A sludge management method, a sludge management system and a method of using the same

Abstract

The present invention discloses a sludge management method, a sludge management system and a method for using the sludge management method, which includes: a sludge mud property management task: obtaining three-dimensional model data and mud property data of each sludge pile, and binding the three-dimensional model data and mud property data of each sludge pile, and saving them in a database; a sludge calorific value management task: obtaining and updating the calorific value attenuation coefficient in the database, and updating the mud property data through the calorific value attenuation coefficient; a sludge execution mechanism guidance task: when the sludge incineration system needs to be fed, obtaining the feed calorific value required by the sludge incineration system, selecting the sludge corresponding to the closest calorific value in the database according to the feed calorific value, and driving the sludge execution mechanism to grab the sludge in the corresponding area of ​​the closest calorific value and put it into the sludge incineration system. The present invention dynamically and effectively tracks the sludge calorific value, dynamically matches the sludge calorific value with the feed calorific value required by the sludge incineration system, and improves the incineration efficiency and stability of the sludge incineration system.

Description

Technical Field

[0001] The present invention relates to the field of sludge incineration treatment, and in particular to a sludge management method, a sludge management system and a use method thereof. Background Art

[0002] As the most thorough sludge treatment method, sludge incineration can completely destroy all organic matter, effectively kill all pathogens, minimize sludge volume, and recover incineration heat energy.

[0003] When sewage treatment plants treat sewage normally, they will continuously collect excess sludge and store it in sludge pools. At present, most cities have built separate sludge incineration plants. The excess sludge generated by multiple sewage treatment plants in the city is dried on site and transported to sludge incineration plants by sludge transport vehicles for centralized incineration.

[0004] After the sludge transfer truck arrives at the sludge incineration plant, the sludge will be dumped into the sludge receiving pit or sludge receiving silo. The sludge from different sewage treatment plants will be mixed in the sludge receiving pit, passed through the buffer silo and other equipment, and finally sent to the incinerator for direct incineration.

[0005] There are some management difficulties in the above process, including the following technical issues:

[0006] 1. The sludge from different sources in different sewage treatment plants has large differences in organic content and calorific value, and the moisture content also fluctuates to a certain extent. A clear grasp of the calorific value will be conducive to the stable operation of the subsequent drying sludge incineration system. However, even if the source and properties of the sludge are recorded before it is transported, when the sludge is mixed in the sludge receiving pit after unloading, the boundaries between the sludge blocks gradually merge over time, and their sources cannot be identified by the naked eye; in addition, due to the alienation of microorganisms, the calorific value of the sludge will decay with the storage time. In summary, the calorific value of the sludge lacks a dynamic data management process, which affects the stable operation of the subsequent drying sludge incineration system.

[0007] 2. The sludge discharge port is generally set on one or both sides of the sludge receiving pit, and the sludge transfer vehicle dumps the sludge into the pit through the discharge port. The sludge in the sludge receiving pit is easily deformed by its own gravity as it flows over time; at the same time, due to the limited discharge port, when the sludge transfer vehicles concentrate on dumping and unloading during the peak transportation period, new sludge will continue to accumulate on top of the lower sludge blocks, and it is easy to form a cone near the discharge port, the height of which is easy to exceed the upper limit of the height of the sludge receiving pit, and local overflow may occur, resulting in the actual storage capacity of the sludge receiving pit failing to reach the expected upper limit, affecting the effective storage rate of the sludge receiving pit.

[0008] 3. A grab is usually installed above the sludge receiving pit, which is responsible for completing tasks such as cleaning wet sludge (cleaning sludge in the unloading area), transferring (grabbing sludge from the receiving bin to the mixing bin), mixing (mixing high and low calorific value sludge in the mixing bin) and feeding (sending sludge from the mixing area to the sludge feeding bin). After the above steps, the sludge is sent to the incinerator for treatment. However, the incinerator has a sludge calorific value corresponding to the highest point of its combustion efficiency. Due to the lack of tracking of the calorific value properties of the mixed sludge, it is impossible to guide the sludge grab to grab sludge with a specific calorific value, and it is impossible to ensure that the incineration efficiency reaches the optimal level.

[0009] Regarding technical problem 1, the Chinese invention patent application "A 3D material yard management method for batch tracking" with patent application number 202111549076.6 (publication number CN 114781772 A) discloses a 3D material yard management method for batch tracking, and discloses a method for bulk material management based on three-dimensional point cloud technology, specifically including the construction of point clouds and re-measurement and data binding of the material yard point clouds after unloading and material collection. The invention does not propose a solution to the attenuation of calorific value over the accumulation time.

[0010] In response to technical problem 2, the Chinese utility model patent "A sludge incoming sludge management system", whose patent application number is 201922371741.1 (publication number is CN 211595385 U) discloses a sludge incoming sludge management system, which realizes centralized management of sludge production and sludge scheduling of sewage treatment plants from various sources by setting up a sludge production unit monitoring system, a sludge transportation unit scheduling system, and a sludge disposal unit monitoring system. The utility model patent discloses a method of monitoring the height of the sludge storage pile in the sludge bin of the sludge disposal unit to determine whether to adjust the equipment operation capacity of the sludge production unit, or shut down related equipment to solve the problem of limited sludge capacity, and at the same time notify the transfer vehicle to perform the task. However, the sludge in the sludge bin is unbalanced, and the sludge bin is used inefficiently.

