angle range 360° / 180° Horizontal / vertical angle resolution 0.5° / 0.25° Ranging accuracy ≤ ± 30 mm Operating temperature range -10℃～+50℃ Storage temperature range -40℃～+80℃ Data interface Network port

[0070] In an embodiment of the present application, the technical indicators of the position sensing laser range finder are shown in Table 2:

[0071]

[0072]

[0073] Table 2 Position sensing laser rangefinder technical index table

[0074] In an embodiment of the present application, after the ton bag is transported to the landfill unit and the landfill operation is completed, the method further comprises:

[0075] Based on the laser ranging method, the landfill unit is scanned, and each position data of the landfill unit is spliced to generate a three-dimensional point cloud image of the landfill unit.

[0076] The three-dimensional point cloud image is transmitted to a database to update the information of the landfill unit.

[0077] Since the volume of each landfill unit is large, one ton bag may not completely occupy the entire landfill unit. Therefore, after the ton bag is filled, the three-dimensional imaging measurement laser radar is used to completely scan the entire landfill unit again to obtain each position data of the landfill unit. The AI algorithm generates a surface three-dimensional contour point cloud image of the landfill unit by splicing each position data in the landfill unit, and transmits the image data to the database to update the information of the landfill unit. This facilitates the next time of filling, and the most suitable landfill unit can be matched according to the information of each landfill unit stored in the database.

[0078] The step division of the above method is only for clear description, and when implemented, one step can be combined or some steps can be split and decomposed into multiple steps, as long as the same logical relationship is included, all are within the protection scope of the present application; adding irrelevant modifications or introducing irrelevant designs in the algorithm or process, but not changing the core design of the algorithm and process are within the protection scope of the present application.

[0079] Please refer to Figure 4 , Figure 4The figure shows the principle structure of the system for the automatic intelligent landfill of the rigid hazardous waste warehouse, which is an embodiment of the present application. The system 100 for the automatic intelligent landfill of the rigid hazardous waste warehouse comprises an information acquisition module 110, a landfill area acquisition module 120, a landfill unit acquisition module 130 and a landfill module 140. The information acquisition module 110 is configured to acquire a ton bag to be filled; the ton bag is filled with waste; the landfill area acquisition module 120 is configured to read identification information on the ton bag to acquire a landfill area of the ton bag; the identification information represents the attributes of the waste; the landfill unit acquisition module 130 is configured to scan the volume of the ton bag and find a landfill unit matching the volume of the ton bag from the landfill area; and the landfill module 140 is configured to transport the ton bag to the landfill unit for landfill operation.

[0080] It should be noted that, in order to highlight the innovative part of the present application, modules not closely related to solving the technical problems proposed in the present application are not introduced in this embodiment, but this does not mean that there are no other modules in this embodiment.

[0081] In addition, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here. In the embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented by other ways. For example, the device embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed modules can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0082] The modules described as separate components can or can not be physically separate, and the components shown as modules can or can not be physical modules, i.e. they can be located in one place or distributed on multiple network modules. Some or all units can be selected according to actual needs to achieve the purpose of the embodiment.

[0083] In addition, the functional modules in each embodiment of the present application can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of software functional unit.

[0084] The embodiment also provides a device for automatic intelligent landfill of hazardous waste rigid warehouse, which comprises a processor and a memory, the processor and the memory are coupled, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the above-mentioned task management method is realized. The processor can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components; the memory can contain a random access memory (RAM) and can also include a non-volatile memory (Non-Volatile Memory), such as at least one disk memory. The memory can be an internal memory of the random access memory (RAM) type, and the processor and the memory can be integrated into one or more independent circuits or hardware, such as an application specific integrated circuit (ASIC). It should be noted that the computer program in the above-mentioned memory can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application.

[0085] The embodiment also provides a computer readable storage medium storing computer instructions for causing a computer to execute the automatic landfill method. The storage medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium or a semiconductor system or a propagation medium. The storage medium can also include a semiconductor or solid state memory, a magnetic tape, a removable computer disk, a random access memory (RAM), a read-only memory (ROM), a hard disk and an optical disk. The optical disk can include a compact disk-read only memory (CD-ROM), a compact disk-read / write (CD-RW) and a DVD.

[0086] To sum up, in the present application, when landfilling, firstly, a ton bag filled with waste is obtained, and according to the identification information on the ton bag, a landfill area to which the ton bag belongs is obtained. Then, by scanning the volume of the ton bag, a landfill unit in the landfill area that matches the volume of the ton bag to be filled is found from the database, and the ton bag is transported to the landfill unit for landfilling. The problem of low efficiency in the prior art when landfilling waste by using manual operation equipment is solved. By collecting the size information of the ton bag and the landfilling condition of the pit bottom, the ton bag placement position with the most efficient use of the storage capacity is calculated by an algorithm, and the corresponding coordinates are fed back to the travelling control system for precise landfilling. The ton bag loaded with waste and the landfilling condition of the pit bottom are scanned, and the intelligent travelling control system is used for precise positioning, so as to realize automatic and precise landfilling and effective use of the storage capacity. Therefore, the present application effectively overcomes some practical problems in the prior art, and has high utilization value and use significance.