[0011] Regarding technical problem 3, the generally conceivable method is to randomly grab sludge, take a part of it for a burning test, and select sludge with different calorific values ​​for blending through the combustion efficiency of the subsequent sludge incineration system to achieve the best incineration efficiency. In this process, first, the timeliness of the test method is not strong, and second, the grabbing position of the blended sludge still needs to be selected by manual experience, which leads to low work efficiency. Summary of the invention

[0012] The technical problem to be solved by the present invention is to overcome the defect in the prior art that the calorific value of sludge is not easy to update in real time, and to provide a sludge management method, a sludge management system and a use method thereof.

[0013] The present invention solves the above technical problems through the following technical solutions:

[0014] The present invention provides a sludge management method, which is characterized in that it comprises:

[0015] Sludge property management task: obtaining the three-dimensional model data and the mud property data of each sludge pile, binding the three-dimensional model data and the mud property data of each sludge pile, and saving them into the database;

[0016] Sludge calorific value management task: obtaining and updating the calorific value attenuation coefficient in the database, and updating the sludge property data by the calorific value attenuation coefficient;

[0017] The sludge actuator guides the task: when the sludge incineration system needs to be fed, the feed calorific value required by the sludge incineration system is obtained, the sludge corresponding to the closest calorific value is selected in the database according to the feed calorific value, and the sludge actuator is driven to grab the sludge in the corresponding area of ​​the closest calorific value and put it into the sludge incineration system.

[0018] In this solution, when sludge is received, the 3D model data and sludge property data of the sludge are recorded and bound through the sludge property management task, so that the source of the sludge is clear, the data is clear, and it is easy to manage. After the sludge receiving pit receives the sludge, the sludge calorific value is dynamically and effectively tracked through the sludge calorific value management task, so that the calorific value of the sludge can be grasped at any time and it is conducive to the subsequent utilization of the sludge. Finally, when the sludge incineration system needs to feed and incinerate sludge, the incineration efficiency and stability of the sludge incineration system are effectively improved by dynamically matching the sludge calorific value in the sludge receiving pit with the feed calorific value required by the sludge incineration system.

[0019] Preferably, the sludge calorific value management task includes the following steps:

[0020] S02-1, performing three-dimensional modeling on the sludge pile in the sludge receiving pit to obtain the three-dimensional model data;

[0021] S02-2, updating the calorific value attenuation coefficient according to the three-dimensional model data and the mud property data;

[0022] S02-3, calculating the sludge calorific value after calorific value decay according to the calorific value decay coefficient using the sludge calorific value time decay formula.

[0023] In this scheme, updating the calorific value attenuation coefficient and calculating the sludge calorific value can grasp the changes in the sludge calorific value to a certain extent and create the conditions for subsequent sludge management tasks.

[0024] Preferably, the sludge execution mechanism guidance task includes the following steps:

[0025] S03-1, obtaining the three-dimensional coordinates of the surface of the sludge pile in the sludge receiving pit;

[0026] S03-2, dividing the sludge into several sludge pit areas;

[0027] S03-3, calculating the incineration calorific value of several sludge pit areas according to the mud property data and the three-dimensional coordinates in the database;

[0028] S03-4, according to the incineration calorific value and the feed calorific value, select the sludge pit area closest to the feed calorific value requirement as the grabbing position.

[0029] In this scheme, several sludge pit areas are divided and the incineration calorific value is calculated separately, which is conducive to quickly and accurately grabbing the sludge into the sludge incineration system for incineration according to the proximity between the incineration calorific value and the feed calorific value required by the sludge incineration system, thereby effectively improving the incineration efficiency and stability of the sludge incineration system.

[0030] Preferably, after step S03-3, the method further includes:

[0031] S03-31, respectively calculating the weighted calorific value of sludge in adjacent areas of a plurality of the sludge pit areas;

[0032] S03-32, obtaining the calorific value variation range of the incineration calorific value of each of the sludge pit areas and the sludge weighted calorific value of each of the adjacent areas corresponding to each of the sludge pit areas.

[0033] In this scheme, the calorific value variation range of the incineration calorific value of the sludge pit area and the corresponding adjacent areas of the sludge pit area is used as the basis for selecting the grabbing position, which expands the grabbing range and better ensures that the sludge actuator can grab sludge that is more in line with the needs of the sludge incineration system.

[0034] Preferably, step S03-4 includes the following steps:

[0035] S03-41, selecting the sludge pit area and the adjacent area corresponding to the feed calorific value falling within the calorific value variation range as the grabbing position;

[0036] S03-42, the sludge actuator grabs the sludge in the sludge pit area and the adjacent area corresponding to the grabbing position, and puts them into the sludge incineration system;

[0037] S03-43, updating the three-dimensional model data and the mud property data in the database.

[0038] In this solution, the sludge pit area and adjacent areas corresponding to the calorific value variation range are used as the grabbing position. The grabbing range is large and the fault tolerance rate is low, which effectively improves the work efficiency and better ensures that the sludge actuator can grab the sludge that is more in line with the sludge incineration system. After the sludge actuator grabs the sludge, it updates the three-dimensional model data and mud property data to facilitate dynamic management and provide guarantee for the subsequent treatment of residual sludge.

[0039] Preferably, the sludge management method further includes a sludge capacity management task. When the sludge height exceeds a warning value, the sludge capacity management task is executed. The sludge capacity management task includes the following steps:

[0040] S04-1, obtaining the three-dimensional model data of the surface of the sludge pile in the sludge receiving pit;

[0041] S04-2, calculating the maximum and minimum points of the longitudinal coordinates of the three-dimensional model data;

[0042] S04-3, the sludge execution mechanism places the sludge in the area corresponding to the maximum point into the area corresponding to the minimum point.

[0043] In this scheme, when the height of the sludge exceeds the warning value, the sludge exceeding the height limit is balanced, the sludge distribution can be adjusted, and the effective utilization rate of the sludge receiving pit can be improved.

[0044] Preferably, after step S04-3, the following steps are also included:

[0045] S04-4, after the sludge execution mechanism completes execution, the three-dimensional model data of the sludge pile in the sludge receiving pit is obtained again;

[0046] S04-5, performing difference calculation on the three-dimensional model data before and after grasping to obtain new three-dimensional model data;

[0047] S04-6, calculating the sludge calorific value of the captured sludge by using an attribute weighted calculation formula;

[0048] S04-7, updating the mud property data of the sludge moved to the area corresponding to the minimum point, and correcting the sludge calorific value to the sludge calorific value calculated in step S04-6.

[0049] In this solution, after the sludge actuator adjusts the sludge distribution, the mud property data and three-dimensional model data of the sludge are updated to better manage the sludge storage.

[0050] The present invention also provides a sludge management system, which is characterized in that the sludge management system uses the sludge management method as described above.

[0051] In this solution, the sludge management system uses the above sludge management method, and the sludge is managed throughout the process in the sludge receiving pit. The sludge source is clear, the data is clear, and it is easy to manage. The dynamic update of the sludge calorific value can be achieved, and the sludge grabbing position that meets the target feed calorific value can be quickly and accurately located, effectively improving the incineration efficiency and stability of the subsequent sludge incineration system.

[0052] Preferably, the sludge management system includes a sludge collection system, a sludge action system and a control center. The control center is electrically connected to the sludge collection system and the sludge action system. The control center is used to receive instructions and control the sludge collection system to acquire the three-dimensional model data and the mud property data. The control center is also used to receive instructions and control the sludge action system to plan the sludge grabbing route and control the execution action of the sludge actuator.

[0053] In this solution, the control center obtains information from the sludge collection system, and after calculation and processing, controls the sludge action system to act. During the incoming or unloading process, the control center determines whether the sludge height is higher than the warning value. If it is higher than the warning value, the control center controls the sludge action system to balance the sludge that exceeds the height limit and adjust the sludge distribution. In a fixed time period, the control center controls the sludge collection system to update and store the sludge calorific value information in the sludge receiving pit, so as to facilitate the grasp of the sludge calorific value changes. When the sludge incineration system needs to be fed, the control center receives the signal, obtains the feed calorific value, controls the sludge collection system to calculate the sludge calorific value by region and match it with the feed calorific value, selects the sludge in the best sludge pit area, and effectively improves the incineration efficiency and stability of the subsequent sludge incineration system.

[0054] The present invention also provides a method for using a sludge management system, which is characterized in that the method uses the above-mentioned sludge management system and comprises the following steps:

[0055] When new sludge arrives and there is no task being executed, the sludge property management task is executed;

[0056] Within a fixed time period, executing the sludge calorific value management task, and updating the calorific value attenuation coefficient and the sludge property data;

[0057] When the sludge incineration system needs to be fed, the sludge execution mechanism performs a guiding task, and the sludge execution mechanism grabs the sludge corresponding to the calorific value closest to the calorific value of the feed and puts it into the sludge incineration system.

[0058] In this solution, the method of using the sludge management system uses the sludge management system as described above to achieve full-process management of sludge in the sludge receiving pit. Through this method of use, the sludge source is clear, the data is clear, and it is easy to manage. In addition, the sludge calorific value is dynamically updated, and the sludge grabbing position that meets the target calorific value can be quickly and accurately located, effectively improving the incineration efficiency and stability of the subsequent sludge incineration system.

[0059] The positive and progressive effect of the present invention is that in the present invention, when sludge is received, the three-dimensional model data and mud property data of the sludge are recorded and bound through the sludge mud property management task, so that the source of the sludge is clear, the data is clear, and it is easy to manage. After the sludge receiving pit receives the sludge, the sludge calorific value is dynamically and effectively tracked through the sludge calorific value management task, so that the calorific value of the sludge can be grasped at any time and it is conducive to the subsequent utilization of the sludge. Finally, when the sludge incineration system needs to feed and incinerate sludge, the incineration efficiency and stability of the sludge incineration system are effectively improved by dynamically matching the sludge calorific value of the sludge in the sludge receiving pit with the feed calorific value required by the sludge incineration system. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 The figure is a flow chart of the sludge management method of the present invention.

[0061] Figure 2 It is a module relationship diagram of the sludge management system of the present invention.

[0062] Description of reference numerals:

[0063] Sludge collection system 1

[0064] Sludge Action System 2

[0065] Control Center 3 DETAILED DESCRIPTION

[0066] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0067] The present invention discloses a sludge management method, such as Figure 1 As shown, it includes:

[0068] S01, sludge property management task: obtain the 3D model data and sludge property data of each sludge pile, bind the 3D model data and sludge property data of each sludge pile, and save them into the database; specifically, when the sludge transfer vehicle enters the sludge incineration plant and is about to unload the sludge in the sludge receiving pit, the sludge property management task is performed and the relevant information of the sludge is entered, which specifically includes the following steps:

[0069] S01-1, before the sludge transfer vehicle unloads, the 3D modeling module scans the sludge receiving pit, records the 3D model data of the sludge before unloading, and stores it in the database; specifically, the 3D modeling technology is used to perform 3D modeling on the sludge, and the 3D model data is collected and saved. The 3D model data includes: the spatial coordinate points (x, y, z) on the surface of the sludge pile, and the modeling time information. The 3D model data structure in the database can be stored in json or XML format, and the stored information includes but is not limited to the 3D coordinates x, y, z of the sludge with the center of the sludge receiving pit as the origin, and the timestamp of the 3D modeling; the mud property data can be stored in json or XML format, and the stored information includes but is not limited to the name of the sewage treatment plant where the sludge comes from, the time of leaving the factory, the moisture content of the sludge, the calorific value of the sludge, and the COD value of the effluent.