[0087] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. A method for hazardous waste rigid library automation wisdom landfill, characterized in that, The method comprises the following steps: Obtain a ton bag to be filled; wherein the ton bag is filled with waste; Read the identification information on the ton bag to obtain the filling area of the ton bag; wherein the identification information represents waste information; Scan the volume of the ton bag, and find a filling unit matching the volume of the ton bag from the filling area; Transport the ton bag to the filling unit for filling operation; The filling unit is obtained by using a laser radar to scan the volume of the ton bag, generating three-dimensional point cloud information, extracting Open3D data from the three-dimensional point cloud information to obtain contour information of the ton bag, obtaining volume information of the ton bag according to the contour information, and automatically matching the volume information with the volume position of each filling unit to obtain the best filling unit; After the ton bag is transported to the filling unit for filling operation, the method further comprises the following steps: Scan the filling unit based on laser ranging method, splice the position data of the filling unit, and generate a three-dimensional point cloud image of the filling unit; The three-dimensional point cloud image is transmitted to a database to update the information of the filling unit.

2. The method of hazardous waste rigid library automated smart landfill according to claim 1, characterized in that, Before obtaining the filling area of the ton bag, the method further comprises the following step: identifying the filling bank to which the filling area belongs according to the identification information; wherein the filling bank comprises a first filling bank and a second filling bank.

3. The method of hazardous waste rigid library automated smart landfill according to claim 2, characterized in that, When the filling area is in the first filling bank, the ton bag is transported by a trolley, and after obtaining the filling area of the ton bag, the method further comprises the following steps: judging whether the trolley needs to be switched to a track on the side of the filling unit based on the current parking position of the trolley, and switching the trolley to the track on the side of the filling unit in an empty state when the trolley needs to be switched to the track on the side of the filling unit.

4. The method of hazardous waste rigid library automated smart landfill according to claim 3, characterized in that, Before switching the trolley to the track on the side of the filling unit in an empty state, the method further comprises the following steps: Judging whether the trolley runs to a preset position of the current track; If the trolley runs to the preset position of the current track, a locking device is started to block the trolley from retreating along the current track; If the trolley does not run to the preset position of the current track, the locking device is not started.

5. The method of hazardous waste rigid container automated smart landfill of claim 2, wherein, When the filling area is in the second filling bank, after obtaining the filling area of the ton bag, the method further comprises the following step: Lift the ton bag to the second filling bank.

6. The method of hazardous waste rigid container automated smart landfill of claim 1, wherein, The method of transporting the ton bag to the filling unit comprises the following steps: Transport the ton bag to above the filling unit, and measure the relative position of the ton bag to the filling unit based on the information of the filling unit by laser ranging method; Judge whether the relative position meets a preset ton bag parking range; If the relative position meets the ton bag parking range, the ton bag is automatically parked in the filling unit; If the relative position does not meet the ton bag parking range, the parking position of the ton bag is corrected based on the ton bag parking range, and the ton bag is automatically parked in the filling unit according to the corrected parking position.

7. A system for the automated intelligent landfilling of hazardous waste rigid containers, characterized in that, The system comprises: An information acquisition module is configured to obtain a ton bag to be filled; wherein the ton bag is filled with waste; The landfill area acquisition module is configured to read identification information on the ton bag and acquire a landfill area of the ton bag, wherein the identification information represents attributes of the waste; The landfill unit acquisition module is configured to scan a volume of the ton bag and find a landfill unit matching the volume of the ton bag from the landfill area; The landfill module is configured to transport the ton bag to the landfill unit and perform a landfill operation; The landfill unit is acquired in the following manner: a laser radar is used to scan the volume of the ton bag, three-dimensional point cloud information is generated, Open3D data is extracted from the three-dimensional point cloud information to acquire contour information of the ton bag, volume information of the ton bag is acquired according to the contour information, and after automatic matching with a storage volume position in each landfill unit, an optimal landfill unit is obtained; After the ton bag is transported to the landfill unit and the landfill operation is performed, the method further includes: Based on a laser ranging method, the landfill unit is scanned, position data of the landfill unit is spliced, and a three-dimensional point cloud image of the landfill unit is generated; The three-dimensional point cloud image is transmitted to a database to update information of the landfill unit.

8. A device for hazardous waste rigid library automated wisdom landfill, characterized in that: The processor is coupled with the memory, and the memory stores program instructions. When the program instructions stored in the memory are executed by the processor, the method in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The program is executed on a computer to perform the method in any one of claims 1 to 6.

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