[0070] S01-2, the sludge property acquisition module acquires the sludge property data of the current unloading and stores it in the database; specifically, the sludge property acquisition module collects and saves the sludge property data of the sludge unloaded by the sludge transfer vehicle. The sludge property data includes: sludge calorific value, sludge moisture content, sludge density, sewage treatment plant name, factory date, and effluent COD value.

[0071] S01-3, after the sludge transfer truck unloads, the three-dimensional modeling module scans the sludge receiving pit, records the three-dimensional model data of the sludge after unloading, and stores it in the database.

[0072] S01-4, the calculation module performs difference calculation on the sludge model after unloading and the sludge model before unloading to obtain the sludge model currently unloaded into the sludge receiving pit; specifically, the calculation module performs difference processing on the sludge three-dimensional model after the two modeling processes to obtain the three-dimensional model data of the sludge unloaded this time.

[0073] S01-5, data binding is performed on the three-dimensional model, and the three-dimensional model including the three-dimensional model data and the sludge property data is stored in the database. Specifically, the sludge property data of the current unloading sludge is bound to the three-dimensional model data and stored in the database, so as to realize the source archiving of the sludge and create the conditions and basis for the subsequent sludge management tasks. Binding the sludge property data to the three-dimensional model data includes: deleting the default values, interference points, and outliers existing in the original three-dimensional model by filtering; reconstructing the remaining three-dimensional model data into a curved surface existing in a smooth space, and the space surrounded by the curved surface is the three-dimensional model corresponding to the current unloading sludge; setting a label for the three-dimensional model, and the data of the label is the sludge property data of the current unloading sludge.

[0074] When sludge is received, the 3D model data and sludge property data of the sludge are recorded and bound through the sludge property management task, so that the source of the sludge is clear, the data is clear, and it is easy to manage.

[0075] S02, sludge calorific value management task: obtain and update the calorific value attenuation coefficient in the database, and update the mud property data through the calorific value attenuation coefficient; after the sludge receiving pit receives the sludge, the sludge calorific value is dynamically and effectively tracked through the sludge calorific value management task, so as to grasp the sludge calorific value at any time and facilitate the subsequent utilization of the sludge.

[0076] S03, sludge actuator guidance task: when the sludge incineration system needs to be fed, obtain the feed calorific value required by the sludge incineration system, select the sludge corresponding to the closest calorific value in the database according to the feed calorific value, and drive the sludge actuator to grab the sludge in the corresponding area with the closest calorific value and put it into the sludge incineration system. The sludge actuator can be a sludge grab. Finally, when the sludge needs to be incinerated, the incineration efficiency and stability of the sludge incineration system are effectively improved by dynamically matching the sludge calorific value of the sludge in the sludge receiving pit with the feed calorific value required by the sludge incineration system.

[0077] In this embodiment, the sludge calorific value management task is executed at fixed intervals each time, and the time is calculated by the timer module. When the countdown of the timer module ends and the system is in a state of not executing a task, the sludge calorific value timing update signal is triggered, and the control center 3 executes the sludge calorific value management task to update the calorific value attenuation of the sludge in the sludge receiving pit due to time changes and the mud property data and three-dimensional model data of the deformation caused by the sludge model due to its own gravity. The sludge calorific value management task includes the following steps:

[0078] S02-1, perform three-dimensional modeling on the sludge pile in the sludge receiving pit to obtain three-dimensional model data; specifically, the three-dimensional modeling module performs three-dimensional modeling on the sludge in the sludge receiving pit at this time, imports the data of this modeling into the database, and the management and control center 3 reads the three-dimensional model data and mud property data of the sludge model in the database.

[0079] S02-2, updating the calorific value attenuation coefficient according to the three-dimensional model data and the mud property data; specifically, using the calorific value attenuation coefficient update formula, using the historical mud property data and the newly acquired mud property data during the timing period to update the sludge calorific value attenuation coefficient, the calorific value attenuation coefficient update formula is as follows:

[0080] k=k1×mean new (Outlet COD value) + k2 × mean new (sludge moisture content)+k3

[0081] ×mean new (Sludge calorific value)

[0082] Among them, mean newIt represents the updated average, that is, the average value of the effluent COD value, sludge moisture content, and sludge calorific value of different batches of sludge from the same source is updated to match the changes in sludge. The values ​​of k1, k2, and k3 will also be adjusted regularly with the changes in seasons and time to conduct historical data mining. k1, k2, and k3 are dynamically adjusted according to the incineration conditions of the subsequent sludge incineration system. Specifically, machine learning technology is used to perform linear fitting from a large amount of historical operating data in the past to obtain the specific degree of influence of relevant parameters. Through the machine learning algorithm, the system automatically learns and identifies patterns and trends in the data, thereby generating a regression prediction model suitable for the actual situation. There are other formulas in the prior art for calculating k, which will not be repeated here.

[0083] S02-3, according to the calorific value decay coefficient, the sludge calorific value after the calorific value decay is calculated by the sludge calorific value time decay formula. Specifically, the calculation module calculates the sludge calorific value after the calorific value decay by the sludge calorific value time decay formula, and the sludge calorific value time decay formula is as follows:

[0084] F=f0·e -kt

[0085] Where f0 is the calorific value of the sludge leaving the factory, t is the storage time of the sludge in days, and F is the corrected calorific value. -kt is the time decay model, and k is the sludge calorific value decay coefficient. There are other formulas in the prior art that can be used for calculation, which will not be repeated here.

[0086] After S2-03, the following steps may be performed:

[0087] S02-4, saving the updated 3D model data and mud property data in the database.

[0088] S02-5, the timer module is reset and the next round of countdown is restarted. Specifically, after the timer module is reset, a cycle from the start of a countdown to the end of a countdown is taken as one cycle, and a sludge calorific value management task is performed once.

[0089] Updating the calorific value attenuation coefficient at a fixed time and with a fixed frequency can help to understand the changes in sludge calorific value to a certain extent.

[0090] In this embodiment, when the sludge incineration system sends a signal that feed is required, and the sludge management system does not perform any task at this time, the control center 3 obtains the feed calorific value corresponding to the optimal operating efficiency of the sludge incineration system, and the sludge management system performs the sludge execution mechanism guidance task, which includes the following steps:

[0091] S03-1, obtaining the three-dimensional coordinates of the surface of the sludge pile in the sludge receiving pit; specifically, the three-dimensional modeling module performs three-dimensional modeling scanning on the sludge in the sludge receiving pit to obtain the three-dimensional coordinate information of the surface of the sludge pile;

[0092] S03-2, dividing the sludge into several sludge pit areas; specifically, dividing the sludge pit into square areas that are closest to the maximum grabbing area of ​​the sludge grab at one time. That is, dividing the sludge pit area includes: using the maximum volume that the sludge grab can grab as a circumscribed cube, and dividing the sludge receiving pit according to the length l, width w and height h of the cube.

[0093] S03-3, according to the mud property data and three-dimensional coordinates in the database, calculate the incineration calorific value of several sludge pit areas; specifically, calculate the incineration calorific value of all sludge pit areas, and the method for calculating the regional incineration calorific value is composed of the following formula:

[0094]

[0095] Among them, x i ,y i ,z i represents the starting point of the region, x i+l_c ,y i+w_c ,z i+h_c represents the end point of the region, F(x i ,y i ,z i ) represents the space (x i ,y i ,z i ) corresponds to the sludge calorific value, l represents the length of the circumscribed cube, w represents the width of the circumscribed cube, and h represents the height of the circumscribed cube.

[0096] There are other formulas in the prior art that can be used for calculation, which will not be described here.

[0097] S03-4, according to the incineration calorific value and the feed calorific value, select the sludge pit area closest to the feed calorific value requirement as the grabbing position. Specifically, dividing the sludge pit area into several areas and calculating the incineration calorific value respectively is conducive to grabbing the sludge into the sludge incineration system for incineration according to the proximity between the sludge calorific value and the feed calorific value required by the sludge incineration system, effectively improving the incineration efficiency and stability of the sludge incineration system.

[0098] In this implementation, after step S03-3, the following steps are further included:

[0099] S03-31, respectively calculating the weighted calorific value of sludge in adjacent areas of several sludge pit areas; specifically, using the attribute weighted calculation formula to calculate the weighted calorific value of sludge in adjacent areas.

[0100] S03-32, obtain the calorific value variation range of the incineration calorific value of each sludge pit area and the sludge weighted calorific value of each adjacent area corresponding to each sludge pit area. Specifically, the incineration calorific value of each sludge pit area is compared with the feed calorific value obtained by the control center 3 in turn, and sorted according to the degree of calorific value proximity, and divided into the optimal area to be selected, the second-closest area is the second-best area to be selected, the second-closest area is the third-best area to be selected, and so on. Calculate the adjacent area centered on the optimal area to be selected, and calculate the calorific value variation range of each adjacent area and the optimal area to be selected in turn, and determine whether the feed calorific value required by the sludge incineration system falls within the calorific value variation range. The shape of the adjacent area and the optimal area to be selected can be a cross grid, a nine-square grid, or even a circular area. F 毗邻 Represents the weighted calorific value of sludge in the adjacent area, and the calorific value range is

[0101] If the weighted calorific value of sludge in the optimal area to be selected and its adjacent areas do not meet the requirements of subsequent incineration process, the optimal area to be selected will be deleted, and the second-best area to be selected will be used as the optimal area to be selected, and the second-best area to be selected will be used as the second-best area to be selected, and so on.

[0102] The calorific value variation range of the incineration calorific value of the sludge pit area and the corresponding adjacent areas of the sludge pit area is used as the basis for selecting the grabbing position, which expands the grabbing range and better ensures that the sludge actuator can grab sludge that is more in line with the needs of the sludge incineration system.

[0103] In other alternative embodiments, the sludge calorific value of the adjacent area of ​​the sludge pit area is calculated using the method for calculating the incineration calorific value in S03-3, and the calorific value variation range is determined based on the incineration calorific value of the sludge pit area and the sludge calorific value of the adjacent area of ​​the sludge pit area.

[0104] In this embodiment, step S03-4 includes the following steps:

[0105] S03-41, select the sludge pit area and adjacent area corresponding to the feed calorific value falling within the calorific value variation range as the grasping position; specifically, repeat S03-3, S03-31, S03-32 until the requirements of the subsequent incineration process are met, that is, the feed calorific value of the sludge incineration system is met, and the sludge pit area and adjacent area corresponding to the calorific value variation range are used as the grasping position. If the requirements are not met, the area closest to the requirements in the above process is selected as the grasping position, and the information is uploaded to the control center 3.

[0106] S03-42, the sludge actuator grabs the sludge in the sludge pit area and adjacent areas corresponding to the grabbing position, and puts it into the sludge incineration system; specifically, the sludge grab control module controls the sludge grab to perform the grabbing action, move to the sludge incineration system, and perform the release and unloading action.

[0107] S03-43, updating the three-dimensional model data and mud property data in the database. Specifically, after the sludge grab action is completed, the three-dimensional modeling module performs three-dimensional modeling and saves the three-dimensional model data to the database.

[0108] The sludge pit area and adjacent areas corresponding to the calorific value variation range are used as the grabbing position. The grabbing range is large and the fault tolerance rate is low, which effectively improves the work efficiency and better ensures that the sludge actuator can grab the sludge that is more in line with the sludge incineration system. After the sludge actuator grabs the sludge, it updates the three-dimensional model data and mud property data to facilitate dynamic management and provide guarantee and data support for the subsequent treatment of residual sludge.

[0109] In this embodiment, the sludge management method further includes a sludge capacity management task. After the sludge unloading task is completed, the height of the sludge pile can also be judged. If the height of the sludge pile exceeds the warning value, the sludge capacity management task is executed. The sludge capacity management task includes the following steps:

[0110] S04-1, obtaining three-dimensional model data of the surface of the sludge pile in the sludge receiving pit; specifically, the three-dimensional modeling module performs three-dimensional modeling scanning on the sludge in the sludge receiving pit to obtain three-dimensional coordinate information of the surface of the sludge pile.

[0111] S04-2, calculating the maximum and minimum points of the vertical coordinate of the three-dimensional model data; specifically, reading the three-dimensional model data of the current sludge from the database, and the calculation module calculates the maximum point, i.e. the highest point, and the minimum point, i.e. the lowest point, of the vertical coordinate in the three-dimensional model.

[0112] S04-3, the sludge actuator puts the sludge in the area corresponding to the maximum point into the area corresponding to the minimum point. Specifically, the sludge grab control module uses the plane coordinates corresponding to the highest point of the sludge pile as the grabbing point of the sludge grab, and the plane coordinates corresponding to the lowest point as the unloading point of the sludge grab, and guides the sludge grab to grab the sludge in the area corresponding to the maximum point, that is, the highest point. After the sludge grab completely grabs the sludge, control the sludge grab to move to the area corresponding to the minimum point, that is, the lowest point, and put the sludge down.

[0113] When the sludge height exceeds the warning value, the sludge exceeding the height limit can be balanced, the sludge distribution can be adjusted, and the effective utilization rate of the sludge receiving pit can be improved.

[0114] In this embodiment, after step S04-3, the following steps are also included:

[0115] S04-4, after the sludge actuator is executed, the three-dimensional model data of the sludge pile in the sludge receiving pit is obtained again; specifically, after the sludge grab action is executed, the three-dimensional modeling module performs a three-dimensional modeling scan on the sludge pile again.

[0116] S04-5, perform difference calculation on the three-dimensional model data before and after grasping to obtain new three-dimensional model data; specifically, the calculation module performs difference calculation on the sludge model before and after grasping, calculates the shape of the sludge block moved by this action, obtains the newly created three-dimensional model, and obtains new three-dimensional model data.

[0117] S04-6, calculating the sludge calorific value of the captured sludge by using the attribute weighted calculation formula; specifically, calculating part of the mud property data of the captured sludge by using the attribute weighted calculation formula, and the attribute weighted calculation formula is as follows:

[0118]

[0119] Among them, F ′ Indicates the calorific value of mixed sludge, W ′ Indicates the moisture content of mixed sludge, COD ′ Indicates the effluent COD value of mixed sludge, ρ ′ represents the density of the mixed sludge, i represents the type of mud of the mixed sludge, F1~F i Indicates the calorific value of i different sludges, W1~W i represents the moisture content of i different sludges, ρ1~ρ i Represents the density of i different sludges, V1~V i Represents the volume of i different sludges. There are other formulas in the prior art that can be used for calculation, which will not be described here.

[0120] S04-7, update the mud property data of the sludge moved to the area corresponding to the minimum point, and correct the sludge calorific value to the sludge calorific value calculated in step S04-6. Specifically, update the sludge three-dimensional model, delete the corresponding sludge three-dimensional model data and mud property data before the move, and add the corresponding sludge three-dimensional model data and mud property data after the move. Adding the corresponding mud property data to the corresponding sludge three-dimensional model data after the move includes: binding the mud property data calculated by the sludge attribute weighted calculation formula to the sludge three-dimensional model after the move. Mark the sludge source and the names of different sewage treatment plants at the same time, and the factory time is default.

[0121] Determine whether the sludge elevation warning module is still in the triggered state. If it is still in the triggered state, determine the maximum and minimum points on the latest sludge model and repeat S04-3-S04-7 until the sludge elevation warning module is no longer in the triggered state.

[0122] After the sludge actuator adjusts the sludge distribution, the sludge property data and three-dimensional model data are updated to better manage the sludge storage.

[0123] The present invention also discloses a sludge management system, such as Figure 2 As shown, the sludge management system uses the above sludge management method.

[0124] Specifically, the sludge management system uses the above sludge management method to manage the entire process of sludge in the sludge receiving pit. The sludge source is clear, the data is clear, and it is easy to manage. It can realize the dynamic update of the sludge calorific value, and can quickly and accurately locate the sludge grabbing position that meets the target calorific value, effectively improving the incineration efficiency and stability of the subsequent sludge incineration system.

[0125] In this embodiment, the sludge management system includes a sludge collection system 1, a sludge action system 2 and a control center 3. The control center 3 is electrically connected to the sludge collection system 1 and the sludge action system 2. The control center 3 is used to receive instructions and control the sludge collection system 1 to obtain three-dimensional model data and mud property data. The control center 3 is also used to receive instructions and control the sludge action system 2 to plan the sludge grabbing route and control the execution action of the sludge actuator.

[0126] Specifically, the sludge management system includes three parts: a sludge collection system 1, a sludge action system 2 and a control center 3. The control center 3 obtains information from the sludge collection system 1, and after calculation and processing, the sludge action system 2 of the sludge receiving pit takes action.

[0127] The sludge collection system 1 is composed of a three-dimensional modeling module, a sludge property acquisition module, and a sludge elevation warning module. The three-dimensional modeling module is responsible for performing three-dimensional modeling scanning on the sludge in the sludge receiving pit, and obtaining three-dimensional information including but not limited to sludge surface points and modeling time information. The three-dimensional modeling module can generally be composed of laser radar, depth of field camera and other equipment; the sludge property acquisition module is responsible for recording the mud property data from the sludge transfer vehicle and uploading it to the database. The mud property data includes but is not limited to sludge calorific value, sludge moisture content, sewage treatment plant name abbreviation, factory date, effluent COD value, which can generally be realized by the interaction between the near field communication device and the storage device on the vehicle; the sludge elevation warning module can monitor the height of the sludge pile in real time. When the height of the sludge pile exceeds the warning value, it immediately issues an elevation over-limit warning message to notify the control center 3 to perform the sludge capacity management task. It is generally composed of an infrared generating device and a corresponding sensing device.

[0128] The sludge action system 2 includes a sludge grab and a sludge grab control module. The sludge grab is responsible for completing tasks such as cleaning, moving, mixing and feeding of wet sludge, and is the execution device of the sludge management system of the sludge receiving pit; the sludge grab control module is used to receive command signals from the control center 3, automatically plan the grab route, and execute grabbing or unloading actions.

[0129] The control center 3 is composed of a digital signal processing chip, a timer module, a database, and a computing module. The digital signal processing chip can receive signals from different tasks, call the module and execute the relevant task flow, and output the corresponding command signal to the sludge action system 2, which can generally be composed of a single TMS320F2812 chip; the timer module can set the countdown time by the digital signal processing chip to trigger the sludge calorific value timing task; the database stores the data from the sludge property acquisition module, the three-dimensional modeling module, and other related data for system initialization.

[0130] The present invention also discloses a method for using a sludge management system. The method for using the sludge management system includes a sludge capacity management task. The method for using the sludge management system includes the following steps:

[0131] Specifically, S0, system parameter initialization; start the sludge management system, perform system parameter initialization, including initialization of the timer module. When the sludge management system parameters are initialized, the control center 3 reads the relevant configuration parameters and data parameters for sludge management from the database. Configuration parameters include, but are not limited to: the average value of the COD value of the effluent of each sewage treatment plant in the past, the sludge moisture content, and the sludge calorific value corresponding to the sludge calorific value attenuation coefficient; the length, width, and height of the sludge grab bucket used to calculate the weighted calorific value correction of the sludge, which is approximately a cube; the length, width, and height of the sludge receiving pit used to calculate the sludge pit area; and the time constant of the timer module used to trigger the calorific value timing update task.

[0132] The control center 3 starts the timer module, and the timer module starts to count down. At this time, the system enters the waiting task state. Only when the control center 3 receives the trigger signal of the relevant task and the system has no tasks being executed, can the sludge management system normally execute the relevant sludge management tasks. The relevant sludge management tasks include the following four tasks: sludge property management tasks for numerical binding of sludge unloading sludge from sludge transfer vehicles, sludge capacity management tasks for balancing sludge exceeding the height limit, sludge calorific value management tasks for updating sludge calorific value, and sludge actuator guidance tasks for guiding sludge grabs. When executing sludge property management tasks, sludge capacity management tasks, sludge calorific value management tasks, and sludge actuator guidance tasks, the control center 3 sets the system execution state to locked, that is, more than two tasks are not allowed to be executed at the same time. It is necessary to wait until the current execution task is completed, and the control center 3 will execute the remaining tasks in the order in which the tasks are received.

[0133] S1, new sludge arrives, and there is no task being executed at present, so the sludge property management task is executed; specifically, when the sludge transfer vehicle arrives at the sludge incineration plant, and the sludge management system is not executing any task at this time, the staff sends an unloading request signal. After receiving the signal, the control center 3 determines whether there is any task being executed at present. If there is no task, the sludge property management task is executed.

[0134] S2, the sludge height exceeds the warning value, and the sludge capacity management task is executed; specifically, after the sludge unloading task is completed or during the unloading process, the sludge pile height is judged. If the sludge pile height exceeds the warning value, the sludge height warning module is in a triggered state, and the sludge capacity management task is executed until the sludge height warning module is no longer in a triggered state. The sludge capacity management task is an extended option of the sludge mud management task, that is, the sludge mud management task must be executed first, and then it is determined whether to execute the sludge capacity management task.

[0135] In other alternative embodiments, after the new sludge arrives and before the sludge is unloaded, the height of the sludge pile is judged, and the sludge pile height is not exceeded The warning value can be unloaded; if the sludge pile height exceeds the warning value, the sludge capacity management task is executed first, and the unloading can not be carried out until the sludge elevation warning module is no longer in a triggered state.

[0136] S3, within a fixed time period, executes the sludge calorific value management task, updates the calorific value attenuation coefficient and mud property data; specifically, when the countdown of one cycle of the timer module ends, the control center 3 obtains the calorific value update signal, and the sludge management system executes the sludge calorific value management task.

[0137] S4, when the sludge incineration system needs to be fed, the sludge execution mechanism guides the task, and the sludge execution mechanism grabs the sludge corresponding to the calorific value closest to the calorific value of the feed and puts it into the sludge incineration system. When the sludge incineration system sends a signal that it needs to be fed, and the sludge management system has no tasks to perform at this time, the control center 3 obtains the calorific value of the feed corresponding to the best operating efficiency of the sludge incineration system, and the sludge management system executes the sludge execution mechanism guide task and puts the sludge into the sludge incineration system.

[0138] The use of the sludge management system is to use the above sludge management system to achieve the whole process management of sludge in the sludge receiving pit. The sludge source is clear, the data is clear, and it is easy to manage. The dynamic update of the sludge calorific value can be achieved, and the sludge grabbing position that meets the target calorific value can be quickly and accurately located, effectively improving the incineration efficiency and stability of the subsequent sludge incineration system.

[0139] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A sludge management method, characterized in that: It includes: Sludge property management task: obtaining the three-dimensional model data and the mud property data of each sludge pile, binding the three-dimensional model data and the mud property data of each sludge pile, and saving them into the database; Sludge calorific value management task: obtaining and updating the calorific value attenuation coefficient in the database, and updating the sludge property data by the calorific value attenuation coefficient; The sludge actuator guides the task: when the sludge incineration system needs to be fed, the feed calorific value required by the sludge incineration system is obtained, the sludge corresponding to the closest calorific value is selected in the database according to the feed calorific value, and the sludge actuator is driven to grab the sludge in the corresponding area of ​​the closest calorific value and put it into the sludge incineration system; The sludge execution mechanism guidance task includes the following steps: S03-1, obtaining the three-dimensional coordinates of the surface of the sludge pile in the sludge receiving pit; S03-2, dividing the sludge into several sludge pit areas; S03-3, calculating the incineration calorific value of several sludge pit areas according to the mud property data and the three-dimensional coordinates in the database; S03-31, respectively calculating the weighted calorific value of sludge in adjacent areas of a plurality of the sludge pit areas; S03-32, obtaining the calorific value variation range of the incineration calorific value of each of the sludge pit areas and the sludge weighted calorific value of each of the adjacent areas corresponding to each of the sludge pit areas; S03-4, according to the incineration calorific value and the feed calorific value, selecting the sludge pit area closest to the feed calorific value requirement as the grabbing position; Step S03-4 includes the following steps: S03-41, selecting the sludge pit area and the adjacent area corresponding to the feed calorific value falling within the calorific value variation range as the grabbing position; S03-42, the sludge actuator grabs the sludge in the sludge pit area and the adjacent area corresponding to the grabbing position, and puts them into the sludge incineration system; S03-43, updating the three-dimensional model data and the mud property data in the database.

2. The sludge management method as claimed in claim 1, characterized in that: The sludge calorific value management task includes the following steps: S02-1, performing three-dimensional modeling on the sludge pile in the sludge receiving pit to obtain the three-dimensional model data; S02-2, updating the calorific value attenuation coefficient according to the three-dimensional model data and the mud property data; S02-3, calculating the sludge calorific value after calorific value decay according to the calorific value decay coefficient using the sludge calorific value time decay formula.

3. The sludge management method as claimed in claim 1, characterized in that: The sludge management method further includes a sludge capacity management task. When the sludge height exceeds the warning value, the sludge capacity management task is executed. The sludge capacity management task includes the following steps: S04-1, obtaining the three-dimensional model data of the surface of the sludge pile in the sludge receiving pit; S04-2, calculating the maximum and minimum points of the longitudinal coordinates of the three-dimensional model data; S04-3, the sludge execution mechanism places the sludge in the area corresponding to the maximum point into the area corresponding to the minimum point.

4. The sludge management method as claimed in claim 3, characterized in that: After step S04-3, the following steps are also included: S04-4, after the sludge execution mechanism completes execution, the three-dimensional model data of the sludge pile in the sludge receiving pit is obtained again; S04-5, performing difference calculation on the three-dimensional model data before and after grasping to obtain new three-dimensional model data; S04-6, calculating the sludge calorific value of the captured sludge by using an attribute weighted calculation formula; S04-7, updating the mud property data of the sludge moved to the area corresponding to the minimum point, and correcting the sludge calorific value to the sludge calorific value calculated in step S04-6.

5. A sludge management system, characterized in that: The sludge management system uses the sludge management method according to any one of claims 1 to 4.

6. The sludge management system as claimed in claim 5, characterized in that: The sludge management system includes a sludge collection system, a sludge action system and a control center. The control center is electrically connected to the sludge collection system and the sludge action system. The control center is used to receive instructions and control the sludge collection system to obtain the three-dimensional model data and the mud property data. The control center is also used to receive instructions and control the sludge action system to plan the sludge grabbing route and control the execution action of the sludge actuator.

7. A method for using a sludge management system, characterized in that: The method of use uses the sludge management system according to claim 5 or 6, and the method of use comprises the following steps: When new sludge arrives and there is no task being executed, the sludge property management task is executed; Within a fixed time period, executing the sludge calorific value management task, and updating the calorific value attenuation coefficient and the sludge property data; When the sludge incineration system needs to be fed, the sludge execution mechanism performs a guiding task, and the sludge execution mechanism grabs the sludge corresponding to the calorific value closest to the calorific value of the feed and puts it into the sludge incineration system.

Images